IAI America XSEL-KX - Manual (Page 131)

115
Part 4 Commands
 PPUT (Write 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 PPUT
Axis
number
Position
number
CP
[Function] Write the value in variable 199 to the axis number specified in operand 1 in the position data
specified in operand 2.
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] LET 199 150 Assign 150 to variable 199.
PPUT 2 3 Write the content of variable 199 (150) to the Y-axis (axis 2)
at position 3.
[Example 2] LET 199 150 Assign 150 to variable 199.
LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2
PPUT *1 *2 Write the content of variable 199 (150) to the content of
variable 1 (Y-axis (axis 2)) at the content of variable 2
(position 3).