IAI X-SEL

216
INTELLIGENT ACTUATOR
Part 4 Commands
 MOVL (Move by specifying position data)
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 MOVL
Position
number
Prohibited PE
[Function] Move the actuator to the position corresponding to the position number specified in operand
1, with interpolation.
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
[Example 1] VEL 100 Set the speed to 100 mm/s.
MOVL 1 Move the axes to the position corresponding to position No.
1 (200, 100), with interpolation.
[Example 2] VEL 100 Set the speed to 100 mm/s.
LET 1 2 Assign 2 to variable 1.
MOVL *1 Move the axes to the position corresponding to the content
of variable 1 (position No. 2, or (100, 100)), with
interpolation.
No. X-axis Y-axis Speed Acceleration Deceleration
1 200.000 100.000
2 100.000 100.000
(Note) If no acceleration or deceleration is specified in the position data table or using an ACC (DCL)
command, the actuator will operate according to the default acceleration set in all-axis
parameter No. 11 or default deceleration set in all-axis parameter No. 12.
Travel path from the home to the position corresponding to position No. 1 (200, 100)
X-axis
Y-axis
The X and Y-axes complete
movement simultaneously.
The tip of each axis moves at
100 mm/s.
Home 0
100 mm
100 mm 200 mm