IAI America XSEL-KET - Manual (Page 110)

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Part 4 Commands
INTELLIGENT ACTUATOR
Part 4 Commands
Chapter 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: If the main application version is 0.33 or later, the output field of a comparison command CPXX (CPEQ, CPNE, CPGT,
CPGE, CPLT and CPLE) will not be turned OFF when the command is executed.
1. List 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 101
Optional TRAN
Copy-destination
variable
Copy-source variable ZR Copy 101 Variable
assignment
Optional CLR
Start-of-clear
variable
End-of-clear variable ZR Clear variable 102
Optional ADD Augend variable Addend ZR Add 103
Optional SUB Minuend variable Subtrahend ZR Subtract 103
Optional MULT Multiplicand variable Multiplier ZR Multiply 104
Optional DIV Dividend variable Divisor ZR Divide 104
Arithmetic
operation
Optional MOD
Remainder
assignment variable
Divisor ZR Calculate remainder 105
Optional SIN
Sine assignment
variable
Operand [radian] ZR Sine 106
Optional COS
Cosine assignment
variable
Operand [radian] ZR Cosine 106
Optional TAN
Tangent assignment
variable
Operand [radian] ZR Tangent 107
Optional ATN
Inverse-tangent
assignment operation
Operand ZR Inverse tangent 107
Function
operation
Optional SQR
Root assignment
variable
Operand ZR Root 108
Optional AND
AND operand
variable
Operand ZR Logical AND 109
Optional OR OR operand variable Operand ZR Logical OR 110
Logical
operation
Optional EOR
Exclusive-OR
operand variable
Operand ZR Logical exclusive-OR 111
Comparison Optional CPXX Comparison variable Comparison value
EQ, NE, GT,
GE, LT, LE
Compare 112
Optional TIMW Wait time (sec) Prohibited TU Wait 113
Optional TIMC Program number Prohibited CP Cancel waiting 114
Timer
Optional GTTM
Time assignment
variable
Prohibited CP Get time 115
Optional BTXX Start output, flag (End output, flag) CP Output, flag [ON, OF, NT] 116
Optional BTPN Output port, flag Timer setting CP Output ON pulse 117
Optional BTPF Output port, flag Timer setting CP Output OFF pulse 118
Optional WTXX I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF] 119
Optional IN Head I/O, flag End I/O, flag CC Input binary (32 bits max.) 120
Optional INB Head I/O, flag Conversion digits CC Input BCD (8 digits max.) 121
Optional OUT Head output, flag End I/O, flag CC Output binary (32 bits max.) 122
Optional OUTB Head output, flag Conversion digits CC Output BCD (8 digits max.) 123
I/O, flag
operation
Optional FMIO Format type Prohibited CP
Set IN (B)/OUT (B)
command format
124