IAI PSEL, Operation Manual

Page: 846 / 1062

[12]
Actuator Control Command
352
z
MVPI (Move via incremental PTP)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional MVPI
Position
number
Prohibited PE
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Move the actuator, without interpolation, from the current position by the travel
distance corresponding to the position number specified in operand 1.
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.
(Note) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.
(Other than SCARA robots)
[Example 1]
VEL 100 Set the speed to 100mm/s.
MVPI 1 If the current position is (50, 50) and position No. 1
is set to (150, 100), the axes will move 150 in the X
direction and 100 in the Y direction (200, 150) from
the current position.
[Example 2] VEL 100 Set the speed to 100mm/s.
LET 1 2 Assign 2 to variable 1.
MVPI *1 Move from the current position by the travel distance
corresponding to the content of variable 1 (position
No. 2, or (100, 100)).
Position Data Display in PC Software
No.
Axis 1
(X-axis)
Axis 2
(Y-axis)
Vel Acc Dcl
1 150.000 100.000
2 100.000 100.000
(Note) If acceleration and deceleration are not specified by position data or ACC (DCL) commands, the actuator
operates at the default values set in all-axis parameter No. 11, “Default acceleration” and all-axis parameter No.
12, “Default deceleration”.
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
X-axis
Y-axis
Home 0
Only the Y-axis
completes movement.
Each axis moves at 100mm/s.