IAI America XSEL-KX - Manual (Page 88)

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Part 4 Commands
2. Command Codes in Alphabetical Order
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
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 111 Optional Stop program number (Stop program number) CP Stop other program
ACC 132 Optional Acceleration Prohibited CP Set acceleration for CP operation
ACCS 133 Optional Ratio Prohibited CP
Set acceleration ratio for PTP
operation
ACHZ 221 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 80 Optional Augend variable Addend ZR Add
AEXT 223 Optional (Position number) Prohibited CP Set arch-motion composition
AND 88 Optional AND operand variable Operand CP Logical AND
ARC 182 Optional Passing position number End position number CP Move along arc
ARC2 172 Optional Passing position number End position number CP Move along arc 2
ARCC 176 Optional Center position number Center angle CP
Move along arc via specification of
center position and center angle
ARCD 175 Optional End position number Center angle CP
Move along arc via specification of
end position and center angle
ARCH 230 Optional Position number Position number CP Arch motion
ARCS 174 Optional Passing position number Passing position number CP Move three-dimensionally along arc
ATM 86 Optional
Inverse-tangent
assignment operation
Operand ZR Inverse tangent
ATRG 222 Optional Position number Position number CP Set arch trigger
AXST 192 Optional Variable number Axis number CP Get axis status
B
BGPA 210 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 107 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BT[F 97 Optional Output port, flag Timer setting CC Output OFF pulse
BT[M 96 Optional Output port, flag Timer setting CC Output ON pulse
BTXX 95 Optional Start output, flag (End output, flag) CC Output, flag [ON, OF, NT]
C
CANC 141 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 232 Optional 0 or 1 Prohibited CP Change task level
CIR 181 Optional Passing position 1 number
Passing position 2
number
PE Move along circle
CIR2 171 Optional Passing position 1 number
Passing position 2
number
PE Move along circle 2
CIRS 173 Optional Passing position 1 number
Passing position 2
number
PE Move three-dimensionally along circle
CLOS 196 Optional Channel number Prohibited CP Close channel
CLR 79 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 84 Optional
Cosine assignment
variable
Operand ZR Cosine
CPXX 91 Optional Comparison variable Comparator Compare