IAI America XSEL-KE - Manual (Page 93)

78
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 SVXX Operation axis pattern Prohibited PE Servo [ON, OF] 155
Optional HOME Home-return axis pattern Prohibited PE Return to home 156
Optional MOVP Destination position number Prohibited PE Move to specified position 157
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
158
Optional MVPI Travel position number Prohibited PE Move to relative position 159
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
160
Optional PATH Start position number End position number PE Move along path 161
Optional JXWX Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 162
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 163
Optional PSPL Start position number End position number PE Move along spline 164
Optional PUSH Target position number Prohibited PE Move by push motion 165
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
167
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
168
Optional CIRS Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along
circle
169
Optional ARCS Passing position number
Passing position
number
PE
Move three-dimensionally along
arc
170
Optional CHVL Axis pattern Speed CP Change speed 171
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification
of end position and center angle
172
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification
of center position and center
angle
173
Optional PBND Axis pattern Distance CP Set positioning band 174
Optional PEND Prohibited Prohibited PE
Wait for end of operation of
axes used by current program
175
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
176
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
177
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 230
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 220
Optional ATRG Position number Position number CP Set arch trigger 221
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 222
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 222
Optional IFXX Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
178
Optional ISXX Column number
Column number,
character literal
CP Compare strings 179
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is
not satisfied
180
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 180
Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 181
Optional LEAV Prohibited Prohibited CP Pull out from DO 181
Optional ITER Prohibited Prohibited CP Repeat DO 182
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 182
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 183
Prohibited WHXX Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
184
Prohibited WSXX Column number
Column number,
character literal
CP
Branch character string [EQ,
NE]
185
Prohibited OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
186
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 186