IAI PSEL, Operation Manual

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Actuator Control Declaration
316
3) Quick return mode 2 (closeness-detection return target position addition mode)
* XSEL-J/K only
x
When a MOVP, MOVL or PATH command (specifying the final moving
position) is executed, closeness to the target position is detected when the
close distance set by a NBND command is reached (or all command pulses
are sent AND the positioning width is reached) while all used axes are
positioning in steady state according to the applicable command, after which
the command will be reset (quick return) and the SEL command in the next
step will be executed.
Set this mode if you want to perform other processing during positioning by
using NBND and PEND commands together, or add a target position to
operate the actuator continuously.
x
If a MOVP, MOVL or PATH command is executed again while the actuator is
moving in quick return mode 2, a target position will be added and the
actuator will operate continuously.
[Example] :
QRTN
2 Set quick return mode to 2
NBND 11 50 Set close position for axes 1 and 2 to 50mm
MOVL 1 600 Move to position 1 (axes 1/2)
(Proceed to the next step when each axis reaches
approx. 50mm before the position.)
WTON 610 Wait for permission of movement to position 2 (610)
MOVL 2 601 Move to position 2 (axis 3)
PEND 602 Wait for all used axes to end operation
QRTN 0 Set quick return mode to 0
:
* This mode is invalid with respect to commands other than MOVP, MOVL
and PATH.
(With CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC, PSPL, MVPI
and MVLI commands, “Error No. B24: Quick return mode error” occurs
(= the command cannot be executed) because an unexpected path may be
followed and a dangerous situation may result unless the start point is
accurately understood.
* The close distance set by a NBND command must consider an allowance
for the processing time in the next step onward following the quick return
upon closeness detection (the specific processing time varies depending on
the types of commands, number of steps, etc.) (this distance is not intended
for use in precise processing).
Position origin
Position No. 1
Position No.2
Detect closing in on each axis approx.
50mm before the axis
o
Next step
Output 600: Turns ON
near the target position Output 601: Turns ON
near the target position
Output 602: Turns ON upon
successful completion of positioning
Path drawn when global flag 610
turns ON before the actuator arrives
at position 1
Path drawn when global flag 610
turns ON after the actuator arrives
at position 1