IAI America ASEL - Manual (Page 113)

Part 2 Programs
Chapter 2 List of SEL
Language Command Codes
91
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
Command Page Condition Operand 1 Operand 2 Output Function
EDSR 124 Prohibited Prohibited Prohibited CP End subroutine
ELSE 186 Prohibited Prohibited Prohibited CP
Declare execution destination when IF command
condition is not satisfied
EOR 106 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 125 Optional Prohibited Prohibited CP End program
EXPG 126 Optional
Execution program
number
(Execution program
number)
CC Start program
EXSR 123 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 119 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 143 Optional Variable number Position number CP Get acceleration data
GDCL 144 Optional Variable number Position number CP Get deceleration data
GOTO 122 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 153 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 110 Optional Time assignment variable Prohibited CP Get time
GVEL 142 Optional Variable number Position number CP Get speed data
H
HOLD 154 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 162 Optional Home-return axis pattern Prohibited PE Return to home
I
IF†† 184 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 116 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 115 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS†† 185 Optional Column number
Column number, character
literal
CP Compare strings
ITER 188 Optional Prohibited Prohibited CP Repeat DO
J
J†W† 170 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 187 Optional Prohibited Prohibited CP Pull out from DO
LET 95 Optional Assignment variable Assigned value ZR Assign
M
MOD 100 Optional Remainder assignment
variable
Divisor ZR Calculate remainder
MOVD 167 Optional Target position (Axis pattern) PE Move via direct value specification
MOVL 164 Optional Destination position
number
Prohibited PE Move to specified position via interpolation
MOVP 163 Optional Destination position
number
Prohibited PE Move to specified position
MULT 99 Optional Multiplicand variable Multiplier ZR Multiply
MVDI 168 Optional Travel distance (Axis pattern) PE
Move relatively via direct value
specification
MVLI 166 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 165 Optional Travel position number Prohibited PE Move to relative position