IAI America XSEL-QX User Manual
Page 162
138
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
Command Page Condition
Operand 1
Operand 2
Output
Function
M
MOD
145
Optional
Remainder assignment
variable
Divisor ZR
Calculate
remainder
MOVL
231
Optional
Destination position
number
Prohibited
PE
Move to specified position via interpolation
MOVP
230
Optional
Destination position
number
Prohibited
PE
Move to specified position
MULT
144
Optional
Multiplicand variable
Multiplier
ZR
Multiply
MVLI
233
Optional
Travel position number
Prohibited
PE
Move to relative position via interpolation
MVPI
232
Optional
Travel position number
Prohibited
PE
Move to relative position
O
OFAZ
307
Optional
Offset amount
Prohibited
CP
Set arch-motion Z-axis offset
OFPZ
304
Optional
Offset amount
Prohibited
CP
Set palletizing Z-axis offset (SCARA only)
OFST
202
Optional
Setting axis pattern
Offset value
CP
Set offset
OPEN
278
Optional
Channel number
Prohibited
CP
Open channel
OR
152
Optional
OR operand variable
Operand
ZR
Logical OR
OTHE
269
Prohibited Prohibited
Prohibited
CP
Declare branching destination when condition
is not satisfied
OUT
164
Optional
Head output, flag
End I/O, flag
CC
Output binary (32 bits max.)
OUTB
165
Optional
Head output, flag
Conversion digits
CC
Output BCD (8 digits max.)
OUTR
373
Optional
Output, flag number
Prohibited
CP
Output relay for ladder
OVRD
194
Optional
Speed ratio
Prohibited CP
Set speed ratio
P
PACC
185
Optional Acceleration
Assignment destination
position number
CP Assign
position
acceleration
PACH
313
Optional
Palletizing number
Position number
PE
Palletizing point arch motion (SCARA only)
PAPG
310
Optional
Palletizing number
Position number
CP
Get palletizing calculation data
PAPI
294
Optional
Count
Count
CP
Set palletizing counts
PAPN
294
Optional
Pattern number
Prohibited
CP
Set palletizing pattern
PAPR
210
Optional
Distance
Speed
CP
Set PUSH command distance, speed
PAPS
297
Optional
Position number
Palletizing position
setting type
CP
Set 3 palletizing points for 4-point teaching
PAPT
295
Optional
Pitch
Pitch
CP
Set palletizing pitches
PARG
310
Optional
Palletizing number
Axis number
CP
Get palletizing angle
PASE
295
Optional
Axis number
Axis number
CP
Set palletizing axes
PAST
296
Optional
(Position number)
Prohibited
CP
Set palletizing reference point
PATH
234
Optional
Start position number
End position number
PE
Move along path
PAXS
187
Optional
Axis pattern assignment
variable number
Position number
CP
Read axis pattern
PBND
255
Optional
Axis pattern
Distance
CP
Set positioning band
PCHZ
302
Optional
Axis number
Prohibited
CP
Set palletizing Z-axis (SCARA only)
PCLR
179
Optional
Start position number
End position number
CP
Clear position data
PCPY
180
Optional
Copy destination
position number
Copy source position
number
CP Copy
position
data
PDCL
186
Optional
Deceleration
Assignment-destination
position number
CP Assign
position
deceleration
PDEC
309
Optional
Palletizing number
Prohibited
CC
Decrement palletizing position number by 1
PEXT
304
Optional
(Position number)
Prohibited
CP
Set palletizing composition (SCARA only)
PGET
177
Optional
Axis number
Position number
CC
Assign position to variable 199
PGST
271
Optional
Variable number
Program number
CP
Get program status
PINC
308
Optional
Palletizing number
Prohibited
CC
Increment palletizing position number by 1
PMVL
312
Optional
Palletizing number
(Position number)
PE
Move to palletizing points via interpolation
(Linear movement axis only)
PMVP
311
Optional
Palletizing number
(Position number)
PE
Move to palletizing points via PTP
POTP
209
Optional
0 or 1
Prohibited
CP
Set PATH output type
PPUT
178
Optional
Axis number
Position number
CP
Assign value of variable 199
PRDQ
182
Optional
Axis number Variable
number CP
Read current axis position (1 axis direct)