IAI America XSEL-QX User Manual
Page 164
140
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
S
SPUT
287
Optional
Column number
Data
CP
Set character
SQR
150
Optional
Root assignment
variable
Operand ZR
Root
SSPG
175
Optional
Pause program number
(Pause program
number)
CC Pause
program
STOP
237
Optional
Axis stop pattern
Prohibited
CP
Decelerate and stop axis
STR
288
Optional
Column number
Data
CC
Convert character string; decimal
STRH
289
Optional
Column number
Data
CC
Convert character string; hexadecimal
SUB
143
Optional
Minuend variable
Subtrahend
ZR
Subtract
SV
229
Optional
Operation axis pattern
Prohibited
PE
Servo [ON, OF]
SYST
272
Optional
Variable number
Prohibited
CP
Get system status
T
TAG
169
Prohibited Declaration tag number
Prohibited
CP
Declare jump destination
TAN
148
Optional
Tangent assignment
variable
Operand ZR
Tangent
TIMC
156
Optional
Program number
Prohibited
CP
Cancel waiting
TIMR
373
Optional
Local flag number
Timer setting
CP
Timer relay for ladder
TIMW
155
Optional
Wait time
Prohibited
TU
Wait
TMLI 257
Optional
Position
number Prohibited
PE
Move relatively between positions on tool
coordinate system via interpolation (SCARA
only)
TMPI 256
Optional
Position
number Prohibited
PE
Move relatively between positions on tool
coordinate system (SCARA only)
TMRW
281
Optional
Read timer setting
(Write timer setting)
CP
Set READ timeout value
TPCD
317
Prohibited 0 or 1
Prohibited
CP
Specify processing to be performed when
input condition is not specified
TRAN
141
Optional
Copy destination
variable
Copy source variable
ZR
Copy
TSLP
318
Prohibited Time
Prohibited
CP
Task sleep
V
VAL
290
Optional
Variable number
Column number,
character literal
CC
Convert character string data; decimal
VALH
291
Optional
Variable number
Column number,
character literal
CC
Convert character string data; hexadecimal
VEL
192
Optional
Speed
Prohibited
CP
Set speed
VELS 193
Optional
Ratio
Prohibited
CP
Set speed ratio in PTP operation (SCARA
only)
VLMX
199
Optional
Prohibited
Prohibited
CP
Specify VLMX speed (Linear movement axis
only)
W
WGHT
227
Optional
Mass
(Inertial moment)
CP
Set tip load mass/inertial moment
WH
267
Prohibited Comparison variable
Comparison value
CP
Branch value [EQ, NE, GT, GE, LT, LE]
WRIT
282
Optional
Channel number
Column number
CC
Output to channel
WS
268
Prohibited Column number
Column number,
character literal
CP
Branch character string [EQ, NE]
WT
161
Optional
I/O, flag
(Wait time)
TU
Wait for I/O, flag [ON, OF]
WZFA
276
Optional
Zone number
Axis pattern
CP
Wait for zone OFF, with AND (Linear
movement axis only)
WZFO
277
Optional
Zone number
Axis pattern
CP
Wait for zone OFF, with OR (Linear
movement axis only)
WZNA
274
Optional
Zone number
Axis pattern
CP
Wait for zone ON, with AND (Linear
movement axis only)
WZNO
275
Optional
Zone number
Axis pattern
CP
Wait for zone ON, with OR (Linear movement
axis only)