IAI America SSEL - Manual (Page 122)

100
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
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 ARCH Position number Position number PE Arch motion 227
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 229
Optional ATRG Position number Position number CP Set arch triggers 230
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 231
Optional BGPA Palletizing number Prohibited CP Declare start of palletizing setting 232
Prohibited EDPA Prohibited Prohibited CP Declare end of palletizing setting 232
Optional PAPI Count Count CP Set palletizing counts 233
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 233
Optional PASE Axis number Axis number CP Set palletizing axes 234
Optional PAPT Pitch Pitch CP Set palletizing pitches 234
Optional PAST (Position number) Prohibited CP Set palletizing reference point 235
Optional PAPS Position number
Palletizing position
setting type
CP Set 3 palletizing points for teaching 236
Optional PSLI Offset amount (Count) CP Set zigzag 238
Optional PTNG Palletizing number Variable number CP Get palletizing position number 239
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
239
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
240
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
240
Optional PARG Palletizing number Axis number CP Get palletizing angle 241
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 241
Optional PMVP Palletizing number Prohibited PE Move to palletizing points via PTP 242
Palletizing-
related
Optional PMVL Palletizing number Prohibited PE
Move to palletizing points via
interpolation
243
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 244
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be performed
when input condition is not specified
244
Prohibited TSLP Time Prohibited CP Task sleep 245
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
See
262
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
See
262
Optional ECMD 1 Axis number CC Get motor current value 246
Optional ECMD 5 Axis number CC Get axis operation status 247
Extended
command
Optional ECMD 20 Variable number CC Get parameter value 248