IAI America XSEL-S - Manual (Page 121)

Chapter 3 Programs
113
z XMPI (extension motion control board axis position relative 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 XMPI Position No. Prohibited PE
[Function] Move extension motion control board axis specified in the XAXS command for the amount of
position data 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.
(3) When this command continues to be executed repeatedly, the difference in the pitch intervals is
accumulated.
In the case that the accumulated difference becomes an issue, use the movement command (XMVP
Command) to specify the absolute position.
[Example 1] XAXS 0 11 Set axis patterns for axes 0 and 1.
XMPI 10 Move them using position No. 10 as movement amount.
[Example 2] XAXS 0 11 Set axis patterns for axes 0 and 1.
LET 1 10 Assign 10 to variable 1.
XMPI *1 Move specified axis using position No. 10 of the content 10 of
variable 1 as movement amount.