Owner manual

79
INTELLIGENT ACTUATOR
Chapter 4 Commands
1. List of SEL Language Command Codes by Function
1.2 List of Commands in Alphabetical Order
Operation type in the output field
CC: Command was executed successfully
ZR: Operation result is zero
PE: Operation is complete
EQ: Operand 1 = Operand 2
NE: Operand 1
Operand 2
GT: Operand 1 > Operand 2
CP: Command part has passed
TU: Time up
GE: Operand 1
Operand 2
LT: Operand 1 < Operand 2
LE: Operand 1
Operand 2
Command Page Condition Operation1 Operation2 Output Function
A
ABPG 115 Optional Stop program number (Stop program number) CC Stop other program
ACC 135 Optional Acceleration Prohibited CP Set acceleration
ACHZ 210 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 86 Optional Augend variable Addend ZR Add
AEXT 212 Optional (Position number) Prohibited CP Set arch-motion composition
AND 92 Optional AND operand variable Operand ZR Logical AND
ARC 170 Optional Passing position number End position number PE Move along arc
ARC2 162 Optional Passing position number End position number PE Move along arc 2
ARCC 167 Optional Center position number Center angle PE
Move along arc via specification of center
position and center angle
ARCD 166 Optional End position number Center angle PE
Move along arc via specification of end
position and center angle
ARCH 220 Optional Position number Position number PE Arch motion
ARCS 164 Optional Passing position number Passing position number PE Move three-dimensionally along arc
ATN 90 Optional
Inverse-tangent assignment
variable
Operand ZR Inverse tangent
ATRG 211 Optional Position number Position number CP Set arch trigger
AXST 180 Optional Variable number Axis number CP Get axis status
B
BASE 140 Optional Reference axis number Prohibited CP Set reference axis
BGPA 201 Optional Palletizing number Prohibited CP Declare start of palletizing setting
BGSR 111 Prohibited
Declaration subroutine
number
Prohibited CP Start subroutine
BTPF Optional Output port, flag Timer setting CP Output OFF pulse
BTPN Optional Output port, flag Timer setting CP Output ON pulse
BTXX 99 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 143 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 222 Optional 0 or 1 Prohibited CP Change task level
CHVL 165 Optional Axis pattern Speed CP Change speed
CIR 169 Optional Passing position 1 number
Passing position 2
number
PE Move along circle
CIR2 161 Optional Passing position 1 number
Passing position 2
number
PE Move along circle 2
CIRS 163 Optional Passing position 1 number
Passing position 2
number
PE Move three-dimensionally along circle
CLOS 187 Optional Channel number Prohibited CP Close channel
CLR 85 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 89 Optional Cosine assignment variable Operand ZR Cosine
CPXX 95 Optional Comparison variable Comparison value Compare
D
DCL 136 Optional Deceleration Prohibited CP Set deceleration
DEG 139 Optional Division angle Prohibited CP Set division angle
DIS 145 Optional Distance Prohibited CP Set spline division distance
DIV 87 Optional Dividend variable Divisor ZR Divide
DWXX 174 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
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