IAI PSEL, Operation Manual

Page: 874 / 1062

[12]
Actuator Control Command
380
z
PBND (Set positioning width)
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 PBND Axis pattern Distance CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Set the positioning complete width for the axes that correspond to the axis pattern
specified in operand 2. The unit of operand 2 is as follows.
Unit of operand 2
SCARA X, Y, R: deg / Z: mm
Linear mm / RS: deg
[Function] As a rule, positioning is deemed complete when all command pulses have been sent
and the current position is within the positioning complete width. Accordingly, this
command provides an effective way to shorten the tact time by shortening the settling
time after rough positioning. (Normally a desired effect can be achieved with approx. 3
to 5
q
, but you must check on the actual equipment.)
(Note 1) If positioning width is not set with a PBND command, the value set in “Axis-specific
parameter No. 58, Positioning width” will be used.
(Note 2) If the positioning width is changed, the new setting will remain valid even after the
program ends. Therefore, to build a system using PBND commands, a positioning
band must be expressly specified with a PBND command before operation of each
program. An assumption that the positioning width will be reset to the original value
when the operation ends in other program may lead to an unexpected problem,
because the positioning width will become different from what is anticipated in case the
applicable program is aborted due to error, etc.
(Note 3) The value set in “Axis-specific parameter No. 58, Positioning width” will not be written
by a PBND command.
[Example 1] PBND 11 5
Set the positioning width for X-axis and Y-axis to 5
q
after this command.
[Example 2] The axis pattern can be specified indirectly using a variable. When the command
in [Example 1] is rephrased based on indirect specification using a variable:
11 (binary)
o
3 (decimal)
LET 1 3 Assign 3 to variable 1.
PBND *1 5
Feedback pulses
Command
pulses
If the set positioning width exceeds this area,
the settling time will become “0”.
Settling time