IAI America XSEL-QX - Manual (Page 258)

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Part 4 Commands
z PATH (Move along path in CP operation)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PATH
Start
position
number
End
position
number
PE
[Function] Move continuously from the position specified in operand 1 to the position specified in
operand 2.
The output type in the output field can be set using an actuator-declaration command
POTP.
Increasing the acceleration will make the passing points closer to the specified positions.
If invalid data is set for any position number between the start and end position numbers,
that position number will be skipped during continuous movement.
(Note 1) Movement to any position where target values for both SCARA and linear movement axes
are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis
simultaneous specification error”).
To perform any operation meeting the above condition, use a GRP command or set
different position data for SCARA axes and for linear movement axes.
(Note 2) Multi-dimensional movement can be performed using a PATH command.
In this case, input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will trigger
movement to the same point during continuous movement, thereby causing the speed to
drop.)
(Note 3) It is also possible to move the axis continuously along a path that passes one discontinuous
position.
As shown in the example, specify the number corresponding to the discontinuous position
for both the start position number and end position number in the PATH command. In this
example, the discontinuous position is position No. 6.
[Example] The axis will move continuously in the sequence of position Nos. 1
o 2 o 3 o
4 o 6 o 9 o 10.
PATH 1 4
PATH 6 6 Discontinuous position
PATH 9 10
[Example 1] PATH 100 120 Move continuously from position Nos. 100 to 120.
Start position
Position origin
End position