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V+ 12.4 Release Notes |
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AMOVE axis = position
Position an extra robot axis during the next joint-interpolated or straight-line motion.
No robot motion occurs when the AMOVE instruction is executed: The requested motion occurs when the next robot motion is performed.
The AMOVE instruction can be executed by any program task so long as the task has attached a robot. The instruction applies to the robot selected by the task.
If the V/V+ system is not configured to control a robot, executing the AMOVE instruction will cause an error.
axis Real value, variable, or expression (interpreted as an interger) that specifies the number of the extra robot axis to be moved. This value can be 1, 2, ...., n, where n is the total number of extra axes that the robot contains.
position Real value, variable, or expression that specifies the (absolute) position desired for the extra axis.
This value is interpreted in the units used to measure the axis position. That is, the position for a rotary axis must be specified in degrees, and the position for a linear axis must be in millimeters.
This instruction positions an extra robot axis during the next joint-interpolated or straight-line motion. However, this instruction has no effect if the next motion is caused by a DRIVE or DELAY instruction, or is a motion to a location specified by a precision point. That is, this instruction is canceled by those cases.
An extra axis is a redundant or independent axis that is an integral part of a robot device. For example, if a robot has two colinear Z axes, one of the two axes is designated as the redundant axis. Or, if the robot is mounted on a slide axis (for example, to allow the robot to be positioned at different work stations), the slide axis can be included as an independent axis in the geometric model for the robot.
An extra axis can be positioned directly by executing a DRIVE instruction, but then the extra axis moves by itself. That is, the other robot axes do not move while the extra axis is moving.
There are two ways to make the extra axis move along with all the other robot axes:
When the extra axis is moved with the other robot axes, all the axes are moved so they reach their destination positions at the same time.
AMOVE 2 = 100.0 Position the second extra axis of the robot to (absolute) position 100 during the next motion of the robot-unless a DRIVE or DELAY instruction is encountered first, or the location specified in the next motion instruction is a precision point.
APPRO and APPROS (program instruction)
SELECT (device_type, mode) (program instruction and real-valued function)
Perform the binary AND operation on two values.
The BAND operation is meaningful only when performed on integer values.
The BAND operator can be used to perform a binary AND operation on two values on a bit-by-bit basis, resulting in a real value.
Specifically, the BAND operation consists of the following steps:
1. Convert the operands to sign-extended 32-bit integers, truncating any fractional part.
2. Perform a binary AND operation (see below).
3. Convert the result back to a real value.
During the binary AND operation,
c = a BAND bthe bits in the resultant C are determined by comparing the corresponding bits in the operands A and B as indicated below.
That is, a bit in the result will be 1 if the corresponding bit in both of the operands is 1.
Refer to the V+ Language User's Guide for the order in which operators are evaluated within expressions.
Consider the following (binary values are shown to make the operation more evident):
^B101000 BAND ^B100001 yields ^B100000 (32)
Note that a very different result is obtained with the logical AND operation:
^B101000 AND ^B100001 yields -1 (TRUE)
In this case, ^B101000 and ^B100001 are each interpreted as logically TRUE since they are nonzero.
... value BOR value ... (operator)
... value BXOR value ... (operator)
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