IAI America PSEL - Manual (Page 152)

142
Part 2 Programs
 PTST (Check position data)
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 PTST
Axis
pattern
Position
number
CC
[Function] Check if valid data is contained in the axis pattern specified in operand 1 at the position
number specified in operand 2.
The output will turn ON if none of the data specified by the axis pattern is available (the
position data table shows “X.XXX” on the teaching pendant or the poison data display is
blank in the PC software). “0” is recognizes as valid data.
[Example 1] PTST 11 10 300 Turn ON output 300 if there are no valid values of axes
1 and 2 at position 10.
Output 300 will turn OFF if the position data is given as
follows:
[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:
11 (binary)
 3 (decimal)
LET 1 3 Assign 3 to variable 1.
PTST *1 10 300
[Example 3] LET 1 11 Assign 11 to variable 1.
PTST 11 *1 600 Turn ON flag 600 if there are no valid values in the data
of axes 1 and 2 at the content of variable 1 (position
11).
Flag 600 will turn ON if the position data is given as
follows:
Position data display in PC software
No. Axis1 Axis2 Vel Acc Dcl
10 100.000 50.000
11