IAI America XSEL-KET - Manual (Page 263)

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Part 4 Commands
INTELLIGENT ACTUATOR
Chapter 3 Key Characteristics of Actuator Control Commands and Points to
Note
1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2,
ARCD, ARCC, CIRS, ARCS]
(1) By running a program with continuous movement commands input in a series of continuous
program steps, you can allow the actuators to perform operations continuously without stopping
between steps.
PATH 1 5
ARC2 6 7
PATH 8 12
(2) Continuous operation is possible even when the positions are not continuous.
Specify discontinuous position numbers for the start position number and end position number in
the PATH command. In this example, the passing point is position No. 6.
The actuator moves continuously through position Nos. 1  2  3  4  6  9  10.
PATH 1 4
PATH 6 6 (Discontinuous position)
PATH 9 10
(3) Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
PATH 1 5
20 ARC2 6 7
PATH 8 12
(4) The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).
Stops momentarily.
P3
P2 P4
P1
P5
P6
P7
P8
P9
P10
P11
P12
P1
(Position 1)
P3
P2
P10
P23
P11
P21 P22
P3
P2 P4
P1
P5
P6
P7
P8
P9
P10
P12
P11
P1
P2
P4
P3
P6 P9
P10