IAI America XSEL-S - Manual (Page 122)

5. Program Creating
116
X-SEL ż: Valid (Note 2)
z RMPI (Move RC axis incrementally)
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 RMPI
Position
number
Prohibited PE
Note 1 If the command is executed, an RC position data use method error (439) will occur.
Note 2 For Fieldbus Type, (405) RC Gateway Communication Classification Error will be generated
[Function] Move the RC axis specified in the RAXS command explained in 5.3.2 (2) of the chapter in this
manual, by the travel equivalent to the position data specified by operand 1.
The output turns OFF when the axis movement is started, and will turn ON when the
movement is completed.
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.
RMPI 10 Move the axes by the travel equivalent 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.
RMPI *1 Move the specified axes by the travel equivalent to position
No.10 corresponding to the content “10” of variable 1.