3.1.1. Motion Path & Step Condition

Table 3‑1 Motion Path & Step Condition

Path	Path Meaning	Beginning Step Condition			Target Step Condition
Path	Path Meaning	Interpolator	Accuracy	Function	Interpolator	Accuracy	Function
1	This is the path to pick up an workpiece.	on	0	PK	on	3	PU
2	This is the path to approach the position to unload an workpiece.	on	3	PU	off	3	PS
3	This is the path to approach the approach position to unload an workpiece.	off	3	PS	on	3	PS
4	This is the approach path to unload an workpiece safely.	on	3	PS	on	3	PS
5	Unload an workpiece on pallet.	on	3	PS	on	0	PS
6	This is the path to avoid interruption after unloading an workpiece.	on	0	PS	on	3	PS
7	This is the path to rotate S axis to the position to pick up an workpiece.	on	3	PS	off	3	PU
8	This is the path to move the position to pick up an workpiece.	off	3	PU	on	0	PK