IAI America TT-C3 - Manual (Page 151)

141
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
z GRP (Set group axes)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional GRP Axis pattern Prohibited CP
[Function] Allow only the position data of the axis pattern specified in operand 1 to become valid.
The program assumes that there are no data for other axes not specified.
When multiple programs are run simultaneously, assigning axes will allow the same position
data to be used effectively among the programs.
A GRP command can be used with operand axis-pattern specification commands excluding
an OFST command, as well as with servo operation commands using position data.
A GRP command is processed with respect to soft axes before a BASE shift.
[Example 1] GRP 110 Data of axes 2 and 3 become valid.
CIR2 1 2 Axis-pattern error will not generate even if data is set for axis
1 to 3.
[Example 2] The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
110 (binary)
o 6 (decimal)
LET 1 6 Assign 6 to variable 1.
GRP *1
CIR2 1 2