Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 204)

185

Part 4 Commands

INTELLIGENT ACTUATOR

 PBND (Set positioning band)

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 PBND

Axis

pattern

Distance CP

[Function] Set the position complete band for the axes in the axis pattern specified in operand 1. The

distance in operand 2 is set in mm.

As a rule, positioning is deemed complete when all command pulses have been output and

the current position is inside the positioning band. Therefore, this command is effective if you

wish to reduce the tact time by shortening the approximate positioning settling time. (Normally

a setting of approx. 3 to 5 mm will have effect, but the effect must be confirmed on the actual

machine.)

(This command can be combined with a QRTN command for special purposes. Refer to the

section on QRTN command for details.)

(Note 1) If positioning band is not set with a PBND command, the value set in “Axis-specific parameter

No. 58, Positioning band” will be used.

(Note 2) If the positioning band is changed, the new setting will remain valid even after the program

ends. Therefore, to build a system using PBND commands, a positioning band must be

expressly specified with a PBND command before operation of each program. An assumption

that the positioning band will be reset to the original value when the operation ends in other

program may lead to an unexpected problem, because the positioning band will become

different from what is anticipated in case the applicable program is aborted due to error, etc.

(Note 3) The value set in “Axis-specific parameter No. 58, Positioning band” will not be written by a

PBND command.

[Example 1] PBND 11 5 Set the positioning band for axes 1 and 2 to 5 mm after this

command.

[Example 2] The axis pattern can be indirectly specified using a variable. When [Example 1] is

indirectly specified using a variable.

11 (binary)  3 (decimal)

LET 1 3 Assign 3 to variable 1.

PBND *1 5

Feedback pulses

Command

pulses

If the set positioning band exceeds this

area, the settling time will become “0.”

Settling time

1 2 ... 199 200 201 202 203 204 205 206 207 208 209 ... 435 436

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