Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 181)

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Part 4 Commands

INTELLIGENT ACTUATOR

 DIS (Set division distance at spline movement)

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 DIS Distance Prohibited CP

[Function] Set a division distance for the interpolation implemented by a PSPL (move along spline)

command.

When a PSPL command is executed, a passing point will be calculated at each distance set

here and the calculated passing points will be used as interpolation points.

If the distance is set to “0,” an appropriate division distance will be calculated automatically so

that the actuator will operate at the set speed

The distance is input in mm.

(Note) If a PSPL command is executed without setting a distance with a DIS command, the default

value registered in “All-axis parameter No. 31, Default division distance” will be used.

[Example] DIS 10 Set the division distance to 10 mm.

VEL 100 Set the speed to 100 mm/sec.

PSPL 100 120 Move continuously from position Nos. 100 to 120 along a

spline interpolation curve.

Interpolation points

Division distance

1 2 ... 176 177 178 179 180 181 182 183 184 185 186 ... 435 436

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