IAI America XSEL-S - Manual (Page 110)

5. Program Creating
104
X-SEL ż: Valid
z RPRD (Read current RC axis position)
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 RPRD
Position
number
Prohibited CP
Note 1 If the command is executed, an RC position data use method error (439) will occur.
[Function] Read the current position of the axis specified in the RAXS command explained in 2.3.2 (2) of
the “Software” chapter in this manual, into a position number.
Notice: Before executing this command, set the axis pattern using the RAXS command.
If the RAXS is not yet executed, an error “(43B) RC axis pattern not yet set error” will occur.
[Example 1] RAXS 0 111 Set the axis pattern as axes 0, 1 and 2.
RPRD 100 Read the current positions of axes 0 to 2 each into RC
position No.100.
Position data of axis 1
No. Pos Vel Acc Push Inp
100 5.00 300 0.3 0 0.10
The current position of axis 1 is input.
Position data of axis 2
No. Pos Vel Acc Push Inp
100 500.00 200 0.3 0 0.10
The current position of axis 2 is input.
Position data of axis 3
No. Pos Vel Acc Push Inp
100 100.00 300 0.3 0 0.10
The current position of axis 3 is input.
[Example 2] RAXS 0 111 Set the axis pattern as axes 0, 1 and 2.
LET 1 100 Set “100” in variable 1.
RPRD *1 0 to 2 Read the current positions of axes 0 to 2 each into the RC
position corresponding to the content “100” of variable 1.