IAI America TT-C3 - Manual (Page 91)

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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
O
OFAZ 212 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFPZ 209 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 138 Optional Setting axis pattern Offset value CP Set offset
OPEN 187 Optional Channel number Prohibited CP Open channel
OR 93 Optional OR operand variable Operand ZR Logical OR
OTHE 179 Prohibited Prohibited Prohibited CP
Declare branching destination when condition is not
satisfied
OUT Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 245 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 134 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PACH Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 202 Optional Count Count CP Set palletizing counts
PAPN 202 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 147 Optional Distance Prohibited CP Set PUSH command distance, speed
PAPS 205 Optional Position number Prohibited CP Set 3 palletizing points for teaching
PAPT 203 Optional Pitch Pitch CP Set palletizing pitches
PARG 215 Optional Palletizing number Axis number CP Get palletizing angle
PASE 203 Optional Axis number Axis number CP Set palletizing axes
PAST 204 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 155 Optional Start position number End position number PE Move along path
PAXS 128 Optional
Axis-pattern assignment variable
number
Position number CP Read axis pattern
PBND 168 Optional Axis pattern Distance CP Set positioning band
PCHZ 207 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 120 Optional Start position number End position number CP Clear position data
PCPY 121 Optional Copy-destination position number Copy-source position number CP Copy position data
PDCL 127 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 214 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PEXT 209 Optional (Position number) Prohibited CP Set palletizing composition
PGET 118 Optional Axis number Position number CC Assign position to variable 199
PGST 181 Optional Variable number Program number CP Get program status
PINC 213 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL 217 Optional Palletizing number (Position number) PE Move to palletizing points via interpolation
PMVP 216 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 146 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 119 Optional Axis number Position number CP Assign value of variable 199
PRDQ 123 Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED 122 Optional Read axis pattern
Save-destination position
numb
er
CP Read current axis position
PSET 214 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 129 Optional Size assignment variable number CP Confirm position size
PSLI 206 Optional Offset amount (Count) CP Set zigzag
PSPL 158 Optional Start position number End position number PE Move along spline
PTNG 213 Optional Palletizing number Variable number CP Get palletizing position number
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