IAI America XSEL-KE - Manual (Page 303)

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Appendix
6. Path Operation
Description
The actuator moves continuously along four arbitrary points without
stopping (PATH movement).
The actuator operates along the locus shown to the right, without
stopping at P2 and P3.
Unlike when moved by MOVP or MOVL, the actuator does not adjust its
position toward the specified position at P2 and P3, and thus the moving
tact time can be reduced.
While the actuator is stopped at P1, execute the following command:
PATH 2 4
The actuator will move from P1 to P4 by passing near P2 and P3. (You
can adjust the passing points closer to the specified positions by
increasing the acceleration.)
The same operation can be achieved by entering the following
commands successively:
PATH 2 3
PATH 3 4
The actuator will move in the same manner as when the following
command is executed:
PATH 2 4
While the actuator is stopped at P4, executed the following command:
PATH 4 1
The actuator will operate in the reverse direction
(P4
o P3 o P2 o P1).
Continuous movement is possible even when all positions are not
continuous.
Specify No. 6, which is a discontinuous position, for both the start
position number and end position number in the PATH command, as
follows:
PATH 1 4
PATH 6 6 (discontinuous
position)
PATH 9 10
The actuator will move continuously in the sequence of
P1
o P2 o P3 o P4 o P6 o P9 o P10.