IAI America PSEL - Manual (Page 106)

96
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  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 Operand 1 Operand 2 Output Function
A
ABPG 133 Optional Stop program number (Stop program number) CC Stop other program
ACC 153 Optional Acceleration Prohibited CP Set acceleration
ACHZ 222 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 104 Optional Augend variable Addend ZR Add
AND 110 Optional AND operand variable Operand ZR Logical AND
ARC 189 Optional Passing position number End position number PE Move along arc
ARC2 183 Optional Passing position number End position number PE Move along arc 2
ARCC 186 Optional Center position number Center angle PE
Move along arc via specification of center
position and center angle
ARCD 185 Optional End position number Center angle PE
Move along arc via specification of end position
and center angle
ARCH 222 Optional Position number Position number PE Arch motion
ATN 108 Optional
Inverse-tangent
assignment operation
Operand ZR Inverse tangent
ATRG 226 Optional Position number Position number CP Set arch trigger
AXST 199 Optional Variable number Axis number CP Get axis status
B
BASE 158 Optional Reference axis number Prohibited CP Set reference axis
BGPA 227 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 129 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF 119 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 118 Optional Output port, flag Timer setting CP Output ON pulse
BT  117 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 161 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 239 Optional 0 or 1 Prohibited CP Change task level
CHVL 184 Optional Axis pattern Speed CP Change speed
CIR 188 Optional Passing position 1 number Passing position 2 number PE Move along circle
CIR2 182 Optional Passing position 1 number Passing position 2 number PE Move along circle 2
CLOS 206 Optional Channel number Prohibited CP Close channel
CLR 103 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 107 Optional
Cosine assignment
variable
Operand ZR Cosine
CP  113 Optional Comparison variable Comparison value EQ NE GT
GE LT LE Compare
D
DCL 154 Optional Deceleration Prohibited CP Set deceleration
DEG 157 Optional Division angle Prohibited CP Set division angle
DIS 163 Optional Distance Prohibited CP Set spline division distance
DIV 105 Optional Dividend variable Divisor ZR Divide
DW  193 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
E
ECMD 241 Optional 1 Axis number CC Get motor current value
ECMD 242 Optional 5 Axis number CC Get axis operation status
ECMD 243 Optional 20 Variable number CC Get parameter value
EDDO 194 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 192 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 227 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 198 Prohibited Prohibited Prohibited CP Declare end of SLCT