Instruction Manual
137
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 z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Command Page Condition Operand 1 Operand 2 Output Function
E
ECMD 319 Optional 1
Axis number CC Get motor current value
ECMD 319 Optional 2
Axis number CC Get home sensor status
ECMD 320 Optional 3
Axis number CC Get overrun sensor status
ECMD 320 Optional 4
Axis number CC Get creep sensor status
ECMD 321 Optional 250
Axis pattern CC
Set torque limit/detection time for torque limit
over error
EDDO 265 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 263 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 293 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 269 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 171 Prohibited Prohibited Prohibited CP End subroutine
ELSE 263 Prohibited Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 153 Optional
Exclusive OR operand
variable
Operand ZR Logical exclusive OR
EXIT 172 Optional Prohibited Prohibited CP End program
EXPG 170 Optional
Execution program
number
(Execution program
number)
CC Start program
EXSR 170 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 166 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 190 Optional Variable number Position number CP Get acceleration data
GARM 273 Optional Variable number Prohibited CP Get current arm system
GDCL 191 Optional Variable number Position number CP Get deceleration data
GOTO 169 Optional
Jump destination tag
number
Prohibited CP Jump
GRP 205 Optional Valid axis pattern Prohibited CP Set group axes
GTIF 226 Optional
Interference check zone
number
Position number CP
Get definition coordinates of simple
interference check zone (SCARA only)
GTTL 213 Optional
Tool coordinate system
number
Position number CP
Get tool coordinate system definition data
(SCARA only)
GTTM 157 Optional
Time assignment
variable
Prohibited CP Get time
GTWK 216 Optional
Load coordinate system
number
Position number CP
Get load coordinate system definition data
(SCARA only)
GVEL 189 Optional Variable number Position number CP Get speed data
H
HOLD 206 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 228 Optional Home return axis pattern Prohibited PE Return to home (Linear movement axis only)
I
IF 261 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 163 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 162 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS 262 Optional Column number
Column number,
character literal
CP Compare strings
ITER 265 Optional Prohibited Prohibited CP Repeat DO
J
JW 235 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 264 Optional Prohibited Prohibited CP Pull out from DO
LEFT 218 Optional Prohibited Prohibited PE
Change current arm system to left arm
(SCARA only)
(Arm 2 may operate if the current arm system
is the opposite arm)
LET 141 Optional Assignment variable Assigned value ZR Assign