IAI America SSEL - Manual (Page 125)

103
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
Command Page Condition Operand 1 Operand 2 Output Function
O
OFAZ 231 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFST 161 Optional Setting axis pattern Offset value CP Set offset
OPEN 211 Optional Channel number Prohibited CP Open channel
OR 115 Optional OR operand variable Operand ZR Logical OR
OTHE 203 Prohibited Prohibited Prohibited CP
Declare branching destination when condition is
not satisfied
OTPS 129 Optional Output port number Axis number CC Output current position data
OUT 127 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 128 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 262 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 157 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 149 Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PAPG 241 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 233 Optional Count Count CP Set palletizing counts
PAPN 233 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 170 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 236 Optional Position number
(Palletizing position
setting type)
CP Set 3 palletizing points for teaching
PAPT 234 Optional Pitch Pitch CP Set palletizing pitches
PARG 241 Optional Palletizing number Axis number CP Get palletizing angle
PASE 234 Optional Axis number Axis number CP Set palletizing axes
PAST 235 Optional (Position number ) Prohibited CP Set palletizing reference point
PATH 180 Optional Start position number End position number PE Move along path
PAXS 151 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 192 Optional Axis pattern Distance CP Set positioning band
PCLR 143 Optional Start position number End position number CP Clear position data
PCPY 144 Optional
Copy-destination position
number Copy-source position
number
CP Copy position data
PDCL 150 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 240 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PGET 141 Optional Axis number Position number CC Assign position to variable 199
PGST 205 Optional Variable number Program number CP Get program status
PINC 239 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL 243 Optional Palletizing number Prohibited PE Move to palletizing points via interpolation
PMVP 242 Optional Palletizing number Prohibited PE Move to palletizing points via PTP
POTP 169 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 142 Optional Axis number Position number CP Assign value of variable 199
PRDQ 146 Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED 145 Optional Read axis pattern
Save-destination position
number
CP Read current axis position
PSET 240 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 152 Optional
Size assignment variable
number
CP Confirm position size
PSLI 238 Optional Offset amount (Count) CP Set zigzag
PSPL 183 Optional Start position number End position number PE Move along spline
PTNG 239 Optional Palletizing number Variable number CP Get palletizing position number
PTRQ 186 Optional Axis pattern Ratio CC Change push torque limit parameter
PTST 147 Optional Confirmation axis pattern
Confirmation position
number
CP Confirm position data
PUSH 184 Optional Target position number Prohibited PE Move by push motion
PVEL 148 Optional Speed
Assignment-destination
position number
CP Assign position speed