IAI RA Series, Instruction Manual

Page: 93 / 186

4. Operation Program
85
z
XMDI (extension motion control axis direct value specification relative position move)
Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration
Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XMDI Axis No. Variable No. PE
[Function] Move extension motion control axis specified in operand 1 with values specified in
consecutive 5 variables from variable No. n specified in operand 2 via relative position
move. Also, if the velocity and acceleration/deceleration (contents in Variable No. n+1, n+2
and n+3) are set to 0, the values in the SEL declaration (VEL, VLMX, ACC and DCL)
become activated.
Variable No. Setting Valid digits
n Movement amount [mm] 3 decimal places
n + 1 Speed [mm/s] 2 decimal places
n + 2 Acceleration [G] 2 decimal places
n + 3 Deceleration [G] 2 decimal places
n + 4 Position complete band [mm] 3 decimal places
Caution :
When this command continues to be executed repeatedly, the difference in the pitch intervals is
accumulated.
In the case that the accumulated difference becomes an issue, use the movement command (XMVD
Command) to specify the absolute position.
[Example] LET 300 50 Set 50 mm to the target position.
LET 301 200 Set 200 mm/s for speed.
LET 302 0.3 Set 0.3G for acceleration.
LET 303 0.3 Set 0.3G for deceleration.
LET 304 0.1 Set 0.1 mm for position complete band.
XMDI 1 300 Move axis No. 1 via relative position move.
ME0364-2B