IAI America XSEL-QX - Manual (Page 285)

261
Part 4 Commands
1.13 Structural IF
z IF (Structural IF)
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 IF
Variable
number
Data CP
[Function] Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the
corresponding ELSE command, if any, or to the step next to the corresponding EDIF
command.
If the input condition is not satisfied and the IF
command is not executed, the program
will proceed to the step next to the corresponding EDIF.
A maximum of 15 nests are supported when IS
and DW are combined.
IF
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
[Example 1] SVON 1111 Set the current arm system in variable 99.
PRDQ 1 100 Read the current X coordinate into variable 100.
CPNE 99 0 600
600
IFEQ 99 1
If the arm system is indeterminable, the arm
system whose flag 600 is turned OFF will be
determined. If this arm system is also
indeterminable, the operation will end.
IFGE 100 0
MOVP 1
If the X coordinate is 0 or greater:
Move the axis to position No. 1 in PTP mode.
ELSE
MOVP 2 Move the axis to position No. 2 in PTP mode.
EDIF
ELSE
IFGE 100 0
MOVP 3
If the X coordinate is 0 or greater:
Move the axis to position No. 3 in PTP mode.
ELSE
MOVP 4 Move the axis to position No. 4 in PTP mode.
EDIF
EDIF
EXIT
If the current arm system is the right arm and the X coordinate is 0 or greater, the axis will
move to position No. 1; if the X coordinate is below 0, the axis will move to position No. 2.
If the current arm system is the left arm and the X coordinate is 0 or greater, the axis will
move to position No. 3; if the X coordinate is below 0, the axis will move to position No. 4.
(Note) Using a GOTO command to branch out of or into an IF -EDIF syntax is prohibited.