IAI XSEL - Page 166

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Part 4 CommandsChapter 1 List of SEL Language Command Codes
Part 4 Commands
2. Alphabetical Order
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
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 182 Optional End program number (End program number) CC Abort other program
ACC 202 Optional Acceleration Prohibited CP Set acceleration
ACMX 212 Optional
ACMX acceleration number
Prohibited CP Indicate ACMX acceleration
ADD 153 Optional Augend variable Addend ZR Add
ACHZ 285 Optional Axis number Prohibited CP Declare arch-motion Z-axis
AEXT 287 Optional (Position number) Prohibited CP Set arch-motion composition
AND 159 Optional AND operand variable Operand ZR Logical AND
ARC 242 Optional
Passing position number
End position number PE Move along arc
ARC2 234 Optional
Passing position number
End position number PE Move along arc 2
ARCC 239 Optional Center position number Center angle PE
Move along arc via specification of center
position and center angle
ARCD 238 Optional End position number Center angle PE
Move along arc via specification of end position
and center angle
ARCH 295 Optional Position number Position number PE Arch motion
ARCS 236 Optional
Passing position number Passing position number
PE Move three-dimensionally along arc
ATN 157 Optional
Inverse-tangent
assignment operation
Operand ZR Inverse tangent
ATRG 286 Optional Position number Position number CP Set arch trigger
AXST 252 Optional Variable number Axis number CP Get axis status
B
BASE 207 Optional Reference axis number Prohibited CP Set reference axis
BGPA 274 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 178
Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF 168 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 167 Optional Output port, flag Timer setting CP Output ON pulse
BT 166 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 210 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 297 Optional 0 or 1 Prohibited CP Change task level
CHVL 237 Optional Axis pattern Speed CP Change speed
CIR 241 Optional
Passing position 1 number Passing position 2 number
PE Move along circle
CIR2 233 Optional
Passing position 1 number Passing position 2 number
PE Move along circle 2
CIRS 235 Optional
Passing position 1 number Passing position 2 number
PE Move three-dimensionally along circle
CLOS 259 Optional Channel number Prohibited CP Close channel
CLR 152 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 156 Optional
Cosine assignment
variable
Operand ZR Cosine
CP 162 Optional Comparison variable Comparison value
EQ NE GT
GE LT LE
Compare
D
DCL 203 Optional Deceleration Prohibited CP Set deceleration
DEG 206 Optional Division angle Prohibited CP Set division angle
DIS 215 Optional Distance Prohibited CP Set spline division distance
DIV 154 Optional Dividend variable Divisor ZR Divide
DW 246 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]