IAI XSEL - Page 163

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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 SV Operation axis pattern Prohibited PE Servo [ON, OF] 220
Optional HOME Home-return axis pattern Prohibited PE Return to home 221
Optional MOVP Destination position number Prohibited PE Move to specified position 222
Optional MOVL Destination position number Prohibited PE
Move to specified position via
interpolation
223
Optional MVPI Travel position number Prohibited PE Move to relative position 224
Optional MVLI Travel position number Prohibited PE
Move to relative position via
interpolation
225
Optional PATH Start position number End position number PE Move along path 226
Optional J W Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 227
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 228
Optional PSPL Start position number End position number PE Move along spline 229
Optional PUSH Target position number Prohibited PE Move by push motion 230
Optional PTRQ
Axis pattern Ratio [%]
CC
Change push torque limit
parameter
232
Optional CIR2 Passing position 1 number
Passing position 2
number
PE
Move along circle 2 (arc
interpolation)
233
Optional ARC2 Passing position number End position number PE
Move along arc 2 (arc
interpolation)
234
Optional CIRS Passing position 1 number
Passing position 2
number
PE
Move three-dimensionally along
circle
235
Optional ARCS Passing position number
Passing position
number
PE
Move three-dimensionally along
arc
236
Optional CHVL Axis pattern Speed CP Change speed 237
Optional ARCD End position number Center angle [deg] PE
Move along arc via specification
of end position and center angle
238
Optional ARCC Center position number Center angle [deg] PE
Move along arc via specification
of center position and center
angle
239
Optional PBND Axis pattern Distance CP Set positioning band 240
Optional CIR Passing position 1 number
Passing position 2
number
PE
Move along circle (CIR2 is
recommended)
241
Optional ARC Passing position number End position number PE
Move along arc (ARC2 is
recommended)
242
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 295
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 285
Optional ATRG Position number Position number CP Set arch trigger 286
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 287
Actuator
control
command
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 287
Optional IF Comparison variable Comparison value CP
Compare [EQ, NE, GT, GE, LT,
LE]
243
Optional IS Column number
Column number,
character literal
CP Compare strings 244
Prohibited
ELSE Prohibited Prohibited CP
Declare execution destination
when IF command condition is
not satisfied
245
Structural
IF
Prohibited
EDIF Prohibited Prohibited CP Declare end of IF 245
Optional DW Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 246
Optional LEAV Prohibited Prohibited CP Pull out from DO 246
Optional ITER Prohibited Prohibited CP Repeat DO 247
Structural
DO
Prohibited
EDDO Prohibited Prohibited CP Declare end of DO 247
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 248
Prohibited
WH Comparison variable Comparison value CP
Branch value [EQ, NE, GT, GE,
LT, LE]
249
Prohibited
WS Column number
Column number,
character literal
CP
Branch character string [EQ,
NE]
250
Prohibited
OTHE Prohibited Prohibited CP
Declare branching destination
when condition is not satisfied
251
Multi-
branching
Prohibited
EDSL Prohibited Prohibited CP Declare end of SLCT 251