IAI PSEL, Руководство по эксплуатации

Страница: 774 / 1062

[10] Position Operation
280
z
PTAM (Substitution of target arm system data)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTAM
Variable No.
(Two
variables
used in a row)
Position
number
CP
Applicable models
XSEL-RX/SX/RXD/SXD
{
MSEL-PCX/PGX
{
Other than above ×
[Function] It writes the two types of arm system indications in a row from the variable
number indicated in Operand 1 into the position data indicated in Operand 2.
Arm System Indication Type Operand 1 Variable Setting
Right Arm System Substitution 1
Left Arm System Substitution -1
Arm System Data Clear 0
Variation No. n in Operand 1 is the target arm system indication of the 1st to 4th
axes or 1st to 3rd axes, and variable No. n+1 is that of the 5th to 8th axes. For
the type to connect one unit of SCARA, make sure to set 0 to the indicated
variable No. n+1.
Setting Range
Variable No. Description
1 unit of SCARA
connected
2 units of SCARA
connected
n
1st to 4th axes (1st to
3rd axes) SCARA target
arm system
-1, 0, 1 -1, 0, 1
n + 1
5th to 8th axes SCARA
target arm system
0
(Reserved by the
system)
-1, 0, 1
[Example] LET 20 1 Set right arm system to 1st to 4th axes (1st to 3rd
axes)
LET 21 0 Set 0 to 5th to 8th axes (system reservation as it is
not connected)
PTAM 20 10 Write the arm system data stored in Variable No. 20
and 21 to Position No. 10.
Variable No.20 1 : Right arm system indicated
in 1st to 4th axes (1st to 3rd
axes)
Variable No.21 0 : System reserved (not
connected) in 5th to 8th axes