IAI America SSEL - Manual (Page 272)

250
Part 2 Programs
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note
1. Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]
[1] By running a program with continuous movement commands input in a series of continuous
program steps, you can allow the actuators to perform operations continuously without stopping
between steps.
PATH 1 5
ARC2 6 7
PATH 8 12
[2] Continuous movement is possible even when the positions are discontinuous.
Specify the number corresponding to the discontinuous position for both the start position
number and end position number in the PATH command. In the example, the passing position is
position No. 6.
The actuator moves continuously in the sequence of position Nos. 1
o 2 o 3 o 4 o 6 o 9 o
10.
PATH 1 4
ARC2 6 6 (discontinuous position)
PATH 9 10
[3] Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
PATH 1 5
20 ARC2 6 7
PATH 8 12
[4] The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).
Stops momentarily.
P1
(Position 1)
P3
P2 P4
P1
P5
P6
P7
P8
P9
P10
P12
P3
P2 P4
P1
P5
P6
P7
P8
P9
P10
P11
P12
P3
P2
P10
P23
P11
P21 P22
P11