IAI America XSEL-KET - Manual (Page 316)

297
Appendix
INTELLIGENT ACTUATOR
6. Path Operation
[Description]
The actuator moves through four desired points continuously without
stopping (PATH movement).
The actuator operates according to the locus shown to the right, without
stopping at P2 and P3.
Since pinpoint positioning is not performed at P2 and P3, the tact time of
movement can be shortened compared to when the actuator is moved via
MOVP and MOVL.
Execute the following command while the actuator is stopped at P1:
PATH 2 4
The actuator will move from P1 to P4 by passing points near P2 and P3.
(The passing points can be brought closer to the specified positions by
increasing the acceleration.)
Enter the following commands in a row:
PATH 2 3
PATH 3 4
The actuator will still operate in the same manner as when the following command is entered:
PATH 2 4
Execute the following command while the actuator is stopped at P4:
PATH 4 1
The actuator will operate along the same locus in the opposite direction (P4  P3  P2  P1).
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
P2 P3
P1 P4
P2 P3 P10
P1 P4 P6 P9