IAI America XSEL-KX - Manual (Page 278)

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Part 4 Commands
Chapter 4 Key Characteristics of Actuator Control Commands and Points to
Note
1. Continuous Movement Commands
[PATH, PSPL, CIR2, ARC2, CIRS, ARCS, ARCD, ARCC, CIR, ARC]
[1] By running a program with continuous movement commands input in a series of continuous
program steps, you can allow the actuators to perform operations continuously without stopping
between steps.
PATH 1 5
ARC2 6 7
PATH 8 12
[2] Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
PATH 1 5
20 ARC2 6 7
PATH 8 12
[3] The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).
[Example 1] (POTP = 1)
POTP 1 Output field Timing
308 Turn ON as P1 approaches.
309 Turn ON as P2 approaches.
310 Turn ON as P3 approaches.
PATH 1 3 308 311 Turn ON as P11 approaches.
ARC2 10 11 311 312 Turn ON as P21 approaches.
PATH 21 23 312 313 Turn ON as P22 approaches.
314
Turn ON when P23 operation is
complete.
[Example 2] (POTP = 0) Output field Timing
PATH 1 3 308 308 Turn ON as P3 approaches.
ARC2 10 11 311 311 Turn ON as P11 approaches.
PATH 21 23 312 312
Turn ON when P23 operation is
complete.
Stops momentarily.
P1
(Position 1)
P3
P2 P4
P1
P5
P6
P7
P8
P9
P10
P12
P3
P2 P4
P1
P5
P6
P7
P8
P9
P10
P11
P12
P3
P2
P10
P23
P11
P21 P22
P11