IAI America XSEL-S - Manual (Page 131)

5. Program Creating
125
x Subroutine 1
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
34 //--------------------------------------------
35 // Obtain the upper/lower limits of target position.
36 // * Numbers between 1100 and 1199 are used for task variables within the subroutine.
37 //
38 // Argument 1: L real number 100: RC axis number
39 // Argument 2: L real number 101: Position number
40 // Argument 3: L real number 102: Variable number for lower limit of target position
41 // Argument 4: L real number 103: Variable number for upper limit of target position
42 //--------------------------------------------
43 BGSR 1
44 RPGT *100 *101 [1] Get target position
45 LET *102 *199
46 LET *103 *199
47 RGIP *100 *101 [2] Get positioning band
48 LET 1100 *199
49 SUB *102 *1100 [3] Lower limit of target position
50 ADD *103 *1100 [4] Upper limit of target position
51 EDSR
52
x Subroutine 2
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
53 //--------------------------------------------
54 // Check the completed position against the upper/lower limits.
55 // * Numbers between 1100 and 1199 are used for task variables within the subroutine.
56 //
57 // Argument 1: L real number 100: RC axis number
58 // Argument 2: L real number 101: Position number (Not used)
59 // Argument 3: L real number 102: Variable number for lower limit of target position
60 // Argument 4: L real number 103: Variable number for upper limit of target position
61 // Argument 5: L real number 104: Lower-limit error flag number
62 // Argument 6: L real number 105: Upper -limit error flag number
63 //--------------------------------------------
64 BGSR 2
65 BTOF *104 *105
66 RPRQ *100 1100
[1] Get current position of RC
axis
67 CPGT *102 *1100 *104 [2] Check lower limit of target
position
68 CPLT *103 *1100 *105 [3] Check upper limit of target
position
69 EDSR