Owner manual

78
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 BGPA Palletizing number Prohibited CP Declare start of palletizing setting
201
Prohibited EDPA Prohibited Prohibited CP Declare end of palletizing setting
201
Optional PAPI Count Count CP Set palletizing counts
202
Optional PAPN Pattern number Prohibited CP Set palletizing pattern
202
Optional PASE Axis number Axis number CP Set palletizing axes
203
Optional PAPT Pitch Pitch CP Set palletizing pitches
203
Optional PAST (Position number) Prohibited CP Set palletizing reference point
204
Optional PAPS Position number Prohibited CP
Set 3 palletizing points for
teaching
205
Optional PSLI Offset amount (Count) CP Set zigzag
206
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis
207
Optional PTRG Position number Position number CP Set palletizing arch triggers
208
Optional PEXT (Position number) Prohibited CP Set palletizing composition
209
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset
209
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis
210
Optional ATRG Position number Position number CP Set arch triggers
211
Optional AEXT (Position number) Prohibited CP Set arch-motion composition
212
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset
212
Optional PTNG Palletizing number Variable number CP Get palletizing position number
213
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
213
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
214
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
214
Optional PARG Palletizing number Axis number CP Get palletizing angle
215
Optional PAPG Palletizing number Position number CP Get palletizing calculation data
215
Optional PMVP Palletizing number (Position number) PE Move to palletizing points via PTP
216
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
217
Optional PACH Palletizing number Position number PE Palletizing-point arch motion
218
Palletizing-
related
Optional ARCH Position number Position number PE Arch motion 220
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Optional CHPR 0 or 1 Prohibited CP Change task level 222
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition is
not specified
222
Prohibited TSLP Time Prohibited CP Task sleep
223
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
See
245
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
See
245