IAI America S-SEL-E - Manual (Page 169)

Page 164
Chapter 4. Programming
MVLI (Incremental Interpolation Movement)
[Function] Moves the actuator to the designated point in Operand 1 from the current position while interpolating (not point
to point).
[Example] MVLI 1
When the current position is (50, 50) and the position 1 data is (150, 100), the actuators move to the position
(200, 150) which is 150 in X direction and 100 in Y direction from the current position.
[Function] Moves the actuator to the designated position number in reference to the current position from point to
point without interpolation.
[Example] MVPI 1
When the current position is (50, 50) and position 1 data is (150, 100), the actuators move 150 in the X direction
and 100 in the Y direction to the position (200, 150).
2-2 Actuator Control Command
MVPI (Incremental PTP Movement)
E x p a n s io n
c o n d itio n
( A N D · O R )
In p u t
c o n d itio n
( I/O · F la g )
C o m m a n d
P o s t
( O u tp u t p o r t · F la g )
C o m m a n d O p e ra n d 1 O p e ra n d 2
O p tio n a l O p tio n a l S C R V P o s itio n n o . O p tio n a l
Each axis moves at its own designated speed.
Y axis only completes movement
Y axis
X axis Home 0
50mm
150mm
50mm 200mm
The tip of the combined motion for each of the axes
moves at the designated speed. The path from the
start to the finish point makes a straight line.
Y axis
X axis
Home 0
50mm
150mm
50mm 200mm
X, Y complete motion at the same time
E x p a n s io n
c o n d itio n
( A N D · O R )
In p u t
c o n d itio n
( I/O · F la g )
C o m m a n d
P o s t
( O u tp u t p o r t · F la g )
C o m m a n d O p e ra n d 1 O p e ra n d 2
O p tio n a l O p tio n a l M V P I P o s itio n n o . O p tio n a l