IAI America XSEL-KX - Manual (Page 91)

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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
P
PGST 193 Optional Variable number Program number CP Get program status
PINC 224 Optional Palletizing number Prohibited CC
Increment palletizing position number
by 1
PMVP 227 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 143 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 115 Optional Axis number Position number CP Assign value of variable 199
PRDQ 119 Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED 118 Optional Read axis pattern
Save-destination position
number
CP Read current axis position
PSET 225 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 125 Optional
Size assignment variable
number
CP Confirm position size
PSLI 217 Optional Offset amount (Count) CP Set zigzag
PSPL 168 Optional Start position number End position number PE Move along spline
PTPD 224 Optional Palletizing number Variable number CP Get palletizing position number
PTPD 155 Optional Prohibited Prohibited CP
Specify current arm as PTP target arm system
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved)
PTPE 156 Optional Prohibited Prohibited CP
Specify current arm as PTP target arm system
(Movement of the opposite arm system is permitted
when the target value cannot be achieved)
PTPL 154 Optional Prohibited Prohibited CP
Specify left arm as PTP target arm system
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved)
PTPR 153 Optional Prohibited Prohibited CP
Specify right arm as PTP target arm system
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved)
PTRG 219 Optional Position number Position number CP Set palletizing arch triggers
PTRQ 180 Optional Axis pattern Ratio CC Change push torque limit parameter
PTST 120 Optional Confirmation axis pattern
Confirmation position
number
CP Confirm position data
PUSH 169 Optional Target position number Prohibited PE Move by push motion
PVEL 121 Optional Speed
Assignment-destination
position number
CP Assign position speed
R
READ 197 Optional Channel number Column number CC Read from channel
RIGH 151 Optional Prohibited Prohibited PE
Change current arm system to right arm
(Arm 2 may operate if the current arm
system is the opposite arm)
RSPG 113 Optional
Resumption program
number (Resumption program
number)
CC Resume program
S
SCHA 200 Optional Character code Prohibited CP Set end character
SCMP 202 Optional Column number
Column number,
character literal
EQ Compare character strings
SCPY 201 Optional Column number
Column number,
character literal
CC Copy character string
SCRV 136 Optional Ratio Prohibited CP Set sigmoid motion ratio
SEIF 159 Optional
Interference check zone
number
0 or 1 or 2 CP
Specify error type for simple
interference check zone
SGET 203 Optional Variable number
Column number,
character literal
CP Get character
SIN 83 Optional Sine assignment variable Operand ZR Sine
SLCT 188 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 209 Optional Character string length Prohibited CP Set length
SLTL 146 Optional
Tool coordinate system
number
Prohibited CP Select tool coordinate system
SLWK 149 Optional
Load coordinate system
number
Prohibited CP Select load coordinate system
SOIF 158 Optional
Interference check zone
number Output, global flag
number
CP
Specify output for simple interference
check zone
SPUT 204 Optional Column number Data CP Set character
SQR 87 Optional Root assignment variable Operand ZR Root
SSPG 112 Optional Pause program number (Pause program number) CC Pause program
STOP 167 Optional Axis stop pattern Prohibited CP Decelerate and stop axis
STR 205 Optional Column number Data CC Convert character string; decimal
STRH 206 Optional Column number Data CC Convert character string; hexadecimal
SUB 80 Optional Minuend variable Subtrahend ZR Subtract