Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 191)

172

Part 4 Commands

INTELLIGENT ACTUATOR

 PATH (Move along path)

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 PATH

Start

position

number

End

position

number

[Function] Move continuously from the position specified in operand 1 to the position specified in

operand 2.

The output type in the output field can be set using an actuator-declaration command POTP.

Increasing the acceleration will make the passing points closer to the specified positions.

If invalid data is set for any position number between the start and end position numbers, that

position number will be skipped during continuous movement.

(Note 1) Multi-dimensional movement can be performed using a PATH command.

In this case, input in operand 1 the point number of the next target, instead of the predicted

current position upon execution of the applicable command.

(Inputting a point number corresponding to the predicted current position will trigger

movement to the same point during continuous movement, thereby causing the speed to

drop.)

[Example 1] VEL 100 Set the speed to 100 mm/sec.

PATH 100 120 Move continuously from position Nos. 100 to 120.

[Example 2] VEL 100 Set the speed to 100 mm/sec.

LET 1 50 Assign 50 to variable 1.

LET 2 100 Assign 100 to variable 2.

PATH *1 *2 Move continuously along the positions from the content of

variable 1 (position No. 50) to the content of variable 2

(position No. 100).

[Example 3]

When position data is not continuous, such as 1  2  3  5  8  9

PATH 1 3

PATH 5 5

Move continuously along position Nos. 1  2  3  5  8  9.

PATH 8 9

Start position

Position origin

End position

1 2 ... 186 187 188 189 190 191 192 193 194 195 196 ... 435 436

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