IAI RA Series, Instruction Manual

Page: 95 / 186

4. Operation Program
87
z
XPED (wait for extension motion control axis positioning completion during local program use)
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 XPED Prohibited Prohibited PE
[Function] Wait for completion of positioning of extension motion control axes used by the local
program. With this command, it is possible to wait for the positioning (XMVP, XMPI, XMVL,
XMLI, XMVD, and XMDI) to be completed when position complete band is valid. The
output is turned on when the operation is normally completed. This command has no effect
after execution of operation commands other than positioning (output part OFF).
In case of operations where position complete band is valid, axes recover from operation
commands if the current command position reaches before the position complete band of
the target position. It is possible to check the completion of positioning by executing this
command after recovering the commands. Moreover, after recovering movement
commands, the program continues occupying the operation axes, but the axes are
released by executing this command and can be used by other programs.
[Example] XAXS 0 11 Set axis patterns for axes 0 and 1.
XMVP 10 Move specified axes to position No. 10.
In case of operations where position complete band is
valid, axes recover from commands if the current
command position reaches before the position complete
band of the target position.
BTON 308 Turn output port No. 308 on.
XPED Wait for completion of positioning axes 0 and 1 of the
local program.
z
XSTP (extension motion control axis movement stop)
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 XSTP Prohibited Prohibited PE
[Function] Decelerate to stop expansion extension motion control axes specified in the XAXS or
XA16 command. This command is valid for extension motion control axis actuator control
commands, except for the XSOF command.
Caution : Set axis patterns using the XAXS or XA16 command before executing this command. If
the command has not been executed, error No. 4B3 “No extension motion control aixs
pattern setting error” occurs.
[Example] XAXS 0 11 Set axis patterns for axes 0 and 1.
XSTP Decelerate and stop specified axes.
ME0364-2B