IAI America XSEL-QX - Manual (Page 413)

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Appendix
6. Path Operation
Description
Move the actuator through four arbitrary points continuously without stopping (PATH operation).
The actuator moves along the path shown to the right, without
stopping at P2 or P3.
Since precise positioning is not performed at P2 and P3, the tact time
of movement can be shortened compared to when MOVP or MOVL is
used to achieve the same movement.
Execute the following command while the actuator is stopped at P1:
PATH 2 4
The actuator will depart P1 and pass near P2 and P3 to move to P4.
(The passing points can be brought closer to the specified positions
when the acceleration is raised.)
The actuator will also move in the same manner as under a “PATH 2 4” command, when the following
commands are input consecutively:
PATH 2 3
PATH 4 4
Execute the following command while the actuator is stopped at P4:
PATH 4 1
The actuator will move in the reverse direction. (P4 o P3 o P2 o P1)
It is also possible to move the axis continuously along a path that
passes one discontinuous position.
PATH 1 4
PATH 6 6 Discontinuous position
PATH 9 10
As shown above, specify No. 6 corresponding to the discontinuous
position for both the start position number and end position number in
the PATH command.
[Example] The axis will move continuously in the sequence of P1
o
P2 o P3 o P4 o P6 o P9 o P10.