IAI America XSEL-S - Manual (Page 104)

5. Program Creating
98
Ɣ Reference: Relationships between Existing SEL Commands and RC Gateway
Function
The relationships between the RC gateway function and existing commands are listed below.
Command category Commands
How each command is affected by
RC gateway function
Variable assignment LET, TRN, CLR Not affected
Arithmetic operation ADD, SUB, MULT, DIV, MOD Not affected
Function operation SIN, COS, TAN, ATN, SQR Not affected
Logic operation AND, OR, EOR Not affected
Comparison
CPEQ, CPNE, CPGT, CPGE, CPLT,
CPLE
Not affected
I/O port & flag operation BTON, BTOF, BTNT, WTON, WTOF, IN,
INB, OUT, OUTB, BTPN, BTPF, FMIO
Not affected
Position operation
PGET, PPUT, PCLR, PCPY, PRED,
PTST, PVEL, PACC, PDCL, PAXS, PSIZ,
GVEL, GACC, GDCL, PRDQ
Invalid (Use the corresponding RC
commands specified in 2.3.1.)
Timer TIMW, TIMC, GTTM Not affected
VEL, ACC, DCL, PAPR
Invalid (Specify using RC position
data)
OVRD Valid
OFST, DEG, BASE, GRP Invalid
HOLD
Valid (The operation specified by
HOLD type 2 becomes exactly the
same as the operation specified by
HOLD type 1 (= the servo does not
Turn OFF).)
CANC Valid
VLMX, DIS, POTP Invalid
Actuator control
declaration (normal)
QRTN
Invalid (A similar operation can be
performed by increasing the
positioning band.)
Actuator control
command (normal)
SVON, SVOF, HOME, MOVP, MOVL,
MVPI, MVLI, PATH, CIR, ARC, JBWF,
JBWN, JFWF, JFWN, STOP, PSPL,
PUSH, CIR2, ARC2, CHVL, ARCD,
ARCC, PBND, CIRS, ARCS, PTRQ,
MOVD, MVDI
Invalid
Palletizing
ACHZ, ATRG, OFPZ, BGPA, EDPA,
PASE, PAPT, PAPS, PAPN, PSLI, PAPI,
ARCH, PACH, PMVP, PMVL, PTNG,
PINC, PDEC, PSET, PAPG, PCHZ,
PTRG, OFAZ, PEXT, AEXT, PARG, PAST
Invalid (Palletizing cannot be
performed using RC axes.)
Zone WZNA, WZNO, WZFA, WZFO
Not affected (Set on the RC
controller side.)
System information
acquisition
AXST, PGST, SYST Not affected
OPEN, CLOS, READ, WRIT
If the RC gateway function is
enabled, any attempt to establish
communication using standard SIO
channel 2 will generate an error.
(Communication using standard
SIO channel 1 is possible even
when the RC gateway is enabled.)
Communication
SCHA, TMRD, TMRW, IPCN Not affected