Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 111)

INTELLIGENT ACTUATOR

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 GOTO

Jump-destination tag

number

Prohibited CP Jump 127

Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 127

Optional EXSR

Execution subroutine

number

Prohibited CP Execute subroutine 128

Prohibited BGSR

Declaration subroutine

number

Prohibited CP Start subroutine 128

Program

control

Prohibited EDSR Prohibited Prohibited CP End subroutine 129

Optional EXIT Prohibited Prohibited CP End program 130

Optional EXPG

Execution program

number

(Execution program

number)

CC Start program 131

Optional ABPG Stop program number (Stop program number) CC Stop other program 132

Optional SSPG Pause program number (Pause program number) CC Pause program 133

Task

management

Optional RSPG

Resumption program

number

(Resumption program

number)

CC Resume program 134

Optional PGET Axis number Position number CC Assign position to variable 199 135

Optional PPUT Axis number Position number CP Assign value of variable 199 136

Optional PCLR Start position number End position number CP Clear point data 137

Optional PCPY

Copy-destination

position number

Copy-source position

number

CP Copy point data 138

Optional PRED Read axis pattern

Save-destination position

number

CP Read current axis position 139

Optional PRDQ Axis number Variable number CP

Read current axis position (1

axis direct)

140

Optional PTST

Confirmation axis

pattern

Confirmation position

number

CC Confirm position data 141

Optional PVEL Speed [mm/sec]

Assignment-destination

position number

CP Assign position speed 142

Optional PACC Acceleration [G]

Assignment-destination

position number

CP Assign position acceleration 143

Optional PDCL Deceleration [G]

Assignment-destination

position number

CP Assign position deceleration 144

Optional PAXS

Axis-pattern assignment

variable number

Position number CP Read axis pattern 145

Optional PSIZ

Size assignment

variable number

CP Confirm position size 146

Optional GVEL Variable number Position number CP Get speed data 147

Optional GACC Variable number Position number CP Get acceleration data 148

Position

operation

Optional GDCL Variable number Position number CP Get deceleration data 149

Optional VEL Speed [mm/sec] Prohibited CP Set speed 150

Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 151

Optional ACC Acceleration [G] Prohibited CP Set acceleration 152

Optional DCL Deceleration [G] Prohibited CP Set deceleration 153

Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 154

Optional OFST Setting axis pattern Offset value [mm] CP Set offset 155

Optional DEG Division angle [deg] Prohibited CP Set division angle 156

Optional BASE Reference axis number Prohibited CP Set reference axis 157

Optional GRP Valid axis pattern Prohibited CP Set group axes 158

Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 159

Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 160

Optional VLMX Prohibited Prohibited CP Specify VLMX speed 161

Optional DIS Distance Prohibited CP Set spline division distance 162

Optional POTP 0 or 1 Prohibited CP Set PATH output type 163

Optional PAPR Distance Speed CP

Set PUSH command distance,

speed

164

Actuator

control

declaration

Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 165

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Iai-america XSEL-KET Uživatelský manuál Strana 111

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Iai-america XSEL-KET Uživatelský manuál Strana 111

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