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Appendix
6. Path Operation
Description
Move the actuator through four arbitrary points continuously without stopping (PATH operation).
The actuator moves along the path shown to the right, without
stopping at P2 or P3.
Since precise positioning is not performed at P2 and P3, the tact time
of movement can be shortened compared to when MOVP or MOVL is
used to achieve the same movement.
Execute the following command while the actuator is stopped at P1:
PATH 2 4
The actuator will depart P1 and pass near P2 and P3 to move to P4.
(The passing points can be brought closer to the specified positions
when the acceleration is raised.)
The actuator will also move in the same manner as under a “PATH 2 4” command, when the following
commands are input consecutively:
PATH 2 3
PATH 4 4
Execute the following command while the actuator is stopped at P4:
PATH 4 1
The actuator will move in the reverse direction. (P4  P3  P2  P1)
It is also possible to move the axis continuously along a path that
passes one discontinuous position.
PATH 1 4
PATH 6 6 Discontinuous position
PATH 9 10
As shown above, specify No. 6 corresponding to the discontinuous
position for both the start position number and end position number in
the PATH command.
[Example] The axis will move continuously in the sequence of P1 
P2

P3

P4

P6

P9

P10.
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Appendix
7. Output Control during Path Movement
Description
In coating application, etc., output control may become necessary while the actuator is moving. X-SEL
controllers let you issue outputs while the actuator is moving according to a PATH command.
How to Use
Before issuing a PATH command, declare a POTP command to permit output during movement.
If any output or global flag is specified in the output field of the PATH command, the output or flag
specified in the output field will turn ON when the actuator approaches via path movement the position
specified by the PATH command.
Example of Use 1
The actuator moves through the positions shown to the right, or
from P1 to P5, without stopping and by turning output port 310
ON as it passes near P2.
The output or flag can only be controlled to an ON state. Turn it OFF using the program (via a BTOF
command) after the path operation has completed.
Example of Use 2
Outputs 310 to 313 can be turned ON sequentially at points P2 to P5.

A declaration command to permit output during path movement
 Turn 310 ON at the position P2 specified in this step.
 A declaration command to permit output during path movement

Outputs 310 to 313 are turned ON sequentially at the respective
positions P2 to P5 specified in this step.
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