IAI America ASEL - Manual (Page 191)

Part 2 Programs
Chapter 3 Explanation of Commands
169
Part 2 Programs
z PATH (Move along path)
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) 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 2) Continuous movement through positions is possible even when the specified positions are
not continuous.
To do this, specify each discontinuous position number as both the start position number and
end position number in a PATH command, as shown in the example. In this example, position
No. 6 is discontinuous.
[Example] Move continuously through position Nos. 1, 2, 3, 4, 6, 9 and 10 in this order.
PATH 1 4
PATH 6 6 (Discontinuous position)
PATH 9 10
[Example 1] VEL 100 Set the speed to 100 mm/s.
PATH 100 120 Move continuously from position Nos. 100 to 120.
[Example 2] VEL 100 Set the speed to 100 mm/s.
LET 1 50 Assign 50 to variable 1.
LET 2 100 Assign 100 to variable 2.
PATH *1 *2 Move continuously along the positions from the content of
variable 1 (position No. 50) to the content of variable 2
(position No. 100).
Start position
Position origin
End position