IAI America XSEL-QX - Manual (Page 163)

139
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
Command Page Condition Operand 1 Operand 2 Output Function
P
PRED 181 Optional Read axis pattern
Save destination
position number
CP Read current axis position
PSET 309 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 188 Optional
Size assignment
variable number
CP Confirm position size
PSLI 301 Optional Offset amount (Count) CP Set zigzag
PSPL 238 Optional Start position number End position number PE Move along spline
PTNG 308 Optional Palletizing number Variable number CP Get palletizing position number
PTPD 221 Optional Prohibited Prohibited CP
Specify current arm as PTP target arm system
(SCARA only)
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved) (No arm
operation)
PTPE 222 Optional Prohibited Prohibited CP
Specify current arm as PTP target arm system
(SCARA only)
(Movement of the opposite arm system is permitted
when the target value cannot be achieved) (No arm
operation)
PTPL 220 Optional Prohibited Prohibited CP
Specify left arm as PTP target arm system (SCARA
only)
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved) (No arm
operation)
PTPR 219 Optional Prohibited Prohibited CP
Specify right arm as PTP target arm system (SCARA
only)
(Movement of the opposite arm system is prohibited
when the target value cannot be achieved) (No arm
operation)
PTRG 303 Optional Position number Position number CP Set palletizing arch triggers (SCARA only)
PTRQ 258 Optional Axis pattern Ratio CC Change push torque limit parameter
PTST 183 Optional
Confirmation axis
pattern Confirmation position
number
CP Confirm position data
PUSH 239 Optional Target position number Prohibited PE Move by push motion
PVEL 184 Optional Speed
Assignment destination
position number
CP Assign position speed
R
READ 279 Optional Channel number Column number CC Read from channel
RIGH 217 Optional Prohibited Prohibited PE
Change current arm system to right arm
(SCARA only)
(Arm 2 may operate if the current arm system
is the opposite arm)
RSPG 176 Optional
Resumption program
number (Resumption program
number)
CC Resume program
S
SCHA 283 Optional Character code Prohibited CP Set end character
SCMP 285 Optional Column number
Column number,
character literal
EQ Compare character strings
SCPY 284 Optional Column number
Column number,
character literal
CC Copy character string
SCRV 200 Optional Ratio
Prohibited (S-motion
type)
CP Set sigmoid motion ratio
SEIF 225 Optional
Interference check zone
number
0 or 1 or 2 (Error type) CP
Specify error type for simple interference
check zone (SCARA only)
SGET 286 Optional Variable number
Column number,
character literal
CP Get character
SIN 146 Optional
Sine assignment
variable
Operand ZR Sine
SLCT 266 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 292 Optional Character string length Prohibited CP Set length
SLTL 212 Optional
Tool coordinate system
number Prohibited
CP Select tool coordinate system (SCARA only)
SLWK 215 Optional
Load coordinate system
number Prohibited
CP Select load coordinate system (SCARA only)
SOIF 224 Optional
Interference check zone
number Output/global flag
number
CP
Specify output for simple interference check
zone (SCARA only)