IAI RA Series, Instruction Manual

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4. Operation Program
66
4.5.2. Relation of Other SEL Commands with Extension Motion Control Features
Shown in the list below is the relation of the SEL commands not for the extension motion control
with the extension motion control axes.
Table: Relation of Existing SEL Commands with Extension Motion Control Axes
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
Actuator control
declaration (normal)
VEL, OVRD, ACC, DCL, SCRV, VLMX,
POTP
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, PAPR, ACMX
Invalid
QRTN
Invalid (Similar operation can be achieved
by setting position data position complete
band)
DFTL, SLTL, GTTL, DFWK, SLWK, GTWK
VELS, ACCS, DCLS, RIGH, LEFT, PTPR
PTPL, PTPD, PTPE, DFIF, SOIF, SEIF,
GTIF, WGHT, WGT2
No influence
Actuator control
command (normal)
PTRQ, PBND
Valid only when “Axis Use Method =
Standard Driver Control”
SVON, SVOF, HOME, MOVP
MOVL, MVPI, MVLI, PATH,
CIR, ARC, JBWF, JBWN,
JFWF, JFWN, STOP, PSPL,
PUSH, CIR2, ARC2, CHVL,
ARCD, ARCC, CIRS,
ARCS, TMPI, TMLI
Invalid
ME0364-2B