IAI America XSEL-S - Manual (Page 106)

5. Program Creating
100
5.3.2 Explanation of Commands
(1) Position data operation commands
X-SEL ż: Valid
z RPGT (Read RC axis position data)
RC position
data mode
RC ×: Invalid (Note 1)
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)
Free Free RPGT
RC axis
number
Position
number
CC
Note 1 If the command is executed, an RC position data use method error (439) will occur.
[Function] Read the position of RC axis into variable 199.
[Example 1] RPGT 1 2 Read the position of RC position No.2 of axis 1 into variable
199.
No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 0 0.10
“200.00” is stored in variable 199.
[Example 2] LET 1 2 Assign “2” to variable 1.
LET 2 3 Assign “3” to variable 2.
RPGT *1 *2 Read the RC position corresponding to the content “3” of
variable 2 of the axis specified by the content “2” of variable
1, into variable 199.