Owner manual

75
INTELLIGENT ACTUATOR
Chapter 4 Commands
1. List of SEL Language Command Codes 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 GOTO
Jump-destination tag
number
Prohibited CP Jump 110
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 110
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 111
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 111
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 112
Optional EXIT Prohibited Prohibited CP End program 113
Optional EXPG Execution program number
(Execution program
number)
CC Start program 114
Optional ABPG Stop program number (Stop program number) CC Stop other program 115
Optional SSPG Pause program number (Pause program number) CC Pause program 116
Task
management
Optional RSPG
Resumption program
number
(Resumption program
number)
CC Resume program 117
Optional PGET Axis number Position number CC Assign position to variable 199 118
Optional PPUT Axis number Position number CP Assign value of variable 199 119
Optional PCLR Start position number End position number CP Clear position data 120
Optional PCPY
Copy-destination position
number
Copy-source position
number
CP Copy position data 121
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 122
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
123
Optional PTST Confirmation axis pattern
Confirmation position
number
CC Confirm position data 124
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 125
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 126
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 127
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 128
Optional PSIZ
Size assignment variable
number
CP Confirm position size 129
Optional GVEL Variable number Position number CP Get speed data 130
Optional GACC Variable number Position number CP Get acceleration data 131
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 132
Optional VEL Speed [mm/sec] Prohibited CP Set speed 133
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 134
Optional ACC Acceleration [G] Prohibited CP Set acceleration 135
Optional DCL Deceleration [G] Prohibited CP Set deceleration 136
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 137
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 138
Optional DEG Division angle [deg] Prohibited CP Set division angle 139
Optional BASE Reference axis number Prohibited CP Set reference axis 140
Optional GRP Valid axis pattern Prohibited CP Set group axes 141
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 142
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 143
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 144
Optional DIS Distance Prohibited CP Set spline division distance 145
Optional POTP 0 or 1 Prohibited CP Set PATH output type 146
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
147
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 148