IAI America XSEL-KE - Manual (Page 99)

84
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
P
PTRG 218
Optional Position number Position number CP Set palletizing arch triggers
PTST 126 Optional
Confirmation axis pattern Confirmation position
number
XP
Confirm position data
PUSH 165 Optional Target position number Prohibited PE Move by push motion
PVEL 127 Optional
Speed Assignment-destination
position number
CP
Assign position speed
Q
QRTN 150 Optional
0 or 1
Prohibited CP Set quick-return mode
R
READ 195
Optional Channel number Column number CC Read from channel
RSPG 119 Optional
Resumption program
number (Resumption program
number)
CC
Resume program
S
SCHA 198
Optional Character code Prohibited CP Set send/receive end character
SCMP 200 Optional Column number
Column number, character
literal
EQ
Compare character strings
SCPY 199 Optional Column number
Column number, character
literal
CC
Copy character string
SCRV 139 Optional Ratio Prohibited CP Set sigmoid motion ratio
SGET 201 Optional
Variable number Column number, character
literal
CP
Get character
SIN 91 Optional Sine assignment variable Operand ZR Sine
SLCT 183 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 207 Optional Character string length Prohibited CP Set length
SPUT 202 Optional Column number Data CP Set character
SQR 93 Optional Root assignment variable Operand ZR Root
SSPG 118 Optional Pause program number (Pause program number) CC Pause program
STOP 163 Optional Axis stop pattern Prohibited CP Decelerate and stop axis
STR 203 Optional Column number Data CC Convert character string; decimal
STRH 204 Optional Column number Data CC
Convert character string;
hexadecimal
SUB 88 Optional Minuend variable Subtrahend ZR Subtract
SVXX 155 Optional Operation axis pattern Prohibited PE Servo [ON, OF]
SYST 189 Optional Variable number Prohibited CP Get system status