IAI America XSEL-S - Manual (Page 108)

Chapter 3 Programs
100
3.3.2 Relationship between Existing SEL Command and Extension Motion Control Board
Functions
The following table shows how extension motion control board functions influence existing
commands.
Table 3.2.1 Relationship between Existing SEL Command and Extension Motion Control Board Functions
Command category Command
Influence on extension motion control
board function
Variable assignment LET, TRN, CLR No influence
Arithmetic operation ADD, SUB, MULT, DIV, MOD No influence
Functional operation SIN, COS, TAN, ATN, SQR No influence
Logical operation AND, OR, EOR No influence
Comparison
CPEQ, CPNE, CPGT,
CPGE, CPLT, CPLE
No influence
I/O port flag
operation
BTON, BTOF, BTNT, WTON,
WTOF, IN, INB, OUT, OUTB,
BTPN, BTPF, FMIO
No influence
Position operation
PGET, PPUT, PCLR, PCPY, PRED,
PTST, PVEL, PACC, PDCL, PAXS,
PSIZ, GVEL, GACC, GDCL, PRDQ
Invalid (use commands for extension
motion control boards)
Timer TIMW, TIMC, GTTM No influence
VEL, OVRD, ACC, DCL, SCRV, VLMX Valid
HOLD, CANC
Valid
(HOLD type 2 has the same operation as
HOLD type 2 (Servo does not turn OFF))
OFST, DEG, BASE, GRP,
DIS, POTP, PAPR, NTCH
Invalid
Actuator control
declaration (normal)
QRTN
Invalid (Similar operation can be achieved
by setting position data position complete
band)
Actuator control
command (normal)
SVON, SVOF, HOME, MOVP
MOVL, MVPI, MVLI, PATH,
CIR, ARC, JBWF, JBWN,
JFWF, JFWN, STOP, PSPL,
PUSH, CIR2, ARC2, CHVL,
ARCD, ARCC, PBND, CIRS,
ARCS, PTRQ
Invalid
Palletize
ACHZ, ATRG, OFPZ, BGPA,
EDPA, PASE, PAPT, PAPS,
PAPN, PSLI, PAPI, ARCH,
PACH, PMVP, PMVL, PTNG,
PINC, PDEC, PSET, PAPG,
PCHZ, PTRG, PFAZ, PEXT,
AEXT, PARG, PAST
Invalid
Zone WZNA, WZNO, WZFA, WZFO No influence
System information
acquisition
AXST, PGST, SYST No influence