IAI America TT-C3 - Manual (Page 90)

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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
Command Page Condition Operation1 Operation2 Output Function
E
EDDO 175 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 173 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 201 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 179 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 112 Prohibited Prohibited Prohibited CP End subroutine
ELSE 173 Prohibited Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 94 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 113 Optional Prohibited Prohibited CP End program
EXPG 114 Optional Execution program number
(Execution program
number)
CC Start program
EXSR 111 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 131 Optional Variable number Position number CP Get acceleration data
GDCL 132 Optional Variable number Position number CP Get deceleration data
GOTO 110 Optional Jump-destination tag number Prohibited CP Jump
GRP 141 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 98 Optional Time assignment variable Prohibited CP Get time
GVEL Optional Variable number Position number CP Get speed data
H
HOLD 142 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 150 Optional Home-return axis pattern Prohibited PE Return to home
I
IFXX 171 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
ISXX 172 Optional Column number
Column number,
character literal
CP Compare strings
ITER 175 Optional Prohibited Prohibited CP Repeat DO
J
JXWX 156 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 174 Optional Prohibited Prohibited CP Pull out from DO
LET 84 Optional Assignment variable Assigned value ZR Assign
M
MOD 88 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVL 152 Optional Destination position number Prohibited PE Move to specified position via interpolation
MOVP 151 Optional Destination position number Prohibited PE Move to specified position
MULT 87 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 154 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 153 Optional Travel position number Prohibited PE Move to relative position
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