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
Set deceleration for CP operation
DCLS 135 Optional Ratio Prohibited CP
Set deceleration ratio for PTP
operation
DFIF 157 Optional
Interference check zone
number
Position number CP
Define coordinates of simple
interference check zone
DFT; 145 Optional
Tool coordinate system
number
Position number CP Define tool coordinate system
DFWL 148 Optional
Load coordinate system
number
Position number CP Define load coordinate system
Set spline division distance
Loop [EQ, NE, GT, GE, LT, LE]
Declare end of palletizing setting
ELSE 165 Prohibited Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 90 Optional
variable
Operand ZR Logical exclusive-OR
EXPG 110 Optional
number
number)
CC Start program
EXSR 107 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
Set IN (B)/OUT (B) command format
COTO 106 Optional
Jump-destination tag
number
Prohibited CP Jump
GTIF 160 Optional
Interference check zone
number
Position number CP
Get definition coordinates of simple
interference check zone
GTTL 147 Optional
Tool coordinate system
number
Position number CP
Get tool coordinate system definition
data
GTWK 150 Optional
Load coordinate system
number
Position number CP
Get load coordinate system definition
data
Compare [EQ, NE, GT, GE, LT, LE]
Input BCD (8 digits max.)
Input binary (32 bits max.)
ISXX 184 Optional Column number
Column number,
character literal
CP Compare strings
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