IAI ssel - Page 209

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Part 2 Programs
 PSPL (Move along spline)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PSPL
Start
position
number
End
position
number
PE
[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 above diagram is only an example.)
(Note) 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.)
[Example] VEL 100 Set the speed to 100 mm/s.
PSPL 100 120 Continuously move from position Nos. 100 to 120 along a
spline-interpolation curve.
Start position
Position origin
End position