IAI America ASEL - Manual (Page 187)

Part 2 Programs
Chapter 3 Explanation of Commands
165
Part 2 Programs
z MVPI (Move via incremental PTP)
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 MVPI
Position
number
Prohibited PE
[Function] Move the actuator, without interpolation, from the current position by the travel distance
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] VEL 100 Set the speed to 100 mm/s.
MVPI 1 If the current position is (50, 50) and position No. 1 is set to
(150, 100), the axes will move 150 in the X direction and 100
in the Y direction (200, 150) from the current position.
[Example 2] VEL 100 Set the speed to 100 mm/s.
LET 1 2 Assign 2 to variable 1.
MVPI *1 Move from the current position by the travel distance
corresponding to the content of variable 1 (position No. 2, or
(100, 100)).
Position data display in PC software
No. Axis 1 (X-axis) Axis 2 (Y-axis) Vel Acc Dcl
1 150.000 100.000
2 100.000 100.000
(Note) If no position data is available and acceleration and deceleration are not specified by an ACC
(DCL) command, each axis will move according to all-axis parameter No. 11, “Default
acceleration” and all-axis parameter No. 12, “Default deceleration.”
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
(Note) If the specified travel distance is equal to or less than the travel distance per encoder pulse [mm/pulse], the
axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001 mm] x Gear ratio numerator)
/ (Encoder resolution [pulses/rev] x Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001 Pm/pulse) x 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution: Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead: Axis-specific parameter No. 47
Gear ratio numerator: Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51
X-axis
Y-axis
Home 0
150 mm
50 mm 200 mm
50 mm
Only the Y-axis completes
movement.
Each axis moves at 100 mm/s.