IAI RA Series, Инструкция по эксплуатации

Страница: 109 / 186

4. Operation Program
101
z
XPTH (extension motion control axis pass operation)
Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration
Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional XPTH
Start position
number
End position
number
PE
[Function] Move continuously from the position specified in operand 1 to the position specified
in operand 2 (CP Movement). 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.
(Note1) Set axis patterns using the XAXS or XA16 command before executing this command.
If the command has not been executed, error No. 4B3 “No extension motion control
board axe pattern setting error” occurs.
(Note 2) This command requires indication of the velocity, acceleration and deceleration in
VEL, VLMX, ACC, DCL Commands before execution. If those commands have not
been executed, an error occurs.
(In this command, the velocity and acceleration/deceleration set in the position table
should get invalid.)
(Note 3) Multi-dimensional movement can be performed using this command. 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 position number corresponding to the predicted current position will trigger
movement to the same position during continuous movement, thereby causing the
speed to drop.)
(Note 4) Input this command straight after program steps in a row, and the actuator is able to
make a smooth operation without any stop between steps when a program is
executed. However, in case there is any step with an input condition being indicated,
the actuator will pause at the step before that.
(Note 5) In POTP Command, when POTP = 0, the operation timing of the output part during
the continuous operation should be when getting close to the final movement position
of each command, and when POTP = 1, it should be when getting close to each
position. As for the final movement position of the continuous movement final
command, it turns ON when the operation is completed. However, in case there is the
positioning complete band established at the final movement position of the
continuous movement final command, it will not turn ON.
(Note 6) Positioning complete band is valid only for the final movement position. Also, it is
valid only for the final movement position of the continuous movement final command
while in continuous operation.
(Note 7) It is possible to move through discontinuous positions or move continuously by
passing the same position. As shown in the example, specify the number
corresponding to the discontinuous position for both the start position number and
end position number. In the example, this position is No. 6.
[Example] The actuator moves continuously in the sequence of position No. 1 →
2 → 3 → 4 → 6 → 9 → 10.
XPTH 1 4
XPTH 6 6 (discontinuous position)
XPTH 9 10
[Example 1] XPTH 100 120 Move continuously from position No. 100 to 120.
Start position
Position origin
End position
ME0364-2B