Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 116)

Part 4 Commands

INTELLIGENT ACTUATOR

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

Command Page Condition Operand 1 Operand 2 Output Function

EDDO 192 Prohibited Prohibited Prohibited CP Declare end of DO

EDIF 190 Prohibited Prohibited Prohibited CP Declare end of IF

EDPA 218 Prohibited Prohibited Prohibited CP Declare end of palletizing setting

EDSL 196 Prohibited Prohibited Prohibited CP Declare end of SLCT

EDSR 129 Prohibited Prohibited Prohibited CP End subroutine

ELSE 190 Prohibited Prohibited Prohibited CP

Declare execution destination when IF

command condition is not satisfied

EOR 111 Optional

Exclusive-OR operand

variable

Operand ZR Logical exclusive-OR

EXIT 130 Optional Prohibited Prohibited CP End program

EXPG 131 Optional Execution program number

(Execution program

number)

CC Start program

EXSR 128 Optional

Execution subroutine

number

Prohibited CP Execute subroutine

FMIO 124 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format

GACC 148 Optional Variable number Position number CP Get acceleration data

GDCL 159 Optional Variable number Position number CP Get deceleration data

GOTO 127 Optional

Jump-destination tag

number

Prohibited CP Jump

GRP 158 Optional Valid axis pattern Prohibited CP Set group axes

GTTM 115 Optional Time assignment variable Prohibited CP Get time

GVEL 147 Optional Variable number Position number CP Get speed data

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

HOME 167 Optional Home-return axis pattern Prohibited PE Return to home

IFXX 188 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]

INB 121 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)

IN 120 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)

ISXX 189 Optional Column number

Column number,

character literal

CP Compare strings

ITER 192 Optional Prohibited Prohibited CP Repeat DO

JXWX 173 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]

LEAV 191 Optional Prohibited Prohibited CP Pull out from DO

LET 101 Optional Assignment variable Assigned value ZR Assign

MOD 105 Optional

Remainder assignment

variable

Divisor ZR Calculate remainder

MOVL 169 Optional Destination position number Prohibited PE

Move to specified position via

interpolation

MOVP 168 Optional Destination position number Prohibited PE Move to specified position

MULT 104 Optional Multiplicand variable Multiplier ZR Multiply

MVLI 171 Optional Travel position number Prohibited PE

Move to relative position via

interpolation

MVPI 170 Optional Travel position number Prohibited PE Move to relative position

1 2 ... 111 112 113 114 115 116 117 118 119 120 121 ... 435 436

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