IAI PSEL, Руководство по эксплуатации

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Actuator Control Declaration
319
* Transition between movement commands upon target position change
The actuator starts moving to the target position under the new movement
command roughly at the same time it starts cancelling the previous
movement command via forced deceleration to a stop (there is a delay
corresponding to the processing time to recalculate the target position).
* During quick return mode 3, the output of a MOVP, MOVL or PATH
command turns ON near the target position (regardless of the value set by
the NBND command) (the operation is not yet complete). Use the output of
a PEND command to check if the operation has completed (positioning has
been successful).
However, the output is invalid if the target position was changed (cancelled
via forced deceleration to a stop) before the start of normal deceleration
(during acceleration or constant-speed operation), and so is the S-motion
mode during forced deceleration after the target position has been changed.
* During quick return mode 3, the following tasks apply to all used axes for
any operation with a MOVP command (they apply to all used axes even
when specified for an individual axis):
All stop processing including one by a STOP command
Speed change by a CHVL command
* An attempt to switch from quick return mode 3 directly to quick return mode
1 generates “Error No. B24: Quick return mode error”.
* Software versions supporting quick return mode 3
Controller main application: Ver.1.04 or later
(excluding flash ROM 8Mbit versions)
PC software: Ver.7.2.3.0 or later
Teaching pendant:
IA-T-X (D): Ver.1.44 or later
SEL-T (D): Ver.1.02 or later
(Note 1) Following a quick return from a SEL movement command, the right to use the
applicable axis is not released in the program even after the command has been
reset. Accordingly, an attempt to use that axis from other program generates
“Error No. C66: Multiple axis use error”. To release the right to use the applicable
axis, set quick return mode 0 (Normal mode = Quick return mode cancelled).
(Note 2) Quick return modes 1 to 3 are cancelled when the program ends (the close
distance set by the NBND command and positioning width set by the PBND
command are not cancelled).
(Note 3) At the end of combined processing requiring a quick return, be sure to reset the
quick return mode to 0 (Normal mode = Quick return mode cancelled).
(Note 4) Always refer to the pages explaining the NBND and PEND commands.