IAI America XSEL-KX - Manual (Page 84)

68
Part 4 Commands
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1
≤ Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Actuator
control
declaration
Optional VEL Speed [mm/sec] Prohibited CP
Set speed for CP operation
129
Optional VELS Ratio [%] Prohibited CP Set speed ratio for PTP operation 130
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 131
Optional ACC Acceleration [G] Prohibited CP
Set acceleration for CP operation
132
Optional ACCS Ratio [%] Prohibited CP
Set acceleration ratio for PTP operation
133
Optional DCL Deceleration [G] Prohibited CP Set deceleration for CP operation 134
Optional DCLS Ratio [%] Prohibited CP Set deceleration ratio for PTP operation 135
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 136
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 137
Optional DEG Division angle [deg] Prohibited CP Set division angle 138
Optional GRP Valid axis pattern Prohibited CP Set group axes 139
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 140
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 141
Optional DIS Distance Prohibited CP Set spline division distance 142
Optional POTP 0 or 1 Prohibited CP Set PATH output type 143
Optional PAPR Distance Speed CP Set PUSH command distance, speed 144
Optional DFTL
Tool coordinate
system number
Position number CP
Define tool coordinate system
145
Optional SLTL
Tool coordinate
system number
Prohibited CP
Select tool coordinate system
146
Optional GTTL
Tool coordinate
system number
Position number CP
Get tool coordinate system definition data
147
Optional DFWK
Load coordinate
system number
Position number CP
Define load coordinate system
148
Optional SLWK
Load coordinate
system number
Prohibited CP
Select load coordinate system
149
Optional GTWK
Load coordinate
system number
Position number CP
Get load coordinate system definition data
150
Optional DFIF
Interference check
zone number
Position number CP
Define coordinates of simple interference check
zone
157
Optional SOIF
Interference check
zone number Output/global flag
number
CP
Specify output for simple interference check
zone
158
Optional SEIF
Interference check
zone number 0 or 1 or 2
(Error type)
CP
Specify error type for simple interference check
zone
159
Optional GTIF
Interference check
zone number
Position number CP
Get definition coordinates of simple interference
check zone
160
Optional PTPD Prohibited Prohibited CP
Specify current arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation)
155
Optional PTPE Prohibited Prohibited CP
Specify current arm as PTP target arm system
(Movement of the opposite arm system is
permitted when the target value cannot be
achieved) (No arm operation)
156
Optional PTPR Prohibited Prohibited CP
Specify right arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation)
153
Optional PTPL Prohibited Prohibited CP
Specify left arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation)
154
Optional RIGH Prohibited Prohibited PE
Change current arm system to right arm
(Arm 2 may operate if the current arm system is
the opposite arm)
151
Optional LEFT Prohibited Prohibited PE
Change current arm system to left arm
(Arm 2 may operate if the current arm system is
the opposite arm)
152