IAI America S-SEL-E - Manual (Page 111)

Page 106
Part 1 Super SEL Language
1. Numerals and Symbols
The following numerals and symbols are used for super SEL programming.
l
Battery Back-up Range
When the power is turned back ON, everything will be cleared except the area backed up by the battery.
(Same as emergency stop)
Program ........................ Stop
Output Port ................... Clear
Local Flag .................... Clear
Local Variable .............. Clear
Home Position .............. Clear
Global Flag ................... Maintained
Global Variable ............ Maintained
Function Global Local Note
Input Port 000 ~ 287 (288) Varies according to actuator type
Output Port 300 ~ 587 (288) Varies according to actuator type
Flag 600 ~ 887 (288) 900 ~ 999 (100)
Variable (Integer) 200 ~ 299 (100) 1 ~ 99 (99) Use INB, OUTB for 99
Variable (Real) 300 ~ 399 (100) 100 ~ 199 (100) Use PPUT, PGET for 199
Column 300 ~ 399 1 ~ 299
Tag No. 1 ~ 64 (64)
Subroutine No. 1 ~ 64 (64)
Axis Pattern 8 7 6 5 4 3 2 1 Varies according to actuator type
Axis No. 1 ~ 8 Varies according to actuator type
Position No. 1 ~ 2000
Program No. 1 ~ 64
Program Step No. 1 ~ 3000
Channel 1 ~ 2 Varies according to actuator type
Timer One in each program
Position ±9999.999
Visible to all programs
Visible only within a
program. (Local range
clears at program startup) Variables 99 and 199 are special
variables used in computation.
Avoid using these for general use.
Unlike other complicated robot languages, the Super SEL language is simple and easy to learn but can be used to develop highly
sophisticated programs. Other languages that use BASIC are in "symbolic notation" and the "interpretation" of the language
can be very time consuming. As programs become more and more complicated, interpreters are no longer capable of translating
the languages within the time limit allowed. A compiler is added to solve this problem which causes MS-DOS to become
extremely complex.* The new Super SEL interpreter can be used to develop highly complex programs without compilation.
(*When executing a command, interpreters translate the command into computer language and execute it at the same time.
Compilers translate the command into computer language before executing it.)
Chapter 4. Programming