IAI America XSEL-KX - Manual (Page 13)

Table of Contents
Part 4 Commands ..................................................................................................... 66
Chapter 1 List of SEL Language Command Codes ........................................................................... 66
Chapter 2 Explanation of Commands ................................................................................................. 78
1. Commands ........................................................................................................................... 78
Chapter 3 Key Characteristics of Horizontal Articulated Robot Operation ....................................... 234
1. CP Operation and PTP Operation ...................................................................................... 234
2. Arm System ........................................................................................................................ 237
3. Coordinate System ............................................................................................................. 245
4. Simple Interference Check Zone ........................................................................................ 255
5. Soft Limits ........................................................................................................................... 258
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note ......................... 262
1. Continuous Movement Commands
[PATH, PSPL, CIR2, ARC2, CIRS, ARCS, ARCD, ARCC, CIR, ARC] ............................... 262
2. PATH/PSPL Commands ..................................................................................................... 264
3. CIR/ARC Commands ......................................................................................................... 264
4. CIR2/ARC2/ARCD/ARCC Commands ............................................................................... 264
Chapter 5 Palletizing Function .......................................................................................................... 265
1. How to Use ......................................................................................................................... 265
2. Palletizing Setting ............................................................................................................... 265
3. Palletizing Calculation ........................................................................................................ 271
4. Palletizing Movement ......................................................................................................... 272
5. Program Examples ............................................................................................................. 274
Chapter 6 Pseudo-Ladder Task ........................................................................................................ 278
1. Basic Frame ....................................................................................................................... 278
2. Ladder Statement Field ...................................................................................................... 279
3. Points to Note ..................................................................................................................... 279
4. Program Example ............................................................................................................... 280
Chapter 7 Multi-Tasking .................................................................................................................... 281
1. Difference from a Sequencer ............................................................................................. 281
2. Release of Emergency Stop ............................................................................................... 282
3. Program Switching ............................................................................................................. 283