139
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 SV Operation axis pattern Prohibited PE Servo [ON, OF] 213
Optional HOME Home-return axis pattern Prohibited PE Return to home 214
Optional MOVP Destination position number Prohibited PE Move to specified position 215
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
216
Optional MVPI Travel position number Prohibited PE Move to relative position 217
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
218
Optional PATH Start position number End position number PE Move along path 219
Optional JW Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 220
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 221
Optional PSPL Start position number End position number PE Move along spline 222
Optional PUSH Target position number Prohibited PE Move by push motion 223
Optional PTRQ
Axis pattern Ratio [%]
CC
Change push torque limit
parameter
225
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
226
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
227
Optional CIRS Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along
circle
228
Optional ARCS Passing position number
Passing position
number
PE
Move three-dimensionally along
arc
229
Optional CHVL Axis pattern Speed CP Change speed 230
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification
of end position and center angle
231
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification
of center position and center
angle
232
Optional PBND Axis pattern Distance CP Set positioning band 233
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
234
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
235
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 238
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 278
Optional ATRG Position number Position number CP Set arch trigger 279
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 280
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 280
Optional IF Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
236
Optional IS Column number
Column number,
character literal
CP Compare strings 237
Prohibited
ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is
not satisfied
238
Structural
IF
Prohibited
EDIF Prohibited Prohibited CP Declare end of IF 238
Optional DW Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 239
Optional LEAV Prohibited Prohibited CP Pull out from DO 239
Optional ITER Prohibited Prohibited CP Repeat DO 240
Structural
DO
Prohibited
EDDO Prohibited Prohibited CP Declare end of DO 240
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 241
Prohibited
WH Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
242
Prohibited
WS Column number
Column number,
character literal
CP
Branch character string [EQ,
NE]
243
Prohibited
OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
244
Multi-
branching
Prohibited
EDSL Prohibited Prohibited CP Declare end of SLCT 244
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