IAI America ASEL - Manual (Page 112)

Part 2 Programs
Chapter 2 List of SEL
Language Command Codes
90
Part 2 Programs
2. Alphabetical Order
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
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 127 Optional Stop program number (Stop program number) CC Stop other program
ACC 147 Optional Acceleration Prohibited CP Set acceleration
ACHZ 216 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 98 Optional Augend variable Addend ZR Add
AND 104 Optional AND operand variable Operand ZR Logical AND
ARC 183 Optional Passing position number End position number PE Move along arc
ARC2 177 Optional Passing position number End position number PE Move along arc 2
ARCC 180 Optional Center position number Center angle PE
Move along arc via specification of center
position and center angle
ARCD 179 Optional End position number Center angle PE
Move along arc via specification of end position
and center angle
ARCH 216 Optional Position number Position number PE Arch motion
ATN 102 Optional
Inverse-tangent
assignment operation
Operand ZR Inverse tangent
ATRG 219 Optional Position number Position number CP Set arch trigger
AXST 193 Optional Variable number Axis number CP Get axis status
B
BASE 152 Optional Reference axis number Prohibited CP Set reference axis
BGPA 221 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 123 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF 113 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 112 Optional Output port, flag Timer setting CP Output ON pulse
BT†† 111 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 155 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 233 Optional 0 or 1 Prohibited CP Change task level
CHVL 178 Optional Axis pattern Speed CP Change speed
CIR 182 Optional Passing position 1 number Passing position 2 number PE Move along circle
CIR2 176 Optional Passing position 1 number Passing position 2 number PE Move along circle 2
CLOS 200 Optional Channel number Prohibited CP Close channel
CLR 97 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 101 Optional
Cosine assignment
variable
Operand ZR Cosine
CP†† 107 Optional Comparison variable Comparison value EQ NE GT
GE LT LE
Compare
D
DCL 148 Optional Deceleration Prohibited CP Set deceleration
DEG 151 Optional Division angle Prohibited CP Set division angle
DIS 157 Optional Distance Prohibited CP Set spline division distance
DIV 99 Optional Dividend variable Divisor ZR Divide
DW†† 187 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
E
ECMD 235 Optional 1 Axis number CC Get motor current value
ECMD 236 Optional 5 Axis number CC Get axis operation status
ECMD 237 Optional 20 Variable number CC Get parameter value
EDDO 188 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 186 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 221 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 192 Prohibited Prohibited Prohibited CP Declare end of SLCT