IAI America XSEL-KET - Manual (Page 117)

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INTELLIGENT ACTUATOR
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
 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1  Operand 2
Command Page Condition Operand 1 Operand 2 Output Function
O
OFAZ
232 Optional Offset value Prohibited CP Set arch-motion Z-axis offset
OFPZ 226 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 155 Optional Setting axis pattern Offset value [mm] CP Set offset
OPEN 204 Optional Channel number Prohibited CP Open channel
OR 110 Optional OR operand variable Operand ZR Logical OR
OTHE 196 Prohibited Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
OUT 122 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 123 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 265 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 151 Optional Speed ratio Prohibited CP Set speed coefficient
P
PACC 143 Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PACH 238 Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG 232 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 219 Optional Count Count CP Set palletizing counts
PAPN 219 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 164 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 222 Optional Position number Prohibited CP Set 3 palletizing points for teaching
PAPT 220 Optional Pitch Pitch CP Set palletizing pitches
PARG 235 Optional Palletizing number Axis number CP Get palletizing angle
PASE 220 Optional Axis number Axis number CP Set palletizing axes
PAST 221 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 172 Optional Start position number End position number PE Move along path
PAXS 145 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 185 Optional Axis pattern Distance CP Set positioning band
PCHZ 227 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 147 Optional Start position number End position number CP Clear point data
PCPY 138 Optional
Copy-destination position
number Copy-source position
number
CP Copy point data
PDCL 144 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 234 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PEXT 229 Optional (Position number) Prohibited CP Set palletizing composition
PGET 135 Optional Axis number Position number CC Assign position to variable 199
PGST 208 Optional Variable number Program number CP Get program status
PINC 233 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL 237 Optional Palletizing number (Position number) PE
Move to palletizing points via
interpolation
PMVP 236 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 163 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 136 Optional Axis number Position number CP Assign value of variable 199
PRDQ 140 Optional Axis number Variable number CP
Read current axis position (1 axis
direct)
PRED 139 Optional Read axis pattern
Save-destination
position number
CP Read current axis position
PSET 234 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 146 Optional
Size assignment variable
number
CP Confirm position size
PSLI 223 Optional Offset amount (Count) CP Set zigzag
PSPL 175 Optional Start position number End position number PE Move along spline
PTNG 223 Optional Palletizing number Variable number CP Get palletizing position number