IAI America XSEL-S - Manual (Page 120)

Chapter 3 Programs
112
z XHOM (extension motion control board axis home return)
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 XHOM Prohibited Prohibited PE
[Function] Perform home return on extension motion control board axis specified in the XAXS command.
The servo is automatically turned ON for the axis to which home return is performed.
Caution :
(1) Set axis patterns using the XAXS command before executing this command. If the command has not
been executed, error No. 445 “No extension motion control board axe pattern setting error” occurs.
(2) If home return operation of extension motion control board axes is paused or stopped in the middle,
the servo of the axes is turned OFF. To resume the operation after the pause, first turn the servo ON
and then perform home return.
[Example] XAXS 0 1100 Set axis patterns for axes 2 and 3.
XHOM Perform home return on the specified axes.
z XMVP (extension motion control board axis position specification move)
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 XMVP Position No. Prohibited PE
[Function] Move extension motion control board axis specified in the XAXS command to position No.
specified in operand 1 via PTP move.
Caution :
(1) Set axis patterns using the XAXS command before executing this command. If the command has not
been executed, error No. 445 “No extension motion control board axe pattern setting error” occurs.
(2) It is possible to specify axes connected to another extension motion control board at the same time,
but individual boards are controlled separately and they are not synchronized.
[Example 1] XAXS 0 11 Set axis patterns for axes 0 and 1.
XMVP 10 Move specified axis to position No. 10.
[Example 2] XAXS 0 11 Set axis patterns for axes 0 and 1.
LET 1 10 Assign 10 to variable 1.
XMVP *1 Move specified axis to position No. 10 of the content 10 of
variable 1.