IAI America ASEL - Manual (Page 108)

Part 2 Programs
Chapter 2 List of SEL
Language Command Codes
86
Part 2 Programs
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 z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional GOTO
Jump-destination tag
number
Prohibited CP Jump 122
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 122
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 123
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 123
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 124
Optional EXIT Prohibited Prohibited CP End program 125
Optional EXPG
Execution program
number
(Execution program
number)
CC Start program 126
Optional ABPG Stop program number (Stop program number) CC Stop other program 127
Optional SSPG Pause program number (Pause program number) CC Pause program 128
Task
management
Optional RSPG
Resumption program
number
(Resumption program
number)
CC Resume program 129
Optional PGET Axis number Position number CC Assign position to variable 199 130
Optional PPUT Axis number Position number CP Assign value of variable 199 131
Optional PCLR Start position number End position number CP Clear position data 132
Optional PCPY
Copy-destination
position number
Copy-source position
number
CP Copy position data 133
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 134
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
135
Optional PTST
Confirmation axis
pattern
Confirmation position
number
CC Confirm position data 136
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 137
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 138
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 139
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 140
Optional PSIZ
Size assignment
variable number
CP Confirm position size 141
Optional GVEL Variable number Position number CP Get speed data 142
Optional GACC Variable number Position number CP Get acceleration data 143
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 144
Optional VEL Speed [mm/sec] Prohibited CP Set speed 145
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 146
Optional ACC Acceleration [G] Prohibited CP Set acceleration 147
Optional DCL Deceleration [G] Prohibited CP Set deceleration 148
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 149
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 150
Optional DEG Division angle [deg] Prohibited CP Set division angle 151
Optional BASE Reference axis number Prohibited CP Set reference axis 152
Optional GRP Valid axis pattern Prohibited CP Set group axes 153
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 154
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 155
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 156
Optional DIS Distance Prohibited CP Set spline division distance 157
Optional POTP 0 or 1 Prohibited CP Set PATH output type 158
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
159
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 160