IAI America XSEL-KE - Manual (Page 96)

81
Part 4 Commands
1. Alphabetical Order
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
A
ABPG 117
Optional Stop program number (Stop program number) CC Stop other program
ACC 137 Optional Acceleration Prohibited CP Set acceleration
ACHZ 220 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 88 Optional Augend variable Addend ZR Add
AEXT 222 Optional (Position number) Prohibited CR Set arch-motion composition
AND 94 Optional AND operand variable Operand ZR Logical AND
ARC 177 Optional Passing position number End position number PE Move along arc
ARC2 168 Optional Passing position number End position number PE Move along arc 2
ARCC 173 Optional
Center position number
Center angle PE
Move along arc via specification of
center position and center angle
ARCD 172 Optional
End position number
Center angle PE
Move along arc via specification of
end position and center angle
ARCH 230 Optional Position number Position number PE Arch motion
ARCS 170 Optional Passing position number Passing position number PE Move four-dimensionally along arc
ATN 92 Optional
Inverse-tangent assignment
variable
Operand ZR
Inverse tangent
ATRG 221 Optional Position number Position number CP Set arch triggers
AXST 187 Optional Variable number Axis number CP Get axis status
B
BASE 142
Optional Reference axis number Prohibited CP Set reference axis
BGPA 208 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 113 Prohibited
Declaration subroutine
number
Prohibited CP
Start subroutine
BTPF 103 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 102 Optional Output port, flag Timer setting CP Output ON pulse
BTXX 101 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 145
Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 232 Optional 0 or 1 Prohibited CP Change task level
CHVL 171 Optional Axis pattern Speed CP Change speed
CIR 176 Optional Passing position 1 number Passing position 2 number PE Move along circle
CIR2 167 Optional Passing position 1 number Passing position 2 number PE Move along circle 2
CIRS 169 Optional Passing position 1 number Passing position 2 number PE Move three-dimensionally along circle
CLOS 194 Optional Channel number Prohibited CP Close channel
CLR 87 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 91 Optional Cosine assignment variable Operand ZR Cosine
CPXX 97 Optional Comparison variable Comparison value EQ NE GT
GE LT LE
Compare
D
DCL 138
Optional Deceleration Prohibited CP Set deceleration
DEG 141 Optional Division angle Prohibited CP Set division angle
DIS 147 Optional Distance Prohibited CP Set spline division distance
DIV 89 Optional Dividend variable Divisor ZR Divide
DWXX 181 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]