IAI America XSEL-KE - Manual (Page 251)

236
Part 4 Commands
(POTP = 1) [Example 1]
POTP 1
Output field Timing
308 Turn ON as P1 approaches.
309 Turn ON as P2 approaches.
310 Turn ON as P3 approaches.
PATH 1 3 308 311 Turn ON as P11 approaches.
ARC2 10 11 311 312 Turn ON as P21 approaches.
PATH 21 23 312 313 Turn ON as P22 approaches.
314 Turn ON when P23 operation is complete.
Output field Timing
[Example 2] (POTP = 0) 308 Turn ON as P3 approaches.
PATH 1 3 308 311 Turn ON as P11 approaches.
ARC2 10 11 311 312 Turn ON when P23 operation is complete.
PATH 21 23 312
[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 1 308 Turn ON as P1 approaches.
309 Turn ON as P2 approaches.
310 Turn ON when P3 operation is complete.
311 Turn ON as P11 approaches.
PATH 1 3 308 312 Turn ON as P21 approaches.
20 ARC2 10 11 311 313 Turn ON as P22 approaches.
PATH 21 23 312 314 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 305 through 308 to duplicate, as in the example
shown at left.
PATH 1 5 305
Continuous operation section executed by continuous movement
commands
PATH 11 15 304
The final output status of duplicate 305 through 308 is indeterminable, because it is affected by
the positioning calculation time and the relationship of durations of actual operations.