IAI X-SEL PX, Operation Manual, Page: 159 / 560

131
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
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional VEL Speed [mm/sec] Prohibited CP Set speed 192
Optional VELS Ratio [%] Prohibited CP
Set speed ratio for PTP operation (SCARA
only)
193
Optional OVRD Speed ratio [%] Prohibited CP
Set speed coefficient 194
Optional ACC Acceleration [G] Prohibited CP Set acceleration 195
Optional ACCS Ratio [%] Prohibited CP
Set acceleration ratio for PTP operation
(SCARA only)
196
Optional DCL Deceleration [G] Prohibited CP Set deceleration 197
Optional DCLS Ratio [%] Prohibited CP
Set deceleration ratio for PTP operation
(SCARA only)
198
Optional VLMX Prohibited Prohibited CP
Specify VLMX speed (Linear movement
axis only)
199
Optional SCRV Ratio [%]
Prohibited (S-motion
type)
CP Set sigmoid motion ratio 200
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 202
Optional DEG
Division angle [deg]
Prohibited CP
Set division angle 203
Optional BASE
Reference axis
number
Prohibited CP Set reference axis 204
Optional GRP Valid axis pattern Prohibited CP Set group axes 205
Optional HOLD
(Input port to pause)
(HOLD type) CP
Declare port to pause 206
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 207
Optional DIS Distance Prohibited CP Set spline division distance 208
Optional POTP 0 or 1 Prohibited CP
Set PATH output type 209
Optional PAPR Distance Speed CP Set PUSH command distance, speed 210
Optional DFTL
Tool coordinate
system number
Position number CP
Define tool coordinate system (SCARA
only)
211
Optional SLTL
Tool coordinate
system number
Prohibited CP
Select tool coordinate system (SCARA
only)
212
Optional GTTL
Tool coordinate
system number
Position number CP Get tool coordinate system definition
data (SCARA only)
213
Optional DFWK
Load coordinate
system number
Position number CP Define load coordinate system (SCARA
only)
214
Optional SLWK
Load coordinate
system number
Prohibited CP
Select load coordinate system (SCARA
only)
215
Optional GTWK
Load coordinate
system number
Position number CP
Get load coordinate system definition data
(SCARA only)
216
Optional RIGH Prohibited Prohibited PE
Change current arm system to right arm
(Arm 2 may operate if the current arm
system is the opposite arm) (SCARA only)
217
Optional LEFT Prohibited Prohibited PE
Change current arm system to left arm
(Arm 2 may operate if the current arm
system is the opposite arm) (SCARA only)
218
Optional PTPR Prohibited Prohibited CP
Specify right arm as PTP target arm
system (Movement of the opposite arm
system is prohibited when the target value
cannot be achieved) (No arm operation)
(SCARA only)
219
Optional PTPL Prohibited Prohibited CP
Specify left arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation) (SCARA
only)
220
Optional PTPD Prohibited Prohibited CP
Specify current arm as PTP target arm
system (Movement of the opposite arm
system is prohibited when the target value
cannot be achieved) (No arm operation)
(SCARA only)
221
Optional PTPE Prohibited Prohibited CP
Specify current arm as PTP target arm
system (Movement of the opposite arm
system is permitted when the target value
cannot be achieved) (No arm operation)
(SCARA only)
222
Optional DFIF
Interference check
zone number
Position number CP
Define coordinates of simple interference
check zone (SCARA only)
223
Optional SOIF
Interference check
zone number
Output/global flag
number
CP
Specify output for simple interference
check zone (SCARA only)
224
Optional SEIF
Interference check
zone number
0 or 1 or 2
(Error type)
CP
Specify error type for simple interference
check zone (SCARA only)
225
Actuator
control
declaration
Optional GTIF
Interference check
zone number
Position number CP
Get definition coordinates of simple
interference check zone (SCARA only)
226
Optional WGHT Mass (Inertial moment) CP Set tip load mass/inertial moment 227
132
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
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional HOME Home-return axis pattern Prohibited PE Return to home (Linear movement
axis only)
228
Optional SV

Operation axis pattern Prohibited PE Servo [ON, OF] 229
Optional MOVP Destination position
number
Prohibited PE Move to specified position 230
Optional MOVL
Destination position
number
Prohibited PE
Move to specified position via
interpolation
231
Optional MVPI Travel position number Prohibited PE Move to relative position 232
Optional MVLI Travel position number Prohibited PE Move to relative position via
interpolation
233
Optional PATH Start position number End position number PE Move along path 234
Optional J

W

Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 235
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 237
Optional PSPL Start position number End position number PE Move along spline 238
Optional PUSH Target position number Prohibited PE Move by push motion 239
Optional CIR2
Passing position 1
number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
241
Optional ARC2 Passing position number End position number PE Move along arc 2 (arc interpolation) 243
Optional CIRS
Passing position 1
number
Passing position 2
number
PE
Move three dimensionally along
circle
245
Optional ARCS Passing position number Passing position
number
PE Move three dimensionally along arc 247
Optional ARCD End position number Center angle [deg] PE Move along arc via specification of
end position and center angle
249
Optional ARCC Center position number Center angle [deg] PE Move along arc via specification of
center position and center angle
251
Optional CHVL Axis pattern Speed CP Change speed (Linear movement
axis only)
253
Optional PBND Axis pattern Distance CP Set positioning band 255
Optional
TMPI Position number Prohibited PE
Move relatively between positions
on tool coordinate system (SCARA
only)
256
Optional
TMLI Position number Prohibited PE
Move relatively between positions
on tool coordinate system via
interpolation (SCARA only)
257
Optional PTRQ Axis pattern Ratio [%] CC Change push torque limit parameter 258
Optional CIR
Passing position 1
number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
259
Optional ARC Passing position number End position number PE Move along arc (ARC2 is
recommended)
260
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 315
Optional ACHZ Axis number Prohibited CP Declare arch motion Z-axis 305
Optional ATRG Position number Position number CP Set arch trigger 306
Optional AEXT (Position number) Prohibited CP Set arch motion composition 307
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch motion Z-axis offset 307
Optional IF

Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE] 261
Optional IS

Column number
Column number,
character literal
CP Compare strings 262
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination when
IF command condition is not
satisfied
263
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 263
Optional DW

Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 264
Optional LEAV Prohibited Prohibited CP Pull out from DO 264
Optional ITER Prohibited Prohibited CP Repeat DO 265
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 265
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 266
Prohibited WH

Comparison variable Comparison value CP Branch value [EQ, NE, GT, GE, LT,
LE]
267
Prohibited WS

Column number
Column number,
character literal
CP Branch character string [EQ, NE] 268
Prohibited OTHE Prohibited Prohibited CP Declare branching destination when
condition is not satisfied
269
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 269
135