IAI America XSEL-KE - Manual (Page 174)

159
Part 4 Commands
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.
Movement may not occur if the specified travel distance is below the resolution (1 pulse):
1 pulse: Lead [mm] / 16384 --- Standard product with a gear ratio of 1:1
[Example 1] VEL 100 Set the speed to 100 mm/sec.
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.
[Example2] VEL 100 Set the speed to 100 mm/sec.
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)).
No. X-axis Y-axis Speed Acceleration Deceleration
1 150.000 100.000 XXX XXXX XXXX
2 100.000 100.000 XXX XXXX XXXX
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
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.