IAI America XSEL-S - Manual (Page 124)

5. Program Creating
118
X-SEL ż: Valid (Note 2) z RMDI (Move RC axis via incremental direct-value
position specification)
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 RMDI
RC axis
number
Variable
number
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] Perform incremental position movement using the values of variable Nos. n to n+3.
The output turns OFF when the axis movement is started, and will turn ON when the
movement is completed.
Variable number Set item
n Travel
n + 1 Speed [mm/s]
n + 2 Acceleration/deceleration [G]
n + 3 Positioning band [mm]
[Setting types of operation 1]
Operation 1 Specification of executing axis
0 to 15 The RC axis of the specified number moves by absolute positioning.
-1 The RC axis specified in the RAXS command moves by absolute
positioning.
* The specification of “-1” is valid only with X-SEL P/Q controllers of V0.87 or later and
X-SEL PX/QX controllers of V0.42 or later.
[Example] LET 300 50 Set the travel as “50” mm.
LET 301 200 Set the speed as “200” mm/s.
LET 302 0.3 Set the acceleration/deceleration as “0.3” G.
LET 303 0.1 Set the positioning band as “0.1” mm.
RMDI 1 300 Move RC axis 1 via incremental position specification.