IAI America XSEL-KE - Manual (Page 190)

175
Part 4 Commands
z PEND (Wait for end of operation of axes used by current program) <Positioning END>
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PEND Prohibited Prohibited PE
[Function] Wait for the end of operation of axes used by the current program when a PEND command is
executed.
The output turns ON only when a MOVP, MOVL or PATH command operation has completed
successfully (positioning has completed successfully) in quick return mode 2 (return after
near detection & target position addition mode) or quick return mode 3 (return after near
detection & target position change mode). (The output does not turn ON after other servo
command has been executed.)
(Note 1) To check if the operation has completed successfully (positioning has completed
successfully), be sure to execute a PEND command before cancelling the quick return mode.
(Note 2) Be sure to refer to the pages explaining the QRTN and NBND commands, as well.
(Note 3) Software versions supporting PEND
Controller main application: Version 1.04 or later (excluding the flash ROM 8-Mbit
version)
PC software: Version 7.2.3.0 or later
Teaching pendant: IA-T-X (D) version 1.44 or later (scheduled to be released
in early December 2007)
SEL-T (D) version 1.02 or later (scheduled to be released
in early December 2007).