IAI America ASEL - Manual (Page 259)

Part 2 Programs
Chapter 3 Explanation of Commands
237
Part 2 Programs
z ECMD20 (Get parameter value)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ECMD 20
Variable
number
CC
[Function] Store the value of the specified parameter in variable 99, using the data stored in the three
consecutive variables starting from the one corresponding to the variable number specified in
operand 2.
If variable No. n is set in operand 2, the data in variable No. n will indicate the parameter type,
data in variable No. n+1 will indicate the device number (or axis number), and data in variable
No. n+2 will indicate the parameter number, respectively. The ranges of parameter type,
device number (or axis number) and parameter number are specified below. If an out-of-
range value is specified, “C44, SEL data error” will generate.
I/O
Common
to all axes
Axis-
specific
Driver Encoder I/O device Other
Parameter type 0 1 2 3 4 5 7
Device number/axis number 0 0 1 ~ 2 1 ~ 2 1 ~ 2 0 ~ 7 0
Parameter number 1 ~ 300 1 ~ 120 1 ~ 200 1 ~ 97 1 ~ 30 1 ~ 82 1 ~ 100
Specify an integer variable in operand 2 (integer variables 98, 99, 298, 299, 1098, 1099, 1298 and
1299 cannot be specified, because three consecutive integer variables cannot be allocated if any
of these integer variables is specified). If a variable of non-integer type is specified, “C3C, Variable
number error” will generate.
(Note) If an invalid axis number is specified in operand 2, “C44, SEL data error” will generate.
[Example 1] LET 10 2 Variable No. 10 = Parameter type (Axis-specific)
LET 11 2 Variable No. 11 = Axis number (Axis 2)
LET 12 42 Variable No. 12 = Parameter number (No. 42)
ECMD 20 10 Extended command 20 (Use variable Nos. 10 through 12)
Store the value of axis-specific parameter No. 42 (axis 2),
“Encoder resolution,” in variable 99.
[Example 2] LET 1250 0 Variable No. 1250 = Parameter type (I/O)
LET 1251 0 Variable No. 1251 = Device number (0, in the case of I/O
parameter)
LET 1252 30 Variable No. 1252 = Parameter number (No. 30)
ECMD 20 1250 Extended command 20 (Use variable Nos. 1250 through
1252)
Store the value of I/O parameter No. 30, “Input function
selection 000,” in variable 99.