Merge Motion

Motions within a bank can be run discretely, as shown in the above examples, or merged. Merging the motions provides a smooth, continuous movement in which the motors do not stop at the target location, but merely pass through it. This is achieved by appending end of a move with a semicolon ‘;’ character. If a line in a program bank ends with a ‘;’ it will merge the next move in the program in to the current one.

For example:

R2.1, R2.2, @1.2, @1.1

R1.1, R1.2, @2.2, @1.1

Is a discrete movement, but:

R2.1, R2.2, @1.2, @1.1;

R1.1, R1.2, @2.2, @1.1

Will merge the two profiles in to a seamless motion. This also works with a normal movement that is not a coordinated motion, and will even work with a single motor. For instance:

A1.1,S1.1,P1.1;

A1.1,S1.1,P2.1

Is also a valid merge motion command.