Instruction Manual

138
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
M
MOD 145 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVL 231 Optional
Destination position
number
Prohibited PE Move to specified position via interpolation
MOVP 230 Optional
Destination position
number
Prohibited PE Move to specified position
MULT 144 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 233 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 232 Optional Travel position number Prohibited PE Move to relative position
O
OFAZ 307 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFPZ 304 Optional Offset amount Prohibited CP Set palletizing Z-axis offset (SCARA only)
OFST 202 Optional Setting axis pattern Offset value CP Set offset
OPEN 278 Optional Channel number Prohibited CP Open channel
OR 152 Optional OR operand variable Operand ZR Logical OR
OTHE 269 Prohibited Prohibited Prohibited CP
Declare branching destination when condition
is not satisfied
OUT 164 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 165 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 373 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 194 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 185 Optional Acceleration
Assignment destination
position number
CP Assign position acceleration
PACH 313 Optional Palletizing number Position number PE Palletizing point arch motion (SCARA only)
PAPG 310 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 294 Optional Count Count CP Set palletizing counts
PAPN 294 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 210 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 297 Optional Position number
Palletizing position
setting type
CP Set 3 palletizing points for 4-point teaching
PAPT 295 Optional Pitch Pitch CP Set palletizing pitches
PARG 310 Optional Palletizing number Axis number CP Get palletizing angle
PASE 295 Optional Axis number Axis number CP Set palletizing axes
PAST 296 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 234 Optional Start position number End position number PE Move along path
PAXS 187 Optional
Axis pattern assignment
variable number
Position number CP Read axis pattern
PBND 255 Optional Axis pattern Distance CP Set positioning band
PCHZ 302 Optional Axis number Prohibited CP Set palletizing Z-axis (SCARA only)
PCLR 179 Optional Start position number End position number CP Clear position data
PCPY 180 Optional
Copy destination
position number
Copy source position
number
CP Copy position data
PDCL 186 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 309 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PEXT 304 Optional (Position number) Prohibited CP Set palletizing composition (SCARA only)
PGET 177 Optional Axis number Position number CC Assign position to variable 199
PGST 271 Optional Variable number Program number CP Get program status
PINC 308 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL 312 Optional Palletizing number (Position number) PE
Move to palletizing points via interpolation
(Linear movement axis only)
PMVP 311 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 209 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 178 Optional Axis number Position number CP Assign value of variable 199
PRDQ 182 Optional Axis number Variable number CP Read current axis position (1 axis direct)