Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 257)

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Part 4 Commands

z MVLI (Move via incremental interpolation 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 MVLI

Position

number

Prohibited PE

[Function] Move the actuator, with interpolation, from the current position by the travel distance

corresponding to the position number specified in operand 1.

The output will turn OFF at the start of axis movement, and turn ON when the movement is

complete.

(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) With a SCARA axis, repeated use of incremental (relative) movement commands (MVPI,

MVLI, TMPI and TMLI) will accumulate coordinate-conversion rounding errors. To eliminate

these errors, execute an absolute movement command (MOVP, MOVL, etc.).

[Example 1] MVLI 6 Each axis will move from the current position by the

travel amount specified in position No. 6.

If the current positions are (200, 150, 50, 45) as

specified in position No. 5 and the travel amounts are

(15, 30, 20, 30) as specified in position No. 6, the

positions after movement will become (215, 180, 70, 75).

(Note) In the case of a SCARA axis, the axis will move based on the value of all-axis parameter No.

11, “Default SCARA axis CP acceleration” or all-axis parameter No. 12, “Default SCARA axis

CP deceleration” if the acceleration or deceleration is not set by an ACC (DCL) command.

In the case of a linear movement axis, the axis will move based on the value of all-axis

parameter No. 200, “Default linear movement axis acceleration” or all-axis parameter No.

201, “Default linear movement axis deceleration” if the acceleration or deceleration is not set

by an ACC (DCL) command.

Travel path from position No. 5 by the travel distance corresponding to position No. 6

With SCARA, the center of the tool-mounting

surface or the tool tip will move linearly.

+Y direction

+Z direction

+X direction

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Iai-america XSEL-QX Manuel d'utilisateur Page 257

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