Owner manual

81
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
Command Page Condition Operation1 Operation2 Output Function
O
OFAZ 212 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFPZ 209 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 138 Optional Setting axis pattern Offset value CP Set offset
OPEN 187 Optional Channel number Prohibited CP Open channel
OR 93 Optional OR operand variable Operand ZR Logical OR
OTHE 179 Prohibited Prohibited Prohibited CP
Declare branching destination when condition is not
satisfied
OUT Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 245 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 134 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PACH Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG Optional Palletizing number Position number CP Get palletizing calculation data
PAPI
202
Optional Count Count CP Set palletizing counts
PAPN
202
Optional Pattern number Prohibited CP Set palletizing pattern
PAPR
147
Optional Distance Prohibited CP Set PUSH command distance, speed
PAPS
205
Optional Position number Prohibited CP Set 3 palletizing points for teaching
PAPT
203
Optional Pitch Pitch CP Set palletizing pitches
PARG
215
Optional Palletizing number Axis number CP Get palletizing angle
PASE
203
Optional Axis number Axis number CP Set palletizing axes
PAST
204
Optional (Position number) Prohibited CP Set palletizing reference point
PATH
155
Optional Start position number End position number PE Move along path
PAXS
128
Optional
Axis-pattern assignment variable
number
Position number CP Read axis pattern
PBND
168
Optional Axis pattern Distance CP Set positioning band
PCHZ
207
Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR
120
Optional Start position number End position number CP Clear position data
PCPY
121
Optional
Copy-destination position number Copy-source position number
CP Copy position data
PDCL
127
Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC
214
Optional Palletizing number Prohibited CC
Decrement palletizing position number by 1
PEXT
209
Optional (Position number) Prohibited CP Set palletizing composition
PGET
118
Optional Axis number Position number CC Assign position to variable 199
PGST
181
Optional Variable number Program number CP Get program status
PINC
213
Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL
217
Optional Palletizing number (Position number) PE Move to palletizing points via interpolation
PMVP
216
Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP
146
Optional 0 or 1 Prohibited CP Set PATH output type
PPUT
119
Optional Axis number Position number CP Assign value of variable 199
PRDQ
123
Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED
122
Optional Read axis pattern
Save-destination position
numb
er
CP Read current axis position
PSET
214
Optional Palletizing number Data CC Set palletizing position number directly
PSIZ
129
Optional
Size assignment variable number
CP Confirm position size
PSLI
206
Optional Offset amount (Count) CP Set zigzag
PSPL
158
Optional Start position number End position number PE Move along spline
PTNG
213
Optional Palletizing number Variable number CP Get palletizing position number
105
106
126
218
215