RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 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($00);
sendToPack(0);
// fill 9 bytes
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($00);
sendToPack(0);
// fill 9 bytes
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
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes