IAI America XSEL-QX - Manual (Page 427)

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Appendix
20. Output of Coordinate Values
Description
Read the current coordinates of the actuator in real time and output BCD data via an output port.
Example of Use
Use a PRDQ command to read the current coordinate position of axis 1.
Output the current coordinate data of axis 1 as a BCD every 0.2 second.
The output range is 0.00 to 999.99 mm.
Assignment of BCD output
Output port No.
Description Output port No. Description
324 0.01 336 10
325 0.02 337 20
326 0.04 338 40
327 0.08 339 80
328 0.1 340 100
329 0.2 341 200
330 0.4 342 400
331 0.8 343 800
332 1
333 2
334 4
335 8
Unit: mm
Application Program
* Use a PRDQ command to write the current position coordinates to variable 101.
Since the value read to the variable is in the format of “XXX.XXX,” the digits not used in the BCD output
are moved to decimal places.
In this example, the third and subsequent decimal places are not used, and thus the value is multiplied by
100 to be converted to data in the format of “XXXXX.X.”
Next, the aforementioned variable is copied to a dedicated variable for BCD output, or variable 99.
At this point, all decimal digits are rounded off.
Thereafter, the remaining part of data is output to an external device using an OUTB command.
This program is used as a subprogram in the multi-tasking mode.
Assign the current position of axis 1 to variable 101.
Round off the third and subsequent decimal places.
Copy to an integer variable.
Output 5 BCD digits.
Sampling time