IAI PSEL, Руководство по эксплуатации

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93
Part 2 Programs
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
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional SV
†
Operation axis pattern Prohibited PE Servo [ON, OF] 167
Optional HOME Home-return axis pattern Prohibited PE Return to home 168
Optional MOVP Destination position number Prohibited PE Move to specified position 169
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
170
Optional MVPI Travel position number Prohibited PE Move to relative position 171
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
172
Optional MOVD Target position (Axis pattern) PE Move via direct value specification 173
Optional MVDI Travel distance (Axis pattern) PE
Move relatively via direct value
specification
174
Optional PATH Start position number End position number PE Move along path 175
Optional J
†
W
†
Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 176
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 177
Optional PSPL Start position number End position number PE Move along spline 178
Optional PUSH Target position number Prohibited PE Move by push motion 179
Optional PTRQ
Axis pattern Ratio [%]
CC
Change push torque limit
parameter
181
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
182
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
183
Optional CHVL Axis pattern Speed CP Change speed 184
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification of
end position and center angle
185
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification of
center position and center angle
186
Optional PBND Axis pattern Distance CP Set positioning band 187
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
188
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
189
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 222
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 224
Optional ATRG Position number Position number CP Set arch trigger 225
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 226
Optional IF
†
Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
190
Optional IS
†
Column number
Column number,
character literal
CP Compare strings 191
Prohibited
ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is not
satisfied
192
Structural
IF
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 192
Optional DW Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 193
Optional LEAV Prohibited Prohibited CP Pull out from DO 193
Optional ITER Prohibited Prohibited CP Repeat DO 194
Structural
DO
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 194
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 195
Prohibited WH Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
196
Prohibited WS Column number
Column number,
character literal
CP Branch character string [EQ, NE] 197
Prohibited
OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
198
Multi-branc
hing
Prohibited
EDSL Prohibited Prohibited CP Declare end of SLCT 198