IAI America XSEL-KE User Manual
Page 169
154
Part 4 Commands
* This command is ineffective other than for MOVP, MOVL and PATH commands.
(If this command is used with a CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC,
PSPL, MVPI or MVLI command, an unexpected path may be followed unless the start
point is accurately understood, in which case a dangerous condition will result. If an
attempt is made to use this command with any of the aforementioned commands,
WKHUHIRUHDQ³(UURU1R%4XLFNUHWXUQPRGHHUURU´ZLOOJHQHUDWHWKHFRPPDQG
cannot be executed).)
:KHQVHWWLQJDQHDUEDQGXVLQJD1%1'FRPPDQGDQDOORZDQFHPXVWEHFRQVLGHUHG
IRUWKHSURFHVVLQJWLPHLQWKHVWHSVDIWHUWKHTXLFNUHWXUQIROORZLQJWKHQHDUGHWHFWLRQ
(the specific processing time varies depending on the types of command used, number
of steps, etc.) (= the near band function is not designed for precise processing).
%HKDYLRUDWWKHFRQQHFWLRQEHWZHHQPRYHPent commands when a target position is
changed
Movement to the target position of the new command starts almost simultaneously
upon start of forced deceleration to cancel the previous movement command.
,QTXLFNUHWXUQPRGHWKHRXWSXWRID0293029/RU3$7+FRPPDQGWXUQV21
near the target position (regardless of t
KHYDOXHVHWE\D1%1'FRPPDQGWKLVGRHV
not indicate completion of operation).
&KHFNLIWKHRSHUDWLRQKDVFRPSOHWHG
(positioning has successfully completed)
XVLQJWKHRXWSXWRID3(1'FRPPDQG
However, the output of the target position that was changed before the start of normal
deceleration (during acceleration or movement at constant speed) (= cancelled by
forced deceleration to a stop), and S motion at forced deceleration to change the target
position, are disabled.
7KHIROORZLQJWDVNVDSSO\WRDOOXVHGD[HVLQWKHFDVHRID0293FRPPDQGRSHUDWLRQ
LQTXLFNUHWXUQPRGHWKH\DSSO\WRDOOXVHGD[HVHYHQZKHQVSHFLILHGIRUDQ
individual axis or axes):
All stop processing including processing due to a STOP command
Speed change with a CHVL command
* An attempt to switch to qui
FNUHWXUQPRGHGLUHFWO\IURPTXLFNUHWXUQPRGHZLOO
JHQHUDWHDQ³(UURU1R%4XLFNUHWXUQPRGHHUURU´
6RIWZDUHYHUVLRQVVXSSRUWLQJTXLFNUHWXUQPRGH
Controller main application:
Version 1.04 or later (excluding the flash ROM 8-
Mbit version)
3&VRIWZDUH
9HUVLRQRUODWHU
Teaching pendant:
IA-T-X (D) version 1.44 or later (scheduled to be
released in early December 2007)
6(/7'YHUVLRQRUODWHUVFKHGXOHGWREH
released in early December 2007).
1RWH
,QWKHFDVHRITXLFNUHWXUQIURPD6(/PRYHPHQWFRPPDQGWKHFXUUHQWSURJUDPGRHVQRW
release the right to use the applicable axes after the axes have returned from the command.
$FFRUGLQJO\DQDWWHPSWWRXVHWKHVHD[HVIURPRWKHUSURJUDPZLOOJHQHUDWHDQ³(UURU1R
&$[LVGXSOLFDWLRQHUURU´7RUHOHDVHWKHULJKWWRXVHWKHDSSOLFDEOHD[HVVHWTXLFNUHWXUQ
PRGHQRUPDOPRGH TXLFNUHWXUQPRGHLVFDQFHOOHG
1RWH
4XLFNUHWXUQPRGHVWRDUHFDQFHOHGZKHQWKHSURJUDPHQGV7KHQHDUEDQGVHWE\D
1%1'FRPPDQGDQGSRVLWLRQLQJEDQGVHWE\D3%1'FRPPDQGZLOOQRWEHFDQFHOOHG
1RWH
$IWHUWKHHQGRIRYHUODSSHGSURFHVVLQJDWWKHWLPLQJVZKHUHTXLFNUHWXUQZDVUHTXLUHGEH
VXUHWRUHWXUQWKHTXLFNUHWXUQPRGHWRQRUPDOPRGH TXLFNUHWXUQPRGHLVFDQFHOOHG
1RWH
%HVXUHWRUHIHUWRWKHSDJHVH[SODLQLQJWKH1%1'DQG3(1'FRPPDQGVDVZHOO