Iai-america XSEL-KX Manuel d'utilisateur télécharger pdf (Page 88)

Part 4 Commands

2. Command Codes in 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 ≠ 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

ABPG 111 Optional Stop program number (Stop program number) CP Stop other program

ACC 132 Optional Acceleration Prohibited CP Set acceleration for CP operation

ACCS 133 Optional Ratio Prohibited CP

Set acceleration ratio for PTP

operation

ACHZ 221 Optional Axis number Prohibited CP Declare arch-motion Z-axis

ADD 80 Optional Augend variable Addend ZR Add

AEXT 223 Optional (Position number) Prohibited CP Set arch-motion composition

AND 88 Optional AND operand variable Operand CP Logical AND

ARC 182 Optional Passing position number End position number CP Move along arc

ARC2 172 Optional Passing position number End position number CP Move along arc 2

ARCC 176 Optional Center position number Center angle CP

Move along arc via specification of

center position and center angle

ARCD 175 Optional End position number Center angle CP

Move along arc via specification of

end position and center angle

ARCH 230 Optional Position number Position number CP Arch motion

ARCS 174 Optional Passing position number Passing position number CP Move three-dimensionally along arc

ATM 86 Optional

Inverse-tangent

assignment operation

Operand ZR Inverse tangent

ATRG 222 Optional Position number Position number CP Set arch trigger

AXST 192 Optional Variable number Axis number CP Get axis status

BGPA 210 Optional Palletizing number Prohibited CP Declare start of palletizing setting

BGSR 107 Prohibited

Declaration subroutine

number

Prohibited CP Start subroutine

BT[F 97 Optional Output port, flag Timer setting CC Output OFF pulse

BT[M 96 Optional Output port, flag Timer setting CC Output ON pulse

BTXX 95 Optional Start output, flag (End output, flag) CC Output, flag [ON, OF, NT]

CANC 141 Optional (Input port to abort) (CANC type) CP Declare port to abort

CHPR 232 Optional 0 or 1 Prohibited CP Change task level

CIR 181 Optional Passing position 1 number

Passing position 2

number

PE Move along circle

CIR2 171 Optional Passing position 1 number

Passing position 2

number

PE Move along circle 2

CIRS 173 Optional Passing position 1 number

Passing position 2

number

PE Move three-dimensionally along circle

CLOS 196 Optional Channel number Prohibited CP Close channel

CLR 79 Optional Start-of-clear variable End-of-clear variable ZR Clear variable

COS 84 Optional

Cosine assignment

variable

Operand ZR Cosine

CPXX 91 Optional Comparison variable Comparator Compare

1 2 ... 83 84 85 86 87 88 89 90 91 92 93 ... 376 377

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Iai-america XSEL-KX Manuel d'utilisateur Page 88

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