IAI America ASEL - Manual (Page 111)

Part 2 Programs
Chapter 2 List of SEL
Language Command Codes
89
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 ARCH Position number Position number PE Arch motion 216
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 218
Optional ATRG Position number Position number CP Set arch triggers 219
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 220
Optional BGPA Palletizing number Prohibited CP Declare start of palletizing setting 221
Prohibited EDPA Prohibited Prohibited CP Declare end of palletizing setting 221
Optional PAPI Count Count CP Set palletizing counts 222
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 222
Optional PASE Axis number Axis number CP Set palletizing axes 223
Optional PAPT Pitch Pitch CP Set palletizing pitches 223
Optional PAST (Position number) Prohibited CP Set palletizing reference point 224
Optional PAPS Position number
(Palletizing position
setting type)
CP Set 3 palletizing points for teaching 225
Optional PSLI Offset amount (Count) CP Set zigzag 227
Optional PTNG Palletizing number Variable number CP Get palletizing position number 228
Optional PINC Palletizing number Prohibited CC Increment palletizing position
number by 1
228
Optional PDEC Palletizing number Prohibited CC Decrement palletizing position
number by 1
229
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
229
Optional PARG Palletizing number Axis number CP Get palletizing angle 230
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 230
Optional PMVP Palletizing number (Position number) PE Move to palletizing points via PTP 231
Palletizing-
related
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
232
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Optional CHPR 0 or 1 Prohibited CP Change task level 233
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be performed
when input condition is not specified
233
Prohibited TSLP Time Prohibited CP Task sleep 234
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
See
251
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
See
251
Optional ECMD 1 Axis number CC Get motor current value 235
Optional ECMD 5 Axis number CC Get axis operation status 236
Extended
command
Optional ECMD 20 Variable number CC Get parameter value 237