Sel language, Path (path movement), Arch (arch motion) – IAI America DS-S-C1 User Manual
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12. SEL Language
[Function]
In order to accomplish faster pick & place motion in the air and the tact time, the actuator performs an
arch motion movement by changing the position ratio of the axis movement before it reached the
intermediate target position.
[Example]
LET
1
1
Assign 1 to variable 1.
LET
2
3
Assign 3 to operand 2.
ATRG
70
Set position ratio to 70%.
ARCH *1
Execute arch move from variable 1 (content 1) to variable 2 (content 3)
position.
[Function]
Actuator moves continuously between the designated starting point and the finishing point. The locus is
a B-spline-type, free-form curve which passes through the inside of the designated coordinate. It is
possible for the actuator to move close to the designated coordinate by increasing the acceleration.
However, when it exceeds the maximum acceleration, an error will occur.
* Three and four axis motion can be performed by this command.
[Example 1]
PATH 100
120
Moves continuously to position 100 ~ 120.
[Example 2]
LET
1
50
Assign 50 to variable 1.
LET 2
100
Assign 100 to variable 2.
PATH *1
*2
Continuosly move positions from variable 1 (content 50) to variable 2
(content 100).
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●
PATH (Path Movement)
●
ARCH (Arch Motion)
*Note: See ATRG command