IAI America XSEL-QX - Manual (Page 155)

131
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 z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional VEL Speed [mm/sec] Prohibited CP Set speed 192
Optional VELS Ratio [%] Prohibited CP
Set speed ratio for PTP operation (SCARA
only)
193
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 194
Optional ACC Acceleration [G] Prohibited CP Set acceleration 195
Optional ACCS Ratio [%] Prohibited CP
Set acceleration ratio for PTP operation
(SCARA only)
196
Optional DCL Deceleration [G] Prohibited CP Set deceleration 197
Optional DCLS Ratio [%] Prohibited CP
Set deceleration ratio for PTP operation
(SCARA only)
198
Optional VLMX Prohibited Prohibited CP
Specify VLMX speed (Linear movement
axis only)
199
Optional SCRV Ratio [%]
Prohibited (S-motion
type)
CP Set sigmoid motion ratio 200
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 202
Optional DEG Division angle [deg] Prohibited CP Set division angle 203
Optional BASE
Reference axis
number
Prohibited CP Set reference axis 204
Optional GRP Valid axis pattern Prohibited CP Set group axes 205
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 206
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 207
Optional DIS Distance Prohibited CP Set spline division distance 208
Optional POTP 0 or 1 Prohibited CP Set PATH output type 209
Optional PAPR Distance Speed CP Set PUSH command distance, speed 210
Optional DFTL
Tool coordinate
system number
Position number CP
Define tool coordinate system (SCARA
only)
211
Optional SLTL
Tool coordinate
system number
Prohibited CP
Select tool coordinate system (SCARA
only)
212
Optional GTTL
Tool coordinate
system number
Position number CP
Get tool coordinate system definition
data (SCARA only)
213
Optional DFWK
Load coordinate
system number
Position number CP
Define load coordinate system (SCARA
only)
214
Optional SLWK
Load coordinate
system number
Prohibited CP
Select load coordinate system (SCARA
only)
215
Optional GTWK
Load coordinate
system number
Position number CP
Get load coordinate system definition data
(SCARA only)
216
Optional RIGH Prohibited Prohibited PE
Change current arm system to right arm
(Arm 2 may operate if the current arm
system is the opposite arm) (SCARA only)
217
Optional LEFT Prohibited Prohibited PE
Change current arm system to left arm
(Arm 2 may operate if the current arm
system is the opposite arm) (SCARA only)
218
Optional PTPR 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) (No arm operation)
(SCARA only)
219
Optional PTPL 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) (No arm operation) (SCARA
only)
220
Optional PTPD 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) (No arm operation)
(SCARA only)
221
Optional PTPE 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) (No arm operation)
(SCARA only)
222
Optional DFIF
Interference check
zone number
Position number CP
Define coordinates of simple interference
check zone (SCARA only)
223
Optional SOIF
Interference check
zone number Output/global flag
number
CP
Specify output for simple interference
check zone (SCARA only)
224
Optional SEIF
Interference check
zone number 0 or 1 or 2
(Error type)
CP
Specify error type for simple interference
check zone (SCARA only)
225
Actuator
control
declaration
Optional GTIF
Interference check
zone number
Position number CP
Get definition coordinates of simple
interference check zone (SCARA only)
226
Optional WGHT Mass (Inertial moment) CP Set tip load mass/inertial moment 227