IAI America XSEL-KE - Manual (Page 92)

77
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
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional GOTO
Jump-destination tag
number
Prohibited CP Jump 112
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 112
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 113
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 113
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 114
Optional EXIT Prohibited Prohibited CP End program 115
Optional EXPG
Execution program
number (Execution program
number)
CC Start program 116
Optional ABPG Stop program number (Stop program number) CC Stop other program 117
Optional SSPG Pause program number (Pause program number) CC Pause program 118
Task
management
Optional RSPG
Resumption program
number (Resumption program
number)
CC Resume program 119
Optional PGET Axis number Position number CC Assign position to variable 199 120
Optional PPUT Axis number Position number CP Assign value of variable 199 121
Optional PCLR Start position number End position number CP Clear position data 122
Optional PCPY
Copy-destination
position number Copy-source position
number
CP Copy position data 123
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 124
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
125
Optional PTST
Confirmation axis
pattern Confirmation position
number
CC Confirm position data 126
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 127
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 128
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 129
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 130
Optional PSIZ
Size assignment
variable number
CP Confirm position size 131
Optional GVEL Variable number Position number CP Get speed data 132
Optional GACC Variable number Position number CP Get acceleration data 133
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 134
Optional VEL Speed [mm/sec] Prohibited CP Set speed 135
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 136
Optional ACC Acceleration [G] Prohibited CP Set acceleration 137
Optional DCL Deceleration [G] Prohibited CP Set deceleration 138
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 139
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 140
Optional DEG Division angle [deg] Prohibited CP Set division angle 141
Optional BASE Reference axis number Prohibited CP Set reference axis 142
Optional GRP Valid axis pattern Prohibited CP Set group axes 143
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 144
Optional NBND Axis pattern Near band CP Set near band 145
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 146
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 147
Optional DIS Distance Prohibited CP Set spline division distance 148
Optional POTP 0 or 1 Prohibited CP Set PATH output type 149
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
150
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 151