IAI America XSEL-KET - Manual (Page 116)

97
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
Command Page Condition Operand 1 Operand 2 Output Function
E
EDDO
192 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 190 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 218 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 196 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 129 Prohibited Prohibited Prohibited CP End subroutine
ELSE 190 Prohibited Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 111 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 130 Optional Prohibited Prohibited CP End program
EXPG 131 Optional Execution program number
(Execution program
number)
CC Start program
EXSR 128 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO
124 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC
148 Optional Variable number Position number CP Get acceleration data
GDCL 159 Optional Variable number Position number CP Get deceleration data
GOTO 127 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 158 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 115 Optional Time assignment variable Prohibited CP Get time
GVEL 147 Optional Variable number Position number CP Get speed data
H
HOLD
159 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 167 Optional Home-return axis pattern Prohibited PE Return to home
I
IFXX
188 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 121 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 120 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
ISXX 189 Optional Column number
Column number,
character literal
CP Compare strings
ITER 192 Optional Prohibited Prohibited CP Repeat DO
J
JXWX
173 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV
191 Optional Prohibited Prohibited CP Pull out from DO
LET 101 Optional Assignment variable Assigned value ZR Assign
M
MOD 105 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVL 169 Optional Destination position number Prohibited PE
Move to specified position via
interpolation
MOVP 168 Optional Destination position number Prohibited PE Move to specified position
MULT 104 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 171 Optional Travel position number Prohibited PE
Move to relative position via
interpolation
MVPI 170 Optional Travel position number Prohibited PE Move to relative position