IAI America ASEL - Manual (Page 114)

Part 2 Programs
Chapter 2 List of SEL
Language Command Codes
92
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
O
OFAZ 220 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFST 150 Optional Setting axis pattern Offset value CP Set offset
OPEN 200 Optional Channel number Prohibited CP Open channel
OR 105 Optional OR operand variable Operand ZR Logical OR
OTHE 192 Prohibited Prohibited Prohibited CP
Declare branching destination when condition is
not satisfied
OUT 117 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 118 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 251 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 146 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 138 Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PAPG 230 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 222 Optional Count Count CP Set palletizing counts
PAPN 222 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 159 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 225 Optional Position number
(Palletizing position setting
type)
CP Set 3 palletizing points for teaching
PAPT 223 Optional Pitch Pitch CP Set palletizing pitches
PARG 230 Optional Palletizing number Axis number CP Get palletizing angle
PASE 223 Optional Axis number Axis number CP Set palletizing axes
PAST 224 Optional (Position number ) Prohibited CP Set palletizing reference point
PATH 169 Optional Start position number End position number PE Move along path
PAXS 140 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 181 Optional Axis pattern Distance CP Set positioning band
PCLR 132 Optional Start position number End position number CP Clear position data
PCPY 133 Optional
Copy-destination position
number
Copy-source position
number
CP Copy position data
PDCL 139 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 229 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PGET 130 Optional Axis number Position number CC Assign position to variable 199
PGST 194 Optional Variable number Program number CP Get program status
PMVL 232 Optional Palletizing number Prohibited PE Move to palletizing points via interpolation
PMVP 231 Optional Palletizing number Prohibited PE Move to palletizing points via PTP
POTP 158 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 131 Optional Axis number Position number CP Assign value of variable 199
PRDQ 135 Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED 134 Optional Read axis pattern
Save-destination position
number
CP Read current axis position
PSET 229 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 141 Optional
Size assignment variable
number
CP Confirm position size
PSLI 227 Optional Offset amount (Count) CP Set zigzag
PSPL 172 Optional Start position number End position number PE Move along spline
PTRQ 175 Optional Axis pattern Ratio CC Change push torque limit parameter
PTST 136 Optional Confirmation axis pattern Confirmation position
number
CP Confirm position data
PUSH 173 Optional Target position number Prohibited PE Move by push motion
PVEL 137 Optional Speed
Assignment-destination
position number
CP Assign position speed