IAI America S-SEL-E - Manual (Page 128)

Page 123
GRP (Grouping of Axes)
[Function] This command moves the actuator through the position data of the designated axis pattern. (Even if there is
data in axes other than those designated, the actuator will not move to these positions).
[Example] GRP 00000011
From position data for 8 axes, data from axis 1 and 2 is taken out and executed.
[Function] This command sets up the motion increments for use with CIR (Circular Movement) and ARC (Arc Move-
ment) commands. When performing CIR and ARC commands, passing points will be calculated by dividing a
circle into the degrees as set. When increments are set small, the circular movement is accurate, however,
when they are too small, the speed becomes too slow. When CIR and ARC commands are performed without
setting increments, the motion increments of the actuator will be 15 degrees.
[Example] DEG 10
DEG (Degree Setting)
Motion in 10 degree
increments.
Chapter 4. Programming
E x p a n s i o n
c o n d i t i o n
( A N D · O R )
I n p u t
c o n d i t i o n
( I / O · F l a g )
C o m m a n d
P o s t
( O u t p u t p o r t · F l a g )
C o m m a n d O p e r a n d 1 O p e r a n d 2
O p t i o n a l O p t i o n a l G R P A x i s p a t t e r n
E x p a n s i o n
c o n d i t i o n
( A N D · O R )
I n p u t
c o n d i t i o n
( I / O · F l a g )
C o m m a n d
P o s t
( O u t p u t p o r t · F l a g )
C o m m a n d O p e r a n d 1 O p e r a n d 2
O p t i o n a l O p t i o n a l D E G A n g l e