IAI America PSEL - Manual (Page 107)

97
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
Command Page Condition Operand 1 Operand 2 Output Function
EDSR 130 Prohibited Prohibited Prohibited CP End subroutine
ELSE 192 Prohibited Prohibited Prohibited CP
Declare execution destination when IF command
condition is not satisfied
EOR 112 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 131 Optional Prohibited Prohibited CP End program
EXPG 132 Optional
Execution program
number (Execution program
number)
CC Start program
EXSR 129 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 125 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 149 Optional Variable number Position number CP Get acceleration data
GDCL 150 Optional Variable number Position number CP Get deceleration data
GOTO 128 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 159 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 116 Optional Time assignment variable Prohibited CP Get time
GVEL 148 Optional Variable number Position number CP Get speed data
H
HOLD 160 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 168 Optional Home-return axis pattern Prohibited PE Return to home
I
IF  190 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 122 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 121 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS  191 Optional Column number
Column number, character
literal
CP Compare strings
ITER 194 Optional Prohibited Prohibited CP Repeat DO
J
J W 176 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 193 Optional Prohibited Prohibited CP Pull out from DO
LET 101 Optional Assignment variable Assigned value ZR Assign
M
MOD 106 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVD 173 Optional Target position (Axis pattern) PE Move via direct value specification
MOVL 170 Optional
Destination position
number
Prohibited PE Move to specified position via interpolation
MOVP 169 Optional
Destination position
number
Prohibited PE Move to specified position
MULT 105 Optional Multiplicand variable Multiplier ZR Multiply
MVDI 174 Optional Travel distance (Axis pattern) PE
Move relatively via direct value
specification
MVLI 172 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 171 Optional Travel position number Prohibited PE Move to relative position