IAI America XSEL-S - Manual (Page 117)

5. Program Creating
111
X-SEL ż: Valid
z RGIP (Read RC axis positioning band 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 RGIP
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 positioning band [mm] for the position data specified by operand 2, into variable 199.
[Example] RGIP 2 1 Read the positioning band 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 0.10
X-SEL ż: Valid z RGTQ (Read RC axis current-limiting value data
during push-motion operation)
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 RGTQ
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 current-limiting value during push-motion operation [%] for the position data
specified by operand 2, into variable 199.
[Example] RGTQ 2 1 Read the current-limiting value 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 30 0.10
Variable 199 30