Owner manual

82
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
P
PTRG
Optional
Position number Position number CP Set palletizing arch triggers
PTST
124
208
Optional
Confirmation axis pattern
Confirmation position
number
CP Confirm position data
PUSH
159
Optional
Target position number Prohibited PE Move by push motion
PVEL
125
Optional
Speed
Assignment-destination
position number
CP Assign position speed
Q
QRTN 148
Optional
0 or 1 Prohibited CP Set quick-return mode
R
READ 188
Optional
Channel number Column number CC Read from channel
RSPG 117
Optional
Resumption program
number
(Resumption program
number)
CC Resume program
S
SCHA
Optional
Character code Prohibited CP Set end character
SCMP
Optional
Column number
Column number,
character literal
EQ Compare character strings
SCPY
192
191
193
Optional
Column number
Column number,
character literal
CC Copy character string
SCRV
137
Optional
Ratio Prohibited CP Set sigmoid motion ratio
SGET
194
Optional
Variable number
Column number,
character literal
CP Get character
SIN
89
Optional
Sine assignment variable Operand ZR Sine
SLCT
176
Optional
Prohibited Prohibited CP Declare start of multi-branching
SLEN
200
Optional
Character string length Prohibited CP Set length
SPUT
195
Optional
Column number Data CP Set character
SQR
91
Optional
Root assignment variable Operand ZR Root
SSPG
116
Optional
Pause program number (Pause program number) CC Pause program
STOP
157
Optional
Axis stop pattern Prohibited CP Decelerate and stop axis
STR
196
Optional
Column number Data CC Convert character string; decimal
STRH
197
Optional
Column number Data CC Convert character string; hexadecimal
SUB
86
Optional
Minuend variable Subtrahend ZR Subtract
SVXX
149
Optional
Operation axis pattern Prohibited PE Servo [ON, OF]
SYST
182
Optional
Variable number Prohibited CP Get system status