IAI America XSEL-KE - Manual (Page 167)

152
Part 4 Commands
x If a MOVP, MOVL or PATH command is executed again during the quick return
movement in quick return mode 2, a target position will be added and operation will be
continued.
[Example]
:
QRTN 2 Set quick return mode 2.
NBND 11 50 Set the near band for axes 1 to 2 to 50 mm.
MOVL 1 600 Move to position 1 (axes 1/2).
(The program proceeds to the next step approx. 50
mm before each axis reaches the target.)
WTON 610 Wait for permission to move to position 2 (610).
MOVL 2 601 Move to position 2 (axis 3).
PEND 602 Wait for the operation of all used axes to end.
QRTN 0 Set quick return mode 0.
* This command is ineffective other than for MOVP, MOVL and PATH commands.
(If this command is used with a CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC,
PSPL, MVPI or MVLI command, an unexpected path may be followed unless the start
point is accurately understood, in which case a dangerous condition will result. If an
attempt is made to use this command with any of the aforementioned commands,
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cannot be executed).)
* When setting a near band using a NBND command, an allowance must be considered
for the processing time in the steps after the quick return following the near detection
(the specific processing time varies depending on the types of command used, number
of steps, etc.) (= the near band function is not designed for precise processing).
* Behavior at the connection between movement commands when a target position is
added (when the new movement command can be processed in time)
If either the previous movement command (quick return) or new movement command
is MOVP, movement to the target position of the new movement command starts
simultaneously upon start of deceleration of the slowest axis in the previous movement
command.
If neither of the commands is MOVP (such as when MOVL and/or PATH commands
are combined), the operation at the connection between commands is the same as
when normal PATH commands, etc., are connected.
* In quick return mode 2, the output of a MOVP, MOVL or PATH command turns ON
near the target position (regardless of the value set by a NBND command) (this does
not indicate completion of operation). Check if the operation has completed
(positioning has successfully completed) using the output of a PEND command.
Near detection approx. 50
mm before each axis
reaches the target
o Next
Start point Position No. 1
Output 600: Turns ON
near the target position.
Path when global flag 610 turns
ON before position 1 is reached
Path when global flag 610 turns
ON after position 1 is reached
Output 601: Turns ON
near the target position.
Output 602: Turns ON
when the positioning
completes successfully.
Position No. 2