IAI America SSEL - Manual (Page 170)

148
Part 2 Programs
z 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 turns ON when the data specified by the axis pattern is not entirely available (=
the position data display on the teaching pendant is X.XXX or position data fields in the PC
software are blank). 0 is treated 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)
o 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. Axis 1 Axis 2 Vel Acc Dcl
10 100.000 50.000
11