IAI America SSEL - Manual (Page 120)

98
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 SV Operation axis pattern Prohibited PE Servo [ON, OF] 172
Optional HOME Home-return axis pattern Prohibited PE Return to home 173
Optional MOVP Destination position number Prohibited PE Move to specified position 174
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
175
Optional MVPI Travel position number Prohibited PE Move to relative position 176
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
177
Optional MOVD Target position (Axis pattern) PE Move via direct value specification 178
Optional MVDI Travel distance (Axis pattern) PE
Move relatively via direct value
specification
179
Optional PATH Start position number End position number PE Move along path 180
Optional J W Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 181
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 182
Optional PSPL Start position number End position number PE Move along spline 183
Optional PUSH Target position number Prohibited PE Move by push motion 184
Optional PTRQ
Axis pattern Ratio [%]
CC
Change push torque limit
parameter
186
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
187
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
188
Optional CHVL Axis pattern Speed CP Change speed 189
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification of
end position and center angle
190
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification of
center position and center angle
191
Optional PBND Axis pattern Distance CP Set positioning band 192
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
193
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
194
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 227
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 229
Optional ATRG Position number Position number CP Set arch trigger 230
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 231
Optional IF Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
195
Optional IS Column number
Column number,
character literal
CP Compare strings 196
Prohibited ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is not
satisfied
197
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 197
Optional DW Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 198
Optional LEAV Prohibited Prohibited CP Pull out from DO 198
Optional ITER Prohibited Prohibited CP Repeat DO 199
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 199
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 200
Prohibited WH Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
201
Prohibited WS Column number
Column number,
character literal
CP Branch character string [EQ, NE] 202
Prohibited OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
203
Multi-
branching
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 203