IAI America XSEL-S - Manual (Page 121)

5. Program Creating
115
X-SEL ż: Valid
z RMVP (Move RC axis via position specification)
RC position
data mode
RC ż: Valid
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 RMVP
Position
number
Prohibited PE
[Function] Move the RC axis specified in the RAXS command explained in 5.3.2 (2) of the chapter in this
manual, to the position number specified by operand 1.
The output turns OFF when the axis movement is started, and will turn ON when the
movement is completed.
Caution: The specific operation varies depending on whether the X-SEL position data mode or RC
position data mode is used.
[1] Method to use position data in X-SEL
o The actuator moves to the position number specified by operand 1 via PTP operation.
[2] Method to use position data in RC
o The specific operation varies depending on the applicable RC position data.
RC position data item
No. Push
Incremental Description of operation
1 0 0
Move to the position number specified by operand 1 via PTP
operation.
2 0 1
Move incrementally by the travel equivalent to the position
number specified by operand 1 (PTP).
3 Other than 0 0
Move to the position number specified by operand 1, and
then perform push-motion operation.
If the load is missed by a single axis in push-motion
operation, the output will Turn OFF.
4 Other than 0 1
Move to the position number specified by operand 1, and
then perform push-motion operation.
If the load is missed by a single axis in push-motion
operation, the output will Turn OFF.
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 11 Set the axis pattern as axes 0 and 1.
RMVP 10 Move the specified axes to position No.10.
[Example 2] RAXS 0 11 Set the axis pattern as axes 0 and 1.
LET 1 10 Assign “10” to variable 1.
RMVP *1 Move the specified axes to position No.10 corresponding to
the content “10” of variable 1.