IAI America XSEL-S - Manual (Page 113)

Chapter 3 Programs
105
z XPRD (extension motion control board axis current command position read)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command,
declaration
Operand 1 Operand 2
Output part
operation type
(output/flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XPRD Position No. Prohibited CP
[Function] Read the current command position of extension motion control board axis No. specified in
the XAXS command to position No. specified in operand 1.
Caution:
(1) Specify an axis pattern using the XAXS command before executing this operation. If this operation
has not been executed, error No. 445 “No extension motion control board axis pattern setting error”
occurs.
(2) The position acquired with this command is the current command position from a extension motion
control board. Make sure to execute this command after performing home return.
[Example 1] XAXS 0 111 Set axis pattern for axes 0, 1, and 2.
XPRD 100 Read the current command positions of axes 0 to 2 to position
No. 100.
[Example 2] XAXS 0 111 Set axis pattern for axes 0, 1, and 2.
LET 1 100 Set 100 to variable 1.
XPRD *1 Read the current command positions of axes 0 to 2 to position
No. 100 stored in variable 1.
z XPRQ (extension motion control board axis current command position read (1-axis direct))
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command,
declaration
Operand 1 Operand 2
Output part
operation type
(output/flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XPRQ Axis No. Variable No. CP
[Function] Read the current command position of extension motion control board axis specified in
operand 1 to a variable specified in operand 2 (valid until 3 decimal places). The current
command position can be acquired at higher speed than the XPRD command.
Caution: The position acquired with this command is the current command position from a
extension motion control board. Execute this command after performing home return.
[Example 1] XPRQ 2 100 Read the current command position of axis 2 to variable No.
100.