IAI America XSEL-S - Manual (Page 116)

5. Program Creating
110
X-SEL ż: Valid
z RGVL (Read RC axis speed 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 RGVL
RC axis
number
Position
number
CP
Note 1 If the command is executed, an RC position data use method error (439) will occur.
[Function] Read the speed [mm/s] for the position data specified by operand 2, into variable 199.
[Example] RGVL 2 1 Read the speed for RC position No.1 of axis 2 into variable
199.
Position data of axis 2
No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 200 0.3 0 0.10
Variable 199 200
X-SEL ż: Valid
z RGAD (Read RC axis acceleration/deceleration
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 RGAD
RC axis
number
Position
number
CP
Note 1 If the command is executed, an RC position data use method error (439) will occur.
[Function] Read the acceleration/deceleration [G] for the position data specified by operand 2, into
variable 199.
[Example] RGAD 2 1 Read the acceleration/deceleration for RC position No.1 of
axis 2 into variable 199.
Position data of axis 2
No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 0 0.10
Variable 199 0.2