IAI America XSEL-QX - Manual (Page 262)

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Part 4 Commands
z PSPL (Move along spline 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 PSPL
Start
position
number
End
position
number
PE
[Function] Continuously move from the specified start position to end position via interpolation along a
spline-interpolation curve.
The output type in the output field can be set using an actuator-declaration command
POTP.
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.
(The above diagram is only an example.)
(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) If the acceleration and deceleration are different between points, the speeds will not be
connected smoothly.
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] PSPL 100 120 Continuously move from position Nos. 100 to 120 along
a spline-interpolation curve.
Start position
Position origin
End position