IAI America XSEL-S - Manual (Page 127)

5. Program Creating
121
(3) Information read commands
X-SEL ż: Valid
z RCST (Read RC axis status)
RC position
data mode
RC ż: Valid
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration Operand 1
Operand 2
Output operation
type (output, flag)
Free Free RCST
Variable
number
RC axis
number
CP
[Function] Read the RC axis status into variable No.n specified by operand 1.
Read the completed position number into variable No.n+1. (Refer to Notice 2.)
Notice 1: The specific status varies depending on whether the X-SEL position data mode or RC
position data mode is used.
Variable number Acquired item
n RC axis status
n + 1 Completed position number
Bit structure of RC axis status
Method to use position data in X-SEL Method to use position data in RC
Bit
Name Explanation Name Explanation
27-31 - Reserved. - Reserved.
26 ALMX
RC axis alarm
(Alarm detected by the X-SEL)
* ALMX is a RC-axis alarm that ALM + X-SEL
have detected.
ALMX
RC axis alarm
(Alarm detected by the X-SEL)
* ALMX is a RC-axis alarm that ALM +
X-SEL have detected.
25 USE RC axis in use USE RC axis in use
24 LNK RC axis link status LNK RC axis link status
16-23 - Reserved. - Reserved.
15 RMDS Operation Mode RMDS Operation Mode
14 ALML Light Error Alarm ALML Light Error Alarm
13 ZON2 Zone 2 ZON2 Zone 2
12 ZON1 Zone 1 ZON1 Zone 1
11 - Reserved. PZON Position zone
10 - Reserved. MODS Teaching mode status
9 SFTY Safety speed enabled status SFTY Safety speed enabled status
8 BALM Low battery voltage BALM Low battery voltage
7 EMG Emergency stop status EMG Emergency stop status
6 PSFL Load missed during push-motion operation PSFL Load missed during push-motion operation
5 CRDY Controller ready CRDY Controller ready
4 SON Servo ON status SON Servo ON status
3 MOVE Moving MOVE Moving
2 HEND Home return complete HEND Home return complete
1 PEND Positioning complete PEND Positioning complete
0 ALM
An alarm occurred that makes it impossible
to continue operation.
(Alarm detected by the RC axis)
ALM
An alarm occurred that makes it impossible
to continue operation.
(Alarm detected by the RC axis)
Notice 2: Completed position numbers are set only in the RC position data mode.
In the X-SEL position data mode, “0” is always set.
[Example] RCST 200 10 Get the status of RC axis 10 into variable 200.