Program Example - Path-PLS: Non-Blended Motion Transitions as Position Source

This program example uses the transitions between two non-blended motions as PLS positions.
Two motions using the same PLS are executed one after another. The PLS output will toggle OFF during the motion cycle in which the path-percentage changes from 100% (first motion) to 0% (second motion).
The PLS remains enabled
throughout the execution of the motion.

Common Shared GXY as group of axnm = A1 axnm = A2 of XY
Common Shared P1 as PLS GXY Sys.Dout.1


Program

   CreatePLSData P1 2 
   P1.PLSPosition[1] = 0
   P1.PLSPosition[2] = 100
   GXY.PLSSource = PathPercentage 
   GXY.en = 1
   With GXY
   MOVES {0,0} 
   MOVES {200,200} WithPLS = P1
   MOVES {300,300} WithPLS = P1
  
End program

The PLS output toggles on at the start of the first motion, and toggles off after the last sample of the first motion.
The output toggles on immediately after the first sample of the second motion, and remains on until the second motion ends.