IAI America XSEL-S - Manual (Page 141)

Chapter 3 Programs
133
3.3.8 Expansion Commands
z ECMD20 (parameter value acquisition)
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 XAST Variable No. Axis No. CP
[Function] This command uses data stored in 5 consecutive variables from the variable No. specified in
operand 2 to store the value of specified parameter in variable 99.
The setting items and range of variable data are shown in the table below. If values outside
the range are specified, the “C44 SEL data error” occurs.
It is possible to acquire parameters for extension motion control board by setting 10 for
parameter type.
Also, parameter detail types (n + 3) and channel No. (n + 4) are required.
 When n is specified in operand 2
Variable No
Setting
item
Setting value/range of each variable
n
Parameter
type
10 (extension motion control board)
n+1 Device No. 0~1
n+2
Parameter
No.
1~100
n+3
Parameter
detail type
0: Common
1: Input channel
2: Output channel
n+4
Channel
No.
The range varies depending on parameter detail type (n + 3).
Parameter detail type (n + 3). Range of channel No. (n + 4)
0 (Common) Reserved (fixed to 0)
1 (Input channel) 0~1
2 (Output channel) 0~7
Specify integer type variables in operand 2 (it is not allowed to specify integer type variables 96 to 99, 296
to 299, 1096 to 1099, 1296 to 1299 because 5 consecutive integer variables cannot be secured). If
variables other than integer type are specified, the “C3C variable No. error” occurs.
[Example] LET 1250 10 Variable No. 1250: Parameter type (extension motion control
board)
LET 1251 1 Variable No. 1251: Device No.
LET 1252 2 Variable No. 1252: Parameter No. (No. 2)
LET 1253 2 Variable No. 1252: Parameter No. (output channel)
LET 1254 5 Variable No. 1252: Parameter No. (output channel 5)
ECMD 20 1250 Expansion command 20 (use variable No. 1250 to 1254)
Store the value of extension motion control board parameter
No. 2 of output channel 5 (pulse output mode) to variable 99.