IAI America XSEL-QX - Manual (Page 154)

130
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 z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional GOTO
Jump destination tag
number
Prohibited CP Jump 169
Prohibited TAG
Declaration tag
number
Prohibited CP Declare jump destination 169
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 170
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 170
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 171
Optional EXIT Prohibited Prohibited CP End program 172
Optional EXPG
Execution program
number (Execution program
number)
CC Start program 173
Optional ABPG Stop program number
(Stop program
number)
CC Stop other program 174
Optional SSPG
Pause program
number (Pause program
number)
CC Pause program 175
Task
management
Optional RSPG
Resumption program
number (Resumption program
number)
CC Resume program 176
Optional PGET Axis number Position number CC Assign position to variable 199 177
Optional PPUT Axis number Position number CP Assign value of variable 199 178
Optional PCLR Start position number End position number CP Clear position data 179
Optional PCPY
Copy destination
position number Copy source position
number
CP Copy position data 180
Optional PRED Read axis pattern
Save destination
position number
CP Read current axis position 181
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
182
Optional PTST
Confirmation axis
pattern Confirmation position
number
CC Confirm position data 183
Optional PVEL Speed [mm/sec]
Assignment
destination position
number
CP Assign position speed 184
Optional PACC Acceleration [G]
Assignment
destination position
number
CP Assign position acceleration 185
Optional PDCL Deceleration [G]
Assignment
destination position
number
CP Assign position deceleration 186
Optional PAXS
Axis pattern
assignment variable
number
Position number CP Read axis pattern 187
Optional PSIZ
Size assignment
variable number
CP Confirm position size 188
Optional GVEL Variable number Position number CP Get speed data 189
Optional GACC Variable number Position number CP Get acceleration data 190
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 191