Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 184)

165

Part 4 Commands

INTELLIGENT ACTUATOR

 QRTN (Set quick-return mode)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional QRTN 0 or 1 Prohibited CP

[Function] Set and cancel the quick-return mode.

(1) QRTN [Operand 1] = 0 (Normal mode)

Positioning is deemed complete when all command pulses have been output and the

current position is inside the positioning band.

* If a deceleration command is currently executed in the quick-return mode, the

system will wait for all command pulses to be output.

(2) QRTN [Operand 1] = 1 (Quick-return mode)

Positioning is deemed complete when “a normal deceleration command is currently

executed (excluding deceleration due to a stop command, etc.) or all command pulses

have been output” AND “the current position is inside the positioning band.” This setting is

used to perform other processing during deceleration, in conjunction with a PBND

command.

(Note 1) The quick-return mode will be cancelled when the program ends. (The positioning band set

by a PBND command will not be cancelled.)

(Note 2) If a given axis is used even once in the quick-return mode, the program will not release the

right to use the axis until the QRTN is set to “0” (normal mode) or the program ends. Any

attempt to use the axis from other program will generate an “Error No. C66, Axis duplication

error.”

(Note 3) Following a return from a normal deceleration command in the quick-return mode, the next

positioning will start after all command pulses for the previous positioning have been output.

Therefore, in the quick-return mode a simple reciprocating operation will require a longer tact

time because of the extra completion check. In this sense, this setting should be used only if

you wish to reduce the overall tact time by performing other processing during deceleration.

(Note 4) The quick-return mode represents very irregular processing. Therefore, be sure to revert to

the normal mode when the overlay processing is completed in the necessary section.

(Note 5) The quick-return mode cannot be used with a push-motion travel command or arc

interpolation command.

Command

pulses

Feedback

pulses

In the quick-return mode, the

set positioning band is valid

through this area.

1 2 ... 179 180 181 182 183 184 185 186 187 188 189 ... 435 436

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