IAI America XSEL-KX - Manual (Page 89)

73
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
Command Page Condition Operand 1 Operand 2 Output Function
D
DCL 134 Optional Deceleration Prohibited CP Set deceleration for CP operation
DCLS 135 Optional Ratio Prohibited CP
Set deceleration ratio for PTP
operation
DEG 138 Optional Division angle Prohibited CP Set division angle
DFIF 157 Optional
Interference check zone
number
Position number CP
Define coordinates of simple
interference check zone
DFT; 145 Optional
Tool coordinate system
number
Position number CP Define tool coordinate system
DFWL 148 Optional
Load coordinate system
number
Position number CP Define load coordinate system
DIS 142 Optional Distance Prohibited CP Set spline division distance
DIV 81 Optional Dividend variable Divisor ZR Divide
DWXX 186 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
E
EDDO 187 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 185 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 210 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 191 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 108 Prohibited Prohibited Prohibited CP End subroutine
ELSE 165 Prohibited Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 90 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 109 Optional Prohibited Prohibited CP End program
EXPG 110 Optional
Execution program
number (Execution program
number)
CC Start program
EXSR 107 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 103 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 127 Optional Variable number Position number CP Get acceleration data
GARM 195 Optional Variable number Prohibited CP Get current arm system
GDCL 128 Optional Variable number Position number CP Get deceleration data
COTO 106 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 139 Optional Valid axis pattern Prohibited CP Set group axes
GTIF 160 Optional
Interference check zone
number
Position number CP
Get definition coordinates of simple
interference check zone
GTTL 147 Optional
Tool coordinate system
number
Position number CP
Get tool coordinate system definition
data
GTTM 94 Optional Time assignment variable Prohibited CP Get time
GTWK 150 Optional
Load coordinate system
number
Position number CP
Get load coordinate system definition
data
GVEL 126 Optional Variable number Position number CP Get speed data
H
HOLD 140 Optional (Input port to pause) (Hold type) CP Declare port to pause
I
IFXX 183 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 100 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 99 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
ISXX 184 Optional Column number
Column number,
character literal
CP Compare strings
ITER 187 Optional Prohibited Prohibited CP Repeat DO