IAI America XSEL-KX - Manual (Page 130)

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Part 4 Commands
1.10 Position Operation
 PGET (Read position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional PGET
Axis
number
Position
number
CC
[Function] Read to variable 199 the data of the axis number specified in operand 1 in the position data
specified in operand 2.
Data will not be stored in variable 199 (this command will not be executed) if the data being
read is XXX.XX.
Axis No. 1: X-axis, Axis No. 2: Y-axis, Axis No. 3: Z-axis, Axis No. 4: R-axis
(Note)
The movements of arms 1 and 2 of the SCARA robot are linked.
It is not always the case that arm 1 is the X-axis and arm 2 is the Y-axis.
It should be interpreted that the operation of X-axis (axis number = 1) represents operation in
the X coordinate direction, while the operation of the Y-axis (axis number = 2) represents
operation in the Y coordinate direction.
[Example 1] PGET 2 3 Read to variable 199 the data of the Y-axis (axis 2) at
position 3.
[Example 2] LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
PGET *1 *2 Read to variable 199 the data of the content of variable 1 (Y-
axis (axis 2)) at the content of variable 2 (position 3).