Part Feeding SPEL+ Command Reference

This section provides a description of Part Feeding SPEL+ commands that can be used from user-created SPEL+ programs. The following is the list of commands.

Command/Function	Description/Application
PF_Abort	Forces the Part Feeding process to stop
PF_AccessFeeder	Get a lock for robot accessing feeder
PF_ActivePart	Switch active part during multi-part operation
PF_Backlight	Turns the backlight on or off
PF_BacklightBrightness	Sets the brightness of the backlight
PF_BacklightColor	Changes the color of the built-in backlight
PF_Center	Perform the feeder centering operation
PF_CenterByShift	Perform the centering operation by shifting
PF_Flip	Perform the flip operation
PF_Hopper	Controls hoppers
PF_Info Function	Retrieves Part Feeding properties
PF_InitLog	Enables log file output and specifies the destination path
PF_IsStopRequested Function	Returns whether the PF_Stop command has been issued
PF_Name$ Function	Returns the part name from a part ID
PF_Number Function	Returns a part ID from a part name
PF_Purge Function	Run the Purge Operation
PF_Output	Controls the feeder’s output terminal. (Used when controlling two Gen.1 hoppers simultaneously)
PF_OutputOnOff	Controls the feeder’s output terminal. (Used when controlling one Gen.1 hopper at a time)
PF_PurgeGate	Controls the opening and closing of the purge gate
PF_PurgeGateStatus Function	Returns the status of the Purge Gate’s close sensor
PF_QtyAdjHopperTime Function	Returns the appropriate hopper operation time
PF_QueAdd	Data in the coordinates queue Adds data (point data, part orientation, user data) to the coordinates queue
PF_QueAutoRemove	Configures the auto remove function for the coordinates queue
PF_QueAutoRemove	Returns the status of the auto remove function set for the coordinates queue
PF_QueGet Function	Returns point data from the coordinates queue
PF_QueLen Function	Returns the data quantity registered to the coordinates queue
PF_QueList	Displays the coordinates queue data list
PF_QuePartOrient	Sets and displays the part orientation
PF_QuePartOrient Function	Returns the part orientation from the coordinates queue
PF_QueRemove	Delete one data entry in the coordinates queue
PF_QueSort	Sets and displays the coordinates queue sorting method
PF_QueSort Function	Returns the coordinates queue sorting method
PF_QueUserData	Sets and displays the user data registered to the coordinates queue
PF_QueUserData Function	Returns user data from the coordinates queue
PF_ReleaseFeeder	Release the lock acquired by PF_AccessFeeder
PF_Shift	Perform a shift operation
PF_Start	Starts the Part Feeding process for a specified part
PF_Stop	Issues a Part Feeding process end request