Iai-america XSEL-KX Bedienungsanleitung PDF herunterladen (Seite 180)

100

101

164

Part 4 Commands

 MVPI (Move incrementally in PTP operation)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command, declaration

Output

(Output, flag)

Command,

declaration

Operand 1 Operand 2

Optional Optional MVPI

Position

number

Prohibited PE

[Function]

Move the actuator in PTP mode from the current position by the travel distance

corresponding to the position number specified in operand 1.

The output will turn OFF at the start of axis movement, and turn ON when the movement is

complete.

(Note)

Repeated use of incremental (relative) movement commands (MVPI, MVLI, TMPI and TMLI)

will accumulate coordinate-conversion rounding errors. To eliminate these errors, execute an

absolute movement command (MOVP, MOVL, etc.).

[Example 1]

MVPI

Each axis will move from the current position by the travel

amount specified in position No. 6.

If the current positions are (200, 150, 50, 45) as specified in

position No. 5 and the travel amounts are (15, 30, 20, 30) as

specified in position No. 6, the positions after movement will

become (215, 180, 70, 75).

Travel path from position No. 5 by the travel distance corresponding to position No. 6

+X direction

The center of the tool-mounting surface or the

tool tip will move in PTP mode.

The movement locus will vary depending on the

starting position and end position of operation,

arm system, etc.

+Y direction

+Z direction

1 2 ... 175 176 177 178 179 180 181 182 183 184 185 ... 376 377

Kommentare zu diesen Handbüchern

Keine Kommentare

Iai-america XSEL-KX Bedienungsanleitung Seite 180

Kommentare zu diesen Handbüchern

Verwandte Produkte und Handbücher für Hardware Iai-america XSEL-KX