IAI America XSEL-KE - Manual (Page 91)

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Part 4 Commands
Part 4 Commands
Chapter 1 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.
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DVORQJDVWKHSURJUDPLVUXQQLQJ7RFKDQJHWKHYDOues (in operand 1, operand 2, etc.) already set by the
³DFWXDWRUFRQWUROGHFODUDWLRQ´FRPPDQGWKHQHFHVVDU\ parts of the program must be set again. In other
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output field may be turned ON depending on the operation type condition in the output field. (The output
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Operation type in the output field
&& &RPPDQGZDVH[HFXWHGVXFFHVVIXOO\ 
ZR: Operation result is zero, PE: Operation is complete,
CP: Command part has passed, TU: Time up
(4 2SHUDQG 2SHUDQG1( 2SHUDQGz Operand 2,
*7 2SHUDQG!2SHUDQG*( 2SHUDQGt Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1
d Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
2SWLRQDO /(7 $VVLJQPHQWYDULDEOH $VVLJQHGYDOXH ZR Assign 86
Optional TRAN
Copy-destination
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&RS\VRXUFHYDULDEOH =5 &RS\  Variable
assignment
Optional CLR
Start-of-clear
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(QGRIFOHDUYDULDEOH =5 &OHDUYDULDEOH 
2SWLRQDO $'' $XJHQGYDULDEOH $GGHQG ZR Add 88
2SWLRQDO 68% 0LQXHQGYDULDEOH 6XEWUDKHQG =5 6XEWUDFW 88
2SWLRQDO 08/7 0XOWLSOLFDQGYDULDEOH 0XOWLSOLHU ZR Multiply 89
2SWLRQDO ',9 'LYLGHQGYDULDEOH 'LYLVRU =5 'LYLGH 
Arithmetic
operation
Optional MOD
Remainder
DVVLJQPHQWYDULDEOH
'LYLVRU =5 &DOFXODWHUHPDLQGHU 
Optional SIN
Sine assignment
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Operand [radian] ZR Sine 91
Optional COS
Cosine assignment
YDULDEOH
Operand [radian] ZR Cosine 91
Optional TAN
Tangent assignment
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Operand [radian] ZR Tangent 92
Optional ATN
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assignment
operation
2SHUDQG =5 ,QYHUVHWDQJHQW 
Function
operation
2SWLRQDO 645
Root assignment
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2SHUDQG =5 5RRW 
Optional AND
AND operand
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Operand ZR Logical AND 94
2SWLRQDO 25 25RSHUDQGYDULDEOH 2SHUDQG ZR Logical OR 95
Logical
operation
Optional EOR
([FOXVLYH25
RSHUDQGYDULDEOH
2SHUDQG =5 /RJLFDOH[FOXVLYH25 
&RPSDULVRQ 2SWLRQDO &3;; &RPSDULVRQYDULDEOH &RPSDULVRQYDOXH
(41(*7
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Compare 97
Optional TIMW Wait time (sec) Prohibited TU Wait 98
Optional TIMC Program number Pr RKLELWHG &3 &DQFHOZDLWLQJ
Timer
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Time assignment
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2SWLRQDO %7;; 6WDUWRXWSXWIODJ (QGRXWSXWIODJ  &3 2XWSXWIODJ>212)17@ 
Optional BTPN Output port, flag Ti PHUVHWWLQJ &3 2XWSXW21SXOVH 
Optional BTPF Output port, flag Ti PHUVHWWLQJ &3 2XWSXW2))SXOVH 
2SWLRQDO :7;; ,2IODJ (Wait time) TU  :DLWIRU,2IODJ>212)@ 
2SWLRQDO ,1 +HDG,2IODJ (QG,2IODJ && ,QSXWELQDU\ ELWVPD[  
2SWLRQDO ,1% +HDG,2IODJ &RQYHUVLRQGLJLWV && ,QSXW%&' GLJLWVPD[  
2SWLRQDO 287 +HDGRXWSXWIODJ (QG,2IODJ && 2XWSXWELQDU\ ELWVPD[ 
2SWLRQDO 287% +HDGRXWSXWIODJ &RQYHUVLRQGLJLWV && 2XWSXW%&' GLJLWVPD[  
,2IODJ
operation
Optional FMIO Format type Prohibited CP
6HW,1 % 287 % 
command format