Table of Contents
Part 4
Commands .................................................................................................................. 129
Chapter 1
List of SEL Language Command Codes ......................................................................... 129
Chapter 2
Explanation of Commands............................................................................................... 141
1.
Commands .............................................................................................................................. 141
1.1
Variable Assignment...................................................................................................... 141
1.2
Arithmetic Operation...................................................................................................... 143
1.3
Function Operation........................................................................................................ 146
1.4
Logical Operation .......................................................................................................... 151
1.5
Comparison Operation .................................................................................................. 154
1.6
Timer ............................................................................................................................. 155
1.7
I/O, Flag Operation........................................................................................................ 158
1.8
Program Control ............................................................................................................ 169
1.9
Task Management ......................................................................................................... 172
1.10 Position Operation......................................................................................................... 177
1.11
Actuator Control Declaration ......................................................................................... 192
1.12 Actuator Control Command........................................................................................... 229
1.13 Structural IF ................................................................................................................... 261
1.14 Structural DO................................................................................................................. 264
1.15 Multi-Branching ............................................................................................................. 266
1.16 System Information Acquisition ..................................................................................... 270
1.17 Zone .............................................................................................................................. 274
1.18 Communication ............................................................................................................. 278
1.19 String Operation ............................................................................................................ 284
1.20 Palletizing-Related ........................................................................................................ 293
1.21 Palletizing Calculation Command ................................................................................. 308
1.22 Palletizing Movement Command ...................................................................................311
1.23 Building of Pseudo-Ladder Task ................................................................................... 317
1.24 Extended Commands.................................................................................................... 319
Chapter 3
Key Characteristics of Horizontal Articulated Robot (SCARA) Operation ....................... 324
1.
CP Operation and PTP Operation ........................................................................................... 324
2.
Arm System ............................................................................................................................. 327
3.
SCARA Coordinate System..................................................................................................... 335
4.
Simple Interference Check Zone (Dedicated SCARA Function) ............................................. 345
5.
Soft Limits of SCARA Axes...................................................................................................... 348
6.
PTP Optimal Acceleration/Deceleration Function for SCARA Robot ...................................... 352
7.
Horizontal move optimization function based on Z position for SCARA Robot....................... 354
Chapter 4
Key Characteristics of Actuator Control Commands and Points to Note......................... 356
1.
Continuous Movement Commands [PATH, PSPL, CIR2, ARC2, CIRS, ARCS, ARCD, ARCC,
CIR, ARC] ................................................................................................................................ 356
2.
PATH/PSPL Commands .......................................................................................................... 358
3.
CIR/ARC Commands .............................................................................................................. 358
4.
CIR2/ARC2/ARCD/ARCC Commands.................................................................................... 358
Chapter 5
Palletizing Function.......................................................................................................... 359