IAI RA Series, Инструкция по эксплуатации

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4. Operation Program
70
z
XPRD (extension motion control axis current command position read)
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 XPRD Position No. Prohibited CP
[Function] Read the current command position of extension motion control axis No. specified in the
XAXS command to position No. specified in operand 1.
Caution:
Specify an axis pattern using the XAXS command before executing this operation. If this
operation has not been executed, error No. 4B3 “No extension motion control board axis
pattern setting error” occurs.
[Example 1] XAXS 0 111 Set axis pattern for axes 0, 1, and 2.
XPRD 100 Read the current command positions of axes 0 to 2 to
position No. 100.
[Example 2] XAXS 0 111 Set axis pattern for axes 0, 1, and 2.
LET 1 100 Set 100 to variable 1.
XPRD *1 Read the current command positions of axes 0 to 2 to
position No. 100 stored in variable 1.
z
XPRQ (extension motion control axis current command position read (1-axis direct))
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 XPRQ Axis No. Variable No. CP
[Function] Read the current command position of extension motion control axis specified in operand
1 to a variable specified in operand 2 (valid until 3 decimal places). The current
command position can be acquired at higher speed than the XPRD command.
[Example 1] XPRQ 2 100 Read the current command position of axis 2 to variable
No. 100.
ME0364-2B