IAI America XSEL-S - Manual (Page 128)

5. Program Creating
122
5.4 Notes on Resuming Interrupted Operation
If any RC axis movement specified in a SEL program was interrupted and then the operation is
subsequently resumed according to any of the conditions listed in [1], [2] and [3] below, the RC axis will not
resume its operation from the point of interruption, but it will start an entirely new operation instead (=
restart the movement command to the specified position):
[1] Turn OFF the servo for the current RC axis while the SEL program is paused, and then restart the
program.
[2] Operation is continued due to the recovery processing after an emergency stop was cancelled (other
parameter No.10 = 2).
[3] Operation is continued due the recovery processing upon switching of the enable switch from OFF to
ON (other parameter No.11 = 2).
Caution: When an incremental movement command is interrupted and then the operation is
subsequently resumed, the axis will move by the incremental travel from the position of
resumption. Accordingly, exercise due caution that the target position will change and
contact may occur.
(This is not the problem with an absolute movement command, in which case the axis will
move to the initial target position.)
„ Example
x Interruption/resumption of relative movement command for RC axis
Interruption & resumption
z Current position „ Position of interruption & resumption
{ Target position † Target position after resumption
If the movement is interrupted after 30mm while the axis is moving by 40mm incrementally from the
current position of 10mm, the recovery operation may cause the axis to move by 40mm from the 30mm
position to reach the 70mm position.
x Interruption/resumption of absolute movement command for RC axis
Interruption & resumption
z Current position „ Position of interruption & resumption
{ Target position
In the case of absolute movement, the axis will move to the initial target position (coordinate: 50 mm)
from the position of resumption (coordinate: 30 mm). (The target position will not change.)
Move to the initial target position from the position of
resumption, because this is an absolute movement.