IAI America S-SEL-E - Manual (Page 134)

Page 129
Chapter 4. Programming
PATH (Path Movement)
[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.
* If HOLD is designated during the PATH command, the actuator stops at the next position, and later
continues to perform the PATH motion without any problem except that the motion is less smooth at the
joint section. When the distance between the position data is too long, the actuator will not stop immedi-
ately. If you need to stop the actuator immediately using HOLD, the distance between the position data must
be short. If CANC is designated during PATH execution, the actuator moves to the next position (same as
HOLD), ignores the rest of the PATH positions, and moves on to
the next step.
* When the moving distance designated by the PATH command is
too short, the actuator may not be able to reach the specified
velocity. The velocity also decreases when the distance between
the position data (PATH points) is too short. Therefore, we
cannot guarantee the accuracy or quality of the linear speed (speed
of the nozzle or other end-effectors) by the continuous locus
control using the PATH command. (In general, the practical
velocity of the continuous locus control is 100 ~ 200mm/sec.)
* It is very difficult to control an adhesive dispenser due to the viscosity of the adhesive and effects of tem-
perature changes which will cause a delay in the actual dispensing time. It is necessary to move the dis-
penser, watch how the adhesive is applied and then adjust the dispensing start and end points. (In general,
turn the dispenser ON slightly before the point where the adhesive is applied and turn it OFF slightly before
the point where dispensing ends.)
* Three dimensional motion can be performed by this command.
[Example] PATH 100 120
Moves continuously to position 100 ~ 120.
E x p a n s i o n
c o n d i t i o n
( A N D · O R )
I n p u t
c o n d i t i o n
( I / O · F l a g )
C o m m a n d
P o s t
( O u t p u t p o r t · F l a g )
C o m m a n d O p e r a n d 1 O p e r a n d 2
O p t i o n a l O p t i o n a l P A T H
S t a r t i n g
p o s i t i o n n o .
E n d i n g
p o s i t i o n n o .
O p t i o n a l
Motion locus
Designated coordinate