Character: X or x
Decimal: 88 or 120
Hexadecimal: 0x58 or 0x78
Command Value: Requested Spline Position, Position units
This command adds a point to the current spline segment. This segment cannot be followed (using the Follow Spline Segment command) until the End Spline Segment command has been issued to calculate the final curve.
This command will fail for the following reasons, as indicated by the Parameter Error bit in the Status word:
The maximum number of points for the axis has been reached. This limit is 1024 points per axis on a 2-axis RMC, 512 points per axis on a 3- to 4-axis RMC, and 256 points per axis on RMCs with five or more axes.
The final calculations for the last segment have not been completed. This can be avoided by waiting for the Acknowledge bit in the Status word to toggle after sending the End Spline Segment command to end the previous segment. If this occurs, you will have to re-send the End Spline Segment command.
Adding the point generates an overflow in calculating the spline curve. If this happens on this command, then the point will not be added, but the rest of the spline points will be retained. This will occur if there is too great a change in position over too short of an interval. You will need to either increase the interval between the points or move the point closer to the previous point. The general limitation is that the speed must be between 0 and 65535 position units per second, and acceleration must be between -512 and 511 position units per second per second. If position units are thousandths of inches then this would translate to 511 inches per second per second, or about 1.25 G’s.
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