IAI America XSEL-QX - Manual (Page 248)

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Part 4 Commands
z SOIF (Dedicated SCARA command: specify output for simple interference check zone)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional SOIF
Interference check
zone number
Output/global
flag number
CP
[Function] Set the output number/global flag number specified in operand 2 as the output to be turned
on upon entry into the simple interference check zone specified in operand 1.
(Note 1) The simple interference check zone is a dedicated SCARA function.
(Note 2) Duplicate specifications of physical output numbers or global flag numbers will cause
chattering and the result will become indeterminable.
[Example] SOIF 1 315