IAI America SSEL - Manual (Page 413)

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Appendix
Move a rotational axis by multiple rotations or implement short-cut control of a rotational axis
Axis-specific parameter No. 67, “Short-cut control selection for rotational movement axis”
z Set this parameter if you wish to turn the rotational movement axis in the same direction, etc.
Rotation operation can be performed by setting 1 (Select) for short-cut and repeating a movement
command in the same rotating direction.
What is short-cut control?
To move the axis to the next point along the shortest path.
z Setting value
0: Do not select
1: Select
2 to 5: For future expansion
“Do not select”
* The “Select” setting causes the axis to always turn in the same direction.
Position No. 1
Position No. 4 Position No. 2
Position No. 3
Example: Move the actuator continuously in the sequence of position No.
2 o 3 o 4 o 1 with position No. 1 being the reference position
Program Position table
Step No. Command Operand Point No. Position data
Position data: 1 q, 1 mm
Position No. 1
Position No. 2
Position No. 3
“Select”
Position No. 2 Position No. 4 Position No. 4
Position No. 3
Position No. 1
Position No. 1
Position No. 2
Position No. 3
Position No. 2 Position No. 4 Position No. 4
Position No. 3
Position No. 1