IAI America ASEL - Manual (Page 261)

Part 2 Programs
Chapter 4 Key Characteristics of
Actuator Control
Commands and Points to Note
239
Part 2 Programs
(POTP = 1) [Example 1]
POTP 1
Output field Timing
600 Turn ON as P1 approaches.
601 Turn ON as P2 approaches.
602 Turn ON as P3 approaches.
PATH 1 3 600 603 Turn ON as P11 approaches.
ARC2 10 11 603 604 Turn ON as P21 approaches.
PATH 21 23 604 605 Turn ON as P22 approaches.
606 Turn ON when P23 operation is complete.
[Example 2] (POTP = 0) Output field Timing
PATH 1 3 600 600 Turn ON as P3 approaches.
ARC2 10 11 603 603 Turn ON as P11 approaches.
PATH 21 23 604 604 Turn ON when P23 operation is complete.
[Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step
before the one in which the input condition is specified.
Output field Timing
POTP 1 600 Turn ON as P1 approaches.
601 Turn ON as P2 approaches.
602 Turn ON when P3 operation is complete.
603 Turn ON as P11 approaches.
PATH 1 3 600 604 Turn ON as P21 approaches.
20 ARC2 10 11 603 605 Turn ON as P22 approaches.
PATH 21 23 604 606 Turn ON when P23 operation is complete.
(5) When executing continuous movement commands sequentially, the controller is calculating approx. 100
positions ahead. This is why the steps are displayed continuously on the PC screen or teaching-pendant
screen, regardless of the actual operation. The last step in the continuous operation section executed by
continuous movement commands will wait for the applicable operation to complete.
PATH 1 5 Actuator operation
ARC 6 7
PATH 8 12 Step displayed on the PC software or teaching pendant
BTON 310
(6) Do not allow the output fields to duplicate in the continuous operation section executed by continuous
movement commands.
Duplicating output fields in the continuous operation section will not achieve the expected result.
The output field will turn OFF at the start of processing of each command.
POTP 1 Do not let outputs 605 and 604 to duplicate, as in the
example shown at left.
PATH 1 5 605
PATH 11 15 604
Continuous operation section executed by continuous
movement commands
The final output status of duplicate 605 and 604 is indeterminable, because it is affected by the positioning
calculation time and the relationship of durations of actual operations.