IAI America PSEL - Manual (Page 108)

98
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
Command Page Condition Operand 1 Operand 2 Output Function
O
OFAZ 226 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFST 156 Optional Setting axis pattern Offset value CP Set offset
OPEN 206 Optional Channel number Prohibited CP Open channel
OR 111 Optional OR operand variable Operand ZR Logical OR
OTHE 198 Prohibited Prohibited Prohibited CP
Declare branching destination when condition is
not satisfied
OUT 123 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 124 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 257 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 152 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 144 Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PAPG 236 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 228 Optional Count Count CP Set palletizing counts
PAPN 228 Optional Pattern number
Set palletizing position by
type
CP Set palletizing pattern
PAPR 165 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 231 Optional Position number Prohibited CP Set 3 palletizing points for teaching
PAPT 229 Optional Pitch Pitch CP Set palletizing pitches
PARG 236 Optional Palletizing number Axis number CP Get palletizing angle
PASE 229 Optional Axis number Axis number CP Set palletizing axes
PAST 230 Optional (Position number ) Prohibited CP Set palletizing reference point
PATH 175 Optional Start position number End position number PE Move along path
PAXS 146 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 187 Optional Axis pattern Distance CP Set positioning band
PCLR 138 Optional Start position number End position number CP Clear position data
PCPY 139 Optional
Copy-destination position
number Copy-source position
number
CP Copy position data
PDCL 145 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 235 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PGET 136 Optional Axis number Position number CC Assign position to variable 199
PGST 200 Optional Variable number Program number CP Get program status
PMVL 238 Optional Palletizing number Prohibited PE Move to palletizing points via interpolation
PMVP 237 Optional Palletizing number Prohibited PE Move to palletizing points via PTP
POTP 164 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 137 Optional Axis number Position number CP Assign value of variable 199
PRDQ 141 Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED 140 Optional Read axis pattern
Save-destination position
number
CP Read current axis position
PSET 235 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 147 Optional
Size assignment variable
number
CP Confirm position size
PSLI 233 Optional Offset amount (Count) CP Set zigzag
PSPL 178 Optional Start position number End position number PE Move along spline
PTRQ 181 Optional Axis pattern Ratio CC Change push torque limit parameter
PTST 142 Optional Confirmation axis pattern
Confirmation position
number
CP Confirm position data
PUSH 179 Optional Target position number Prohibited PE Move by push motion
PVEL 143 Optional Speed
Assignment-destination
position number
CP Assign position speed