IAI America XSEL-QX - Manual (Page 158)

134
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 BGPA Palletizing number Prohibited CP
Declare start of palletizing
setting
293
Prohibited EDPA Prohibited Prohibited CP
Declare end of palletizing
setting
293
Optional PAPI Count Count CP Set palletizing counts 294
Optional PAPN (Pattern number) Prohibited CP Set palletizing pattern 294
Optional PASE Axis number Axis number CP Set palletizing axes 295
Optional PAPT Pitch Pitch CP Set palletizing pitches 295
Optional PAST Position number Prohibited CP Set palletizing reference point 296
Optional PAPS Position number
Palletizing position
setting type
CP
Set 3 palletizing points for 4-
point teaching
297
Optional PSLI Offset amount (Count) CP Set zigzag 301
Optional PCHZ Axis number Prohibited CP
Set palletizing Z-axis (SCARA
only)
302
Optional PTRG Position number Position number CP
Set palletizing arch triggers
(SCARA only)
303
Optional PEXT (Position number) Prohibited CP
Set palletizing composition
(SCARA only)
304
Optional OFPZ Offset amount Prohibited CP
Set palletizing Z-axis offset
(SCARA only)
304
Optional ACHZ Axis number Prohibited CP Declare arch motion Z-axis 305
Optional ATRG Position number Position number CP Set arch triggers 306
Optional AEXT (Position number) Prohibited CP
Set arch motion composition
(SCARA only)
307
Optional OFAZ Offset amount Prohibited CP Set arch motion Z-axis offset 307
Optional PTNG Palletizing number Variable number CP Get palletizing position number 308
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
308
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
309
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
309
Optional PARG Palletizing number Axis number CP Get palletizing angle 310
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 310
Optional PMVP Palletizing number (Position number) PE
Move to palletizing points via
PTP
311
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation (Linear movement
axis only)
312
Optional PACH Palletizing number Position number PE
Palletizing-point arch motion
(SCARA only)
313
Palletizing-
related
Optional ARCH Position number Position number PE Arch motion 315
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported
Optional CHPR 0 or 1 Prohibited CP Change task level 317
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition
is not specified
317
Prohibited TSLP Time Prohibited CP Task sleep 318
Optional OUTR Output, flag number Prohibited CP Output relay for ladder 373
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder 373
Optional ECMD 1 Axis number CC Get motor current value 319
Optional ECMD 2 Axis number CC Get home sensor status 319
Optional ECMD 3 Axis number CC Get overrun sensor status 320
Optional ECMD 4 Axis number CC Get creep sensor status 320
Extended
commands
Optional ECMD 250 Axis pattern CC
Set torque limit/detection time
for torque limit over error
321