IAI America XSEL-S - Manual (Page 109)

5. Program Creating
103
X-SEL ż: Valid
z RPCP (Copy RC 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 RPCP
RC axis
number
Variable
number n
CP
Note 1 If the command is executed, an RC position data use method error (439) will occur.
[Function] Copy the position data in variable No.n+1 to variable No.n.
Variable number Set item
n Position number to copy to
n + 1 Position number to copy from
[Example] LET 200 2 Assign “2” to variable 200.
LET 201 0 Assign “0” to variable 201.
RPCP 1 200 Copy the data of position No.0 of axis 1 to No.2.
Position data of axis 1
No. Pos Vel Acc Push Inp
0 5.00 100 0.2 0 0.20
1 380.00 300 0.3 0 0.10
2 5.00 100 0.2 0 0.20
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