IAI America TT-C3 - Manual (Page 86)

76
INTELLIGENT ACTUATOR
Chapter 4 Commands
1.
List
of
SEL
Language
Command
Codes
by
Function
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 SVXX Operation axis pattern Prohibited PE Servo [ON, OF] 149
Optional HOME Home-return axis pattern Prohibited PE Return to home 150
Optional MOVP Destination position number Prohibited PE Move to specified position 151
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
152
Optional MVPI Travel position number Prohibited PE Move to relative position 153
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
154
Optional PATH Start position number End position number PE Move along path 155
Optional JXWX Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 156
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 157
Optional PSPL Start position number End position number PE Move along spline 158
Optional PUSH Target position number Prohibited PE Move by push motion 159
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
161
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
162
Optional CIRS Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along
circle
163
Optional ARCS Passing position number Passing position number PE
Move three-dimensionally along
arc
164
166
Optional CHVL Axis pattern Speed CP Change speed 165
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification
of end position and center angl
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification
of center position and center
angle
167
Optional PBND Axis pattern Distance CP Set positioning band 168
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
169
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
170
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 220
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 210
Optional ATRG Position number Position number CP Set arch trigger 211
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 212
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 212
Optional IFXX Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
171
Optional ISXX Column number
Column number,
character literal
CP Compare strings 172
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is
not satisfied
173
Structural IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 173
Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 174
Optional LEAV Prohibited Prohibited CP Pull out from DO 174
Optional ITER Prohibited Prohibited CP Repeat DO 175
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 175
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 176
Prohibited WHXX Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
177
Prohibited WSXX Column number
Column number,
character literal
CP Branch character string [EQ, NE] 178
179 Prohibited OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 179