IAI PSEL, Руководство по эксплуатации

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[12]
Actuator Control Command
348
z
MOVP (Move PTP by specifying position data)
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 MOVP
Position
number
Prohibited PE
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Move the actuator to the position corresponding to the position number specified
in operand 1, without interpolation (PTP stands for “Point-to-Point”).
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.
MOVP 1 Move the axes to the position corresponding to
position No. 1 (200, 100).
[Example 2] VEL 100 Set the speed to 100mm/s.
LET 1 2 Assign 2 to variable 1.
MOVP *1 Move the axes to the position 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
1 200.000 100.000
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 the home to the position corresponding to position No. 1 (200, 100)
X-axis
Y-axis
Only the Y-axis
completes movement. Each axis moves at 100mm/s.
Home 0
100mm
100mm 200mm