Command Path

The Path command is used to move along the path of a .csv or .dxf file. It is supported from CPRog/iRC V14-003-0 This article gives a short introduction and hints on how use this command.

Valid Files

.csv: The following rule applies to the points in the .csv file: X 2.91; Y 0.34; Z 16.79; A 124.15; B -70.0; C 0.0 X 2.39; Y 21.03; Z 172.47; A 113.77; B -70.0; C 0.0

";" is used as a separator between the values, decimal places are separated by a ".".

.dxf: Only the following elements may be used in the .dxf file: Line, Point, Polyline, and Circle.

Command Settings

Caution! Personal safety has to be ensured during operation. The corresponding file can be selected via "Select File...". The control mode can be used to set whether the points should be approached with precise positioning or at a constant speed. It is not possible for the points to be approached exactly and for the speed to be constant at the same time, as this would require infinitely large accelerations. When automatic sorting is activated, the individual elements are combined in the .dxf file if the start and end points are the same. In addition, the direction and order of the elements is changed so that the travel distance between the elements is minimized. The dxf object can be increased or reduced using the Scaling parameter. The object is scaled from the coordinate origin, which can result in a shift of the object depending on the position of the points. The Delta Z parameter can be used to set a Z height by which the TCP should move upwards between two closed objects. The DIO parameter can be used to set which DIO or GSig is to be set when the track is run. A start distance can be specified, which indicates the distance before the first point at which the output should be set. The end distance can be used to set the distance before the last point at which the output should be deactivated.

If the position of the moved object is to be shifted, this can be done using the offsets in the x, y and z directions.

Example Programs

This package contains example programs that show how the circular motion command can be used: File:CircularMotionExamples.zip. You can run them in the iRC simulation.