Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 176)

161

Part 4 Commands

z 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).

(Note2) Continuous movement is possible even when all positions are not continuous.

As shown in the example, specify the position number corresponding to a discontinuous

position for both the start position number and end position number in the PATH command. In

this example, position No. 6 is discontinuous.

[Example] The actuator moves continuously in the sequence of

position Nos. 1 o 2 o 3 o 4 o 6 o 9 o 10.

PATH 1 4

PATH 6 6 (Discontinuous position)

PATH 9 10

Start position

Position origin

End position

1 2 ... 171 172 173 174 175 176 177 178 179 180 181 ... 423 424

Commentaires sur ces manuels

Pas de commentaire

Iai-america XSEL-KE Manuel d'utilisateur Page 176

Commentaires sur ces manuels

Produits connexes et manuels pour Matériel Iai-america XSEL-KE