IAI America XSEL-KX - Manual (Page 83)

67
Part 4 Commands
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
Task
management
Optional EXIT Prohibited Prohibited CP End program 109
Optional EXPG
Execution program
number (Execution program
number)
CC Start program 110
Optional ABPG Stop program number (Stop program number) CC Stop other program 111
Optional SSPG Pause program number (Pause program number) CC Pause program 112
Optional RSPG
Resumption program
number (Resumption program
number)
CC Resume program 113
Position
operation
Optional PGET Axis number Position number CC Assign position to variable 199 114
Optional PPUT Axis number Position number CP Assign value of variable 199 115
Optional PCLR Start position number End position number CP Clear position data 116
Optional PCPY
Copy-destination
position number Copy-source position
number
CP Copy position data 117
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 118
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
119
Optional PTST
Confirmation axis
pattern Confirmation position
number
CC Confirm position data 120
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 121
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 122
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 123
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 124
Optional PSIZ
Size assignment
variable number
Prohibited CP Confirm position size 125
Optional GVEL Variable number Position number CP Get speed data 126
Optional GACC Variable number Position number CP Get acceleration data 127
Optional GDCL Variable number Position number CP Get deceleration data 128