IAI America XSEL-KX - Manual (Page 90)

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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
L
LEAV 186 Optional Prohibited Prohibited CP Pull out from DO
LEFT 152 Optional Prohibited Prohibited PE
Change current arm system to left arm
(Arm 2 may operate if the current arm
system is the opposite arm)
LET 78 Optional Assignment variable Assigned value ZR Assign
M
MCD 82 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MCVL 163 Optional
Destination position
number
Prohibited PE
Move to specified position via
interpolation
MOVP 162 Optional
Destination position
number
Prohibited PF Move to specified position
MULT 81 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 165 Optional Travel position number Prohibited PE
Move to relative position via
interpolation
MVPI 164 Optional Travel position number Prohibited PE Move to relative position
O
OFAZ 223 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OPPZ 220 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 137 Optional Setting axis pattern Offset value CP Set offset
OPEN 196 Optional Channel number Prohibited CP Open channel
OR 89 Optional OR operand variable Operand ZR Logical OR
OTHE 191 Prohibited Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
OUT 101 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 102 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 275 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 131 Optional Speed ratio Prohibited CP Set speed coefficient
P
PACC 122 Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PACH 228 Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG 226 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 211 Optional Count Count CP Set palletizing counts
PAPN 211 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 144 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 214 Optional Position number
(Palletizing position
setting type)
CP Set palletizing positions
PAPT 212 Optional Pitch Pitch CP Set palletizing pitches
PARG 226 Optional Palletizing number Axis number CP Get palletizing angle
PASE 212 Optional Axis number Axis number CP Set palletizing axes
PAST 213 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 166 Optional Start position number End position number PE Move along path
PAXS 124 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 177 Optional Axis pattern Distance CP Set positioning band
PCHZ 218 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 116 Optional Start position number End position number CP Clear position data
PCPY 177 Optional
Copy-destination position
number Copy-destination
position number
CP Copy position data
PDCL 123 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 225 Optional Palletizing number Prohibited CC
Decrement palletizing position number
by 1
PEXT 220 Optional (Position number) Prohibited CP Set palletizing composition
PGET 114 Optional Axis number Position number CC Assign position to variable 199