IAI America XSEL-KX - Manual (Page 85)

69
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
Actuator
control
command
Optional SVXX Operation axis pattern Prohibited PE Servo [ON, OF] 161
Optional MOVP Destination position number Prohibited PE Move to specified position 162
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
163
Optional MVPI Travel position number Prohibited PE Move to relative position 164
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
165
Optional PATH Start position number End position number PE Move along path 166
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 167
Optional PSPL Start position number End position number PE Move along spline 168
Optional PUSH Target position number Prohibited PE Move by push motion 169
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
171
Optional ARC2 Passing position number End position number PE Move along arc 2 (arc interpolation) 172
Optional CIRS Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along
circle
173
Optional ARCS Passing position number End position number PE Move three-dimensionally along arc 174
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification of
end position and center angle
175
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification of
center position and center angle
176
Optional PBND Axis pattern Distance CP Set positioning band 177
Optional TMPI Position number Prohibited PE
Move relatively between positions
on tool coordinate system
178
Optional TMLI Position number Prohibited PE
Move relatively between positions
on tool coordinate system with
interpolation
179
Optional PTRQ Axis pattern Ratio [%] CC Change push torque limit parameter 180
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
181
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
182
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 230
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 221
Optional ATRG Position number Position number CP Set arch trigger 222
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 223
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 223
Structural
IF
Optional IFXX Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE] 183
Optional ISXX Column number
Column number,
character literal
CP Compare strings 184
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination when
IF command condition is not
satisfied
185
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 185
Structural
DO
Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 186
Optional LEAV Prohibited Prohibited CP Pull out from DO 186
Optional ITER Prohibited Prohibited CP Repeat DO 187
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 187
Multi-
branching
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 188
Prohibited WHXX Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE, LT,
LE]
189
Prohibited WSXX Column number
Column number,
character literal
CP Branch character string [EQ, NE] 190
Prohibited OTHE Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
191
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 191