IAI X-SEL PX, Operation Manual, Page: 252 / 560

225
Part 4 Commands

SEIF (Dedicated SCARA command: specify error type 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 SEIF
Interference check
zone number
0 or 1 or 2
(Error type)
CP
[Function] Set the error type specified in operand 2 (see below) as the type of error generated upon
entry into the simple interference check zone specified in operand 1.
Type of error generated upon entry into the simple interference check zone
0: No error
1: Message level error
2: Operation-cancellation level error
(Note 1) The simple interference check zone is a dedicated SCARA function.
[Example 1] SEIF 1 2
226
Part 4 Commands

GTIF (Dedicated SCARA command: get definition 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 GTIF
Interference
check zone
number
Position number
(Consecutive two
positions will be used)
CP
[Function] Set the definition coordinate data for the simple interference check zone specified in
operand 1 in the consecutive two position data starting from the position number specified
in operand 2.
Definition coordinates 1 of the simple interference check zone will be set in the position
data specified in operand 2, while definition coordinates 2 will be set in the next position
data. The coordinate data in the position data will include the specified definition coordinate
data for simple interference check zone after all axes are set invalid.
(Note 1) The simple interference check zone is a dedicated SCARA function.
(Note 2) When this command is executed, the position data for axis 5 and subsequent axes will be
cleared. Accordingly, do not specify any position currently used in linear movement axis
operation.
(Note 3) The definition coordinates of simple interference check zone are always treated as data on
the base coordinate system (load coordinate system No. 0). Therefore, position data set via
a GTIF command must be handled on the base coordinate system.
(Note 4) GRP commands are invalid with respect to this command.
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