IAI America XSEL-KET - Manual (Page 118)

99
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
P
PTRG
228 Optional Position number Position number CP Set palletizing arch triggers
PTST 141 Optional Confirmation axis pattern
Confirmation position
number
CC Confirm position data
PUSH 176 Optional Target position number Prohibited PE Move by push motion
PVEL 142 Optional Speed
Assignment-destination
position number
CP Assign position speed
Q
QRTN
165 Optional 0 or 1 Prohibited CP Set quick-return mode
R
READ 205 Optional Read axis pattern
Save-destination
position number
CP Read current axis position
RSPG 134 Optional
Resumption program
number (Resumption program
number)
CC Resume program
S
SCHA
208 Optional Character code Prohibited CP Set end character
SCMP 210 Optional Column number
Column number, string
literal
EQ Compare character strings
SCPY 209 Optional Column number
Column number, string
literal
CC Copy character string
SCRV 154 Optional Ratio Prohibited CP Set sigmoid motion ratio
SGET 211 Optional Variable number
Column number, string
literal
CP Get character
SIN 106 Optional Sine assignment variable Operand ZR Sine
SLCT 193 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 217 Optional Character string length Prohibited CP Set length
SPUT 212 Optional Column number Data CP Set character
SQR 108 Optional Root assignment variable Operand ZR Root
SSPG 133 Optional Pause program number
(Pause program
number)
CC Pause program
STOP 174 Optional Axis stop pattern Prohibited CP Decelerate and stop axis
STR 213 Optional Column number Data CC Convert character string; decimal
STRH 214 Optional Column number Data CC Convert character string; hexadecimal
SUB 103 Optional Minuend variable Subtrahend ZR Subtract
SVXX 166 Optional Operation axis pattern Prohibited PE Servo [ON, OF]
SYST 199 Optional Variable number Prohibited CP Get system status