IAI America XSEL-KET - Manual (Page 264)

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Part 4 Commands
INTELLIGENT ACTUATOR
[Example 1] (POTP = 1)
POTP
1



PATH 1 3 308
ARC2 10 11 311
PATH 21 23 312



[Example 2] (POTP = 0)
PATH 1 3 308
ARC2 10 11 311
PATH 21 23 312
[Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step before
the one in which the input condtion is specified.
POTP 1



PATH 1 3 308
20 ARC2 10 11 311
PATH 21 23 312



(5) When executing continuous movement commands sequentially, the controller is calculating approx. 100 positions
ahead. This is why the steps are displayed continuously on the PC screen or teaching-pendant screen, regardless
of the actual operation. The last step in the continuous operation section executed by continuous movement
commands will wait for the applicable operation to complete.



PATH 1 5
ARC 6 7
PATH 8 12
BTON 310



(6) Do not allow the output fields to duplicate in the continuous operation section executed by continuous movement
commands.
Duplicating output fields in the continuous operation section will not achieve the expected result.
The output field will turn OFF at the start of processing of each command.
POTP 1
PATH 1 5 305



PATH 11 15 304
The final output status of duplicate 305 through 308 is indeterminable, because it is affected by the
positioning calculation time and the relationship of durations of actual operations.
Actuator operation
Step displayed on the PC software or teaching pendant
Do not let outputs 305 through 308 to
duplicate, as in the example shown at left.
Continuous operation section executed by
continuous movement commands
Output field Timing
Turn ON as P1 approaches.
Turn ON as P2 approaches.
Turn ON as P3 approaches.
Turn ON as P11 approaches.
Turn ON as P21 approaches.
Turn ON as P22 approaches.
Turn ON when P23 operation is complete
Turn ON as P3 approaches.
Output field Timing
Turn ON as P11 approaches.
Turn ON when P23 operation is complete
Turn ON as P1 approaches.
Turn ON as P2 approaches.
Turn ON when P3 operation is complete
Turn ON as P11 approaches.
Turn ON as P21 approaches.
Turn ON as P22 approaches.
Turn ON when P23 operation is complete
308
309
310
311
312
313
314
Output field Timing
308
311
312
308
309
310
311
312
313
314