Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 258)

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Part 4 Commands

z PATH (Move along path in CP operation)

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) Movement to any position where target values for both SCARA and linear movement axes

are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis

simultaneous specification error”).

To perform any operation meeting the above condition, use a GRP command or set

different position data for SCARA axes and for linear movement axes.

(Note 2) 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.)

(Note 3) It is also possible to move the axis continuously along a path that passes one discontinuous

position.

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

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

example, the discontinuous position is position No. 6.

[Example] The axis will move 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

[Example 1] PATH 100 120 Move continuously from position Nos. 100 to 120.

Start position

Position origin

End position

1 2 ... 253 254 255 256 257 258 259 260 261 262 263 ... 557 558

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Iai-america XSEL-QX Manuel d'utilisateur Page 258

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