IAI America ASEL - Manual (Page 109)

Part 2 Programs
Chapter 2 List of SEL
Language Command Codes
87
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 SV†† Operation axis pattern Prohibited PE Servo [ON, OF] 161
Optional HOME Home-return axis pattern Prohibited PE Return to home 162
Optional MOVP Destination position number Prohibited PE Move to specified position 163
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
164
Optional MVPI Travel position number Prohibited PE Move to relative position 165
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
166
Optional MOVD Target position (Axis pattern) PE Move via direct value specification 167
Optional MVDI Travel distance (Axis pattern) PE
Move relatively via direct value
specification
168
Optional PATH Start position number End position number PE Move along path 169
Optional J†W† Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 170
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 171
Optional PSPL Start position number End position number PE Move along spline 172
Optional PUSH Target position number Prohibited PE Move by push motion 173
Optional PTRQ
Axis pattern Ratio [%]
CC
Change push torque limit
parameter
175
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
176
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
177
Optional CHVL Axis pattern Speed CP Change speed 178
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification of
end position and center angle
179
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification of
center position and center angle
180
Optional PBND Axis pattern Distance CP Set positioning band 181
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
182
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
183
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 216
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 218
Optional ATRG Position number Position number CP Set arch trigger 219
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 220
Optional IF†† Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT,
LE]
184
Optional IS†† Column number
Column number,
character literal
CP Compare strings 185
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is not
satisfied
186
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 186
Optional DW†† Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 187
Optional LEAV Prohibited Prohibited CP Pull out from DO 187
Optional ITER Prohibited Prohibited CP Repeat DO 188
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 188
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 189
Prohibited WH†† Comparison variable Comparison value CP Branch value [EQ, NE, GT, GE,
LT, LE]
190
Prohibited WS†† Column number
Column number,
character literal
CP Branch character string [EQ, NE] 191
Prohibited OTHE Prohibited Prohibited CP Declare branching destination
when condition is not satisfied
192
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 192