IAI PSEL, Руководство по эксплуатации

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Actuator Control Command
362
z
PSPL (Move along spline via CP operation)
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 PSPL
Start position
number
End position
number
PE
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Continuously move from the specified start position to end position via
interpolation along a spline-interpolation curve.
The output type in the output field can be set using an actuator-declaration
command POTP.
If invalid data is set for any position number between the start and end position
numbers, that position number will be skipped during continuous movement.
(The diagram above is an image.)
(Note 1) If the acceleration and deceleration are different between points, the speeds will
not be connected smoothly.
In this case, input in operand 1 the point number of the next target, instead of the
predicted current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will
trigger movement to the same point during continuous movement, thereby
causing the speed to drop.)
(Note 2) 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.
[Example] PSPL 100 120 Continuously move from position Nos. 100 to 120
along a spline-interpolation curve.
Start position
Position origin
End position