IAI America SSEL - Manual (Page 119)

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
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 GOTO
Jump-destination tag
number
Prohibited CP Jump 133
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 133
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 134
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 134
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 135
Optional EXIT Prohibited Prohibited CP End program 136
Optional EXPG
Execution program
number (Execution program
number)
CC Start program 137
Optional ABPG Stop program number (Stop program number) CC Stop other program 138
Optional SSPG Pause program number (Pause program number) CC Pause program 139
Task
management
Optional RSPG
Resumption program
number (Resumption program
number)
CC Resume program 140
Optional PGET Axis number Position number CC Assign position to variable 199 141
Optional PPUT Axis number Position number CP Assign value of variable 199 142
Optional PCLR Start position number End position number CP Clear position data 143
Optional PCPY
Copy-destination
position number Copy-source position
number
CP Copy position data 144
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 145
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
146
Optional PTST
Confirmation axis
pattern Confirmation position
number
CC Confirm position data 147
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 148
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 149
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 150
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 151
Optional PSIZ
Size assignment
variable number
CP Confirm position size 152
Optional GVEL Variable number Position number CP Get speed data 153
Optional GACC Variable number Position number CP Get acceleration data 154
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 155
Optional VEL Speed [mm/sec] Prohibited CP Set speed 156
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 157
Optional ACC Acceleration [G] Prohibited CP Set acceleration 158
Optional DCL Deceleration [G] Prohibited CP Set deceleration 159
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 160
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 161
Optional DEG Division angle [deg] Prohibited CP Set division angle 162
Optional BASE Reference axis number Prohibited CP Set reference axis 163
Optional GRP Valid axis pattern Prohibited CP Set group axes 164
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 165
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 166
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 167
Optional DIS Distance Prohibited CP Set spline division distance 168
Optional POTP 0 or 1 Prohibited CP Set PATH output type 169
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
170
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 171