XScript Manual · Chapter 14

title: "MOTION — interpolated motion" chapter: 14

MOTION — interpolated motion

MOTION is the global object for 2–4-axis linear / circular interpolation and continuous-path (conti) execution. Axes are grouped into coords; each coord has its own queue and runs independently.

Basic example

// Coord 0: 2 axes (#4 and #8)
MOTION.SetAxisMap(0, 2, 4, 8);
 
// Absolute mode
MOTION.SetAbsRelMode(0, false);
 
// 100 mm/s, 0.1 s accel/decel
MOTION.SetSpeed(0, 100, 0.1);
 
// Queue path nodes
MOTION.BeginContiNode(0);
 
MOTION.MoveLine(0, 100.0, 0.0);
MOTION.MoveLine(0, 100.0, 100.0);
MOTION.MoveLine(0, 0.0, 100.0);
MOTION.MoveLine(0, 0.0, 0.0);
 
MOTION.EndContiNode(0);
 
// Start
MOTION.StartConti(0);
 
// Wait for queue to drain (10 s)
if (MOTION.WaitQueueCount(0, 0, 10000) == false)
{
    return;
}
 
// Wait for motion stop (1 s)
if (MOTION.Wait(0, 1000) == false)
{
    return;
}

Methods

Coord setup

Signature	Description
`bool SetAxisMap(int coord, int axisCount, int axis1, int axis2, int axis3 = -1, int axis4 = -1)`	Assign axes (2–4)
`bool SetSpeed(int coord, double vel, double accel = 0.2, double decel = 0)`	Velocity & accel/decel
`bool SetAbsRelMode(int coord, bool isRelMode)`	Absolute / relative

Path building

Signature	Description
`bool MoveLine(int coord, double pos1, double pos2, double pos3 = 0, double pos4 = 0)`	Linear
`bool MoveCircleCenter(int coord, double centerX, double centerY, double endX, double endY, bool isCWDir)`	Center + end point
`bool MoveCirclePoint(int coord, double midX, double midY, double endX, double endY, bool isCircle)`	3-point arc
`bool MoveCircleRadius(int coord, double radius, double endX, double endY, bool isCWDir, bool isLongDistance)`	Radius + end
`bool MoveCircleAngle(int coord, double centerX, double centerY, double angle, bool isCWDir)`	Angle arc

Continuous-path queue

Signature	Description
`bool BeginContiNode(int coord)` / `bool EndContiNode(int coord)`	Queue enter/leave
`bool StartConti(int coord)`	Start queued path
`bool ClearContiQueue(int coord)`	Clear queue
`bool IsQueueEmpty(int coord)`	Queue empty
`int GetQueueCount(int coord)`	Remaining nodes
`int GetContiNodeNum(int coord)`	Current node index
`int GetContiTotalNodeNum(int coord)`	Total nodes

Wait / status

Signature	Description
`bool IsInMotion(int coord)`	In motion
`bool Wait(int coord, int timeoutMsec = 10000)`	Wait for complete
`bool WaitQueueCount(int coord, int queueCount, int timeoutMsec = 10000)`	Wait for queue ≤ queueCount
`double GetDistanceTime(double dist, double speed, double accTime, double decTime)`	Estimated time

Gantry

Signature	Description
`bool SetGantryMap(int master, int slave, int homeUse, double slaveOffset, double errorOffset)`	Configure gantry
`bool GetGantryInfo(int master, ref int homeUse, ref double slaveOffset, ref double errorOffset, ref bool gantryOn)`	Inspect
`bool SetGantryDisable(int master, int slave)`	Disable

Property

Property	Type	Description
`Ready`	`bool`	Interpolation engine ready

Tips

Always use BeginContiNode → MoveLine/Circle… → EndContiNode → StartConti.
Keep adding to the queue before it drains to get smooth transitions.
accel/decel are times (sec) — very short segments may never reach target speed.
Gantry: command only the master; the slave follows automatically.