IAI America XSEL-KET - Manual (Page 114)

95
Part 4 Commands
INTELLIGENT ACTUATOR
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
 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1  Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional BGPA Palletizing number Prohibited CP
Declare start of palletizing
setting
218
Optional EDPA Prohibited Prohibited CP
Declare end of palletizing
setting
218
Optional PAPI Count Count CP Set palletizing counts 219
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 219
Optional PASE Axis number Axis number CP Set palletizing axes 220
Optional PAPT Pitch Pitch CP Set palletizing pitches 220
Optional PAST (Position number) Prohibited CP Set palletizing reference point 221
Optional PAPS Position number Prohibited CP
Set 3 palletizing points for
teaching
222
Optional PSLI Offset amount (Count) CP Set zigzag 226
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 227
Optional PTRG Position number Position number CP Set palletizing arch triggers 228
Optional PEXT (Position number) Prohibited CP Set palletizing composition 229
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 229
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 230
Optional ATRG Position number Position number CP Set arch triggers 231
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 232
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 232
Optional PTNG Palletizing number Variable number CP Get palletizing position number 233
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
233
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
234
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
234
Optional PARG Palletizing number Axis number CP Get palletizing angle 235
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 235
Optional PMVP Palletizing number (Position number) PE
Move to palletizing points via
PTP
236
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
237
Optional PACH Palletizing number Position number PE Palletizing-point arch motion 238
Palletizing-
related
Optional ARCH Position number Position number PE Arch motion 240
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 242
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition
is not specified
242
Optional TSLP 0 or 1 Prohibited CP Task sleep 243
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
See
265
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
See
265