IAI America XSEL-KX - Manual (Page 181)

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Part 4 Commands
 MVLI (Move via incremental interpolation 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 MVLI
Position
number
Prohibited PE
[Function] Move the actuator, with interpolation, from the current position by the travel distance
corresponding to the position number specified in operand 1.
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
(Note) Repeated use of incremental (relative) movement commands (MVPI, MVLI, TMPI and TMLI)
will accumulate coordinate-conversion rounding errors. To eliminate these errors, execute an
absolute movement command (MOVP, MOVL, etc.).
[Example 1] MVLI 6 Each axis will move from the current position by the travel
amount specified in position No. 6.
If the current positions are (200, 150, 50, 45) as specified in
position No. 5 and the travel amounts are (15, 30, 20, 30) as
specified in position No. 6, the positions after movement will
become (215, 180, 70, 75).
Travel path from position No. 5 by the travel distance corresponding to position No. 6
+X direction
The center of the tool-mounting surface or the
tool tip will move linearly.
+Y direction
+Z direction
15
30
20