Installation guide

138 Programming Commands
POINT Motion Parameter
ACTION: Specifies coordinates, which the motors will move through in a path.
PROGRAM SYNTAX: POINT=expression1, expression2
REMARKS: This command is only valid between a PATH and a PATHEND state-
ment. Expression1 is the first axis coordinate, expression2 is the second
axis coordinate. The path connecting points is smooth.
EXAMPLES: POSMODE=1,1
PATH=1,2
POINT=1.5,3
POINT=4,5
POINT=6,7
PATH END
The above example will move the axes from the present position,
through points(1.5,3) and (4,5) to position (6,7) smoothly. The points
can be incremental or absolute as set by the POSMODE command.
POSERR Trajectory Parameter
ACTION: Returns the positional error of the designated axis.
PROGRAM SYNTAX: POSERR(axis) - used in an expression
Note: ENCERR can be substituted for POSERR.
REMARK: The axis specifies the number of the axis (1-8).
Position error is the difference between the absolute position and the
encoder position (ABSPOS - ENCPOS).
EXAMPLE: X=POSERR(1)
IF X > 10 THEN
PRINT#1,”Large Error”
END IF