IAI America XSEL-KX - Manual (Page 179)

163
Part 4 Commands
 MOVL (Move by specifying position data in CP operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional MOVL
Position
number
Prohibited PE
[Function] Move the actuator to the position corresponding to the position number specified in operand
1, with interpolation (linear CP operation).
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
[Example 1] MOVL 2 Move the axes to the position corresponding to position No.
2 (200, 225, 150, 30), with interpolation.
Travel path from position No. 1 to position No. 2
The center of the tool-mounting surface or the
tool tip will move linearly.
(The figure at left shows positions on the base
coordinate system.)
Position No. 1
R-axis position
(Top view) Position No. 2
R-axis position
(Top view)
0 225 300
+Yb
+Xb
+Zb
Position No. 2
150 200
150
+Yb +Yb
+Xb +Xb
30
°