Chapter 4 commands, List of sel language command codes by function, 1 list of commands by function – IAI America TT-C3 User Manual
Page 84: Chapter 4 commands chapter 4 commands

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INTELLIGENT ACTUATOR
Chapter 4 Commands
Chapter
4
Commands
Chapter 4 Commands
1. List of SEL Language Command Codes by Function
Variables can be specified indirectly in the operand 1, operand 2 and output fields.
Symbols can be input in the condition, operand 1, operand 2 and output fields.
The input items in ( ) under operand 1 and operand 2 are optional.
Once an “actuator control declaration” command is executed in a program, the command will remain valid as long as the
program is running. To change the values (in operand 1, operand 2, etc.) already set by the “actuator control declaration”
command, the necessary parts of the program must be set again. In other words, the values set by the last executed
command will prevail.
The output field will be turned OFF when the command is executed. Once the execution is completed, the output field may
be turned ON depending on the operation type condition in the output field. (The output field will remain OFF if the condition
is not satisfied.)
Note: The output field of a comparison command CPXX (CPEQ, CPNE, CPGT, CPGE, CPLT or CPLE) will not be turned
OFF when the command is executed.
1.1
List of Commands 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
LET
Assignment variable
Assigned value
ZR
Assign
84
Optional
TRAN
Copy-destination variable
Copy-source variable
ZR
Copy
84
Variable
assignment
Optional
CLR
Start-of-clear variable
End-of-clear variable
ZR
Clear variable
85
Optional
ADD
Augend variable
Addend
ZR
Add
86
Optional
SUB
Minuend variable
Subtrahend
ZR
Subtract
86
Optional
MULT
Multiplicand variable
Multiplier
ZR
Multiply
87
Optional
DIV
Dividend variable
Divisor
ZR
Divide
87
Arithmetic
operation
Optional
MOD
Remainder assignment
variable
Divisor
ZR
Calculate remainder
88
Optional
SIN
Sine assignment variable
Operand [radian]
ZR
Sine
89
Optional
COS
Cosine assignment
variable
Operand [radian]
ZR
Cosine
89
Optional
TAN
Tangent assignment
variable
Operand [radian]
ZR
Tangent
90
Optional
ATN
Inverse-tangent assignment
variable
Operand
ZR
Inverse tangent
90
Function
operation
Optional
SQR
Root assignment variable
Operand
ZR
Root
91
Optional
AND
AND operand variable
Operand
ZR
Logical AND
92
Optional
OR
OR operand variable
Operand
ZR
Logical OR
93
Logical
operation
Optional
EOR
Exclusive-OR operand
variable
Operand
ZR
Logical exclusive-OR
94
Comparison
Optional
CPXX
Comparison variable
Comparison value
EQ, NE,
GT, GE,
LT, LE
Compare
95
Optional
TIMW
Wait time (sec)
Prohibited
TU
Wait
96
Optional
TIMC
Program number
Prohibited
CP
Cancel waiting
97
Timer
Optional
GTTM
Time assignment variable
Prohibited
CP
Get time
98
Optional
BTXX
Start output, flag
(End output, flag)
CP
Output, flag [ON, OF, NT]
99
Optional
BTPN
Output port, flag
Timer setting
CP
Output ON pulse
100
Optional
BTPF
Output port, flag
Timer setting
CP
Output OFF pulse
101
102
103
104
105
106
107
Optional
WTXX
I/O, flag
(Wait time)
TU
Wait for I/O, flag [ON, OF]
Optional
IN
Head I/O, flag
End I/O, flag
CC
Input binary (32 bits max.)
Optional
INB
Head I/O, flag
Conversion digits
CC
Input BCD (8 digits max.)
Optional
OUT
Head output, flag
End I/O, flag
CC
Output binary (32 bits max.)
Optional
OUTB
Head output, flag
Conversion digits
CC
Output BCD (8 digits max.)
I/O, flag
operation
Optional
FMIO
Format type
Prohibited
CP
Set IN (B)/OUT (B) command
format