IAI PSEL, Operation Manual

Page: 719 / 1062

5. SEL
Commands
225
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 SV Operation axis pattern Prohibited PE Turn ON/OFF servo 346
Optional HOME
Home-return axis
pattern
Prohibited PE Home return 347
Optional MOVP Position No. to move to Prohibited PE Move by specifying position data 348
Optional MOVL Position No. to move to Prohibited PE
Position-indicated interpolation
movement
350
Optional MVPI
Movement amount
position No.
Prohibited PE Position-relative movement 352
Optional MVLI
Movement amount
position No.
Prohibited PE Position-relative interpolation movement 354
Optional PATH Start position No. End position No. PE Move along path 358
Optional J W Drive axis pattern
Start input and output,
flag
PE Jog [FN/FF/BN/BF] 359
Optional STOP Stop axis pattern Prohibited CP Deceleration and stop of axis 361
Optional PSPL Start position No. End position No. PE Move along spline 362
Optional PUSH Target position No. Prohibited PE Move by push motion 363
Optional PTRQ Axis pattern Ratio [%] CC Change push torque limit parameter 365
Optional CIR2 Passing position 1 No. Passing position 2 No. PE Circle movement 2 (Arc interpolation) 366
Optional ARC2 Passing position No. End position No. PE Arc movement 2 (Arc interpolation) 368
Optional CIRS Passing position 1 No. Passing position 2 No. PE Move along circle three-dimensionally 370
Optional ARCS Passing position No. End position No. PE Move along arc three-dimensionally 372
Optional CHVL Axis pattern Speed CP Change speed 374
Optional ARCD End position No. Center angle [
q
(degree)] PE
Termination position center angle
indicated arc movement
376
Optional ARCC Center position No. Center angle [
q
(degree)] PE
Center position center angle indicated
arc movement
378
Optional PBND Axis pattern Distance CP Set positioning width 380
Optional CIR Passing position 1 No. Passing position 2 No. PE Circle movement (CIR2 is recommended) 383
Optional ARC Passing position No. End position No. PE Arc movement (ARC2 is recommended) 385
Optional PEND Prohibited Prohibited PE
Wait for end of operation by axes
currently used by program
387
Optional MOVD Target position (Axis pattern) PE Move via direct value specification 356
Optional MVDI Travel distance (Axis pattern) PE
Move relatively via direct value
specification
357
Optional TMLI Position No. Prohibited PE
Move incrementally to position on tool
coordinate system via CP operation
382
Actuato
r Con
trol
Command
Optional TMPI Position No. Prohibited PE
Move incrementally to position on tool
coordinate system via PTP operation
381
Optional IF Comparative variable Compared No. CP Compare [EQ/NE/GT/GE/LT/LE] 388
Optional IS Column No.
Column No., character
literal
CP Compare strings 389
Prohibited ELSE Prohibited Prohibited CP
Declaration of IF Command
unsuccessful execution destination
390
IF stru
cture
Prohibited EDIF Prohibited Prohibited CP IF termination declaration 391
Optional DW Comparative variable Compared No. CP Loop [EQ/NE/GT/GE/LT/LE] 392
Optional LEAV Prohibited Prohibited CP Pull out of DO 393
Optional ITER Prohibited Prohibited CP Repeat of DO 394
S
tructural
DO
Prohibited EDDO Prohibited Prohibited CP DO termination declaration 395
Optional SLCT Prohibited Prohibited CP Start declaration for multi-branching 396
Prohibited WH Comparative variable Compared No. CP Branch values [EQ/NE/GT/GE/LT/LE] 397
Prohibited WS Column No.
Column No., character
literal
CP Branch character line [EQ/NE] 398
Prohibited OTHE Prohibited Prohibited CP
Declaration of condition unsuccessful
branching destination
399
Multi-Bra
nchi
ng
Prohibited EDSL Prohibited Prohibited CP SLCT termination declaration 400