IAI America XSEL-KET - Manual (Page 115)

96
INTELLIGENT ACTUATOR
Part 4 Commands
2. In 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  Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1  Operand 2
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 132
Optional Stop program number (Stop program number) CC Stop other program
ACC 142 Optional Acceleration Prohibited CP Set acceleration
ACHZ 230 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 103 Optional Augend variable Addend ZR Add
AEXT 232 Optional (Position number) Prohibited CP Set arch-motion composition
AND 119 Optional AND operand variable Operand ZR Logical AND
ARC 187 Optional Passing position number End position number PE Move along arc
ARC2 179 Optional Passing position number End position number PE Move along arc 2
ARCC 184 Optional Center position number Center angle PE
Move along arc via specification of
center position and center angle
ARCD 183 Optional End position number Center angle PE
Move along arc via specification of end
position and center angle
ARCH 240 Optional Position number Position number PE Arch motion
ARCS 181 Optional Passing position number
Passing position
number
PE Move four-dimensionally along arc
ATN 117 Optional
Inverse-tangent assignment
operation
Operand ZR Inverse tangent
ATRG 228 Optional Position number Position number CP Set arch trigger
AXST 197 Optional Variable number Axis number CP Get axis status
B
BASE
157 Optional Reference axis number Prohibited CP Set reference axis
BGPA 218 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 128 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF 118 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 117 Optional Output port, flag Timer setting CP Output ON pulse
BTXX 116 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC
160 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 242 Optional 0 or 1 Prohibited CP Change task level
CHVL 182 Optional Axis pattern Speed CP Change speed
CIR 186 Optional Passing position 1 number
Passing position 2
number
PE Move along circle
CIR2 178 Optional Passing position 1 number
Passing position 2
number
PE Move along circle 2
CIRS 180 Optional Passing position 1 number
Passing position 2
number
PE Move three-dimensionally along circle
CLOS 204 Optional Channel number Prohibited CP Close channel
CLR 102 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 106 Optional Cosine assignment variable Operand ZR Cosine
CPXX 112 Optional Comparison variable Comparison value Compare
D
DCL 153
Optional Deceleration Prohibited CP Set deceleration
DEG 156 Optional Division angle Prohibited CP Set division angle
DIS 172 Optional Distance Prohibited CP Set spline division distance
DIV 104 Optional Dividend variable Divisor ZR Divide
DWXX 191 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]