IAI America XSEL-QX - Manual (Page 160)

136
Part 4 Commands
2. 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 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
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 174 Optional Stop program number (Stop program number) CC Stop other program
ACC 195 Optional Acceleration Prohibited CP Set acceleration
ACCS 196 Optional Ratio [%] Prohibited CP
Set acceleration ratio in PTP operation
(SCARA only)
ACHZ 305 Optional Axis number Prohibited CP Declare arch motion Z-axis
ADD 143 Optional Augend variable Addend ZR Add
AEXT 307 Optional (Position number) Prohibited CP Set arch motion composition (SCARA only)
AND 151 Optional AND operand variable Operand ZR Logical AND
ARC 260 Optional Passing position number End position number PE Move along arc
ARC2 243 Optional Passing position number End position number PE Move along arc 2
ARCC 251 Optional Center position number Center angle PE
Move along arc via specification of center
position and center angle
ARCD 249 Optional End position number Center angle PE
Move along arc via specification of end
position and center angle
ARCH 315 Optional Position number Position number PE Arch motion
ARCS 247 Optional Passing position number Passing position number PE Move along arc three-dimensionally
ATN 149 Optional
Inverse tangent
assignment operation
Operand ZR Inverse tangent
ATRG 306 Optional Position number Position number CP Set arch trigger
AXST 270 Optional Variable number Axis number CP Get axis status
B
BASE 204 Optional Reference axis number Prohibited CP Set reference axis
BGPA 293 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 170 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF 160 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 159 Optional Output port, flag Timer setting CP Output ON pulse
BT 158 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 207 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 317 Optional 0 or 1 Prohibited CP Change task level
CHVL 253 Optional Axis pattern Speed CP Change speed (Linear movement axis only)
CIR 259 Optional
Passing position 1
number Passing position 2
number
PE Move along circle
CIR2 241 Optional
Passing position 1
number Passing position 2
number
PE Move along circle 2
CIRS 245 Optional
Passing position 1
number Passing position 2
number
PE Move three dimensionally along circle
CLOS 278 Optional Channel number Prohibited CP Close channel
CLR 142 Optional Start of clear variable End-of-clear variable ZR Clear variable
COS 147 Optional
Cosine assignment
variable
Operand ZR Cosine
CP 154 Optional Comparison variable Comparison value EQ NE GT
GE LT LE Compare
D
DCL 197 Optional Deceleration Prohibited CP Set deceleration
DCLS 198 Optional Ratio [%] Prohibited CP
Set acceleration ratio in PTP operation
(SCARA only)
DEG 203 Optional Division angle Prohibited CP Set division angle
DFIF 223 Optional
Interference check zone
number
Psition number
CP Define coordinates of simple interference
check zone (SCARA only)
DFTL 221 Optional
Tool coordinate system
number
Psition number
CP
Define tool coordinate system (SCARA only)
DFWK 214 Optional
Load coordinate system
number
Psition number
CP
Define load coordinate system (SCARA only)
DIS 208 Optional Distance Prohibited CP Set spline division distance
DIV 144 Optional Dividend variable Divisor ZR Divide
DW 264 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]