IAI X-SEL PX, Operation Manual, Page: 300 / 560

273
Part 4 Commands

GARM ((Dedicated SCARA command: Get current arm system)
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 GARM Variable
number
Prohibited CP
[Function] Obtain the current arm system and set in the variable specified in operand 1 one of the
following values corresponding to this arm system:
Arm system is indeterminable = 0
Right arm system = 1
Left arm system = -1
(Note 1) This command sets the arm system immediately after command execution. The arm
system will not be monitored continuously.
[Example] GARM 200 Set "1" in variable No. 200 if the current arm system is
the right arm system, or "-1" if the current arm system is
the left arm system.
274
Part 4 Commands
1.17 Zone

WZNA (Dedicated linear movement axis command: Wait for zone ON, with AND)
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 WZNA Zone
number
Axis
pattern
CP
[Function] Wait for the zone statuses of all axes (AND) specified by the axis pattern in operand 2 to
become ON (inside zone) with respect to the zone specified in operand 1.
(Note 1) The zone command is a dedicated linear movement axis function. If this command is
specified for a SCARA axis, an “Error No. B80, Specification-prohibited axis error” will
generate.
(Note 2) The zone status for a given axis remains OFF (outside zone) until the axis completes home
return.
(Note 3) Four zone areas can be set for each axis (“Axis-specific parameter Nos. 86 to 97”).
(Note 4) Irrespective of this command, zone outputs can be specified using “Axis-specific parameter
Nos. 88, 91, 94 and 97.”
[Example 1] WZNA 1 110000 Wait until the zone statuses of axes 5 and 6 become
ON when the parameters are set as follows (= until both
axes enter the shaded range specified below).
[Example 2] An axis pattern can be indirectly specified using a variable. An example of specifying
the operation in [Example 1] indirectly using a variable is shown below.
110000 (binary)

48 (decimal)
LET 5 48 Assign 48 to variable 5.
WZNA 1 *5
Axis 5 Axis 6
“Axis-specific parameter No. 86, Zone 1 MAX of linear
movement axis” (specified in units of 0.001 mm)
300000 200000
“Axis-specific parameter No. 87, Zone 1 MIN of linear
movement axis” (specified in units of 0.001 mm)
150000 100000
The program will proceed to the next step once
axes 5 and 6 are inside the shaded area.
Axis 6
Axis 5
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