IAI X-SEL, Руководство по эксплуатации

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Part 4 Commands
Chapter 1 List of SEL Language Command Codes
Part 4 Commands
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 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1
Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional GOTO
Jump-destination tag
number
Prohibited CP 7 7 1 p m u J
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 177
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 178
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 178
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 179
Optional EXIT Prohibited Prohibited CP End program 180
Optional EXPG
Execution program
number (Execution program
number)
CC Start program 181
Optional ABPG Stop program number (Stop program number) CC Stop other program 182
Optional SSPG Pause program number (Pause program number) CC Pause program 183
Task
management
Optional RSPG
Resumption program
number (Resumption program
number)
CC Resume program 184
Optional PGET Axis number Position number CC Assign position to variable 199 185
Optional PPUT Axis number Position number CP Assign value of variable 199 186
Optional PCLR Start position number End position number CP Clear position data 187
Optional PCPY
Copy-destination
position number Copy-source position
number
CP Copy position data 188
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 189
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
190
Optional PTST
Confirmation axis
pattern Confirmation position
number
CC Confirm position data 191
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 192
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 193
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 194
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 195
Optional PSIZ
Size assignment
variable number
P C Confirm position size 196
Optional GVEL Variable number Position number CP Get speed data 197
Optional GACC Variable number Position number CP Get acceleration data 198
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 199
Optional VEL Speed [mm/sec] Prohibited CP Set speed 200
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 201
Optional ACC Acceleration [G] Prohibited CP Set acceleration 202
Optional DCL Deceleration [G] Prohibited CP Set deceleration 203
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 204
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 205
Optional DEG Division angle [deg] Prohibited CP Set division angle 206
Optional BASE Reference axis number Prohibited CP Set reference axis 207
Optional GRP Valid axis pattern Prohibited CP Set group axes 208
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 209
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 210
Optional ACMX ACMX acceleration number Prohibited CP Indicate ACMX acceleration 212
Optional DIS Distance Prohibited CP Set spline division distance 215
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 211
Optional POTP 0 or 1 Prohibited CP Set PATH output type 216
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
217
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 218