IAI America XSEL-KE - Manual (Page 160)

145
Part 4 Commands
z NBND (Set near band)
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 NBND Axis pattern Near band CP
[Function] Set in operand 2 the near band (mm) from the target position based on the axis pattern
specified in operand 1. This command is effective only for a MOVP, MOVL or PATH
command in quick return mode 2 (return after near detection & target position addition mode)
or quick return mode 3 (return after near detection & target position change mode). A different
value can be set for each axis.
(Note 1) When no near band is set with a NBND command, the default value of 0 applies.
(Note 2) In the case of a series of PATH commands to perform continuous movement involving
multiple positions, the near band is effective only after the movement to the last position
according to the last command has started and also after the position movement immediately
before it has completed. Accordingly, a dead band is created at the connection (joint)
between the position movement according to the last PATH command and the position
movement immediately before it.
(Note 3) Once set, the dead band will remain effective even after the program ends. If you want to
build a system using the NBND command, therefore, expressly specify a near band with a
NBND command before operation is started in every program. When you assume that the
near band will be reset to the original value after the end of operation in other program, an
unexpected near band may be applied if the program is aborted due to an error, etc., in which
case unforeseen problems may occur.
(Note 4) Be sure to refer to the pages explaining the QRTN and PEND commands, as well.
(Note 5) Software versions supporting NBND
Controller main application: Version 1.04 or later (excluding the flash ROM 8-Mbit
version)
PC software: Version 7.2.3.0 or later
Teaching pendant: IA-T-X (D) version 1.44 or later (scheduled to be released in
early December 2007)
SEL-T (D) version 1.02 or later (scheduled to be released in
early December 2007)
[Example 1] NBND 11 50 Set the near band for axes 1 and 2 to 50 mm after this
command.
[Example 2] You can specify a desired axis pattern indirectly using a variable. [Example 1] can be
rephrased as followed based on indirect specification using a variable:
11 (binary)
o 3 (decimal)
LET 1 3 Assign 3 to variable 1
NBND *1 50 Set the near band for axes 1 and 2 to 50 mm after this
command.