IAI America SSEL - Manual (Page 118)

96
Part 2 Programs
Chapter 2 List of SEL Language Command Codes
1. 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 CP (CPEQ, CPNE, CPGT, CPGE, CPLT and CPLE) will not
be turned OFF when the command is executed.
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 z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional LET Assignment variable Assigned value ZR Assign 105
Optional TRAN
Copy-destination
variable
Copy-source variable ZR Copy 106
Variable
assignment
Optional CLR Start-of-clear variable End-of-clear variable ZR Clear variable 107
Optional ADD Augend variable Addend ZR Add 108
Optional SUB Minuend variable Subtrahend ZR Subtract 108
Optional MULT Multiplicand variable Multiplier ZR Multiply 109
Optional DIV Dividend variable Divisor ZR Divide 109
Arithmetic
operation
Optional MOD
Remainder
assignment variable
Divisor ZR Calculate remainder 110
Optional SIN
Sine assignment
variable
Operand [radian] ZR Sine 111
Optional COS
Cosine assignment
variable
Operand [radian] ZR Cosine 111
Optional TAN
Tangent assignment
variable
Operand [radian] ZR Tangent 112
Optional ATN
Inverse-tangent
assignment operation
Operand ZR Inverse tangent 112
Function
operation
Optional SQR
Root assignment
variable
Operand ZR Root 113
Optional AND
AND operand
variable
Operand ZR Logical AND 114
Optional OR OR operand variable Operand ZR Logical OR 115
Logical
operation
Optional EOR
Exclusive-OR
operand variable
Operand ZR Logical exclusive-OR 116
Comparison Optional CP Comparison variable Comparison value EQ, NE, GT,
GE, LT, LE
Compare 117
Optional TIMW Wait time (sec) Prohibited TU Wait 118
Optional TIMC Program number Prohibited CP Cancel waiting 119
Timer
Optional GTTM
Time assignment
variable
Prohibited CP Get time 120
Optional BT Start output, flag (End output, flag) CP Output, flag [ON, OF, NT] 121
Optional BTPN Output port, flag Timer setting CP Output ON pulse 122
Optional BTPF Output port, flag Timer setting CP Output OFF pulse 123
Optional WT I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF] 124
Optional IN Head I/O, flag End I/O, flag CC Input binary (32 bits max.) 125
Optional INB Head I/O, flag Conversion digits CC Input BCD (8 digits max.) 126
Optional OUT Head output, flag End I/O, flag CC Output binary (32 bits max.) 127
Optional OUTB Head output, flag Conversion digits CC Output BCD (8 digits max.) 128
Optional OTPS Output port number Axis number CC Output current position data 129
I/O, flag
operation
Optional FMIO Format type Prohibited CP
Set IN (B)/OUT (B)
command format
130