IAI America XSEL-S - Manual (Page 123)

Chapter 3 Programs
115
z XMLI (extension motion control board axis position relative interpolation 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 XMLI Position No. Prohibited PE
[Function] Move extension motion control board axis specified in the XAXS command using position data
No. specified in operand 1 via linear interpolation move as movement amount.
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 you specify axes connected to another extension motion control board at the same time, error No.
C30 “Axis pattern error” occurs.
(3) It is necessary to specify speed, acceleration, and deceleration using the VEL, VLMX, ACC, and DCL
commands before executing this command. If those commands have not been executed, an error
occurs.
(4) 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 (XMVL
Command) to specify the absolute position.
[Example 1] XAXS 0 11 Set axis patterns for axes 0 and 1.
XMLI 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.
XMLI *1 Move specified axis using position No. 10 of the content 10 of
variable 1 as movement amount.