IAI PSEL, Operation Manual

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5. SEL
Commands
224
Output operation types
CC: Command successful, ZR: Calculation result zero
PE: Operation complete, CP: Command passing, TU: Timeout
EQ: Operand 1 = Operand 2, NE: Operand 1
#
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 DFWK
Work coordinate system
No.
Position No. CP Define work coordinate system 325
Optional GTIF Contact check zone No. Position No. CP
Get simple contact check zone definition
coordinate
340
Optional GTTL
Tool coordinate system
No.
Position No. CP
Get tool coordinate system definition
data
323
Optional GTWK
Work coordinate system
No.
Position No. CP
Get work coordinate system definition
number
328
Optional NBND Axis pattern Close distance CP Set close distance 345
Optional PTPD Prohibited Prohibited CP
Specify PTP target arm system to
current arm
334
Optional SLTL
Tool coordinate system
No.
Prohibited CP Select tool coordinate system 322
Optional SEIF Contact check zone No. 0 to 2 CP
Specify type of simple contact check
zone
339
Optional RIGH Prohibited Prohibited PE Change current arm system to right arm 330
Optional LEFT Prohibited Prohibited PE Change current arm system to left arm 331
Optional PTPR Prohibited Prohibited CP
Specify PTP target arm system to right
arm
332
Optional PTPE Prohibited Prohibited CP
Specify PTP target arm system to
current arm
335
Optional WGHT Mass (Inertial moment) CP Set tip work mass, inertial moment 341
Optional WGT2 Mass (Inertial moment) CP Tip load condition setting 2 343
Optional VELS Ratio Prohibited CP Set speed ratio 292
Optional SOIF Contact check zone No. Output, global flag No. CP
Specify output for simple contact check
zone
338
Optional SLWK
Work coordinate system
No.
Prohibited CP Select work coordinate system 327
Actuato
r Con
trol
Declara
tion
Optional PTPL Prohibited Prohibited CP
Specify PTP target arm system to left
arm
333