IAI RA Series, Instruction Manual

Page: 75 / 186

4. Operation Program
67
Command category Command
Influence on extension motion control
board function
Palletize
ACHZ, ATRG, OFPZ, BGPA,
EDPA, PASE, PAPT, PAPS,
PAPN, PSLI, PAPI, ARCH,
PACH, PMVP, PMVL, PTNG,
PINC, PDEC, PSET, PAPG,
PCHZ, PTRG, OFAZ, PEXT,
AEXT, PARG, PAST
Invalid
Zone WZNA, WZNO, WZFA, WZFO
Valid only when “Axis Use Method =
Standard Driver Control”
System information
acquisition
AXST, PGST, SYST, GARM
No influence
Communication
OPEN, CLOS, READ, WRIT, SCHA,
TMRW, IPCN
No influence
String operation
SCPY, SCMP, SGET, SPUT,
STR, STRH, VAL, VALH,
SLEN
No influence
Task control
EXIT, EXPG, ABPG, SSPG,
RSPG
No influence
Pseudo-ladder task
construction
TPCD, CHPR, TSLP, OUTR,
TIMR
No influence
Program control
GOTO, TAG, EXSR, BGSR,
EDSR
No influence
Structured IF
IFEQ, IFNE, IFGT, IFGE,
IFLT, IFLE, ISEQ, ISNE,
ELSE, EDIF
No influence
Structured DO
DWEQ, DWNE, DWGT, DWGE,
DWLT, DWLE, LEAV, ITER,
EDDO
No influence
Multiple branching
SLCT, WHEQ, WHNE, WHGT,
WHGE, WHLT, WHLE, WSEQ,
WSNE, OTHE, EDSL
No influence
Expansion command
ECMD 1, ECMD 2, ECMD 3,
ECMD 4, ECMD 5, ECMD 6,
ECMD 250
Valid only when “Axis Use Method =
Standard Driver Control”
ECMD20
Valid when Parameter Type = 0, 1, 2, 3, 4,
5 or 7
Vision System I/F
Related
SLVS, GTVD No influence
Anti-Vibration Related NTCH
Valid only when “Axis Use Method =
Standard Driver Control”
ME0364-2B