IAI X-SEL PX, Operation Manual, Page: 237 / 560

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Part 4 Commands

POTP (Set PATH output type)
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 POTP 0 or 1 Prohibited CP
[Function] Set the output type in the output field to be used when a PATH or PSPL command is
executed.
When a PATH or PSPL command is executed, the output will operate as follows in
accordance with the setting of the POTP command.
(1) POTP [Operand 1] = 0 (ON upon completion of operation)
The output port or flag will turn ON upon completion of operation.
(2) POTP [Operand 1] = 1 (Increment and output on approaching each position; ON upon
completion of operation for the last position)
During PATH or PSPL operation, the output port number or flag number specified in the
output field will be incremented and turned ON when each specified position
approaches. At the last position, however, the output will turn ON upon completion of
operation. This setting provides a rough guide for output in sequence control.
(Note 1) The default value of POTP, before it is set, is “0.”
(Note 2) If POTP = 1 and there is no valid data at the specified position, the output number will be
incremented but the output will not turn ON. (The output number will be incremented
regardless of the size of position numbers specified in operands 1 and 2 in a PATH or
PSPL command.)
[Example] POTP 1
PATH 1 5 300 Turn ON output port Nos. 300 through 304 sequentially
each time a specified position approaches during a
pass movement from position Nos. 1 through 5, starting
from the first position.
Position No. 1
No. 3
No. 5
Turn ON output port 300.
Position origin
No. 2
No. 4
Turn ON output port 301.
Turn ON output port 303.
Turn ON output port 304.
Turn ON output port 302.
210
Part 4 Commands

PAPR (Set push-motion approach distance, speed)
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 PAPR Distance Speed CP
[Function] Set the operation to be performed when a PUSH command is executed.
Set the distance (push-motion approach distance) over which push-motion approach
operation (torque-limiting operation) will be performed in operand 1 (in mm), and set the
speed (push-motion approach speed) at which push-motion approach operation (torque-
limiting operation) will be performed in operand 2 (in mm/sec).
The push-motion approach distance specified in operand 1 may contain up to three decimal
places, while the speed specified in operand 2 cannot contain any decimal place.
[Example] PAPR 100 30
MOVP 10
PUSH 11
Set the push-motion approach distance in a PUSH
command to 100 mm and the push-motion approach
speed to 30 mm/sec.
(Note) When an OVRD command is used, the push-motion approach speed is clamped by the
minimum speed of 1 mm/sec.
(The minimum speed does not guarantee reliable push motion operation. If low-speed
push-motion approach is needed, confirm the operation on the actual machine by
considering the effects of mechanical characteristics, etc.)
Position origin
Push-motion approach distance
Start position of push-motion
approach operation
(torque-limiting operation)
Z
Y
X
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