IAI America S-SEL-E - Manual (Page 167)

Page 162
Chapter 4. Programming
Part 4 Expansion Commands
1. Command Table
Note: These expansion commands cannot be used with the teaching pendant. Please use the PC Interface Software (DOS
Ver. 2.0 or higher or Windows Ver. 1.0 or higher) for these commands.
Category Function Command Page No.
Actuator Control Designation S motion ratio setting SCRV 163
Actuator Control Command
Incremental PTP movement MVPI 164
Incremental interpolation movement MVLI 164
Axis status acquisition AXST 165
Timer Command Time acquisition GTTM 166
Calculation Command Move TRAN 167
Point Data Command Read out axis pattern PAXS 168
Structured IF Command
Equal IFEQ 169
Unequal IFNE 169
Greater than IFGT 169
Equal to or greater than IFGE 169
Less than IFLT 169
Equal to or less than IFLE 169
State execution destination when no IFconditions are established ELSE 170
Declare IF ending EDIF 170
Character string comparison Equal ISEQ 171
Character string comparison Unequal ISNE 171
Structured DO Command
While equal DWEQ 172
While unequal DWNE 172
While greater than DWGT 172
While equal to or greater than DWGE 172
While less than DWLT 172
While equal to or less than DWLE 172
Leave DWXX LEAV 173
Repeat DWCC ITER 173
Declare DO ending EDDO 174
External Input Output Command
Open channel OPEN 175
Close channel CLOS 175
Read in from channel READ 176
Write out to channel WRIT 177
Set ending character SCHA 177
String Command
Copy character string SCPY 178
Compare character string SCMP 179
Get string SGET 180
Write in string SPUT 180
Change character string (decimal) STR 181
Change character string (hexadecimal) STRH 182
Change value (decimal) VAL 183
Change value (hexadecimal) VALH 184
Set length SLEN 184
Branch Command
Declare beginning of branch SLCT 185
Declare branch destination when no conditions are established OTHE 185
Declare end of SLCT EDSL 185
Selected when true (variable) WHXX 186
Selected when true (character) WSXX 187