IAI America PSEL - Manual (Page 102)

92
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
 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1
 Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1
 Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional GOTO
Jump-destination tag
number
Prohibited CP Jump 128
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 128
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 129
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 129
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 130
Optional EXIT Prohibited Prohibited CP End program 131
Optional EXPG
Execution program
number (Execution program
number)
CC Start program 132
Optional ABPG Stop program number (Stop program number) CC Stop other program 133
Optional SSPG Pause program number (Pause program number) CC Pause program 134
Task
management
Optional RSPG
Resumption program
number (Resumption program
number)
CC Resume program 135
Optional PGET Axis number Position number CC Assign position to variable 199 136
Optional PPUT Axis number Position number CP Assign value of variable 199 137
Optional PCLR Start position number End position number CP Clear position data 138
Optional PCPY
Copy-destination
position number Copy-source position
number
CP Copy position data 139
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 140
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
141
Optional PTST
Confirmation axis
pattern Confirmation position
number
CC Confirm position data 142
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 143
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 144
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 145
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 146
Optional PSIZ
Size assignment
variable number
CP Confirm position size 147
Optional GVEL Variable number Position number CP Get speed data 148
Optional GACC Variable number Position number CP Get acceleration data 149
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 150
Optional VEL Speed [mm/sec] Prohibited CP Set speed 151
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 152
Optional ACC Acceleration [G] Prohibited CP Set acceleration 153
Optional DCL Deceleration [G] Prohibited CP Set deceleration 154
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 155
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 156
Optional DEG Division angle [deg] Prohibited CP Set division angle 157
Optional BASE Reference axis number Prohibited CP Set reference axis 158
Optional GRP Valid axis pattern Prohibited CP Set group axes 159
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 160
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 161
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 162
Optional DIS Distance Prohibited CP Set spline division distance 163
Optional POTP 0 or 1 Prohibited CP Set PATH output type 164
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
165
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 166