IAI America XSEL-KE - Manual (Page 98)

83
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
Command Page Condition Operand 1 Operand 2 Output Function
O
OFAZ 222
Optional Offset amount Prohibited CP Set arch motion Z-axis offset
OFPZ 219 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 140 Optional Setting axis pattern Offset value CP Set offset
OPEN 194 Optional Channel number Prohibited CP Open channel
OR 95 Optional OR operand variable Operand ZR Logical OR
OTHE 186 Prohibited Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
OUT 107 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 108 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 256 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 136 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 128 Optional
Acceleration Assignment-destination
position number
CP
Assign position acceleration
PACH 228 Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG 225 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 209 Optional Count Count CP Set palletizing counts
PAPN 209 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 149 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 212 Optional
Position number (Palletizing position setting
type)
CP
Set 3 palletizing points for teaching
PAPT 210 Optional Pitch Pitch CP Set palletizing pitches
PARG 225 Optional Palletizing number Axis number CP Get palletizing angle
PASE 210 Optional Axis number Axis number CP Set palletizing axes
PAST 211 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 161 Optional Start position number End position number PE Move along path
PAXS 130 Optional
Axis-pattern assignment
variable number
Position number CP
Read axis pattern
PBND 174 Optional Axis pattern Distance CP Set positioning band
PCHZ 217 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 122 Optional Start position number End position number CP Clear position data
PCPY 123 Optional
Copy-destination position
number Copy-source position
number
CP
Copy position data
PDCL 129 Optional
Deceleration Assignment-destination
position number
CP
Assign position deceleration
PDEC 224 Optional Palletizing number
Prohibited
CC
Decrement palletizing position
number by 1
PEXT 219 Optional Position number Prohibited CP Set palletizing composition
PGET 120 Optional Axis number Position number CC Assign position to variable 199
PAST 188 Optional Variable number Program number CP Get program status
PINC 223 Optional Palletizing number Prohibited CC
Increment palletizing position number
by 1
PMVL 227 Optional Palletizing number (Position number) PE
Move to palletizing points via
interpolation
PMVP 226 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 148 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 121 Optional Axis number Position number CP Assign value of variable 199
PRDQ 125 Optional Axis number Variable number CP
Read current axis position (1 axis
direct)
PRED 124 Optional Read axis pattern
Save-destination position
number
CP
Read current axis position
PSET 224 Optional Palletizing number
Data
CC
Set palletizing position number
directly
PSIZ 131 Optional
Size assignment variable
number
CP
Confirm position size
PSLI 216 Optional Offset amount (Count) CP Set zigzag
PSPL 160 Optional Start position number End position number PE Move along spline
PTNG 223 Optional Palletizing number Variable number CP Get palletizing position number