IAI PSEL, Руководство по эксплуатации

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[20] Arch-Motion
431
z
AEXT (Set composite arch motion)
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 AEXT
(Position
number)
Prohibited CP
Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL
{
Set a composite arch motion. Set coordinate values other than the arch motion Z-axis at the
end position of arch motion.
Use the position number specified in operand 1 for setting composite motion.
With SCARA robots, the R-axis becomes a composite arch motion axis.
When the arch motion is executed, the end coordinate of the composite axis corresponds to
effective axis data, other than that of the arch motion Z-axis, included in the arch-motion end
point data.
If nothing is specified in operand 1, the position number already declared for setting composite
motion becomes invalid. If the output is specified, it turns ON after this command has been
executed.
(Note 1) Setting of the arch motion composition axes cannot be established for linear drive
axes in PX/QX.