Rms-technologies 4-AXIS CONTROLLER/DRIVER Manual do Utilizador descarregar pdf (Página 19)

S I X P A C K / Q U A D P A C K 19

⇒ Starting a two axis interpolated movement

Linear motions with multiple axes can be driven. For this, the destinations have to be set via CMD $26

and then the trapezoidal Ramp can be started via CMD $50. In the example the axis 1 is navigated to

position 10000 and in parallel the axis 2 to position 2000.

Pseudocode:

sendToPack(address); // Address of the PACKs

sendToPack(0$26); // Command for setting the destination

sendToPack(0); // Motor 1

sendToPack($E8); // 232

sendToPack($03); // 3*256=768

sendToPack($00);

sendToPack(0); // fill 9 bytes

sendToPack(address); // Address of the PACKs

sendToPack($26); // Command for setting the destination

sendToPack(1); // Motor 2

sendToPack($D0); // 208

sendToPack($07); // 7*256=1792

sendToPack($00);

sendToPack(0); // fill 9 bytes

sendToPack(address); // Address of the PACKs

sendToPack($50); // Command for multi-axis Interpolation

sendToPack($03); // 0000 0011=3, e.g. Mask for motor 1 and 2

sendToPack(0); // fill 9 bytes

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Rms-technologies 4-AXIS CONTROLLER/DRIVER Manual do Utilizador Página 19