IAI America XSEL-KX - Manual (Page 87)

71
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
Palletizing-
related
Optional BGPA Palletizing number Prohibited CP
Declare start of palletizing
setting
210
Prohibited EDPA Prohibited Prohibited CP
Declare end of palletizing
setting
210
Optional PAPI Count Count CP Set palletizing counts 211
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 211
Optional PASE Axis number Axis number CP Set palletizing axes 212
Optional PAPT Pitch Pitch CP Set palletizing pitches 212
Optional PAST (Position number) Prohibited CP Set palletizing reference point 213
Optional PAPS Position number
(Palletizing position
setting type)
CP Set palletizing positions 214
Optional PSLI Offset amount (Count) CP Set zigzag 217
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 218
Optional PTRG Position number Position number CP Set palletizing arch triggers 219
Optional PEXT (Position number) Prohibited CP Set palletizing composition 220
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 220
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 221
Optional ATRG Position number Position number CP Set arch triggers 222
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 223
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 223
Optional PTNG Palletizing number Variable number CP Get palletizing position number 224
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
224
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
225
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
225
Optional PARG Palletizing number Axis number CP Get palletizing angle 226
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 226
Optional PMVP Palletizing number (Position number) PE
Move to palletizing points via
PTP
227
Optional PACH Palletizing number Position number PE Palletizing-point arch motion 228
Optional ARCH Position number Position number PE Arch motion 230
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Building of
pseudo-
ladder task
Optional CHPR 0 or 1 Prohibited CP Change task level 232
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition
is not specified
232
Optional TSLP 0 or 1 Prohibited CP Task sleep 233
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
See
275
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
See
275