IAI X-SEL PX, Operation Manual, Page: 251 / 560

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Part 4 Commands

DFIF (Dedicated SCARA command: define coordinates of simple interference check zone)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional DFIF
Interference
check zone
number
Position number
(Consecutive two
positions will be used)
CP
[Function] Set the consecutive two position data starting from the position number specified in
operand 2 as the coordinate data defining the simple interference check zone specified in
operand 1.
The position data specified in operand 2 will be set as definition coordinates 1 of the simple
interference check zone, while the next position data will be set as definition coordinates 2.
If the axis patterns of the consecutive two position data do not match, an "Error No. C30:
Axis pattern error" will generate.
(Note 1) The simple interference check zone is a dedicated SCARA function.
(Note 2) The definition coordinates of simple interference check zone are always treated as data on
the base coordinate system (load coordinate system No. 0). Therefore, to provide position
data for valid definition coordinates for the purpose of executing a DFIF command, the data
must be set on the base coordinate system beforehand.
(Note 3) After the definition coordinates of simple interference check zone are changed, it will take 5
msec before the check result reflects the new settings.
(Note 4) GRP commands are invalid with respect to this command.
[Example 1] DFIF 1 170
224
Part 4 Commands

SOIF (Dedicated SCARA command: specify output for simple interference check zone)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional SOIF
Interference check
zone number
Output/global
flag number
CP
[Function] Set the output number/global flag number specified in operand 2 as the output to be turned
on upon entry into the simple interference check zone specified in operand 1.
(Note 1) The simple interference check zone is a dedicated SCARA function.
(Note 2) Duplicate specifications of physical output numbers or global flag numbers will cause
chattering and the result will become indeterminable.
[Example] SOIF 1 315
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