IAI America PSEL - Manual (Page 105)

95
Part 2 Programs
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
 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1
 Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional ARCH Position number Position number PE Arch motion 222
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 224
Optional ATRG Position number Position number CP Set arch triggers 225
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 226
Optional BGPA Palletizing number Prohibited CP Declare start of palletizing setting 227
Prohibited EDPA Prohibited Prohibited CP Declare end of palletizing setting 227
Optional PAPI Count Count CP Set palletizing counts 228
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 228
Optional PASE Axis number Axis number CP Set palletizing axes 229
Optional PAPT Pitch Pitch CP Set palletizing pitches 229
Optional PAST (Position number) Prohibited CP Set palletizing reference point 230
Optional PAPS Position number Prohibited CP Set 3 palletizing points for teaching 231
Optional PSLI Offset amount (Count) CP Set zigzag 233
Optional PTNG Palletizing number Variable number CP Get palletizing position number 234
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
234
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
235
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
235
Optional PARG Palletizing number Axis number CP Get palletizing angle 236
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 236
Optional PMVP Palletizing number (Position number) PE Move to palletizing points via PTP 237
Palletizing-
related
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
238
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 239
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be performed
when input condition is not specified
239
Prohibited TSLP Time Prohibited CP Task sleep 240
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
Reference
257
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
Reference
257
Optional ECMD 1 Axis number CC Get motor current value 241
Optional ECMD 5 Axis number CC Get axis operation status 242
Extended
command
Optional ECMD 20 Variable number CC Get parameter value 243