2 list of commands in alphabetical order – IAI America TT-C3 User Manual
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79
INTELLIGENT ACTUATOR
Chapter 4 Commands
1.
List
of
SEL
Language
Command
Codes
by
Function
1.2
List of Commands in Alphabetical Order
Operation type in the output field
CC:
Command was executed successfully
ZR:
Operation result is zero
PE:
Operation is complete
EQ:
Operand 1 = Operand 2
NE:
Operand 1 Operand 2
GT:
Operand 1 > Operand 2
CP:
Command part has passed
TU:
Time up
GE:
Operand 1 Operand 2
LT:
Operand 1 < Operand 2
LE:
Operand 1
Operand 2
Command
Page
Condition
Operation1
Operation2
Output
Function
A
ABPG
115
Optional
Stop program number
(Stop program number)
CC
Stop other program
ACC
135
Optional
Acceleration
Prohibited
CP
Set acceleration
ACHZ
210
Optional
Axis number
Prohibited
CP
Declare arch-motion Z-axis
ADD
86
Optional
Augend variable
Addend
ZR
Add
AEXT
212
Optional
(Position number)
Prohibited
CP
Set arch-motion composition
AND
92
Optional
AND operand variable
Operand
ZR
Logical AND
ARC
170
Optional
Passing position number
End position number
PE
Move along arc
ARC2
162
Optional
Passing position number
End position number
PE
Move along arc 2
ARCC
167
Optional
Center position number
Center angle
PE
Move along arc via specification of center
position and center angle
ARCD
166
Optional
End position number
Center angle
PE
Move along arc via specification of end
position and center angle
ARCH
220
Optional
Position number
Position number
PE
Arch motion
ARCS
164
Optional
Passing position number
Passing position number
PE
Move three-dimensionally along arc
ATN
90
Optional
Inverse-tangent assignment
variable
Operand
ZR
Inverse tangent
ATRG
211
Optional
Position number
Position number
CP
Set arch trigger
AXST
180
Optional
Variable number
Axis number
CP
Get axis status
B
BASE
140
Optional
Reference axis number
Prohibited
CP
Set reference axis
BGPA
201
Optional
Palletizing number
Prohibited
CP
Declare start of palletizing setting
BGSR
111
Prohibited
Declaration subroutine
number
Prohibited
CP
Start subroutine
BTPF
Optional
Output port, flag
Timer setting
CP
Output OFF pulse
BTPN
Optional
Output port, flag
Timer setting
CP
Output ON pulse
BTXX
99
Optional
Start output, flag
(End output, flag)
CP
Output, flag [ON, OF, NT]
C
CANC
143
Optional
(Input port to abort)
(CANC type)
CP
Declare port to abort
CHPR
222
Optional
0 or 1
Prohibited
CP
Change task level
CHVL
165
Optional
Axis pattern
Speed
CP
Change speed
CIR
169
Optional
Passing position 1 number
Passing position 2
number
PE
Move along circle
CIR2
161
Optional
Passing position 1 number
Passing position 2
number
PE
Move along circle 2
CIRS
163
Optional
Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along circle
CLOS
187
Optional
Channel number
Prohibited
CP
Close channel
CLR
85
Optional
Start-of-clear variable
End-of-clear variable
ZR
Clear variable
COS
89
Optional
Cosine assignment variable
Operand
ZR
Cosine
CPXX
95
Optional
Comparison variable
Comparison value
Compare
D
DCL
136
Optional
Deceleration
Prohibited
CP
Set deceleration
DEG
139
Optional
Division angle
Prohibited
CP
Set division angle
DIS
145
Optional
Distance
Prohibited
CP
Set spline division distance
DIV
87
Optional
Dividend variable
Divisor
ZR
Divide
DWXX
174
Optional
Comparison variable
Comparison value
CP
Loop [EQ, NE, GT, GE, LT, LE]
101
100