IAI America XSEL-QX - Manual (Page 156)

132
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 HOME Home-return axis pattern Prohibited PE
Return to home (Linear movement
axis only)
228
Optional SV Operation axis pattern Prohibited PE Servo [ON, OF] 229
Optional MOVP
Destination position
number
Prohibited PE Move to specified position 230
Optional MOVL
Destination position
number
Prohibited PE
Move to specified position via
interpolation
231
Optional MVPI Travel position number Prohibited PE Move to relative position 232
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
233
Optional PATH Start position number End position number PE Move along path 234
Optional J W Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 235
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 237
Optional PSPL Start position number End position number PE Move along spline 238
Optional PUSH Target position number Prohibited PE Move by push motion 239
Optional CIR2
Passing position 1
number Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
241
Optional ARC2 Passing position number End position number PE Move along arc 2 (arc interpolation) 243
Optional CIRS
Passing position 1
number Passing position 2
number
PE
Move three dimensionally along
circle
245
Optional ARCS Passing position number
Passing position
number
PE Move three dimensionally along arc 247
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification of
end position and center angle
249
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification of
center position and center angle
251
Optional CHVL Axis pattern Speed CP
Change speed (Linear movement
axis only)
253
Optional PBND Axis pattern Distance CP Set positioning band 255
Optional
TMPI Position number Prohibited PE
Move relatively between positions
on tool coordinate system (SCARA
only)
256
Optional
TMLI Position number Prohibited PE
Move relatively between positions
on tool coordinate system via
interpolation (SCARA only)
257
Optional PTRQ Axis pattern Ratio [%] CC Change push torque limit parameter 258
Optional CIR
Passing position 1
number Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
259
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
260
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 315
Optional ACHZ Axis number Prohibited CP Declare arch motion Z-axis 305
Optional ATRG Position number Position number CP Set arch trigger 306
Optional AEXT (Position number) Prohibited CP Set arch motion composition 307
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch motion Z-axis offset 307
Optional IF Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE] 261
Optional IS Column number
Column number,
character literal
CP Compare strings 262
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination when
IF command condition is not
satisfied
263
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 263
Optional DW Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 264
Optional LEAV Prohibited Prohibited CP Pull out from DO 264
Optional ITER Prohibited Prohibited CP Repeat DO 265
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 265
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 266
Prohibited WH Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE, LT,
LE]
267
Prohibited WS Column number
Column number,
character literal
CP Branch character string [EQ, NE] 268
Prohibited OTHE Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
269
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 269