IAI America XSEL-KET - Manual (Page 112)

93
Part 4 Commands
INTELLIGENT ACTUATOR
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
 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1  Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional SVXX Operation axis pattern Prohibited PE Servo [ON, OF] 166
Optional HOME Home-return axis pattern Prohibited PE Return to home 167
Optional MOVP Destination position number Prohibited PE Move to specified position 168
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
169
Optional MVPI Travel position number Prohibited PE Move to relative position 170
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
171
Optional PATH Start position number End position number PE Move along path 172
Optional JXWX Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 173
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 174
Optional PSPL Start position number End position number PE Move along spline 175
Optional PUSH Target position number Prohibited PE Move by push motion 176
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
178
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
179
Optional CIRS Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along
circle
180
Optional ARCS Passing position number
Passing position
number
PE
Move three-dimensionally along
arc
191
Optional CHVL Axis pattern speed Speed CP Change speed 182
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification
of end position and center angle
183
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification
of center position and center
angle
184
Optional PBND Axis pattern Distance CP Set positioning band 185
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
186
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
187
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 240
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 230
Optional ATRG Position number Position number CP Set arch trigger 231
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 232
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 232
Optional IFXX Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
188
Optional ISXX Column number
Column number,
character literal
CP Compare strings 189
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is
not satisfied
190
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 190
Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 191
Optional LEAV Prohibited Prohibited CP Pull out from DO 191
Optional ITER Prohibited Prohibited CP Repeat DO 192
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 192
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 193
Prohibited WHXX Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
194
Prohibited WSXX Column number
Column number,
character literal
CP
Branch character string [EQ,
NE]
195
Prohibited OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
196
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 196