IAI PSEL, Руководство по эксплуатации

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3. Program
120
3.5.5 PATH Operation (Continuous operation among multiple positions)
[1] Description
This function moves the robot continuously among 4 arbitrary points. (PATH movement)
[2] Example of Use
The actuator moves along the path shown at right, without
stopping at P2 and P3.
Compared with MOVP and MOVL, this command does not
require the actuator to position exactly at P2 and P3, and
thus the movement tact time can be reduced.
Assume the following command is executed when the
actuator is stopped at P1:
PATH 2 4
The actuator will move from P1 to P4 by passing points
near P2 and P3.
Even if “PATH 2 3” and “PATH 4 4” are input successively,
the actuator will still move in the same way as when “PATH
2 4” is input.
If “PATH 4 1” is executed while the actuator is stopped at P4,
the actuator will move along the same path in the opposite
direction (P4
o
P3
o
P2
o
P1).
It is possible to move through discontinuous positions
or move continuously by passing the same position.
PATH 1 4
PATH 6 6 discontinuous position
PATH 9 10
As shown above, specify the number corresponding to
the discontinuous position, or No. 6, for both the start
position number and end position number in the PATH
command. The actuator moves continuously in the
sequence of position Nos. P1
o
P2
o
P3
o
P4
o
P6
o
P9
o
P10.
[3] Example of Use
Refer to the page for “PATH” Command in [12] Actuator Control Command for each command
language for the caution in use.