IAI America XSEL-KX - Manual (Page 178)

162
Part 4 Commands
 MOVP (Move by specifying position data in PTP operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional MOVP
Position
number
Prohibited PE
[Function] Move the actuator in PTP mode to the position 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.
[Example 1] MOVP 2 Move the axes to the position corresponding to position No.
2 (200, 225, 150, 30).
Travel path from position No. 1 to position No. 2
The center of the tool-mounting surface or the
tool tip will move in PTP mode (not linearly).
The movement locus will vary depending on
the starting position and end position of
operation, arm system, etc.
(The figure at left shows positions on the base
coordinate system.)
Position No. 1
R-axis position
(Top view) Position No. 2
R-axis position
(Top view)
0 225 300
+Yb
+Xb
+Zb
Position No. 2
150 200
150
+Yb +Yb
+Xb +Xb
30
°