IAI America XSEL-KET - Manual (Page 181)

162
Part 4 Commands
INTELLIGENT ACTUATOR

DIS (Set division distance at spline movement)
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 DIS Distance Prohibited CP
[Function] Set a division distance for the interpolation implemented by a PSPL (move along spline)
command.
When a PSPL command is executed, a passing point will be calculated at each distance set
here and the calculated passing points will be used as interpolation points.
If the distance is set to “0,” an appropriate division distance will be calculated automatically so
that the actuator will operate at the set speed
The distance is input in mm.
(Note) If a PSPL command is executed without setting a distance with a DIS command, the default
value registered in “All-axis parameter No. 31, Default division distance” will be used.
[Example] DIS 10 Set the division distance to 10 mm.
VEL 100 Set the speed to 100 mm/sec.
PSPL 100 120 Move continuously from position Nos. 100 to 120 along a
spline interpolation curve.
Interpolation points
Division distance