IAI America SSEL - Manual (Page 123)

101
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 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
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 138 Optional Stop program number (Stop program number) CC Stop other program
ACC 158 Optional Acceleration Prohibited CP Set acceleration
ACHZ 229 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 108 Optional Augend variable Addend ZR Add
AND 114 Optional AND operand variable Operand ZR Logical AND
ARC 194 Optional Passing position number End position number PE Move along arc
ARC2 188 Optional Passing position number End position number PE Move along arc 2
ARCC 191 Optional Center position number Center angle PE
Move along arc via specification of center
position and center angle
ARCD 190 Optional End position number Center angle PE
Move along arc via specification of end position
and center angle
ARCH 227 Optional Position number Position number PE Arch motion
ATN 112 Optional
Inverse-tangent
assignment operation
Operand ZR Inverse tangent
ATRG 230 Optional Position number Position number CP Set arch trigger
AXST 204 Optional Variable number Axis number CP Get axis status
B
BASE 163 Optional Reference axis number Prohibited CP Set reference axis
BGPA 232 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 134 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF 123 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 122 Optional Output port, flag Timer setting CP Output ON pulse
BT 121 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 166 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 244 Optional 0 or 1 Prohibited CP Change task level
CHVL 189 Optional Axis pattern Speed CP Change speed
CIR 193 Optional Passing position 1 number Passing position 2 number PE Move along circle
CIR2 187 Optional Passing position 1 number Passing position 2 number PE Move along circle 2
CLOS 211 Optional Channel number Prohibited CP Close channel
CLR 107 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 111 Optional
Cosine assignment
variable
Operand ZR Cosine
CP 117 Optional Comparison variable Comparison value EQ NE GT
GE LT LE Compare
D
DCL 159 Optional Deceleration Prohibited CP Set deceleration
DEG 162 Optional Division angle Prohibited CP Set division angle
DIS 168 Optional Distance Prohibited CP Set spline division distance
DIV 109 Optional Dividend variable Divisor ZR Divide
DW 198 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
E
ECMD 246 Optional 1 Axis number CC Get motor current value
ECMD 247 Optional 5 Axis number CC Get axis operation status
ECMD 248 Optional 20 Variable number CC Get parameter value
EDDO 199 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 197 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 232 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 203 Prohibited Prohibited Prohibited CP Declare end of SLCT