IAI America XSEL-QX - Manual (Page 381)

357
Part 4 Commands
[Example 3] If an input condition is specified, the output will turn ON upon completion of operation in
the step before the one in which the input condition is specified.
Output field Timing
POTP 1 308 Turn ON as P1 approaches.
309 Turn ON as P2 approaches.
310
Turn ON when P3 operation is
complete.
311 Turn ON as P11 approaches.
PATH 1 3 308 312 Turn ON as P21 approaches.
20 ARC2 10 11 311 313 Turn ON as P22 approaches.
PATH 21 23 312
314
Turn ON when P23 operation is
complete.
[4] When executing continuous movement commands sequentially, the controller is calculating
approx. 100 positions ahead. This is why the steps are displayed continuously on the PC screen
or teaching-pendant screen, regardless of the actual operation. The last step in the continuous
operation section executed by continuous movement commands will wait for the applicable
operation to complete.
PATH 1 5 Actuator operation
ARC 6 7
PATH 8 12 Step displayed on the PC software or teaching pendant
BTON 310
[5] Do not allow the output fields to duplicate in the continuous operation section executed by
continuous movement commands.
Duplicating output fields in the continuous operation section will not achieve the expected result.
The output field will turn OFF at the start of processing of each command.
POTP 1 Do not let outputs 305 through 308 to duplicate, as in
the example shown at left.
PATH 1 5 305
Continuous operation section executed by continuous
movement commands
PATH 11 15 304
The final output status of duplicate 305 through 308 is indeterminable, because it is affected by
the positioning calculation time and the relationship of durations of actual operations.
Do not create a program containing an indefinite loop of continuous movement commands using
the TAG-GOTO syntax. (It will result in an accumulation of coordinate conversion errors.)