IAI America XSEL-S - Manual (Page 127)

Chapter 3 Programs
119
z XPED (wait for extension motion control board axis positioning completion during local program use)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command,
declaration
Operand 1 Operand 2
Output part
operation type
(output/flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XPED Prohibited Prohibited PE
[Function] Wait for completion of positioning of extension motion control board axes used by the local
program. With this command, it is possible to wait for the positioning (XMVP, XMPI, XMVL,
XMLI, XMVD, and XMDI) to be completed when position complete band is valid. The output is
turned on when the operation is normally completed. This command has no effect after
execution of operation commands other than positioning (output part OFF).
In case of operations where position complete band is valid, axes recover from operation
commands if the current command position reaches before the position complete band of the
target position. It is possible to check the completion of positioning by executing this
command after recovering the commands. Moreover, after recovering movement commands,
the program continues occupying the operation axes, but the axes are released by executing
this command and can be used by other programs.
[Example] XAXS 0 11 Set axis patterns for axes 0 and 1.
XMVP 10 Move specified axes to position No. 10.
In case of operations where position complete band is valid,
axes recover from commands if the current command position
reaches before the position complete band of the target
position.
BTON 308 Turn output port No. 308 on.
XPED Wait for completion of positioning axes 0 and 1 of the local
program.
z XSTP (extension motion control board axis movement stop)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command,
declaration
Operand 1 Operand 2
Output part
operation type
(output/flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XSTP Prohibited Prohibited PE
[Function] Decelerate to stop expansion extension motion control board axes specified in the XAXS
command. This command is valid for extension motion control board axis actuator control
commands, except for the XSOF command.
Caution : Set axis patterns using the XAXS command before executing this command. If the
command has not been executed, error No. 445 “No extension motion control board axe
pattern setting error” occurs.
[Example] XAXS 0 11 Set axis patterns for axes 0 and 1.
XSTP Decelerate and stop specified axes.