IAI PSEL, Operation Manual

Page: 881 / 1062

[12] Actuator
Control
Command
387
z
PEND (Wait for end of operation by axes currently used by program)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PEND Prohibited Prohibited PE
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
{
u u u u u u u u
[Function] When a PEND command is executed, the program waits for the end of operation
by the axes it is currently using. The output turns ON only when a MOVP, MOVL
or PATH command has been successfully executed (positioning has been
successful) in quick return mode 2 (closeness-detection return target position
addition mode) or quick return mode 3 (closeness-detection return target position
change mode) (the output does not turn ON if any other servo command is
executed).
(Note 1) To check if the operation has been successful (positioning has been successful),
execute a PEND command before the quick return mode is cancelled.
(Note 2) Be sure to also refer to the pages that explain the QRTN command and NBND
command.
(Note 3) Software versions supporting PEND
Controller main application: Ver.1.04 or later
(excluding flash ROM 8Mbit versions)
PC software: Ver.7.2.3.0 or later
Teaching pendant:
IA-T-X (D): Ver.1.44 or later
SEL-T (D): Ver.1.02 or later