IAI America XSEL-QX User Manual
Page 163
139
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
P
PRED
181
Optional
Read axis pattern
Save destination
position number
CP
Read current axis position
PSET
309
Optional
Palletizing number
Data
CC
Set palletizing position number directly
PSIZ
188
Optional
Size assignment
variable number
CP
Confirm
position
size
PSLI
301
Optional
Offset amount
(Count)
CP
Set zigzag
PSPL
238
Optional
Start position number
End position number
PE
Move along spline
PTNG
308
Optional
Palletizing number
Variable number
CP
Get palletizing position number
PTPD 221
Optional
Prohibited
Prohibited
CP
Specify current arm as PTP target arm system
(SCARA only)
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved) (No arm
operation)
PTPE 222
Optional
Prohibited
Prohibited
CP
Specify current arm as PTP target arm system
(SCARA only)
(Movement of the opposite arm system is permitted
when the target value cannot be achieved) (No arm
operation)
PTPL 220
Optional
Prohibited
Prohibited
CP
Specify left arm as PTP target arm system (SCARA
only)
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved) (No arm
operation)
PTPR 219
Optional
Prohibited
Prohibited
CP
Specify right arm as PTP target arm system (SCARA
only)
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved) (No arm
operation)
PTRG
303
Optional
Position number
Position number
CP
Set palletizing arch triggers (SCARA only)
PTRQ
258
Optional
Axis pattern
Ratio
CC
Change push torque limit parameter
PTST
183
Optional
Confirmation axis
pattern
Confirmation position
number
CP Confirm
position
data
PUSH
239
Optional
Target position number
Prohibited
PE
Move by push motion
PVEL
184
Optional
Speed
Assignment destination
position number
CP Assign
position
speed
R
READ
279
Optional
Channel number
Column number
CC
Read from channel
RIGH 217
Optional
Prohibited
Prohibited
PE
Change current arm system to right arm
(SCARA only)
(Arm 2 may operate if the current arm system
is the opposite arm)
RSPG
176
Optional
Resumption program
number
(Resumption program
number)
CC Resume
program
S
SCHA
283
Optional
Character code
Prohibited
CP
Set end character
SCMP
285
Optional
Column number
Column number,
character literal
EQ
Compare character strings
SCPY
284
Optional
Column number
Column number,
character literal
CC
Copy character string
SCRV
200
Optional
Ratio
Prohibited (S-motion
type)
CP
Set sigmoid motion ratio
SEIF 225
Optional
Interference check zone
number
0 or 1 or 2 (Error type)
CP
Specify error type for simple interference
check zone (SCARA only)
SGET
286
Optional
Variable number
Column number,
character literal
CP Get
character
SIN
146
Optional
Sine assignment
variable
Operand ZR
Sine
SLCT
266
Optional
Prohibited
Prohibited
CP
Declare start of multi-branching
SLEN
292
Optional
Character string length
Prohibited
CP
Set length
SLTL 212
Optional
Tool coordinate system
number
Prohibited
CP
Select tool coordinate system (SCARA only)
SLWK 215
Optional
Load coordinate system
number
Prohibited
CP
Select load coordinate system (SCARA only)
SOIF 224
Optional
Interference check zone
number
Output/global flag
number
CP
Specify output for simple interference check
zone (SCARA only)