IAI America XSEL-KE - Manual (Page 95)

80
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 BGPA Palletizing number Prohibited CP
Declare start of palletizing
setting
208
Prohibited EDPA Prohibited Prohibited CP
Declare end of palletizing
setting
208
Optional PAPI Count Count CP Set palletizing counts 209
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 209
Optional PASE Axis number Axis number CP Set palletizing axes 210
Optional PAPT Pitch Pitch CP Set palletizing pitches 210
Optional PAST (Position number) Prohibited CP Set palletizing reference point 211
Optional PAPS Position number
(Palletizing position
setting type)
CP
Set 3 palletizing points for
teaching
212
Optional PSLI Offset amount (Count) CP Set zigzag 216
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 217
Optional PTRG Position number Position number CP Set palletizing arch triggers 218
Optional PEXT (Position number) Prohibited CP Set palletizing composition 219
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 219
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 220
Optional ATRG Position number Position number CP Set arch triggers 221
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 222
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 222
Optional PTNG Palletizing number Variable number CP Get palletizing position number 223
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
223
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
224
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
224
Optional PARG Palletizing number Axis number CP Get palletizing angle 225
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 225
Optional PMVP Palletizing number (Position number) PE
Move to palletizing points via
PTP
226
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
227
Optional PACH Palletizing number Position number PE Palletizing-point arch motion 228
Palletizing-
related
Optional ARCH Position number Position number PE Arch motion 230
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Optional CHPR 0 or 1 Prohibited CP Change task level 232
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition
is not specified
232
Prohibited TSLP Time Prohibited CP Task sleep 233
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
See
256
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
See
256