IAI PSEL, Руководство по эксплуатации

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3. Program
133
3.5.18 Output of Current Position Coordinate Value to External Device
[1] Description
Read the current actuator coordinate in real time and output the coordinate from an output port
as BCD data.
[2] Example of Use
Use a PRDQ command to read the current coordinate value of axis 1.
Output the current coordinate data of axis 1 every 0.2sec as BCD output.
The output range is from 0.00 to 999.99mm.
BCD output assignment
Output port No. Description
Output port No. Description
324 0.01 337 20
325 0.02 338 40
326 0.04 339 80
327 0.08 340 100
328 0.1 341 200
329 0.2 342 400
330 0.4 343 800
331 0.8
332 1
333 2
334 4
335 8
Unit: mm
* The current position coordinate is written to variable 101 according to the PRDQ command.
Since the value that has been read into the variable is in the xxx.xxx format, move the unused
digits to below the decimal point so that the result can be output as BCD data.
In this example, the third and subsequent decimal places are not required and thus the value
is multiplied by 100 to obtain the data xxxxx.x.
Next, the BCD output data is copied to dedicated variable 99.
The digit below the decimal point is rounded off at this time.
Then, the final value is output to an external device via an OUTB command.
This program is run in the multi-tasking mode as a sub-program.
[3] Note
The unit of output data may have to be changed as deemed appropriate depending on the
moving range of the actuator and number of available output ports.
If coordinate values from 0mm to 400mm [maximum TT stroke] are output in 0.01mm
increments, as in the example, 19 general-purpose outputs are needed. However, TT robots
only have 16 general-purpose outputs of 316 to 331. Accordingly, you must take an
appropriate action such as changing the unit of output data to 0.1mm.
Program (Example)