IAI PSEL, Руководство по эксплуатации

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[26] RC gateway function commands
490
z
RMVP (Move RC-axis by position specification)
XSEL
{
Can be used RC position-data
use mode
RC
{
Can be used
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
operation type
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RMVP
Position
number
Prohibited PE
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
u
{ {
u
{ {
u u u
[Function] Move each RC-axis specified by an RAXS command to the position number in operand 1.
The output turns OFF when the axis movement is started, and turns ON when completed.
Caution: The specific operation varies between the XSEL position-data use mode and RC
position-data use mode.
1) XSEL position-data use mode
o
Move via PTP to the position corresponding to the position number in
operand 1.
2) RC position-data use mode
o
The specific operation varies depending on the position data in the RC
controller.
Position data item in RC
No.
Push-motion Incremental Description of operation
1 0 0
Move via PTP to the position corresponding to the
position number in operand 1.
2 0 1
Move incrementally (via PTP) by the travel
corresponding to the position number in operand 1.
3 Other than 0 0
Move to the position corresponding to the position
number in operand 1 and then perform push-motion
operation.
The output turns OFF if any one axis has been
pushed missed the load.
4 Other than 0 1
Move to the position corresponding to the position
number in operand 1 and then perform push-motion
operation.
The output turns OFF if any one axis has been
pushed and missed the load.
Important note: Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.
[Example 1] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.
RMVP 10 Move the specified axes to the positions
corresponding to position No. 10.
[Example 2] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.
LET 1 10 Assign 10 to variable 1.
RMVP *1 Move the specified axes to the positions
corresponding to position No. 10 according to the
content of variable 1, or 10.