IAI America XSEL-KE - Manual (Page 166)

151
Part 4 Commands
Command
pulses
Feedback
pulses
In the quick-return mode 1, the
set positioning band is valid
through this area.
z QRTN (Set quick-return mode)
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 QRTN
Quick return
mode number
Prohibited CP
[Function] Set a quick return mode.
[1] Quick return mode 0 (Normal mode = Quick return mode is cancelled)
x In the case of execution of a SEL movement command, the positioning is deemed complete
when all command pulses have been output and the positioning band has been reached,
upon which the actuator returns from the completed command and executes the SEL
command in the next step.
x If this command is used to set quick return mode 0 while quick return movement is being
performed in quick return mode 1, 2 or 3, the actuator waits for completion of output of all
command pulses within the duration of this command, and then switches to quick return
mode 0 (normal mode).
[2] Quick return mode 1 (Position complete after deceleration & return mode)
x In the case of execution of a SEL movement command, the positioning is deemed complete
when the positioning band is reached after the start of a normal deceleration command
(excluding an emergency deceleration due to a stop command, etc.), upon which the
actuator returns from the completed command (via quick return) and executes the SEL
command in the next step.
Set this mode if you want to perform other processing during deceleration by combining a
PBND command.
* If you are considering using quick return mode 1 for the first time, use quick return mode 2 or
3 (extended version of quick return mode 1) explained below.
* This command is ineffective for HOME, PUSH, CIR2, ARC2, ARCC and ARCD commands.
* When the actuator returns from the completed command (via quick return) during normal
deceleration in quick return mode 1, the next movement command will be started after all
command pulses of the previous movement command have been output. Accordingly,
measuring the effect of quick return mode 1 in simple back-and-forth movements, etc., finds
that the tact time actually increases by the number of completion checks performed. Use this
mode only if your purpose is to shorten the tact time by performing other processing during
deceleration.
* An attempt to switch to quick return mode 2 or 3 directly from quick return mode 1 will
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[3] Quick return mode 2 (Return after near detection & target position addition mode)
x In the case of execution of a MOVP, MOVL or PATH (last position movement) command, a
near detection is made when the near band set by a NBND command is reached during
steady-state positioning of all used axes according to the aforementioned command (or
when the positioning band is reached after all command pulses have been output), upon
which the actuator returns from the completed command (via quick return) and executes the
SEL command in the next step.
Set this mode if you want to perform other processing during positioning by combining
NBND/PEND commands or add a target position or continue with the operation.