Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 160)

136

Part 4 Commands

2. Alphabetical Order

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

ABPG 174 Optional Stop program number (Stop program number) CC Stop other program

ACC 195 Optional Acceleration Prohibited CP Set acceleration

ACCS 196 Optional Ratio [%] Prohibited CP

Set acceleration ratio in PTP operation

(SCARA only)

ACHZ 305 Optional Axis number Prohibited CP Declare arch motion Z-axis

ADD 143 Optional Augend variable Addend ZR Add

AEXT 307 Optional (Position number) Prohibited CP Set arch motion composition (SCARA only)

AND 151 Optional AND operand variable Operand ZR Logical AND

ARC 260 Optional Passing position number End position number PE Move along arc

ARC2 243 Optional Passing position number End position number PE Move along arc 2

ARCC 251 Optional Center position number Center angle PE

Move along arc via specification of center

position and center angle

ARCD 249 Optional End position number Center angle PE

Move along arc via specification of end

position and center angle

ARCH 315 Optional Position number Position number PE Arch motion

ARCS 247 Optional Passing position number Passing position number PE Move along arc three-dimensionally

ATN 149 Optional

Inverse tangent

assignment operation

Operand ZR Inverse tangent

ATRG 306 Optional Position number Position number CP Set arch trigger

AXST 270 Optional Variable number Axis number CP Get axis status

BASE 204 Optional Reference axis number Prohibited CP Set reference axis

BGPA 293 Optional Palletizing number Prohibited CP Declare start of palletizing setting

BGSR 170 Prohibited

Declaration subroutine

number

Prohibited CP Start subroutine

BTPF 160 Optional Output port, flag Timer setting CP Output OFF pulse

BTPN 159 Optional Output port, flag Timer setting CP Output ON pulse

BT 158 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]

CANC 207 Optional (Input port to abort) (CANC type) CP Declare port to abort

CHPR 317 Optional 0 or 1 Prohibited CP Change task level

CHVL 253 Optional Axis pattern Speed CP Change speed (Linear movement axis only)

CIR 259 Optional

Passing position 1

number

Passing position 2

number

PE Move along circle

CIR2 241 Optional

Passing position 1

number

Passing position 2

number

PE Move along circle 2

CIRS 245 Optional

Passing position 1

number

Passing position 2

number

PE Move three dimensionally along circle

CLOS 278 Optional Channel number Prohibited CP Close channel

CLR 142 Optional Start of clear variable End-of-clear variable ZR Clear variable

COS 147 Optional

Cosine assignment

variable

Operand ZR Cosine

CP 154 Optional Comparison variable Comparison value

EQ NE GT

GE LT LE

Compare

DCL 197 Optional Deceleration Prohibited CP Set deceleration

DCLS 198 Optional Ratio [%] Prohibited CP

Set acceleration ratio in PTP operation

(SCARA only)

DEG 203 Optional Division angle Prohibited CP Set division angle

DFIF 223 Optional

Interference check zone

number

Psition number

CP Define coordinates of simple interference

check zone (SCARA only)

DFTL 221 Optional

Tool coordinate system

number

Psition number

Define tool coordinate system (SCARA only)

DFWK 214 Optional

Load coordinate system

number

Psition number

Define load coordinate system (SCARA only)

DIS 208 Optional Distance Prohibited CP Set spline division distance

DIV 144 Optional Dividend variable Divisor ZR Divide

DW 264 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]

1 2 ... 155 156 157 158 159 160 161 162 163 164 165 ... 557 558

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Iai-america XSEL-QX Manuel d'utilisateur Page 160

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