Owner manual

74
INTELLIGENT ACTUATOR
Chapter 4 Commands
Chapter 4 Commands
Chapter 4 Commands
1. List of SEL Language Command Codes by Function
Variables can be specified indirectly in the operand 1, operand 2 and output fields.
Symbols can be input in the condition, operand 1, operand 2 and output fields.
The input items in ( ) under operand 1 and operand 2 are optional.
Once an “actuator control declaration” command is executed in a program, the command will remain valid as long as the
program is running. To change the values (in operand 1, operand 2, etc.) already set by the “actuator control declaration”
command, the necessary parts of the program must be set again. In other words, the values set by the last executed
command will prevail.
The output field will be turned OFF when the command is executed. Once the execution is completed, the output field may
be turned ON depending on the operation type condition in the output field. (The output field will remain OFF if the condition
is not satisfied.)
Note: The output field of a comparison command CPXX (CPEQ, CPNE, CPGT, CPGE, CPLT or CPLE) will not be turned
OFF when the command is executed.
1.1 List of Commands by Function
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 LET Assignment variable Assigned value ZR Assign 84
Optional TRAN Copy-destination variable Copy-source variable ZR Copy 84
Variable
assignment
Optional CLR Start-of-clear variable End-of-clear variable ZR Clear variable 85
Optional ADD Augend variable Addend ZR Add 86
Optional SUB Minuend variable Subtrahend ZR Subtract 86
Optional MULT Multiplicand variable Multiplier ZR Multiply 87
Optional DIV Dividend variable Divisor ZR Divide 87
Arithmetic
operation
Optional MOD
Remainder assignment
variable
Divisor ZR Calculate remainder 88
Optional SIN Sine assignment variable Operand [radian] ZR Sine 89
Optional COS
Cosine assignment
variable
Operand [radian] ZR Cosine 89
Optional TAN
Tangent assignment
variable
Operand [radian] ZR Tangent 90
Optional ATN
Inverse-tangent assignment
variable
Operand ZR Inverse tangent 90
Function
operation
Optional SQR Root assignment variable Operand ZR Root 91
Optional AND AND operand variable Operand ZR Logical AND 92
Optional OR OR operand variable Operand ZR Logical OR 93
Logical
operation
Optional EOR
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR 94
Comparison Optional CPXX Comparison variable Comparison value
EQ, NE,
GT, GE,
LT, LE
Compare 95
Optional TIMW Wait time (sec) Prohibited TU Wait 96
Optional TIMC Program number Prohibited CP Cancel waiting 97
Timer
Optional GTTM Time assignment variable Prohibited CP Get time 98
Optional BTXX Start output, flag (End output, flag) CP Output, flag [ON, OF, NT] 99
Optional BTPN Output port, flag Timer setting CP Output ON pulse 100
Optional BTPF Output port, flag Timer setting CP Output OFF pulse 101
102
103
104
105
106
107
Optional WTXX I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF]
Optional IN Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
Optional INB Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
Optional OUT Head output, flag End I/O, flag CC Output binary (32 bits max.)
Optional OUTB Head output, flag Conversion digits CC Output BCD (8 digits max.)
I/O, flag
operation
Optional FMIO Format type Prohibited CP
Set IN (B)/OUT (B) command
format