IAI America DS-S-C1 User Manual

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SEL LANGUAGE

Programming Manual

Super SEL Type E

DS-S-C1

Intelligent Actuator Inc.

This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please contact IA Technical Support. For Central and East Coast Time Zones, please call our Itasca, IL office at 1-800-944-0333 or FAX 630467-9912. For Mountain and Pacific Time Zones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday thru Friday from 8:30AM to 5:00PM.

Intelligent Actuator, Inc.

U.S. Headquarters

2690 W. 237th Street Torrance, CA 90505 310-891-6015 / 310-891-0815 FAX

Intelligent Actuator, Inc.

Midwest Regional Office

1261 Hamilton Parkway Itasca, IL 60143 630-467-9900 / 630-467-9912 FAX

www.intelligentactuator.com

©April, 1998 Intelligent Actuator, Inc. All rights reserved. No portion of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechnical, recording, or otherwise, without the prior written permission of Intelligent Actuator, Inc.

Disclaimer

The information and technical data contained herein are subject to change without notice. Intelligent Actuator, Inc. assumes no responsibility for any errors or omissions regarding the accuracy of the information contained in this publication.

Foreword

SEL Language is the simplest type of the numerous robot languages being used today . The perplexing problem of using simple language to effect high level control has been beautifully resolved with SEL Language.

The language most generally used for robot control is based on BASIC language which uses sentences formats and interpreting these sentences requires considerable time. As the level of expression gets higher, the interpreter

*1.

becomes less capable of handling real time control added. Furthermore, the process becomes increasingly complex, as one encounters problems with false commands, required knowledge of MS-DOS, etc.

It goes without saying that being able to accomplish the same task using a simple method is much better. So, we welcome you to step into the world of high level control using SEL Language which is a simple system, that operates at high speeds even as it is interpreting.

At this point, an extra step, compling *2 , needs to be

*1 An interpreter is executing a command as it translates that command into computer language. *2 Compling refers to translating the command into computer language before the comand is executed,

Table of Contents

1. Numerals and Symbols in SEL Language

1. 1 List of numerals handled by SEL Language ........................................................................................................ 4

1. 2 Symbols used in SEL Language .......................................................................................................................... 5

2 . I/O Ports

2.1 Input ports .......................................................................................................................................................... 6

2.2 Output ports ........................................................................................................................................................ 6

2.3 List of I/O ports for the Super SEL type .............................................................................................................. 7

2.4 List of I/O ports for the DS type.......................................................................................................................... 8

3. Flags .........................................................................................................................................................................10

4. Variables

4.1 What are variables?........................................................................................................................................... 11

4.2 Types of variables ............................................................................................................................................. 11

5. Tags ..........................................................................................................................................................................14

6. Subroutines ...............................................................................................................................................................15

7. Axis Designation

7. 1 Axis No. and Display..........................................................................................................................................16

7. 2 Axis pattern. .......................................................................................................................................................17

8 . Structure of SEL Language

8. 1 Position program. ...............................................................................................................................................18

8. 2 Commands ........................................................................................................................................................19

8.2-1 Structure of SEL Language.....................................................................................................................19

8.2-2 Expansion Condition ............................................................................................................................... 20

9. List of Parameters

9. 1 Common parameters for multiple axes. ...............................................................................................................22

9. 2 Common parameters for a single axis..................................................................................................................23

9. 3 Parameters by axis ..............................................................................................................................................24

10 . List of SEL Language Command Codes by Function ................................................................................................26

11 . List of SEL Language Command Codes in Alphabetical Order .................................................................................30

12 . SEL Language

12.1 Numeric calculation commands .......................................................................................................................32

12.2 Arithmatic calculation commands....................................................................................................................34

12.3 Functional calculation commands ...................................................................................................................37

12.4 Logic operation commands..............................................................................................................................40

12.5 Comparison operation commands ...................................................................................................................43

12.6 Timer commands..............................................................................................................................................44

12.7 I/O•Flag operation commands .........................................................................................................................46

12.8 Program control commands .............................................................................................................................52

12.9 T ask management commands ..........................................................................................................................54

12.10 Resource management commands...................................................................................................................58

12.11 Postion operation commands ..........................................................................................................................59

12.12 Actuator control declarations..........................................................................................................................64

12.13 Actuator control commands ............................................................................................................................72

12.14 Structured IF commands. .................................................................................................................................80

12.15 Structured DO commands................................................................................................................................83

12.16 Branching commands ......................................................................................................................................85

12.17 External I/O commands ....................................................................................................................................89

12.18 String processing commands...........................................................................................................................92

Table of Contents

13 . Error Codes

13.1 List of Error Codes ..........................................................................................................................................98

13.2 What to do when an Error Code occurs ...........................................................................................................99

1. Numerals and Symbols in SEL Language

1.1 List of numerals handled by SEL Language

The various types of functions required in a program are expressed as numerals.

noitcnuF

troPtupnI

troPtuptuO

galF

)sregetnI(elbairaV

elbairaV

)srebmunlaeR(

nmuloC

.oNgaT

.oNenituorbuS

.oNsixA

nrettaPsixA

.oNnoitisoP

.oNmargorP

.oNpetS

leveLksaT

.oNecruoseR

.oNlennahC

8 7 6 5 4 3 2 1

labolGlacoLaeralabolGlacoL

)882(782~000)51(510~100

)882(785~003)8(703~003 )882(788~006)001(999~009)882(788~006)001(999~009

)001(992~002)99(99~1)001(992~002)99(99~199rofBTUO,BNIesU )001(993~003)001(991~001)001(993~003)001(991~001991rofTEGP,TUPPesU

999~003

)sretcarahc007(

8~11

stigidyranib8

0002~1005~1

46~123~1

0003~10001~1 5~15~1 9~19~1

2~1

otelbisiV

smargorplla

epyTLESrepuS epyTSD

999~003

)sretcarahc007( )46(46~1)46(46~1 )46(46~1)46(46~1

anihtiwylnoelbisiV

egnarlacoL(.margorp

margorptasraelc

)putrats

otelbisiV

smargorplla

skrameR

otgnidroccaseiraV

epytrellortnoc

otgnidroccaseiraV

epytrellortnoc

otgnidroccaseiraV

epytrellortnoc

detangisedehtrof1esU

sixa

otgnidroccaseiraV

epytrellortnoc

anihtiwylnoelbisiV

egnarlacoL(.margorp

margorptasraelc

)putrats

.esu

laicepsera991dna99selbairaV

.noitaluclacnidesuselbairav

larenegrofesehtgnisudiovA

Note: Variables 99 and 199 are special registers that the system uses for calculations.

l Battery Back-up Range

When the power is turned back ON, everything will be cleared except the area backed up by the battery. (Same as an emergency stop)

Program........................ Stop

Output Port .................. Clear

Local Flag .................... Clear

Local Variable .............. Clear

Home Position ............. Clear

Global Flag................... Maintained

Global Variable ............ Maintained

1. Numerals and Symbols in SEL Language

l Range of numerical values in SEL

SEL uses two types of numbers, integers and real numbers but are subject to the following limitations.

1. Inside the controller The range of whole numbers that can be accommodated is ±2,147,483,648 and for real numbers the theoretical range is ±3.4 x 10

2. Limitations in actual use The programming tool developed initially was an LCD teaching pendant which resulted in certain constraints with respect to input and output from the program. The numerical values that can be handled from the program are 9,999,999~99,999,999 for integers and -999,999~9999,999 or -.999999~.999999, in other words an eight digit value including the decimal point sign for real numbers. Also, when doing floating point calculations, the significant figure can only be guaranteed up to 7 digits and it will include errors that are particular to floating points.

3. Position data Internally, position data is handled as whole number data but during the calculation process, these are incorporated into real numbers and treated as real numbers. There are no problems when dealing with numbers ±9999.999 but when these are internally calculated as general data and not position data (repeated multipliying and dividing), a problem arises with the accuracy of the last digit. When using the Super SEL, please pay close attention to these points. In particular, if you use the CPEQ command in a comparative calculation using real numbers, you will see almost no correlation. In this case, you will need to use the CPLE/CPGE command which can view the large and small relations in parallel.

38,

as a single precision floating point.

1. 2 Symbols used in SEL Language

SYMBOL MEANING EXAPLANA TION

ZR Zero When calculation results are 0, post turns ON EQ Equal When operand 1 = operand 2, post turns ON NE Not equal When operand 1 ≠ operand 2, post turns ON

G T Greater tham When operand 1 > operand 2, post turns ON GE Greater or equal to When operand 1 ≥ operand 2, post turns ON

LT Less than When operand 1 < operand 2, post turns ON LE Less than or equal to When operand 1 < operand 2, post turns ON

PE Position end When movement is comeplete, post turns ON

C P Complete When the command is completed, post turns ON TU Time up After the time has elapsed, post turns ON XX No position data When there is no valid value in the position, post turns ON ON ON On OF OFF Off NT Not Invert

FN Forward ON Moves forward while the designated I/O · flag is ON FF Forward OFF Moves forward while the designated I/O · flag is OFF B N Backward ON Moves backward while the designated I/O · flag is ON B F Backward OFF Moves backward while the designated I/O · flag is OFF

(turns ON 2 points before the end of path, circular and arc moves when used in successive, consecutive lines of code)

.oNtupnI

tnemngissA

epyTSD

510~100dradnatS

2. I/O Ports

2. 1 Input Ports

Input ports are used for limit switches, sensor switches, etc.

2.2 Output Ports

These are used as various output ports.

.oNtupnI

tnemngissA

320~100dradnatS 740~420noitpO

170~840noitpO

590~270noitpO

.oNtuptuO tnemngissA

G·EepyT

323~003dradnatS 743~423noitpO 173~843noitpO 593~273noitpO

.oNtuptuO tnemngissA

703~003dradnatS

epyTSD

2. I/O Ports

2. 3 List of ports for the Super SEL type

.oNtroP noitcnuF noitanalpxE

000tupnitratSlanretxE .detucexesimargorpdetangisedeht,NOsnruttupnitnemomehttA 100tupniresU .esoohcyehtsatropsihtesunacsresU 200tupnitcatnocepyt-bpotsycnegremE .potsycnegremeotniseogrellortnoceht,FFOsnruttupnisihtnehW 300evresermetsyS .)erutufehtninoitcnufwenaddaotdesueblliwtropsiht(desuebtonnaC 400evresermetsyS .)erutufehtninoitcnufwenaddaotdesueblliwtropsiht(desuebtonnaC 500tupniresU .esoohcyehtsatropsihtesunacsresU 600tupniresU .esoohcyehtsatropsihtesunacsresU 700tupniresU .esoohcyehtsatropsihtesunacsresU

800)tupniresu(10.oNGRP

900)tupniresu(20.oNGRP

010)tupniresu(40.oNGRP

110)tupniresu(80.oNGRP

210)tupniresu(01.oNGRP

310)tupniresu(02.oNGRP

410)tupniresu(04.oNGRP 510

320 420

782 003tuptuomralA/potsycnegremE .sruccororrenanehwropotsycnegremenagnirudNOsnrutsihT 103tuptuoydaeR .ydaersirellortnocehtnehwNOsnrutsihT 203

323 423

785

tupniresU .esoohcyehtsatuptuosihtesunacsresU

tupninoisnapxE

tuptuoresU .esoohcyehtsatuptuosihtesunacsresU

tuptuonoisnapxE

10°units

101units

.tinudrac

008~014 are used as BCD codes to designate the start up program.

The moment input port 000 (external start input) turns ON, the designated program is executed.

O/InoisnapxenanogniddaybdesuebnactahtstroptupniresueraesehT

.tinutroptupnideepshgihrotinudrac

O/InoisnapxenanogniddaybdesuebnactahttroptuptuoresueraesehT

2. I/O Ports

2. 4 List of I/O ports for the DS type

.oNtroP noitcnuF noitanalpxE

evreseR

000tupnitratslanretxE .detucexesimargorpdetangisedeht,NOsnruttupnitnemomehttA 100

∼

510 003tuptuomralA/potsycnegremE .sruccororrenanehwropotsycnegremenagnirudNOsnrutsihT 103tuptuoydaeR .ydaersirellortnocehtnehwNOsnrutsihT 203

∼

703

tupniresU .esoohcyehtsatropsihtesunacsresU

tuptuoresU .esoohcyehtsatropsihtesunacsresU

Program Mode

)tupniresu(10.oNGRP )tupniresu(20.oNGRP )tupniresu(40.oNGRP )tupniresu(80.oNGRP )tupniresu(01.oNGRP )tupniresu(02.oNGRP

tupniteserUPC.rellortnocehtstratseR

10°units

101units

Used as BCD codes to designate the start up program.

The moment input port 000 (external start input) turns ON, the designated program is executed.

2. I/O Ports

.oNtroP noitcnuF noitanalpxE

000tupnitratslanretxE .detucexesimargorpdetangisedeht,NOsnruttupnitnemomehttA 100tupnidloH .noitisopdetanisedehtotsevomrotautcaeht,NOsnrutsihtnehW 200

∼

300 400tupni1.oNnoitisoP 500tupni2.oNnoitisoP 600tupni4.oNnoitisoP 700tupni8.oNnoitisoP 800tupni01.oNnoitisoP 900tupni02.oNnoitisoP 010tupni04.oNnoitisoP 110tupni08.oNnoitisoP 210tupni001.oNnoitisoP 310tupni002.oNnotisoP 410tupni004.oNnoitisoP 510CN.edomgninoitisopgnirudCNotsegnahc510 003tuptuomralA/potsycnegremE .sruccororrenanehwropotsycnegremenagnirudNOsnrutsihT 103tuptuoydaeR.ydaersirellortnocehtnehwNOsnrutsihT 203tuptuoetelpmocgninoitisoP .etelpmocsievomnoitisopnehwNOsnrutsihT 303

∼

703

Positioning Mode

)tupniresu(10.oNGRP )tupniresu(20.oNGRP )tupniresu(40.oNGRP )tupniresu(80.oNGRP )tupniresu(01.oNGRP )tupniresu(02.oNGRP

evreseR

tupniteserUPC.rellortnocehtstratseR

CN.edomgninoitisopgnirudCNotsegnahc300~200

CN.edomgnirudCNotsegnahc703~303

10°units

101units

102units

margorPehtnrut,edomgninoitisopehtgnisunehW

.sutats)FFO(]0[ottupni.oN

004~014 are used as BCD codes to designate the Position No.

The moment input port 000 (external start input) turns ON, the actuator moves to the designated position.

Homing is performed when there is no Position No. designation.

3. Flags

The function of flags is to set and reset data within "Memory." This is analogous to "internal relays" or "coils" in a PLC.

In general, there are two (2) types of flags: Global flags 600 ~ 887 which can be used in all programs and local flags 900 ~ 999 which can be used only in individual programs.

Global flags are saved when the power is turned OFF (battery backup). Local flags are erased when the power is turned OFF .

rebmuNgalF788~006smargorpllanidesuebnaC:galflabolG

rebmuNgalF999~009margorplaudividninanihtiwylnodesuebnaC:galflacoL

Program 1

BTON 600

Turn Flag 600 ON

Communicates signals by using global flags which are visible in all programs.

Program n

WTON 600

Waiting for Flag 600 to turn ON

BTON 900 BTON 900

Even though these are the same command, these local flags exist individually in each program.

4. Variables

4. 1 What are variables?

The term "variable register" is a software term. Imagine a box that holds numbers. Numbers can be put in and taken out, added, subtracted, and so on.

Variable

Put 1234 into variable register #1

T ake 456 out of variable register #1

Add 1 to variable register #1

Command Operand 1 Operand 2

Add 1 1

This command adds 1 to variable register #1. If the register contains 2, then the variable becomes 3.

Add one to variable register #1

Variable

(Already contains "2")

4. Variables

4.2 T ypes of variables

There are two types of variables.

 Integer variable

These are whole number variables which cannot take decimal points. For example: [-2, -1, 0, 1, 2, 3]

V ariable

Integer V ariable

1 2 3 4

Integer Variable

No.

Integer Variable

No.

Note: The variable 99 is a special register for whole integer calculation.

The numbers that can be input in the program are -9,999,999 to 99,999,999.

200~299 Global i nteger variable: Can be used in all programs

1~99

Local integer variable: Can be used o nly within an i ndivi dual program

 Real variable

These are variables that can accommodate the actual value exactly as it appears, including digits following the decimal point. [Example: 1234.567]

Real V ariable

V ariable

1234.567

Integer Variable

No.

Integer Variable

No.

Note: The variable 199 is a special register for real number calculation.

The numbers that can be input in the program are -99,999.9 to 999,999.99 (8 digits which includes the decimal point sign).

300~399 Global i nteger variable: Can be used in all programs

100~199

Local integer variable: Can be used o nly within an i ndivi dual program

4. Variables

 Variables with an asterisk (*)

The asterisk symbol (*) is used to designate contents of the variable register. In the example given below, the contents in variable register 1 are placed in variable register 2. If "1234" is in variable register 1, then "1234" is what goes in variable register 2.

Command Operand 1 Operand 2

LET 1 1234

1234

Put in

V ariable

1 2 3 4

Command Operand 1 Operand 2

LET 2 *1

V ariable

1 2 3 4

V ariable

1 2 3 4

5. Tags

"Tag" means heading. A TAG can be thought of as the same as placing labels on important pages. The TAG as it is used in the SEL programming language is the "return to" area and is used in conjunction with the GOTO command to provide programming loops.

Tag

Command Operand 1

TAG Tag No. (Integers 1~64)

T AG 1

GOTO 1

Can be used individually in each program.

6. Subroutines

Frequently repeated steps in a program can be expressed as subroutines in order to simplify the entire application program. These subroutines are individually usable in each program. (Up to a maximum of 15 subroutines can be nested)

Command Operand 1

EXSR Subroutine No. (1 ~ 64 Integers, or Variables)

Execute subroutine command

Command Operand 1

BGSR Subroutine No. (1 ~ 64 Integers)

Begin subroutine command

Command Operand 1

EDSR --------

End subroutine command

EXSR 1

BGSR 1

EDSR

Call subroutine

Subroutine

7. Axis Designation

There are two ways to designate the axes to be used: axis number and axis pattern.

7.1 Axis number and notation

With the Super SEL controller , multiple axes are indicated as shown in the table, but it is possible to change the figures using the parameters.

Axis No.

1 1

2 2

3 3

5 5

6 6

7 7

8 8

The axis no. is used when designating one axis out of many axes.

Commands to designate Axis No. are: BASE, PPUT , PGET

Default

Notation

Note: The DS type displays only one axis.

7. Axis Designation

7.2 Axis Pattern

Selection of an axis is specified by either "1" or "0"

(Upper)

Axis No. 8 7 6 5 4 3 2 1

Used 1 1 1 1 1 1 1 1

Not Used 0 0 0 0 0 0 0 0

Example

If Axis 1 and Axis 2 are in use, then this is signified by ...

0 0 0 0 0 0 1 1

Axis 2

Axis 1

The zeroes before the 1 are unnecessary . The simplified form is 11, without leading zeroes.

(Lower)

Example

If Axis 1 and Axis 8 are in use, then this is signified by ...

1 0 0 0 0 0 0 1

Axis 8

Axis 1

In this example, the zeroes are necessary in order to indicate the position of Axis 8.

Axis pattern is used when designating more than one axis at the same time.

Axis pattern designation command OFST , GRP , SVON, SVOF , HOME, JFWN, JFWF , JBWN, JBWF , STOP , PTST , PRED

Note: The axis pattern for the DS type is preset since there is only one axis.

8. Structure of SEL Language

The SEL programming consists of a position and application program (command) section.

8.1 Position Program

In the position section, we have coordinates, velocity, acceleration, and variables.

1~1500 mm/sec

*1,2

Standard

0.3G

-itisoP

.oNno

1 2 3 4

7991 8991 9991 0002

yticoleV

-itareleccA

±9999.999mm

1sixA2sixA3sixA4sixA5sixA6sixA7sixA8sixA

* 1 Varies according to the actuator model. *2 When velocity and acceleration are set in the position data, this has priority over the data set in the

application program. T o validate the application data, set x.xxx or 0 in the position data.

Note: The DS type is a single axis only. Also position numbers go up to 500.

8. Structure of SEL Language

The outstanding feature of Super SEL Language is the simplicity of its command structure which eliminates the need for a compiler and allows high speed operation with just an interpreter.

8. 2 Commands

8. 2-1 Structure of Super SEL Language

One step of the command has the following structure.

noisnapxE

)RO·DNA(

Putting this in a ladder diagram,

noitidnoCtupnI

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

-nammoC

(1) The conditions before the commands are equivalent to "if ~ then" statements in BASIC language.

-nammoC

IF ~ THEN ELSE

 Carry out a command when an input condition is established, and turn the post ON, if post is

designated. When not established, go on to the next step regardless of the next command (ex. WTON, WTOF). The designated post remains the same , however it needs to be monitored carefully.

 If there is no conditioning set up, carry out command unconditionally.  If condition is used as "negative condition", then place an "N" (NOT).  Input/output port & flag can be used for condition.

○○○○○○○○○○○○○○○○○○○○○○○○○○○○○○

dnarepO

To the next step,

tsoP

○○○○○○○○

. . . . .

tsoP

·troptuptuO(

)galF

(2) Post is set based on the result of the command execution.

-nammoC

 Actuator motion control commands: becomes OFF immediately after the command starts to be executed,

and becomes ON when the command is completed. Computation commands: when the result becomes a certain value, it turns ON, and it stays OFF otherwise.

 Output ports and flags can be used for the post section.

dnarepO

tsoP

8. Structure of SEL Language

8. 2-2 Expansion Condition

It is possible to combine conditions to make more complicated conditions as follows:

AND Expansion (Ladder Diagram display) (Super SEL Language)

Cond 1

Cond 2

Cond 3

OR Expansion

Cond 1

Cond 2

AND

Expansion Input

Commands

Command Operand1 Operand2

Condition1

AND Condition 2

AND Condition 3 Command Operand1 Operand2

Commands

Expansion Input

Command Operand1 Operand2

Condition 1

OR Condition 2 Command Operand 1 Operand 2

Output

Ouptput

AND/OR Expansion

Cond 1

Cond 2

Cond 3

AND

Expansion Input

Command Operand1 Operand2

Condition1

AND Condition 2

OR Condition 3 Command Operand1 Operand2

Commands

Output

Note: By conevention, all “AND” operations are performed before the “OR” operations when they are used in conjunction.

9. List of Parameters

Reference values are indicated below. Settings at the time of shipment vary according to the actuator model.

9. 1 Common parameters for multiple axes

(1 ) Servo parameters

.oN emaNretemaraP tluafeD tnetnoC

1eziSsixA8 sexaforebmuN 2rotaremuN1 rotaremuN 3rotanimoneD1 rotanimoneD

4)%(edirrevO001edirrevO

5)G(releccA03.0rotcafnoitareleccA

6)G(xaMreleccA00.1)G(rotcafnoitareleccamumixaM

7)s/mm(leVevirD001)ces/mm(yticolevevirD

8)s/mm(xaMleVevirD0001)ces/mm(yticolevevirdmumixaM

(2 ) Program parameters

.oN emaNretemaraP tluafeD tnetnoC

1margorPtratSotuA0 .oNrebmunmargorptratsotuA

2margorPycnegremE0 .oNrebmunmargorppotsycnegremE 3eziSmagrorP46smargorpforebmuN 4eziSksaT61sksatforebmuN 5eziSpetS0003spetsmargorpforebmuN 6ecilSemiT10.0eulavkcehcecilsemiT

(3 ) Point parameters

.oN emaNretemaraP tluafeD tnetnoC

1eziStnioP0002ytitnauqatadtnioP

(4) Arc parameters

.oN emaNretemaraP tluafeD tnetnoC

1)°(elgnAelcriC0.51)°(elgnaecilS

2)s/mm(tleDelcriC0 )s/mm(tnemercniyticoleV

9. List of Parameters

(5 ) Serial I/O parameters

.oN emaNretemaraP tluafeD tnetnoC

1DIlanimreT99edocsserddapord-itluM

2)S(tuOemiT0 )S(tuoemiT

3)s/tib(etaRduaB3 )s/tib(etarduaB

4htgneLraelC0 htgnelretcarahC

5ytiraP0 ytiraP 6tiBpotS0 tibpotS

(6 ) Parallel input port parameters

.oN emaNretemaraP tluafeD tnetnoC

1.oNeciveD3~1.oNeciveD

2DItinU1 .oNtinU

3)sm(emiTnacS1 )sm(emitnacS

4DItinU1 .oNtinU

5)sm(emiTnacS1 )sm(emitnacS 6DItinU1 .oNtinU

7)sm(emiTnacS1 )sm(emitnacS 8DItinU1 .oNtinU

9)sm(emiTnacS1 )sm(emitnacS

9. List of Parameters

9. 2 Common parameters for a single axis

(1 ) Servo parameters

.oN emaNretemaraP tluafeD tnetnoC

1eziSsixA1 sexaforebmuN 2rotaremuN1 rotaremuN 3rotanimoneD1 rotanimoneD

4)%(ediRrevO001edirrevO

5)G(releccA03.0)G(rotcafnoitareleccA

6)G(xaMreleccA00.1)G(rotcafnoitareleccamumixaM

7)s/mm(leVevirD001)ces/mm(yticolevevirD

8)s/mm(xaMleVevirD0001)ces/mm(yticolevevirdmumixaM

(2 ) Program parameters

.oN emaNretemaraP tluafeD tnetnoC

1margorPtratSotuA0 .oNrebmunmargorptratsotuA 2margorPycnegremE0 .oNrebmunmargorppotsycnegremE 3eziSmargorP23smargorpforebmuN

4eziSksaT8 sksatforebmuN

5eziSpetS0001spetsmargorpforebmuN 6ezilSemiT10.0eulavkcehcecilsemiT

(3 ) Point parameters

.oN emaNretemaraP tluafeD tnetnoC

1eziStnioP005ytitnauqatadtnioP

(4 ) Serial I/O parameters

.oN emaNretemaraP tluafeD tnetnoC

1DIlanimreT99edocsserddapord-itluM

2)S(tuOemiT0 )S(tuoemiT

3)s/tib(etaRduaB3 )s/tib(etarduaB 4htgneLrahC0 htgnelretcarahC 5ytiraP0 ytiraP 6tiBpotS0 tibpotS

9. List of Parameters

9. 3 Parameters by axis

(1) Servo parameters by axis

.oN emaNretemaraP tluafeD tnetnoC

1emaNsixA8~1emansixA 2ecivreSovreS004)s/semit(ecivresovresfosemitfo.oN 3rotaremuN1 rotaremuN 4rotanimoneD1 rotanimoneD

5)%(ediRrevO001)%(edirrevO 6releccA03.0)G(noitareleccA

7)s/mm(leVgoJ03)s/mm(yticolevgoJ 8dnaBdneP01)eslup(dnabdnenoitisoP 9tesffOtimiLtfoS0.2tesffotimilerawtfoS

01)+(timiLtfoS9999)+(timiLtfoS

11)-(timiLtfoS0 )-(timiLtfoS

(2) Homing parameters by axis

.oN emaNretemaraP tluafeD tnetnoC

1riDemoH0 noitceridemoH 2epyTemoH0 dohtemgnimoH 3ecneuqeSemoH1 ecneuqeS 4loPwSemoH1 ytiraloptupnitimiL 5egdEZemoH1 egdetcetedesahp-Z 6leVpeerCemoH001yticolevpeerC 7leVkcaBemoH01yticolevni-nuR 8leVZemoH5 yticolevhcraesesahp-Z 9tesffOemoH0 )htgnel(tnuomaevomtesffO

01noitaiveDemoH766)eslup(noitaivedpotsdraH 11tnerruCemoH06timiLtnerruC

.oN

emaNretemaraP

tluafeD

tnetnoC

1xaMMPRrotoM0004mumixamMPRrotoM 2esluPredocnE004noituloverrepeslupredocnE 3daeLwercS8 )mm(daelwercS 4elpitluM4 reilpitlumeslupredocnE 5emiTekarB1.0emitekarB 6niaGnoitisoP06niagnoitisoP 7niaGdeepS08niagdeepS 8niaGF/F0 niagdrawrofdeeF 9niaGlargetnI03niaglargetnI

01niaGlatoT051niaglatoT 11tmL.tloV.tnI06timilegetalovlargetnI 21deepSrevO014tnatsnocdeepsrevO 31egnaRrorrE6662rorreevitalumuC 41ruCxaMrotoM09tnerrucmumixamrotoM 51daoLrevOrotoM00361timilrewoldaolrevorotoM

9. List of Parameters

(3 ) Motor parameters by axis

10. List of SEL Language Command Codes

yrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

lanoitpOTELelbairavngissArebmuNngissARZngissA23OO

ciremuN

snoitaluclaC

citemhtirA

snoitaluclaC

lanoitcnuF

snoitaluclaC

cigoL

snoitarepO

erapmoClanoitpOXXPCelbairavnosirapmoCrebmuNnosirapmoC

remiT

galF•O/I

snoitarepO

margorP lortnoC

ksaT

tnemeganaM

lanoitpONART

lanoitpORLCelbairavgniraelcnigeBelbairavraelcdnERZselbairavraelC33OO lanoitpODDAelbairavotddAdeddarebmuNRZddA43OO lanoitpOBUSelbairavmorftcartbuSdetcartbusrebmuNRZtcartbuS43OO lanoitpOTLUMelbairavylpitluMrebmuNreilpitluMRZylpitluM53OO lanoitpOVIDelbairavediviDrebmungnidiviDRZediviD53OO

lanoitpODOM

lanoitpONIS

lanoitpOSOCelbairavenisocngissA

lanoitpONAT

lanoitpONTA

lanoitpORQS

lanoitpODNA

lanoitpORO

lanoitpOROE

lanoitpOWMIT)ces(emittiaWUTtiawemiT44OO lanoitpOCMIT.oNmargorP lecnactiawemiT44OO lanoitpOMTTGelbairavngissaemiTemiteriuqcA54OO lanoitpOXXTBgalf•tuptuotratSgalf•tuptuodnE]TNFONO[galF•tuptuO64OO lanoitpOXXTW)ces(emittiaWUTtiaW]TNFONO[galF•tupnI74OO lanoitpONIgalf•O/ItsriFgalf•tupnidnE)tib13xaM(tupniyraniB84OO

lanoitpOBNIgalf•O/ItsriF

lanoitpOTUOgalf•O/ItsriFgalf•tuptuodnE)tib13xaM(tupniyraniB05OO lanoitpOBTUOgalf•O/ItsriF )stigid8xaM(tupniDCB15OO lanoitpOOTOGpmujrof.oNgaTpmuJ25OO

GAT.oNgatdetatS tegratpmujeralceD25OO

lanoitpORSXE.oNenituorbusetucexE enituorbusetucexE35OO

RSGBenituorbusdetatS enituorbustratS35OO

RSDE enituorbusdnE35OO lanoitpOTIXE margorpetanimreT45OO lanoitpOGPXE.oNmargorpetucexEPCmargorptratS45OO lanoitpOGPBA.oNmargorppotSPCsmargorprehtopotS55OO lanoitpOGPLS* esuapksaT55OO lanoitpOGPUW*.oNmargorpputratSPCsutatsksatrehtO55OO

lanoitpOGPTG*

lanoitpORPTG*

lanoitpORPTS*levelksaT levelksategnahC75OO lanoitpOCILS*levelksaT)ces(eulavkcehCgnittesecilsemiT75OO

ypocelbairaV

noitanitsed

redniamerngissA

elbairav

elbairavnisngissA

)naidar(

tnegnatngissA

elbairav

tnegnatcrangissA

elbairav

toorerauqsngissA

elbairav

cigolylppaotelbairaV

otdna

cigolylppaotelbairaV

otro

ylppaotelbairaV

otcigolroevisulcxe

ksaterotsotelbairaV

sutats

ksaterotsotelbairaV

level

ypocotelbairaVRZypoC23OO

rebmunnoitaluclaC

)naidar(

otstigidfo.oN

ottrevnoc

RZredniamererugiF63OO

rebmunnoitaluclaC

RZeniS73OO

rebmuNnoitaluclaC

RZenisoC83OO

rebmuNnoitaluclaC

RZtnegnaT83OO

rebmuNnoitaluclaCRZtnegnatcrA83OO

rebmuNnoitaluclaCRZtoorerauqS93OO

rebmuNnoitaluclaCRZdnacigoL04OO

rebmuNnoitaluclaCRZrocigoL14OO

rebmuNnoitaluclaCRZcigolevisulcxE24OO

QEEN

EGTLEL

.oNmargorperiuqcAlevelksateriuqcA65OO

nosirapmoC34OO

)stigid8xaM(tupniDCB94OO

levelksateriuqcA65OO

elpitluM

sixA

elgniS

sixA

* Commands not yet publicly available cannot be used.

Note: The circle (O) in the multiple axes, single axis columns indicates that the commands can be used for

for multiple axes or a single axis.

10. List of SEL Language Command Codes

yrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

ecruoseR

noitisoP

noitarepO

rotautcA

lortnoC

snoitaralceD

rotautcA

lortnoC

sdnammoC

lanoitpOSRTG*.oNecruoserniatbO ecruosereriuqcA85OO lanoitpOSRLR*.oNecruosernruteR ecruosernruteR85OO

lanoitpOTEGP.oNsixA.oNnoitisoP

lanoitpOTUPP.oNsixA.oNnoitisoP

lanoitpORLCP.oNnoitisopgnitratS.oNnoitisopdnEatadtniopraelC06OO

lanoitpOYPCP

lanoitpODERPdaerotnrettapsixA.oNnoitisoptegraterotS

lanoitpOTSTPnrettapsixademrifnoC.oNnoitisopdemrifnoCXXatadnoitisopmrifnoC16OO lanoitpOLEVP)ces/mm(yticoleV.oNnoitisoptegratngissAyticolevnoitisopngissA26OO

lanoitpOCCAP)G(noitareleccA.oNnoitisoptegratngissA

lanoitpOSXAP

lanoitpOZISP.oNelbairaveziS ezisnoitisopkcehC36OO lanoitpOLEV)ces/mm(yticoleV yticolevteS46OO lanoitpODRVO)%(oitaryticolaV rotcafyticolevteS46OO lanoitpOCCA)G(noitareleccA noitareleccateS56OO lanoitpOVRCS)%(oitaR oitarnoitom-SteS66OO lanoitpOTSFOnrettapsixatluafeD)mm(eulavtesffOtesffoteS76OO lanoitpOGRTA)%(oitarnoitisoP reggirthcrateS76O lanoitpODLOHtroptupniesuaP tropesuaperalceD86OO lanoitpOESAB.oNsixadradnatS sixadradnatsteS96O

lanoitpOCNAC

lanoitpOGEDnoisividfoelgnA noisividfoelgnateS07O lanoitpOPRGnrettapsixadilaV sexapuorgteS07O lanoitpOTSXAsutatserotsotelbairaV sutatssixaeriuqcA17OO lanoitpOXXVSnrettapsixagnitarepO.oNsixaderiuqcA]FONO[ovreS27OO lanoitpOEMOHnrettapsixagnimoHEPgnimoH27OO lanoitpODVOMnoitisopevoMEPevometangisedyltceriD37SD

lanoitpOPVOM

lanoitpOIDVMtnuomaevoMEPtnemevomlatnemercnI47SD

lanoitpOLVOM

lanoitpOIPVM

lanoitpOILVM

lanoitpOHCRA.oNnoitisoptratS.oNnoitisopdnEEPtnemevomhcrA67O lanoitpOHTAP.oNnoitisoptratS.oNnoitisopdnEEPtnemevomhtaP67OO lanoitpORIC.oNnoitisopgnissaP.oNnoitisopgnissaPEPtnemevomcrA77O lanoitpOCRA.oNnoitisopgnissaP.oNnoitisopdnEEPtnemevomralucriC87O lanoitpOXWXJnrettapsixagnivoMgalf•O/ItratSEP]FBNBFFNF[GOJ97OO lanoitpOPOTSnrettapsixadeppotSEPtlahaotswolssixA97OO

.oN

trop

.oN

noitisoptegratypoC

elbairavnrettapsixA

tupnietelpmocpotS

noitisoptegratevoM

.oNnoitisoPnrettapsixadaeR36OO

.oNnoitisopecruosypoCatadtniopypoC06OO

991

sixa

noitisop

elpitluM

sixA

elbairavotnoitisopngissA

95OO

elbairavfoeulavngissA

95OO

fonoitisoptnerrucdaeR

16OO

noitisopngissA

noitarelecca

detangisedotevoM

otevomdetalopretnI

noitisopdetangised detangisedotevoM

otevomdetalopretnI

noitisopdetangised

26OO

tropetelpmocpotseralceD96OO

37OO

47O

57OO

57O

elgniS

sixA

* Commands not yet publicly available cannot be used.

Note: The circle (O) in the multiple axes, single axis columns indicates that the commands can be used for

used for multiple axes or a single axis.

However, MOVD, MVDI are command languages specific to the DS type.

10. List of SEL Language Command Codes

yrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

lanoitpOXXFIelbairaverpamoCelbairavnosirapmoC]ELTLEGTGENQE[erapmoC08OO

lanoitpOXXSIlaretilronmuloClaretilronmuloC

FIderutcurtS

ESLE

FIDE etelpmocFIeralceD28OO

lanoitpOXXWDelbairavnosirapmoCelbairavnosirapmoC]ELTLEGTGENQE[pooL38OO

derutcurtS

gnihcnarB

laireS

gnirtS

gnissecorP

ODDE etelpmocODeralceD38OO lanoitpOVAEL ODmorftixE48OO lanoitpORETI ODtaepeR48OO lanoitpOTCLS gnihcnarbfotratseralceD58OO

XXHWelbairaverapmoCelbairavnosirapmoC

XXSWnmulocerapmoClaretilronmuloC ]ENQE[gnihcnarbgnirtsretcarahC78OO

EHTO

LSDE etelpmocTCLSeralceD88OO lanoitpONEPO.oNlennahC nepOOIS98OO lanoitpOSOLC.oNlennahC esolCOIS98OO lanoitpODAERlennahcdaeR.oNnmuloCdaeRtupniOIS09OO lanoitpOTIRWlennahcetirW.oNnmuloCetirWtuptuoOIS19OO lanoitpOAHCSedocretcarahC retcarahcgnidneteS19OO lanoitpOYPCSnmuloctegratypoClaretilronmuloCgnirtsretcarahcypoC29OO lanoitpOPMCSnmulocerpamoClaretilronmuloCgnirtsretcarahcerapmoC29OO lanoitpOTEGSelbairavtegratdneSnmuloctegratdneSretcarahceriuqcA39OO lanoitpOTUPSnmuloctegratdneSatadetirWsretcarahcegnarrA39OO

lanoitpORTS

lanoitpOHRTS

lanoitpOLAV

lanoitpOHLAV

lanoitpONELS

tegratnoisrevnoC

nmuloc

tegratnoisrevnoC

nmuloc

tegratnoisrevnoC

elbairav

tegratnoisrevnoC

elbairav

ebotsretcarahcfo.oN

nodetarepo

ecruosnoisrevnoC

elbairav

ecruosnoisrevnoC

elbairav

nmulocecruosnoisrevnoCeulavlamicedottrevnoC69OO

nmulocecruosnoisrevnoCeulavlamicedaxehottrevnoC79OO

]ENQE[

gnihcnarbeulaV

]ELTLEGTGENQE[

temtonerasnoitidnoc

gnirts

elpitluM

sixA

nosirapmocgnirtsretcarahC

FInehwtegratnoitucexeeralceD

.temtonsinoitidnocdnammoc

nehwtegratgnihcnarberalceD

18OO

28OO

68OO

88OO

gnirtsretcarahclamicedottrevnoC49OO

retcarahclamicedaxehottrevnoC

59OO

noitareporofsretcarahcfo.onteS79OO

elgniS

sixA

Note: The circle (O) in the multiple axes, single axis columns indicates that the command can be used for

multiple axes or a single axis. However, the commands in the serial I/O category and string processing cannot be used with the DS type.

[Command languages specific to the DS type]

yrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

rotautcA

lortnoC

sdnammoC

lanoitpODVOMnoitisopevoMEPevometangisedyltceriD37 lanoitpOIDVMnoitisopevoMEPtnemevomlatnemercnI47

elpitluM

sixA

O O

elgniS

sixA

1 1. Alphabetical List of SEL Language Command Codes

elpitluM

noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

lanoitpOGPBA.oNmargorppotSPCsmargorprehtopotS55OO lanoitpOCCA)G(noitareleccA noitareleccateS56OO lanoitpODDAelbairavotddAdeddarebmuNRZddA43OO lanoitpODNAotdnacigolylppaelbairaVrebmunnoitaluclaCRZdnacigoL04OO lanoitpOCRA.oNnoitisopgnissaP.oNnoitisopdnEEPtnemevomralucriC87O lanoitpOHCRA.oNnoitisoptratS.oNnoitisopdnEEPtnemevomhcrA67O lanoitpONTAelbairavtnegnatcrangissArebmunnoitaluclaCRZtnegnatcrA83OO lanoitpOGRTA)%(oitarnoitisoP reggirthcrateS76O lanoitpOTSXAsutatserotsotelbairaV.oNsixaderiuqcAsutatssixaeriuqcA17OO lanoitpOESAB.oNsixadradnatS sixadradnatsteS96O

RSGB.oNenituorbusdetatS enituorbustratS35OO lanoitpOXXTBgalf•tuptuotratSgalf•tuptuodnE]TNFONO[galf•tuptuO64OO lanoitpOCNACtroptupnietelpmocpotS tropetelpmocpotseralceD96OO lanoitpORIC.oNnoitisopgnissaP.oNnoitisopgnissaPEPtnememvomcrA77O lanoitpOSOLC.oNlennahC esolcOIS98OO lanoitpORLCelbairavgniraelcnigeBelbairavraelcdnERZselbairavraelC33OO lanoitpOSOCelbairavenisocngissA)naidar(rebmunnoitaluclaCRZenisoC73OO

lanoitpOXXPCelbairavnosirapmoCrebmunnosirapmoC

lanoitpOGED)º(noisividfoelgnA noisividfoelgnateS07O lanoitpOVIDelbairavediviDrebmungnidiviDRZediviD53OO lanoitpOXXWDelbairaverapmoCelbairavnosirapmoC]ElTLEGTGENQE[erapmoC38OO

ODDE etelpmocODeralceD38OO

FIDE etelpmocFIeralceD18OO

LSDE etelpmocTCLSeralceD88OO

RSDE enituorbusdnE35OO

ESLE

lanoitpOROE

lanoitpOTIXE margorpetanimreT45OO lanoitpOGPXE.oNmargorpetucexEPCmargorptratS45OO lanoitpORSXErebmunenituorbusetucexE enituorbusetucexE35OO lanoitpOOTOGpmuJ.oNgaTpmuJ25OO lanoitpOPRGnrettapsixadilaV sexapuorgteS07O

lanoitpOGPTG*

lanoitpORPTG*levelksaterotsotelbairaV levelksateriuqcA65OO lanoitpOSRTG*.oNecruoserniatbO ecruosereriuqcA85OO lanoitpOMTTGelbairavngissaemiT emiteriuqcA54OO

otcigol

sutats

evisulcxeylppaotelbairaV

ksaterotsotelbairaV

rebmunnoitaluclaCRZcigolroevisulcxE24OO

.oNmargorperiuqcAsutatsksateriuqcA65OO

QEEN

TGEG

TLEL

nosirapmoC34OO

FInehwtegratnoitucexeeralceD

temtonsinoitidnocdnammoc

sixA

18OO

elgniS

sixA

* Commands not yet publicly available cannot be used.

Note: The circle (O) in the multiple axes, single axis columns indicates that the command can be used for

multiple axes or a single axis.

11. Alphabetical List of SEL Language Command Codes

elpitluM

noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

lanoitpODLOHtroptupniesuaP tropesuaperalceD86OO lanoitpOEMOHnrettapsixagnimoHEPgnimoH27OO lanoitpOXXFIelbairaverapmoCelbairavnosirapmoC]ELTLEGTGENQE[erapmoC08OO lanoitpONIgalf•O/ItsriFgalf•tupnidnE)tib13xaM(tupniyraniB84OO lanoitpOBNIgalf•O/ItsriFottrevnocotstigidfo.oN)stigid8xaM(tupniDCB94OO

lanoitpOXXSInmulocerapmoClaretilronmuloC

lanoitpORETI ODtaepeR48OO lanoitpOXWXJnrettapsixagnivoMgalf•O/ItratSEP]FBNBFFNF[GOJ97O lanoitpOVAEL ODmorftixE48OO lanoitpOTELelbairavngissArebmunngissARZngissA23O lanoitpODOMelbairavredniamerngissA)naidar(rebmunnoitaluclaCRZredniamererugiF63OO lanoitpODVOMnoitisopevoMEPevometangisedyltceriD37SD

lanoitpOLVOM.oNnoitisoptegratevoMEP

lanoitpOPVOM.oNnoitisoptegratevoMEPnoitisopdetangisedotevoM37OO lanoitpOTLUMelbairavylpitluMrebmunreilpitluMRZreilpitluM53OO lanoitpOIDVMtnuomaevoMEPtnemevomlatnemercnI47SD

lanoitpOILVM.oNnoitisoptegratevoMEP

lanoitpOIPVM.oNnoitisoptegratevoMEPnoitisopdetangisedotevoM57OO lanoitpOTSFOnrettapsixatluafeD)mm(eulavtesffOtesffoteS76OO lanoitpONEPO.oNlennahC nepoOIS98OO lanoitpOROotrocigolylppaotelbairaVrebmunnoitaluclaCRZrocigoL14OO

EHTO

lanoitpOTUOgalf•O/ItsriFgalf•tupnidnE)tib13xaM(tupniyraniB05OO lanoitpOBTUOgalf•O/ItsriF )stigid8xaM(tupniDCB15OO lanoitpODRVO)%(oitaryticoleV rotcafyticolevteS46OO lanoitpOCCAP)G(noitareleccA.oNnoitisoptegratngissAnoitareleccanoitisopngissA26OO lanoitpOHTAP.oNnoitisoptratS.oNnoitisopdnEEPtnemevomhtaP67OO lanoitpOSXAP.oNelbairavnrettapsixA.oNnoitisoPnrettapsixadaeR36OO lanoitpORLCP.oNnoitisopgnitratS.oNnoitisopdnEatadtniopraelC06OO lanoitpOYPCP.oNnoitisoptegratypoC.oNnoitisopecruosypoCatadtniopypoC06OO lanoitpOTEGP.oNsixA.oNnoitisoP991elbairavotnoitisopngissA95OO lanoitpOTUPP.oNsixA.oNnoitisoP991elbairavfonoitisopngissA95OO lanoitpODERPdaerotnrettapsixA.oNnoitisoptegraterotSsixafonoitisoptnerrucdaeR16OO lanoitpOZISP.oNelbairaveziS ezisnoitisopkcehC36OO lanoitpOTSTPnrettapsixademrifnoC.oNnoitisopdemrifnoCXXatadnoitisopmrifnoC16OO lanoitpOLEVP)ces/mm(yticoleV.oNnoitisoptegratngissAyticolevnoitisopngissA26OO

]EN

noitisop

QE[nosirapmocgnirtsretcarahC

detangisedotevomdetalopretnI

nehwtegratgnihcnarberalceD

temtonerasnoitidnoc

sixA

18OO

47O

57O

88OO

elgniS

sixA

* Commands not yet publicly available cannot be used.

Note: The circle (O) in the multiple axes, single axis columns indicates that the command can be used for

multiple axes or a single axis. However, MOVD, MVDI are command languages specific to the DS type.

1 1. Alphabetical List of SEL Language Command Codes

elpitluM

noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaP

lanoitpODAERlennahcdaeRrebmunnmulocdaeRtupptuoOIS09OO lanoitpOSRLR*ecruosernruteR ecruosereriuqcA85OO lanoitpOAHCSedocretcarahC retcarahcgnidneteS19OO lanoitpOPMCSnmulocerapmoClaretilronmuloCgnirtsretcarahcerpamoC29OO lanoitpOYPCSnmuloctegratypoClaretilronmuloCgnirtsretcarahcypoC29OO lanoitpOVRCS)%(oitaR oitarnoitom-SteS66OO lanoitpOTEGSelbairavtegratdneSnmuloctegratdneSretcarahceriuqcA39OO lanoitpONISelbairavnisngissA)naidar(rebmunnoitaluclaCRZeniS73OO lanoitpOTCLS gnihcnarbfotratseralceD58OO

lanoitpONELS

lanoitpOCILS*levelksaT)ces(eulavkcehCgnittesecilsemiT75OO lanoitpOGPLS* esuapksaT55SD lanoitpOTUPSnmuloctegratdneSatadetirWsretcarahcegnarrA39OO lanoitpORQSelbairavtooreruqsngissArebmunnoitaluclaCRZtoorerauqS93OO lanoitpOPOTSnrettapsixadeppotSEPtlahaotswolssixA97OO lanoitpORPTS*levelksaT levelksategnahC75SD lanoitpORTSnmuloctegratnoisrenoCelbairavecruosnoisrevnoCgnirtsretcarahclamicedottrevnoC49O

lanoitpOHRTSnmuloctegratnoisrevnoCelbairavecruosnoisrevnoC

lanoitpOBUSelbairavmorftcartbuSdetcartbusrebmuNRZtcartbuS43OO lanoitpOXXVSnrettapsixagnitarepO ]FONO[ovreS27OO lanoitpOGAT.oNgatdetatS tegratpmujeralceD25OO lanoitpONATelbairavtnegnatngissA)naidar(rebmunnoitaluclaCRZtnegnaT83OO lanoitpOCMIT.oNmargorP lecnactiawemiT44OO lanoitpOWMIT)ces(emittiaWUTtiawemiT44OO lanoitpONARTnoitanitsedypocelbairaVypocotelbairaVRZypoC23OO lanoitpOLAVelbairavtegratnoisrevnoCnmulocecruosnoisrevnoCeulavlamicedottrevnoC69OO lanoitpOHLAVelbairavtegratnoisrevnoCnmulocecruosnoisrevnoCeulavlamicedaxehottrevnoC79OO lanoitpOLEV)ces/mm(yticoleV yticolevteS46OO lanoitpOXXHWelbairaverapmoCelbairavnosirapmoC]ELTLEGTGENQEpooL68OO lanoitpOTIRW 19OO lanoitpOXXSWnmulocerapmoClaretilronmuloC ]ENQE[gnihcnarbgnirtsretcarahC78OO lanoitpOXXTWgalf•O/IemittiaWUTtiaw]FONO[galf•tupnI74OO lanoitpOGPUW*.oNmargorPputratSPCputratsksatrehtO55OO

nodetarepo

ebotsretcarahcforebmuN

noitarepo

gnirts

rofsretcarahcfosrebmunteS

retcarahclamicedaxehottrevnoC

sixA

79O

59OO

elgniS

sixA

* Commands not yet publicly available cannot be used.

Note: The circle (O) in the multiple axes, single axis columns indicates that the command can be used for

multiple axes or a single axis. However, MOVD, MVDI are command languages specific to the DS type.

12. SEL Language

12.1 Numeric calculations commands

LET (Assign)

●

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTEL.oNelbairaVataDRZ

[Function] Assigns the value in operand 2 to the variable in operand 1.

[Example 1] LET 1 1 0 Assign a value of 10 to variable register 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

● TRAN (Transfer)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

When 0 is assigned to the variable in Operand 1, the output turns ON.

LET 3 10 Assign 10 to variable 3. LET * 1 * 3 Assign 10 (content of variable 3) to variable 2 (content of variable 1).

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

tsoP

)galF·troptuptuO(

lanoitpOlanoitpONART.oNelbairaV.oNelbairaVRZ

[Function] Assigns the contents of the variable in Operand 2 to the variable in Operand 1.

This function is also known as "indirect addressing" or "pointing to a pointer."

[Example 1] TRAN 1 2 Assign the content of variable 2 to variable 1.

[Example 2] LE T 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2. LET 3 4 Assign 4 to variable 3. LET 4 10 Assign 10 to variable 4. TRAN 1 *3 Assign 10 (variable 4 which is the content of variable 3) to the

variable for 2.

The variables change in the following manner.

104

410

12. SEL Language

● CLEAR (Clear Variables)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpORLC.oNelbairaV.oNelbairaVRZ

[Function] Clears the variables from the variable in operand 1 to the variable in operand 2.

[Example 1] CLR 1 5 Clear variables from 1 to 5.

[Example 2] LET 1 10 Assign 10 to variable 1.

tupnI

noitidnoc

)galF·O/I(

The contents of the cleared variables becomes 0. When 0 is assigned to the variable in operand 1, the output turns ON.

LET 2 20 Assign 20 to variable 2. CLR * 1 * 2 Clear variables from 10 (content of variable 1)

dnammoC 1dnarepO 2dnarepO

to 20 (content of variable 2).

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.2 Arithmatic calculation commands

● ADD (Add)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpODDA.oNelbairaVataDRZ

[Function] Adds the value in operand 2 to the contents of the variable in operand 1, then stores this in the

[Example1] LE T 1 3 Assign 3 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

● SUB (Subtract)

tupnI

noitidnoc

)galF·O/I(

variable in operand 1. The output turns ON when the result of the operation is 0.

ADD 1 2 Add 2 to 3 (content of variable 1).

LET 2 3 Assign 3 to variable 2. LET 3 2 Assign 2 to variable 3. ADD *1 * 3 Add 2 (content of variable 3) to variable 2 (content of variable 1).

dnammoC 1dnarepO 2dnarepO

3+2 is 5 which is entered in variable1.

3+2 is 5 which is entered in variable 2.

dnammoC

tsoP

)galF·troptuptuO(

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOBUS.oNelbairaVataDRZ

[Function] Subtracts the value in operand 2 from the contents of the variable in operand 1, then stores

[Example 1] LET 1 3 Assign 3 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

tupnI

noitidnoc

)galF·O/I(

this in the variable in operand 1. The output turns ON when the result of the operation is 0.

ADD 1 2 Subtract 2 from 3 (content of variable 1).

LET 2 3 Assign 3 to variable 2. LET 3 2 Assign 2 to variable 3. ADD *1 * 3 Subtract 2 (content of variable 3) from variable 2

dnammoC 1dnarepO 2dnarepO

(content of variable 1). 3-2 is 1 which is entered in variable 2.

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

● MULT (Multiply)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTLUM.oNelbairaVataDRZ

[Function] Multiplies the contents of the variable in operand 1 by the value in operand 2, then stores this

[Example 1] LET 1 3 Assign 3 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

● DIV (Divide)

tupnI

noitidnoc

)galF·O/I(

in the varible in operand 1. The output turns ON when the result of the operation is 0.

MU LT 1 2 Multiply 3 (content of variable 1) by 2.

LET 2 3 Assign 3 to variable 2. LET 3 2 Assign 2 to variable 3. MULT * 1 *2 Multiply variable 2 (content of variable 1) by 2

dnammoC 1dnarepO 2dnarepO

(content of variable 1). 3x2 is 6 which is entered in variable 2.

dnammoC

tsoP

)galF·troptuptuO(

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOVID.oNelbairaVataDRZ

[Function] Divides the contents of the variable in operand 1 by the value in operand 2, then stores this

Note: When operand 1 is an integer type variable, anything beyond the decimal point is disregarded.

[Example 1] LET 1 3 Assign6 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

tupnI

noitidnoc

)galF·O/I(

in the varible in operand 1. The output turns ON when the result of the operation is 0.

DIV 1 2 Divide 6 (content of variable 1) by 2.

LET 2 6 Assign 3 to variable 2. LET 3 2 Assign 2 to variable 3. MULT *1 *3 Divide variable 2 (content of variable 1) by 2

dnammoC 1dnarepO 2dnarepO

(content of variable 1). 6÷2 is 3 which is entered in variable 2.

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

● MOD (Remainder)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpODOM.oNelbairaVataDRZ

[Function] Divides the contents of the variable in operand 1 by the value in operand 2, then stores

Note: The MOD command is used with respect to an integer type variable.

[Example1] LET 1 7 Assign 7 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

tupnI

noitidnoc

)galF·O/I(

the remainder in the variable in operand 1. The output turns ON when the result of the operation is 0.

MOD 1 3 Figure the remainder when 7 (content of variable 1)is divided by 3.

LET 2 3 Assign 7 to variable 2. LET 3 3 Assign 3 to variable 3. MO D *1 *2 Figure the remainder when variable 2 (content of variable 1).

dnammoC 1dnarepO 2dnarepO

÷3 is 2 with a remainder of 1 which is entered in variable 1.

7÷3 is 2 with a remainder of 1 which is entered in variable 1.

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.3 Functional calculation commands

● SIN (Sine)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpONIS.oNelbairaVataDRZ

[Function] Assigns the sine of operand 2 to the contents of the variable in operand 1.

Note 1: Radian=Angle x π÷180

[Example 1] SIN 100 0.523599 Assign 0.5, sine of 0.523599, to variable 100.

[Example 2] LET 1 1 00 Assign 100 to variable 1.

tupnI

noitidnoc

)galF·O/I(

The output turns ON when the result of the operation is 0. For the setting in operand 1, designate a real number varible in the operand 100

LET 10 1 30 30x π÷180 (radian) (convert 30°to radian and MULT 101 3.141592 assign this to variable 101). DI V 1 01 180 Assign 0.5, sine of contents in variable101 to SIN *1 *101 variable 100 (contents of variable 1).

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

~199, 300~399.

)galF·troptuptuO(

● COS(Cosine)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOSOC.oNelbairaVataDRZ

[Function] Assigns the cosine of operand 2 to the contents of the variable in operand 1.

Note: Radian = Angle x π÷180.

[Example 1] SIN 100 1.047197 Assign 0.5, sine of 1.047191 to variable 100.

[Example 2] LE T 1 100 Assign 100 to variable 1.

tupnI

noitidnoc

)galF·O/I(

The output turnsON when the result of the operation is 0. For the setting in operand 1, designate a real number variable in the range 100~199, 300~399.

L E T 10 1 30 60x π÷180 (radian) (convert 60°to radian and MULT 101 3.141592 assign this to variable 101). DI V 1 01 180 Assign 0.5, cosine of contents in variable101 to SIN *1 *101 variable 100 (contents of variable 1).

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

● TAN (Tangent)

noisdnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpONAT.oNelbairaVataDRZ

[Function] Assigns the tangent of operand 2 to the contents of the variable in operand 1. The output turns

Note 1: Radian=Angle x π÷ 180

[Example 1] TAN 10 0 0.785398 Assign 1, tangent of 0.785398, to varible in 100.

[Example 2] LE T 1 100 Assign 100 to variable 1.

● ATN (Arctangent)

tupnI

noitidnoc

)galF·O/I(

ON when the result of the operation is 0. For the setting in operand 1, designate a real number variable in the range 100~199, 300~399. The unit in operand 2 is radians.

LET 101 45 45x π÷180 (radian) (convert 45°to radian and MULT 101 3.141592 assign this to variable 101). DI V 101 180 Assign 1, tangent of contents in variable101 to TAN *1 *101 variable 100 (contents of variable 1).

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpONTA.oNelbairaVataDRZ

[Function] Assigns the arctanagent of operand 2 to the contents of the variable in operand 1. The output

Note 1: Radian=Angle x

[Example 1] A TN 100 1 Assign 0.785398, arctangent of 1, to variable 100.

[Example 2] LE T 1 100 Assign 1 to variable 101.

tupnI

noitidnoc

)galF·O/I(

turns ON when the result of the operation is 0. For the settings in operand 1, designate a real number variable in the range 100~199, 300~199. The unit in operand 2 is radians.

π ÷

180

L E T 1 0 1 1 Assign 0.785398, arctangent of contents in variable101 TAN *1 *101 to variable 100 (contents of variable 1).

dnammoC 1dnarepO 2dnarepO

dnammoC

Assign 100 to variable 1.

tsoP

)galF·troptuptuO(

12. SEL Language

● SQR(Square)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpORQS.oNelbairaVataDRZ

[Function] Stores the square root (SQR) of the data in operand 2 in the variable in operand 1.

The output turns ON when the result of the operation is 0.

[Example 1] SQR 1 4 Assign square root of 4,2 to variable 1.

[Example 2] LE T 1 10 Assign 10 to variable 1.

tupnI

noitidnoc

)galF·O/I(

LET 2 4 Assign 4 to variable 2. S QR *1 *2 Assign the square root of 4 (contents of variable 2) to variable 10

dnammoC 1dnarepO 2dnarepO

(contents of variable 1).

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.4 Logic and Operation commands

● AND (Logic And)

noisdnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpODNA.oNelbairaVataDRZ

[Function] Stores the results of the logic AND operation on the contents of the variable in operand 1

[Example 1] LET 1 204 Assign 204 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

tupnI

noitidnoc

)galF·O/I(

and the in operand 2, in the variable in operand 1. The output turns ON when the result of the operation is 0.

AN D 1 1 70 Assign 136 the result of logic AND on 204 (contents of variable 1)

L ET 2 204 Assign 204 to variable 2. L ET 3 170 Assign 170 to variable 3.

dnammoC 1dnarepO 2dnarepO

AND 170 (data in operand 2), to vaiable 1.

dnammoC

tsoP

AND *1 * 3 Assign 136, the result of logic AND on 204(content of variable 2 which is

the content in variable 1) and 170 (content of variable 3), to 2(the content of variable 1).

)galF·troptuptuO(

Decimal number Binary number

204 11001100

AND 170

136

AND 10101010 10001000

12. SEL Language

● OR (Logic Or)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpORO.oNelbairaVataDRZ

[Function] Stores the results of the logic OR operation on the contents of the variable in operand 1 and the

[Example 1] LET 1 204 Assign 204 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

tupnI

noitidnoc

)galF·O/I(

data in operand 2, in the variable in operand 1. The output turns ON when the result of the operation is 0.

OR 1 1 7 0 Assign in 238, the result of logic AND on 204 (contents of variable 1)

LET 2 204 Assign 2 to variable 1. L ET 3 170 Assign 170 to variable 3. OR *1 *3 Assign 238, the result of logic OR on 204 (content of variable 2 which is

dnammoC 1dnarepO 2dnarepO

and 170 (data in operand 2), to variable 1.

the content in variable 1) and 170 (content of variable 3), to 2(the content of variable 1).

dnammoC

tsoP

)galF·troptuptuO(

Decimal number Binary number

204 11001100

OR 170

238

OR 10101010 10001000

12. SEL Language

● EOR (Exclusive Or Logic)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOROE.oNelbairaVataDRZ

[Function] Stores the results of the exclusive logic operation on the contents of the variable in operand 1 and the

data in operand 2, in the variable in operand 1. The output turns ON when the result of the operation is 0.

[Example 1] LET 1 204 Assign 204 to variable 1.

E OR 1 1 7 0 Assign 102 in, the result of exclusive logic of 204 (contents of variable 1)

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 204 Assign 2 to variable 1. L ET 3 170 Assign 170 to variable 3. E OR *1 *3 Assign 102, the result of logic OR on 204 (content of variable 2 which is

Decimal number Binary number

204 11001100

EOR 170

102

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

and 170 (data in operand 2), to variable 1.

the content in variable 1) and 170 (content of variable 3), to 2 (the content of variable 1).

EOR10101010 0110110

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.5 Comparison operation commands

● CPXX (Compare)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOXXPC.oNelbairaVataD

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

QEEN

TGEG

TLEL

[Function] Compares the contents of the variable in operand 1 and the value in operand 2 and if the

condition is satisfied, the output turns ON. When the condition is not satisfied, the output turns OFF.

CPXX

EQ ... Operand 1 = Operand 2 NE ... Operand 1 ≠ Operand 2

GT ... Operand 1 > Operand 2 GE . .. Operand 1 ≥ Operand 2 L T ... Operand 1 < Operand 2 LE ... Operand 1 ≤ Operand 2

[Example 1] LET 1 10 Assign 10 to variable 1.

CPEQ 1 10 600 If the content of variable 1 is 10, flag 600 turns ON,

6 0 0 AD D 2 1 If flag 600 is ON, 1 is added to variable 2.

tsoP

)galF·troptuptuO(

[Example 2] LET 1 2 Assign 2 to variable 1.

L ET 2 10 Assign 10 to variable 2. L ET 3 10 Assign 10 to variable 3. CPNE *1 *3 310 If the variable in 2 (the content of variable 1) does not equal the

content of variable 3, then output 310 turns ON. Therefore, in this example, output 310 is OFF .

12. SEL Language

12.6 Timer Commands

● TIMW (Timer)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOWMITEMITUT

[Function] The program stops and waits for the time set in operand 1.

Setting range is 0.01 ~ 99 and units are seconds. When the designated time has elapsed and the program moves to the next step, the output turns ON.

[Example 1] TIMW 1.5 W ait for 1.5 seconds.

[Example 2] LET 1 10 Assign 10 to variable 1.

TIMW *1 Contents of variable 1 waits 10 seconds.

● TIMC (Timer Cancel)

noisnapxE

noitidnoc

·DNA(

)RO

tupnI

noitidnoc

)galF·O/I(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOCMIT.oNmargorP

[Function] Cancels the time

of the other programs designated in operand 1 that are running in parallel.

[Example 1] TIMC 10 Cancel time wait for prorgam 10.

[Example 2] L ET 1 1 0 Assign 10 to variable 1.

TIMC *1 Cancel time wait for program 10 (content of variable 1).

12. SEL Language

● GTTM (Time Acquisition)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOMTTG.oNelbairaV

[Function] Writes the system time to the variable in operand 1. The time unit is 10msec.

The time obtained with this command is a value that has no base. Therefore, call this command twice, and the difference gives the time that has elapsed.

[Example 1] GTTM 1 Read the reference time to variable 1.

AD D 1 500 Set the ending time for 5 seconds later . GTTM 2 Read the current system time to variable 2. DWGE 1 *2 After 5 seconds, proceeds to the next step after EDDO. : The processing during this time will repeat for 5 seconds. :

GTTM 2 Read the current system time to variable 2.

EDDO

[Example 2] LET 1 5 Assign 5 to variable 1.

GTTM *1 Store the current system time in the variable for 5 (content of variable 1).

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.7 I/O · Flag operation commands

● BTXX (Output Port • Flag Operation)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOXXTBgalF·tuptuOlanoitpO

[Function] Turns ON, OFF , or inverts from the output · flag designated in operand 1 to the output · flag designated

in operand 2.

BTXX

ON ... Turns the status ON. OF ... Turns the status OFF. NT ... Inverts the status.

[Example 1] BTON 300 Output port 300 turns ON. [Example 2] BTOF 300 30 7 Output port 300∼307 turns OFF .

[Example 3] LE T 1 600 Assign 600 to variable 1.

BTNT ∗1 Invert flag 600 (content of variable 1).

)galF·troptuptuO(

[Example 4] LE T 1 600 Assign 600 to variable 1.

L ET 2 607 Assign 607 to variable 2. BTON *1 *2 Turns flags from 600 (content of variable 1) to 607

(content of variable 2) ON.

12. SEL Language

● WTXX (I/O Port • Flag Wait)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOXXTWgalF·O/I

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpO

tuoemiT

[Function] Program waits until designated in operand 2 turns ON/OFF.

Can abort the wait after a set time by designating a time in operand 2.

Setting range is 0.01~99 seconds. After a set time has elapsed, the output

turns ON (Only where is an operand 2).

ON ... Waits for I/O port · flag to turn ON. OF ... Waits for I/O port · flag to turn OFF.

[Example 1] WTON 15 Waits for I/O port 15 to turn ON.

[Example 2] WTOF 25 5 900 W ait for input 25 to turn ON. If not ON within 5 seconds,

turn flag 900 ON and proceed to the next step.

tsoP

)galF·tuptuO(

12. SEL Language

● IN (Binary Number Read I/O • Flag)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpONIgalF·tropO/IgalF·tropO/I

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Reads the value from the designated I/O port or flag as a binary number, then stores this

value in variable register 99.

3222120291817161

NOFFOFFOFFOFFONOFFONO

• • • Binary Number

• • • Input Port No.

0010010

+ 0 + 0 + 0 + 0 + 2

28 + 0 + 0 + 0 + 0 + 4 + 0 + 2

+ 0 + 2

Binary number

= 133 in decimal notation

133 • • • • • • • • • • • Variable 99

Note: The maximum input limit for the port is 31 consecutive bits.

tsoP

)galF·tuptuO(

[Example 1] I N 8 15 Read input ports 8 ~15 as a binary number in variable 99.

[Example 2] LET 1 8 Assign 8 to variable 1.

LET 2 15 Assign 15 to variable 2.

IN * 1 *2 Read port 8(content of variable 1) to port 15

(content of variable 2) as a binary number to variable 99.

12. SEL Language

● INB (BCD Read I/O • Flag)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOBNItroptupnI

[Function] Reads the BCD value from the designated input port, then stores this value in variable register 99.

ON OFF

Note 1: The maximum number of digits that can be input is 8 (32 bits).

Note 2: The I/O Port • Flag used is 4 x n (number of digits).

[Example 1] INB 8 2 Read input port from 8 for 2 digits (up to 15) as a binary number

tupnI

noitidnoc

)galF·O/I(

Upper digits

14 13

OFF OFF

dnammoC 1dnarepO 2dnarepO

Lower digits

12 11

OFF

⇓⇓

⇓

⇓⇓

133

to variable 99.

• • • • • • • • • Variable 99

dnammoC

10 9

OFF

fo.oN

stigidDCB

••• Input port No.

tsoP

)galF·tuptuO(

[Example 2 ] LET 1 8 Assign 8 to variable 1.

LET 2 2 Assign 2 to variable 2.

IN * 1 *2 Read from input port 8 (content of variable 1) for 2 digits

(content of variable 2)(up to 15) as a BCD value to variable 99.

12. SEL Language

● OUT (Binary Number Output)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOTUOgalF·O/IgalF·O/I

[Function] Output the value of variable 99 to output ports or flags from operand 1 to opreand 2.

133 • • • • • • • • • • • • • • • • Variable 99

Upper

307 306 305 304 303 302

Note 1: The maximum number of digits that can be output is 32 bits.

OFF OFF OFF OFF

000 0

ON ON

301 300

OFF

• •• Output port Number

• • •Output port Number

tsoP

)galF·tuptuO(

[Example 1] OUT 300 307 Write the value of variable 99 as a binary value to output ports from

300~307.

[Example 2] LET 1 3 00 Assign 300 to variable 1.

LET 2 307 Assign 307 to variable 2. OUT *1 *2 Write the value of variable 99 as a binary number to output ports 300

(content of variable 1) through 307 (content of variable 2).

12. SEL Language

● OUTB (BCD Output)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOBTUOgalF·O/IstigidDCBfo.oN

[Function] Output the value of variable 99 to ourput ports or flags from operand 1 to operand 2.

10000101

tupnI

noitidnoc

)galF·O/I(

reppUrewoL

dnammoC 1dnarepO 2dnarepO

85 • • • • • • • • • • • • • • • • Variable 99

dnammoC

• • •Binary number

tsoP

)galF·tuptuO(

307 306 305 304 303 302

Note 1: The maximum number of digits that can be output is 8 (32 bits). Note 2: The output port • f lag used is 4 x n (number of digits).

[Example 1] OUT 300 2 Write the value of variable 99 as a BCD value to output ports from 300

OFF OFF OFF OFF

for 2 digits (up to 307).

ON ON

301 300

OFF

• • •Output port Number

[Example 2] LET 1 3 00 Assign 300 to variable 1.

LET 2 2 Assign 2 to variable 2. OUT *1 *2 Write the value of variable 99 as a BCD value to output ports from 300

(content of variable 1) for 2 digits (content of variable 2) (up to 15).

12. SEL Language

● GOTO (Jump)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOOTOG.oNgaT

[Function] Jumps to the position of the tag number designated in operand 1.

Note: The GOTO command is valid only within the same program.

[Example 1] TAG 1 Set the tag.

: : : GOTO 1 Jump to tag 1.

[Example 2] LET 1 10 Assign 10 to 1.

GOTO *1 Jump to tag 10 (content of variable 1).

tsoP

)galF·tuptuO(

● TAG (Tag Declaration)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

lanoitpOlanoitpOGAT.oNgaT

[Function] Sets the tag number designated in operand 1.

[Example] Refer to the GOTO command.

dnammoC

tsoP

)galF·tuptuO(

12. SEL Language

● EXSR (Execute Subroutine)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

RSXE.oNenituorbuS

[Function] Executes the subroutine number designated in operand 1.

Note: Only a subroutine number within the same program is enabled.

[Example1] EXSR 1 Execute subroutine 1.

: : EXIT BGSR 1 Begin subroutine 1 : : :

EDSR End subroutine 1.

[Example 2] LET 1 10 Assign 10 to 1

EXSR *1 Execute subroutine 10 (content of variable 1).

tsoP

)galF·tuptuO(

● BGSR (Begin Subroutine)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

RSGB.oNenituorbuS

[Function] Commands the start of the subroutine number designated in operand 1.

[Example] Refer to the EXSR command.

● EDSR (End Subroutine)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

RSDE

[Function] Commands end of subroutine. This is always required at the end of a subroutine. After this, the

program moves to the step after the EXSR called out.

)galF·tuptuO(

)galF·troptuptuO(

[Example 1] Refer to the EXSR command.

12. SEL Language

12.9 Task management commands

● EXIT (Exit Program)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOTIXE

[Function] Finishes the program. When final step is reached without the EXIT command, process

returns to the front.

* The status when the program is complete

• Output Port ..................... Valid

• Local Flag..................... Invalid

• Local Variable...............Invalid

• Current Value .................. Valid

• Global Flag ..................... Valid

• Global Variable ............... Valid

[Example] :

EXIT Ends the program.

tsoP

)galF·tuptuO(

● EXPG (Start Another Program)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOGPXE.oNmargorPPC

[Function] Starts another program and processes it in parallel.

When that program (task) has been started, the port and flag in the post section is output.

[Example 1] EXPG 1 0 Start program number 10.

[Example 2] LET 1 10 Assign 10 to variable 1.

EXPG *1 Start variable 1 (content 10) program.

tsoP

)galF·tuptuO(

12. SEL Language

● ABPG (Stop Other Program)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOGPBA.oNmargorPPC

[Function] Forces the other program being executed in operand 1 to end.

When that progran (task) is forced to end, the port and flag in the post section is output.

Note: The ABPG command stops the program once the command being executed is completed.

[Example 1] ABPG 10 Stop program No. 10.

[Example 2] LE T 1 1 0 Assign 10 to variable 1.

ABPG * 1 Stop variable 1 (content 10) program.

● SLPG (Task Pause) * Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·tuptuO(

tsoP

)galF·tuptuO(

lanoitpOlanoitpOGPLS

[Function] Pauses self task, and begins execution again by WUPG command of another program.

[Example1] SLPG Pauses self task.

● WUPG (Startup Other Task) * Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOGPUW.oNmargorPPC

[Function] Executes programs paused by the SLPG command assigned in operand 1.

Once the startup is succesful, output turns ON.

[Example 1] WUPG 1 Execute program No. 1.

)galF·tuptuO(

[Example 2] LET 1 10 Assign 10 to variable 1.

WUPG *1 Execute variable1 (content 10) program.

12. SEL Language

● GTPG (Acquire Task Level) * Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOGPTG.oNelbairaV.oNmargorP

[Function] Reads the task condition of operand 2 program into operand 1 variable.

The value being read is as follows:

Execute condition · · · TTS__RUN 01 Execute able condition · · · TTS__RDY 02

Wait condition · · · TTS __WAI 04

Forced wait condition · · · TTS__SUS 08 Double wait condition · · · TTS__RDY 0C (12) WAI + SUS (4+8) Pause conditon · · · TTS__RDY 10 (16)

[Example 1] GTPG 10 5 Read task condition of program 5 into variable 10.

[Example 2] LET 1 10 Assign 10 to variable 1.

LET 2 5 Assign 5 to variable 1. GTPG*1 *2 Read task condition of variable 2 (content 5) program into

variable 1 (content 10 variable).

tsoP

)galF·tuptuO(

● GTPR (Acquire Task Level) * Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpORPTG.oNelbairaVPC

[Function] Stores task level of self task to operand 1 variable.

[Example 1] GTPR 1 Store task level into variable 1.

[Example 2] LET 1 10 Assign 10 to variable 1.

GTPR *1 Store task level into variable 1 (content 10).

)galF·tuptuO(

12. SEL Language

● STPR (Task Level Change) * Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpORPTSlevelksaT

[Function] Change the task level of the self task to the value of operand 1.The task level range is 1~5, smaller

number receiving priority.

[Example 1] STPR 1 Change task level to 1.

[Example 2] LET 1 Assign variable 1 to 3.

STPR *1 Change the task level of variable 1 (content 3).

● SLIC (Time Slice Value Change) * Commands not yet publicly available can not be

used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·tuptuO(

lanoitpOlanoitpOCILSlevelksaTecilsemiT

[Function] Changes task level of operand 1 to the check value of operand 2. Assigns task level range from

1~5 and check value at 10mm/sec per unit.

[Example1] SLIC 2 0.02 Change the check value of task level 2 to 0.02 sec.

[Example 2] LET 1 00 0.5 Assign 0.5 to variable 100.

SLIC 3 *100 Changes the task data of task level 3 to variable 100

(content 0.5 sec).

12. SEL Language

12.10 Resource management commands

●GTRS (Obtain Resource) *Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOSRTG.oNecruoseR

[Function] Obtains resource. If resource is not available, program pauses until the resource is released.

Assigns resource no. 1~9.

[Example 1] Define X axis as resource 1.

Program 1 Program 2

GTRS 1 : Program 1 obtain resource 1.

MOVL 1 GTRS 1 Program 2 can not obtain resource 1.

RLRS 1 (Obtain wiat) As resource 1 returns, Program 2 obtains it.

: MOVP 2 Program 2 uses the X axis.

: RLRS 1 Program 2 returns the resource.

By doing the above, even when the same axis is used for multiple programs, an error will not be encountered. .

[Example 2] LE T 1 5 Assign 5 to variable 1.

GTRS *1 Obtain resource of variable 1 (content 5).

tsoP

)galF·tuptuO(

● RLRS (Return Resource) * Commands not yet publicly available can not be used.

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOSRLR.oNecruoseR

[Function] Returns the obtained resources.

[Example 1] Please refer to GTRS.

)galF·tuptuO(

12. SEL Language

12.11 Position Data Operation Commands

● PPUT (Write Position Data)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

lanoitpOlanoitpOTUPP.oNsixA

[Function] Writes the coordinates in variable 199 to the designated axis position data.

[Example] LE T 199 15 0 Assign 150 to variable 199.

PPUT 2 3 Write variable 199 (content 150) to position 3

● PGET (Read Position Data)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

.oNnoitisoP .oNelbairaV

(axis 2).

dnammoC

tsoP

)galF·troptuptuO(

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOTEGP.oNsixA

[Function] Reads the position data for the designated axis to variable 199. (Opposite of PPUT) When

executing this command, if the data being read is xxx.xx, the data will not be entered in variable 199 (command is not executed).

[Example] PGET 2 3 Read data at position no. 3 for axis no. 2 to variable 199.

.oNnoitisoP .oNelbairaV

12. SEL Language

● PCLR (Position Data Clear)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpORLCP.oNnoitisoP.oNnoitisoP

[Function] Clears the data in the range of positions designated by operand 1 and operand 2

(becomes XX.XXX, not 0.00).

[Example] PCLR 10 20 Clears data from position 10 in operand 1 through position 20 in operand 2.

● PCPY (Position Data Copy)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOYPCP.oNnoitisoP.oNnoitisoP

[Function] Copies data in the designated position No. (copy data in operand 2 to operand 1).

[Example] PCPY 20 10 Copy data from position 10 in operand 2 to position 20 in operand 1.

12. SEL Language

● PRED (Read Coordinates)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpODERPnrettapsixA.oNnoitisoP

[Function] Reads the current coordinates of the axis designated in operand 1 and writes it to the position

designated in Operand 2.

[Example] PRED 11 10 Read the current coordinates of axis 1 and axis 2 designated in operand 1 into

position 10.

)galF·troptuptuO(

● PTST (Check Position Data)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOTSTPnrettapsixA.oNnoitisoPderiuqeR

[Function] Checks to see whether there is valid data in the designated axis pattern and position number. If there is no

data, the post flag or output port turns ON. Post section turns ON only when all the axes specified by the axis pattern are XX.XXX. ("0" is considered as data.)

[Example] PTST 11 11 60 0 If there is no data in position 11 of axis 1 and 2, flag 600 turns ON.

12. SEL Language

● PVEL (Assign V elocity Data)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOLEVPyticoleV.oNnoitisoP

[Function] Assigns the value in operand 1 as the velocity for the designated position data. Variables can also be

used. This command is used to change the actual velocity.

*When a value is assigned that will result in a negative number after calculation, there is no warning at the time you execute this command but an alarm will occur when you try to use the data.

[Example] PVEL 100 3 Assign a value of 100mm/sec to the velocity data for position number 3.

)galF·troptuptuO(

● PACC (Assign Acceleration Data)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOCCAPnoitareleccA.oNnoitisoP

[Function] Assigns the acceleration data in Operand 1 for the acceleration of the position data. As with the PVEL

command, you can assign a value using the variable but there is no function that checks the value range when executing this command. Therefore, please be careful not to assign a value that exceeds the actuator's limits.

[Example] P ACC 0.3 3 Assign a value of 0.3 to the acceleration speed data for position number 3.

)galF·troptuptuO(

12. SEL Language

● PSIZ (Check Position Data Size)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOZISP.oNelbairaV

[Function] Checks the maximum size of the position data that can be used.

[Example] PSIZ 1 The maximum value of the position data goes into variable 1 (variable to be assigned) in

operand 1.

● PAXS (Read Axis Pattern)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOSXAP.oNelbairaV.oNnoitisoP

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

[Function] Stores the axis pattern of the position in operand 2 into the variable in operand 1.

[Example 1] P AXS 100 200 Store the axis pattern of position 200 into variable 100. When the points are set

as in the position table below , 2 (10 in binary notation) is stored in variable 100.

[Example 2] When the points are set as below , 2 (10 in binary notation) is stored in variable 100.

LET 1 3 Assign 3 to variable 1. P A XS *1 *2 Assign 101 to variable 2. LET 2 301 Store the axis pattern of the position for 101 which is the value contained in

variable 2, to variable 3 which is contained in variable 1. When the points are set as below , 3 (11 in binary notation) is stored in variable 3.

12. SEL Language

● VEL(Velocity)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOLEVyticoleV

[Function] Sets the velocity of an actuator movement in mm/sec. The maximum velocity varies according to the model

of the actuator so please set below that value.

*Decimal places cannot be used. Entering a decimal value will cause an error. *The minimum velocity setting is 1mm/sec.

[Example] V EL 1000

1000mm/sec (V elocity Setting)

VEL1000 MOVP 1 MOVP 2 VEL 500 MOVP 3 MOVP 4

The velocity between these two points is 1000mm/sec.

The velocity between these two points is 500mm/sec.

● OVRD (Override)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

lanoitpOlanoitpODRVO

[Function] This command decreases the velocity according to the designated ratio. (V elocity coef ficient setting).

The range of the ratio settings is from 1 ~100%.

*When you use the override function, any value below 1 will be clamped at 1. Any decimal value in the speed setting will be rounded off.

[Example] V EL 100 100mm/sec setting.

OVRD 50 100mm/sec is reduced by 50% and the actual velocity becomes 50mm/sec.

dnammoC

tsoP

yticoleV

eulavoitar

)galF·troptuptuO(

12. SEL Language

● ACC (Acceleration)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOCCAnoitareleccA

[Function] Sets the acceleration of the actuator movement which is expressed in G (Gravity). The maximum acceleration

varies and depends on the actuator model and payload. The rated acceleration is 0.3 G. The actuator moves at the rated acceleration 0.3 G when acceleration is not set by the ACC command.

[Example] ACC 0.3

0.3G (Acceleration setting at 0.3G)

12. SEL Language

● SCRV (S Motion Ratio Setting)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

lanoitpOlanoitpOVRCSoitaR

[Function] Sets the ratio to control the S motion of the actuator.

The setting range is integers from 0 ~ 50 (%). If this command is not used to set the ratio or when it is set to 0 (%), the actuator makes a trapezoid motion.

dnammoC

tsoP

)galF·troptuptuO(

[Example 1] SCRV 30 S motion ratio is set to 30%.

[Example 2] LET 1 50 Assign 50 to variable 1.

S CRV *1 S motion ratio is set to 50 (%) which is the content of variable 1.

12. SEL Language

● ATRG (Arch Motion Trigger)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

lanoitpOlanoitpOGRTA

dnammoC 1dnarepO 2dnarepO

dnammoC

noitisoP

)%(oitar

[Function] Sets the axis movement position ratio to execute the ARCH command.

*The position ratio depends on the distance of the movement but it should be set at 50~60% or higher. When the ratio is set too low, a "C2" alarm may occur.

[Example] Application program

200

(No.1)

60%

(No.2)

HOME 11 VEL 100 A TRG 60 ACC 0.3 ARCH 1 3

60%

200

(No.3)

noitisoP ataD

1.oN000.002xxx.xxx

2.oNxxx.xxx000.002

3.oN00.0xxx.xxx

sixAXsixAY

tsoP

)galF·troptuptuO(

● OFST (Offset)

noisnapxE

noitidnoc

·DNA(

)RO

tupnI

noitidnoc

)galF·O/I(

lanoitpOlanoitpOTSFO

dnammoC 1dnarepO 2dnarepO

dnammoC

sixA

nrettap

tesffO

eulav

[Function] This command adds an offset value to the target value when the actuator moves. The offset amount is

given in mm and the resolution is 0.001mm. Offset values can be negative numbers within the range of

movement.

* The OFST command can only be used for the axes in that program. T o set an of fset value for axes in multiple programs, the OFST command must be executed for each program.

[Example] OFST 10000011 50.000 50mm is added to the movement amount of Axis 1, Axis 2, and Axis 8.

tsoP

·troptuptuO(

)galF

12. SEL Language

● HOLD(Hold: Axis Temporary Stop)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpODLOHgalF·O/I

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

[Function] Designates an input port for sending a command to decelerate and stop while a move command is being

executed. If the designated input port turns ON, then velocity decreases until all motion stops. When the input port turns OFF , then motion begins again. The HOLD command applies only to the axes in the designated task (program), and does not affect axes running in other programs.

[Example] HOLD 25 When input port 25 turns ON, velocity decreases until all motion stops.

Input 25 ON

HOLD

Input 25 OFF

Remaining

motion

Motion

Completed

)galF·troptuptuO(

* When the HOLD function is used during PATH, CIR, ARC motion commands, the actuator stops at the next

position. During the execution of straight line motion commands such as MOVL, MOVP , it stops immediately .

* The IA system uses a unique homing sequence which locks the servo and detects the stroke edge during

homing. If the HOLD is activated at the end of homing, this might cause a "servo run-away = alarm" after the HOLD is released. Therefore, HOLD should be designated after the HOME command. If you need to designate HOLD from the beginning, a home area detection switch (an area limit switch) must be installed so that the HOLD designation will not be carried out in this area.

* HOLD and CANC cannot be used in the same program. (If both are written in the same program, the command

that is designated later is the one that becomes effective).

12. SEL Language

● CANC(Cancel: Cancels Remainder of Move)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOCNACgalF·O/I

[Function] Designates an input or flag for sending a command to decelerate and stop while a move command is being

executed. If the actuator is moving and the designated input port turns ON, then velocity decreases until all motion stops. Any other programmed motion thereafter is cancelled and not executed.

* HOLD and CANC cannot be used in the same program. (If both are written in the same program, the

command that is designated later is the one that becomes effective).

[Example] CANC 25

When input port 25 turns ON, velocity decreases until all motion stops. All motion after this is cancelled.

Input 25

Motion Completed

The rest is cancelled

* During PATH, CIR, ARC motion designa-

tion, the actuator moves to the next position. Any other programmed motion thereafter is cancelled and not executed.

)galF·troptuptuO(

● BASE (Axis Base Designation)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

lanoitpOlanoitpOESAB.oNsixA

[Function] Count axes starting with the designated axis as the first axis.

[Example] HOME 11 Axis No.1 and Axis No.2 perform homing.

BASE 3 Axis No.3 is counted as the first axis. HOME 11 Axis No.3 and Axis No.4 perform homing.

After homing, Axis No.3~8 move by designating Axis No.1~6 (axis pattern and position data).

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

●GRP (Grouping of Axes)

noisnapxE

noitidnoc

·DNA(

)RO

lanoitpOlanoitpOPRG

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

[Function] This command moves the actuator through the position data of the designated axis pattern.

(Even if there is data in axes other than those designated, the actuator will not move to these positions).

[Example] GR P 00000011 From position data for 8 axes, data from axis 1 and 2 is taken out and executed.

dnammoC

sixA

nrettap

tsoP

·troptuptuO(

)galF

●DEG (Degree Setting)

noisnapxE

noitidnoc

·DNA(

)RO

lanoitpOlanoitpOGEDelgnA

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] This command sets up the motion increments for use with CIR (Circular Movement) and ARC

(Arc Movement) commands. When performing CIR and ARC commands, passing points will be calculated by dividing a circle into the degrees as set. When increments are set small, the circular movement is accurate, however, when they are too small, the speed becomes too slow. When CIR and ARC commands are performed without setting increments, the motion increments of the actuator will be 15 degrees.

[Example] D E G 10

Motion in 10 degree increments.

tsoP

·troptuptuO(

)galF

12. SEL Language

AXST (Axis Status Acquisition)

●

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTSXA.oNelbairaV.oNsixA

[Function] Stores the status (error code) of the axis in Operand 2 in the variable in Operand 1.

Only error codes that begin with the letter "A" will be stored in the register in Operand 1. These error codes are the same ones that are displayed on the front panel of the controller. (The error codes in the table are written in hexadecimal numbers. The hexadecimal value in the variable in Operand 1 must be converted to a decimal number to identify its error code.)

[Example] AXST 1 2 Read the status for Axis 2 to variable 1.

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

If 161 was in variable 1, 161 ÷ 16 = 10 ( = A) with a remainder of 1, then this means that error code A1 (External Interrupt Error) occurred on Axis 2.

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.13 Actuator Control Commands

● SVXX (Servo ON/OFF)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOXXVSnrettapsixA

[Function] This commands turns the servo of the designated axes ON/OFF .

SVXX

ON • • • Turns the servo ON. OF

[Example] SVON

● HOME (Return Home)

SVON 11001100 Turn on the servo for axis 4, 7, 8. This does not affext

noisnapxE

noitidnoc

)RO·DNA(

• • • Turns the servo OFF.

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

axes that are already ON.

dnammoC

tsoP

)galF·troptuptuO(

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOEMOHnrettapsixAlanoitpO

[Function] This command executes homing of the designated axes. Servos turn ON automatically.

[Example] HOME 10000011 Axis 1, 2, and 8 axes execute homing.

12. SEL Language

● MOVD (Direct Designate Move)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpODVOMnoitisopevoMlanoitpO

[Function] Moves the actuator to a position designated in operand 1.

Output turns OFF when axis move starts, and upon completion, turns ON.

[Example 1] MOVD 100 Move the axis to position 100.

[Example 2] LET 1 1 00 Assign 100 to variable 1.

MOVD *1 Move the axis to variable 1 (content 100) position.

* Note: This command is applicable to the DS type only.

● MOVP (Point to-Point Position Data)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOPVOM.onnoitisoPlanoitpO

[Function] This command moves the actuator to the designated position number from point to point without

interpolation.

[Example] MOVP 100

Moves to Position No. 100 (point to point).

MOVP *1

If variable 1 is 150, then the actuator moves to

noitisoP

.oN

1 2 3

○○○ ○○○

123

position number 150 (point to point).

-0.001

-0.002 0

Move path when X-axis moves to 200mm point and Y-axis moves to 100mm point from home.

Y axis

100mm

Home 0

Y axis motion complete

X axis

200mm

Each axis moves at its own designated speed.

001

051

○○

-0.001

-0.002

-x.xxx

12. SEL Language

● MOVL( Position Data with Interpolation)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

.oNnoitisoP

lanoitpOlanoitpOLVOM

[Function] Moves the actuator to the designated point while using interpolation (not point to point).

[Example] MOVL 100

Move to position No. 100 using interpolation.

MOVL *1 If variable 1 is 150, then the actuator moves to position 150 using interpolation.

Move path when X-axis moves to 200mm point and Y-axis moves to 100mm point from home.

Y axis

100mm

Home 0

X and Y axis complete move at the same time

X axis

200mm

elbairaVlanoitpO

The tip of the combined motion for each of the axes moves at the designated speed. The path from the starting point to the end point makes a straight line.

tsoP

)galF·troptuptuO(

● MVDI (Incremental Move)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

lanoitpOlanoitpOIDVM

dnammoC 1dnarepO 2dnarepO

dnammoC

noitisoP

tnemercnI

[Function] Moves the as a move load of the value designated in operand 1.

The output becomes OFF when axis move starts, and upon completion, turns ON.

[Example] MVDI 30 Move 30mm from the current position to the +direction.

* Note: This command is applicable to the DS type only.

tsoP

)galF·troptuptuO(

12. SEL Language

● MVPI (Incremental PTP Move)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

lanoitpOlanoitpOIPVM.oNnoitisoPEP

[Function] Moves the actuator to the designated position number in reference to the current position from point to point

without interpolation.

[Example] MVPI 1

When the current position is (50, 50) and position 1 data is (150, 100), the actuators move 150 in the X direction and 100 in the Y direction to the position (200, 150).

150mm

50mm

Home 0

Y axis

50mm 200mm

Y axis only completes movement

Each axis moves at its own designated speed.

X axis

● MVLI (Incremental Interpolation Movement)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

lanoitpOlanoitpOILVM.onnoitisoPlanoitpO

[Function] Moves the actuator to the designated point in operand 1 from the current position while interpolating

(not point to point).

[Example] MVLI 1

When the current position is (50, 50) and the position 1 data is (150, 100), the actuators move to the position (200, 150) which is 150 in X direction and 100 in Y direction from the current position.

150mm

50mm

Home 0

Y axis

50mm 200mm

X, Y complete motion at the same time

The tip of the combined motion for each of the axes moves at the designated speed. The path from the start to the finish point makes a straight line.

X axis

)galF·troptuptuO(

12. SEL Language

● ARCH (Arch Motion)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

lanoitpOlanoitpOHCRA

dnammoC 1dnarepO 2dnarepO

dnammoC

gnitratS

.oNnoitisop

gnidnE

.oNnoitisop

tsoP

[Function] In order to accomplish faster pick & place motion in the air and the tact time, the actuator performs an

arch motion movement by changing the position ratio of the axis movement before it reached the intermediate target position.

[Example] LET 1 1 Assign 1 to variable 1.

LET 2 3 Assign 3 to operand 2. ATRG 7 0 Set position ratio to 70%. ARCH *1 Execute arch move from variable 1 (content 1) to variable 2 (content 3)

position.

*Note: See ATRG command

● PATH (Path Movement)

)galF·troptuptuO(

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOHTAP

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

gnitratS

noitisop

.oN

gnidnE

noitisop

.oN

tsoP

)galF·troptuptuO(

[Function] Actuator moves continuously between the designated starting point and the finishing point. The locus is

a B-spline-type, free-form curve which passes through the inside of the designated coordinate. It is possible for the actuator to move close to the designated coordinate by increasing the acceleration. However, when it exceeds the maximum acceleration, an error will occur.

* Three and four axis motion can be performed by this command.

[Example 1] PATH 1 0 0 12 0 Moves continuously to position 100 ~ 120.

[Example 2] LET 1 50 Assign 50 to variable 1.

LET 2 100 Assign 100 to variable 2. PATH *1 *2 Continuosly move positions from variable 1 (content 50) to variable 2

(content 100).

12. SEL Language

● CIR (Circular Movement)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpORIC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

gnissaP

1noitisop

[Function] Executes circular motion using the current position as the starting

point and passing points 1 and 2. The rotation direction is determined by the position data. The following diagram shows CW (clockwise) motion but this can be changed to CCW (counterclockwise) by exchanging positions 1 and 2.

*This command is available for the specified orthogonal plane

(Automatically selected by position data. Generally the XY plane is selected.) Also, care is needed if using this with the OFST command (check movement).

[Example] CI R 100 101

Executes a circular motion passing through position numbers 100 and 101.

gnissaP

2noitisop

Starting Point

tsoP

)galF·troptuptuO(

lanoitpO

Passing Position 1

Passing Position 2

Position No. 100

Position No. 101

12. SEL Language

● ARC (Arc Movement)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOCRA

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

gnissaP

1noitisop

gnissaP

2noitisop

tsoP

[Function] Executes an arc motion from the current position to operand 2 position, passing through operand 1.

The output turns OFF during an arc move and turns ON upon completion. However, when other commands as ARC, P ATH and CIR follow in a consecutive order, turns ON at the 2nd point prior to the last point.

* This command is available for the specified orthogonal plane (automatically selected by position data). Generally the XY plane is selected.

[Example 1] ARC 100 101 Executes an arc motion from the current position to position 101,

passing through 100.

[Example 2] LET 1 5 Assign 5 to variable 1.

LET 2 6 Assign 6 to variable 1. AR C *1 *2 Executes an arc motion from the currrent position

(passing through variable 1 content 5) to variable 2 (content 6) position.

)galF·troptuptuO(

12. SEL Language

●JXWX (Jog move)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOXWXJ

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

sixA

nrettap

O/I

galF

tsoP

[Function] Continues to move while the axis designated in operand 1 meets the condition I/O port flag

designated in operand 2. Stops when the axis reached soft limit.

JXWX

• • • Designated port moves forward during ON.

BN• • • Designated port moves backward during ON. FF• • • Designated port moves forward during OFF. BF• • • Designated port moves backward during OFF.

Note: HOLD is not available for this command. [Example 1] JBWF 11001100 10 While input 10 is OFF, Axis 3, 4, 7, and 8 moves backwards.

[Example 2] LET 5 20 Assign 20 to variable 5.

JFWN 10101010 * 5 While input of variable 5 (content 20) is ON, move forward

axis 2, 4, 6, and 8.

)galF·troptuptuO(

● STOP (Slows to a Stop)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOPOTS

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

sixA

nrettap

[Function] Axis designated in operand 1 axis pattern slows to a stop.

[Example] STOP 11001100 Axis 3, 4, 7 and 8 Slows to a stop.

tsoP

)galF·troptuptuO(

12. SEL Language

12.14 Structured IF Commands

● IFXX (Structured IF)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOXXFI.oNelbairaVataD

[Function] Compares the contents of the variable in operand 1 and the value in operand 2. When the condition is estab-

lished, the program proceeds to the next step. When the condition is not established, if there is a corresponding ELSE command, the program proceeds to the next step after that. If not, it proceeds to the next step after the corresponding EDIF command. When the input condition is not established and there is no IFXX command executed, the program proceeds to the step following the corresponding EDIF . Up to 15 levels of nesting are available when ISXX and DWXX are combined.

IFXX

tupnI

noitidnoc

)galF·O/I(

EQ · · · Operand 1 = Operand 2 NE · · · Operand 1 ≠ Operand 2 G T · · · Operand 1 > Operand 2 GE · · · Operand 1 ≥ Operand 2 LT · · · Operand 1 < Operand 2 LE · · · Operand 1 ≤ Operand 2

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

[Example]

600 IFEQ 1 1 Select axis

IFGE 2 0 Select moving direction JFWN 01 5 Move Axis 1 forward ELSE JBWN 01 5 Move Axis 1 backward EDIF ELSE IFNE 2 1 Select moving direction JFWN 10 5 Move Axis 2 forward ELSE JBWN 10 5 Move Axis 2 backward EDIF EDIF Variable 1 selects Axis 1 or Axis 2. Variable 2 selects forward or backward to jog. When flag 600 is OFF, nothing is done and the program proceeds to the step after the last EDIF.

*Do not use GOTO (TAG) in between IFXX and EDIF.

12. SEL Language

● ISXX (String Comparison)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOSI XX .oNnmuloC

[Function] Compares the character string in the column numbers in Operand 1 and Operand 2. When the condition

is established, the program proceeds to the next step. When the condition is not established, if there is a corresponding ELSE command, the program proceeds to the next step after that. If not, it proceeds to the next step after the corresponding EDIF command. The length of the string to be compared is set by the SLEN command. If there is a literal character in either Operand 1 or Operand 2, the length to be compared is that of the literal character. When the input condition is not established and there is no IFXX command executed, the program proceeds to the step following the corresponding EDIF. Up to 15 levels of nesting are available when ISXX and DWXX are combined.

ISXX

600 ISEQ 1 '1AXS' Select Axis

Column 1 ~ 4 is to select Axis 1, Axis 2 and column 5 ~ 8 is to select the jog direction. When flag 600 is OFF, nothing is done and the program proceeds to the step after the last EDIF. When column 1 ~ 8 contains the data shown below, Axis 1 moves forward.

tupnI

noitidnoc

)galF·O/I(

EQ · · · Operand 1 = Operand 2 NE · · · Operand 1 ≠ Operand 2

SCPY 10 'GOFD' Go forward SCPY 14 'GOBK' Go backward LET 1 5 LET 2 14

SLEN 4 ISEQ 5 10 Select moving direction JFWN 01 5 Move Axis 1 forward ELSE JBWN 01 5 Move Axis 1 backward EDIF ELSE ISNE *1 *2 Select moving direction JFWN 10 5 Move Axis 2 forward ELSE JBWN 10 5 Move Axis 2 backward EDIF EDIF

dnammoC 1dnarepO 2dnarepO

dnammoC

.oNnmuloC

retcarahclaretiL

tsoP

)galF·troptuptuO(

12345678 1AXSGOFD

12. SEL Language

● ELSE

noisnapxE

noitidnoc

·DNA(

)RO

[Function] The ELSE command is used in conjunction with the IFXX command and ISXX command. When the

condition is not established, the command following the ELSE statement will be executed.

[Example] Refer to IFXX and ISXX.

tupnI

noitidnoc

)galF·O/I(

dnammoC

dnammoC 1dnarepO 2dnarepO

ESLE

tsoP

)galF·troptuptuO(

● EDIF (IFXX End)

noisnapxE

noitidnoc

·DNA(

)RO

[Function] Declares the end of an IFXX command. [Example] Refer to IFXX.

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

FIDE

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.15 Structured DO Command

● DWXX (DO WHILE)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOWD XX .oNelbairaVataD

[Function] Compares the contents of the variable in Operand 1 and the value in Operand 2. While the condition is

established, the commands are executed up to EDDO.When the condition is not established, the program proceeds to the step after the corresponding EDDO command. The LEAV command can be used to force the end of the loop. When the input condition is not established, the DWXX command is not executed and the program proceeds to the next step after the corresponding EDDO. Up to 15 levels of nesting are available when ISXX and DWXX are combined.

DWXX

tupnI

noitidnoc

)galF·O/I(

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

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

[Example] DWEQ 1 0

· 600 LEAV

· EDDO While variable 1 is 0, the commands up to the EDDO command are repeated. If flag 600 turns ON during this time, the loop is forced to end and the program proceeds to the next step after the EDDO command.

● EDDO (End DO WHILE)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

lanoitpOlanoitpOODDE

[Function] Declares the end of the loop which started with DWXX.

When a DWXX condition is not established, the program proceeds to next step after this command.

tsoP

)galF·troptuptuO(

[Example] Refer to DWXX.

12. SEL Language

●LEAV (Escape From DO WHILE)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOVAEL

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Escapes the DOXX loop, then the program proceeds to the next step after EDDO.

[Example] DWEQ 1 0

600 LEAV

●ITER (Repeat)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

tsoP

)galF·troptuptuO(

lanoitpOlanoitpORETI

[Function] Forces the control to move to EDDO during the DOXX loop.

[Example] DWEQ 1 0

600 ITER

· EDDO While variable 1 is 0, the commands up to the EDDO command are repeated. If flag 600 turns ON during this time, the loop is forced to end and control is forced to move to the EDDO command. If variable 1 is still 0, then the loop is repeated.

12. SEL Language

12.16 Branching commands

●SLCT (Start Selection Group)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTCLS

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

[Function] Branches to the next step after the OTHE command if none of the conditions set up by the WHXX,

WSXX or any commands up to the EDSL command are met.

(Example] SCPY 1 ‘Right’ Assign ‘Right’ to column 1 and 5.

600 SLCT Since the string in columns 1 through 5 are equal to ‘Right’, the

commands that follow this WSEQ will be executed.

WSEQ 1 ‘Right’ Since the string in columns 1 through 5 are not equal to ‘left’,

the commands that follow this WSEQ will not be executed. If it

is neither, then the commands that follow OTHE are executed. WSEQ 1 ‘Left’ When flag 600 is OFF, or if any one of the conditions is executed, : then end the select. OTHE : EDSL

)galF·troptuptuO(

12. SEL Language

● WHXX (Selected When T rue Variable)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

XXHW.oNelbairaVataD

dnammoC

[Function] This is used between the SLCT∼ EDSL commands. Compares the contents of the variable in

operand 1 to the value in operand 2. If the conditions are met, then the code following the WHXX will be executed up to the next WHXX. If the conditions are not met, the program will go to the next WHXX command or OTHE command or EDSL.

WHXX

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

[Example] LET 1 20 Assign 20 to variable 1.

L ET 2 10 Assign 10 to variable 2. : SLCT Branches. WHEQ 1 10 If the content of variable is 10, (1) is executed but since the : content is 20, program refers to the next condition. (1) : WHGT 1 *2 Executed if the content of variable 1 is greater than the : - content of variable 2.

(2 ) V ariable 1 (=20) > variable 2 (=10), so (2) is executed. :

OTHE If no conditions are fufilled, this is executed. Since (2) was : executed, (3) will not be executed. (3)

: EDSL When one of the conditions is met and that command is : performed, processing moves to EDSL. In this example, (4 ) (2) and (4) are executed. :

tsoP

)galF·troptuptuO(

* When there is a possibility of several conditions being met, the WXXX command that appears first goes into effect and

the commands that follow are not executed. When conditions are demanding, list the ones with the highest priority first.

12. SEL Language

● WSXX (Selected When True Character)

noisnapxE

noitidnoc

)RO·DNA(

[Function] This is used during SLCT∼ EDSL. Compares the character string in the columns in operand 1 and

tupnI

noitidnoc

)galF·O/I(

operand 2. If the conditions are met, then the code following the WSXX will be executed up to the next WSXX. If the conditions are not met, the program will go up to the next WSXX command or OTHE command or EDSL. Comparison is made based on the length designated in the SLEN command. When operand 2 is a literal character, that is the length that is executed.

WSXX

dnammoC

dnammoC 1dnarepO 2dnarepO

XXSW.oNmuloCretcarahclaretiL·.oNnmuloC

tsoP

)galF·troptuptuO(

EQ NE

• • • Operand 1 = Operand 2

• • • Operand 1 ≠ Operand 2

[Example] SLEN 3 Sets the number of characters to be compared to 3.

SCPY 1 ‘ABC’ Assign ‘ABC’ to column 1. LET 1 3 Assign 3 to variable 1. : SLCT WSEQ 1 ‘XYZ’ Branches. : If columns 1~3 are ‘XYZ’, (1) is executed but since columns

(1) 1~3 are ‘ABC’, this is not executed. :

WSEQ 1 ‘ABC’ : If columns1~3 are ‘ABC’, (2) is executed. Therefore, this (2) code is executed. : OTHE : If no conditions are fufilled, this is executed. Since (2) was (3) executed, (3) will not be executed. : EDSL When one of the conditions is met and that command is performed, : processing moves to EDSL. In this example, (2) and (4) (4) are executed.

* When there is a possibility of several conditions being met, the WXXX command that appears first goes into effect and

the commands that follow are not executed. When conditions are demanding, list the ones with the highest priority first.

12. SEL Language

● OTHE (Selected in Case of Other)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

EHTO

dnammoC

tsoP

[Function] This is used between SLCT~EDSL commands. This declares the command to be executed when no

other conditions are met.

[Example] Please refer to SLCT, WHXX and WSXX.

)galF·troptuptuO(

● EDSL (End of Selected Group)

noisnapxE

noitidnoc

)RO·DNA(

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

LSDE

[Function] Declares the end of SLCT command.

[Example] Please refer to SLCT, WHXX and WSXX.

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

12.17 External input output command

● OPEN (Open Channel)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpONEPO.oNlennahC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

[Function] Opens the channel specified in operand 1. Channels specified after this will be able to transmit and receive

signals. An ending character must be set by the SCHA command before executing this command.

[Example] SCHA 10 Designate 10 (=LF) as the ending character.

OPEN 1 Open channel 1.

SCHA 13 Designate 13 (=CR) as the ending character. L ET 1 2 Assign 2 to variable 1. Open channel 2, the value contained in variable 1. OPEN *1

●CLOS (Close Channel)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOSOLC.oNlennahC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

[Function] Closes the channel specified in operand 1. Channels specified after this will be unable to transmit and

receive signals.

[Example] CLOS 1 Close the channel.

[Example] LE T 1 2 Assign 2 to variable 1.

CLOS *1 Close channel 2, the value contained in variable 1.

)galF·troptuptuO(

12. SEL Language

● READ

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpODAER.oNlennahC.oNnmuloC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Reads the character string from the channel in operand 1 to the column in operand 2.

Stops reading when the character designated in the SCHA command appears. The column can be either local or global.

[Example] SCHA 10 Set LF (= 10) for the ending character .

OPEN 1 Open channel 1. READ 1 2 Read the character string from channel 1 to column 2 until LF appears. CLOS 1 Close the channel.

LET 1 2 Assign 2 to variable 1. LET 2 3 Assign 3 to variable 2. SCHA 13 Set CR (= 13) for the ending character. READ *1 *2 Read the character string from channel 2 (content of variable 1) to column 3

(content of variable 2) until CR appears.

tsoP

)galF·troptuptuO(

12. SEL Language

● WRIT (Write)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTIRW.oNlennahC.oNnmuloC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Writes the character string from the channel in operand 1 to the column in operand 2.

Stops writing after the character designated in the SCHA command is written. The column can be either local or global.

[Example] SCHA 10 Set LF (= 10) for the ending character .

OPEN 1 Open channel 1. WRIT 1 2 Write the character string from channel 1 to column 2 until LF appears. CLOS 1 Close the channel.

LET 1 2 Assign 2 to variable 1. LET 2 3 Assign 3 to variable 2. SCHA 13 Set CR (= 13) for the ending character. WRIT *1 *2 Read the character string from channel 2 (content of variable 1) to column 3

(content of variable 2) until CR appears.

tsoP

)galF·troptuptuO(

● SCHA (Set Ending Letter)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOAHCSedocretcarahC.oNnmuloC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Sets the ending letter to be used in the READ command and WRIT command. A value from 0 ~ 255

(character code used in BASIC) can be designated for the character.

[Example] Refer to the READ command and WRIT command.

tsoP

)galF·troptuptuO(

12. SEL Language

12.18 String processing commands

● SCPY

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOYPCS.oNnmuloC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

.oNnmuloC

retcarahClaretiL

[Function] Copies the character string from the column in operand 2 to the column in operand 1.

Copies only the length set by the SLEN command. When operand 2 is a literal character, that is the length copied.

[Example] SCPY 1 ‘ABC’ Copy ‘ABC’ to column 1.

SLEN 10 Set the length of the operation to 10 bytes. SCPY 100 200 Copy the length of the operation to 10 bytes.

Copy 10 bytes from the column 200 to column 100.

L ET 1 300 Assign 300 to variable 1. L ET 2 400 Assign 400 to variable 2. SLEN 5 Set the length of the operation to 5 bytes. SCPY *1 *2 Copy 5 bytes from column 400 (the content of variable 2)

to column 300 (the content of variable 1).

tsoP

)galF·troptuptuO(

● SCMP (Compare Character String)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOPMCS.oNnmuloC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

.oNnmuloC

retcarahClaretiL

tsoP

)galF·troptuptuO(

[Function] Compares the column in operand 1 and the column in operand 2. Compares only the length set by the

SLEN command. When operand 2 is a literal character, that is the length compared.

[Example] SCMP 1 ‘ABC’ 60 0 When column 1~3 are ‘ABC’ flag 600 turns ON.

SLEN 5 Set the length to be compared to 5 bytes. SCPY 10 30 999 When the 5 bytes from column 10 and column 30 are equal,

flag 999 turns ON.

L ET 1 1 0 Assign 300 to variable 1. L ET 2 2 0 Assign 400 to variable 2. SLEN 3 Set the length of the operation to 5 bytes. SCMP *1 *2 310 When the 3 bytes in column 10 (the content of variable 1) and

the 3 bytes in column 20 (the content of variable 2) are equal, then, the output turns ON.

12. SEL Language

● SGET (Acquire Character String)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTEGS.oNelbairaV.oNnmuloC

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Assigms 1 character from the column in operand 2 to the variable in operand 1.

[Example] SGET 100 Assign 1 byte of column 100 to variable 1.

LET 1 3 Assign 3 to variable 1. LET 2 1 Assign 1 to variable 2. SCPY 1 ‘A’ Copy ‘A ’ to coumn 1. SGET *1 *2 Assign ‘A’ in column 1 (content of variable 2) to

variable 3(content of variable 1).

tsoP

)galF·troptuptuO(

● SPUT (Set Character)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOTUPS.oNnmuloCataD

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

[Function] Sets the data in operand 2 to the column in operand 1.

[Example] SPUT 5 10 Set 10 (LF) to column 5.

L ET 1 100 Assign 100 to variable 1. L ET 2 50 Assign 50 to variable 2. SPUT *1 *2 Set 50 (' 2') which is the content of variable 2 to column 100

(content of variable 1).

tsoP

)galF·troptuptuO(

12. SEL Language

● STR (Change Character String Decimal)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpORTS.oNnmuloCataD

[Function] Copies the data in operand 2 which has been converted to a decimal character string to the column in

operand 1. Uses zero-suppress to match this to the length set by the SLEN command. Even if the data is longer than the length, the length set by the SLEN command takes precedence.

[Example] SLEN 5. 3

tupnI

noitidnoc

)galF·O/I(

STR 1 123

Set the length to a 5 digit integer with 3 decimals. The following will be set in column 1~9,

123456789

LET 1 10 LE T 2 987. 6543 SLEN 2. 3 STR *1 *2

Assign 10 to variable 1. Assign 987. 6543 to variable 2. Set the length to a 2 digit integer with 3 decimals. The following will be set in column 10~15,

dnammoC 1dnarepO 2dnarepO

123 .000

dnammoC

tsoP

)galF·troptuptuO(

011121314151

87.654

. Since the data was longer than the set length, 9 in the 100s place and 3 in the 4th decimal place

are cut off.

12. SEL Language

● STRH (Change Character String Hexadecimal)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOHRTS.oNnmuloCataD

[Function] Copies the data in operand 2 which has been converted to a hexadecimal character string to the column in

operand 1. Uses zero-suppress to match only the integers to the length set by the SLEN command. Even if the data is longer than the set length, the setting by the SLEN command will take precedence.

[Example] SLEN 5

tupnI

noitidnoc

)galF·O/I(

STRH 1 255 Set format for a 5 digit integer. The following will be set in column 1~5,

12345

LET 1 10 LE T 2 987. 6543 SLEN 2. 3 STRH *1 *2

Assign 10 to variable 1. Assign 987. 6543 to variable 2. Set format for a 2 digit integer with 3 decimals. The following will be set in column 10~11,

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

0111

.3, the decimal segment of the SLEN command, and .6543 in variable 2 will be ignored. The integer expressed in hexadecimal notation is ' 3DB'. However, 3 in the third digit will be cut off since the length is set to 2 digits.

12. SEL Language

● VAL (Character String Change Data Decimal)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOLAV.oNelbairaV.oNnmuloC

[Function] Converts the data in the column in operand 2 to a number and assigns this to the variable

in operand 1. The length set by the SLEN command will be converted.

[Example] SCPY 10 '1234' Copy the string '1234' into columns 10~13.

SLEN 4 Set the length to 4 bytes. VAL 1 10 ‘1234’ in column 10 is converted to the number 1234 and assigned

L ET 1 100 Assign 100 to variable 1. L ET 2 20 Assign 20 to variable 2

SCPY 20 ‘1234’ Copy ‘1234’ to column 20~23. SCPY 24 ‘.567’ Copy ‘.567’ to columns 24~27.

SLEN 8 Set the length to 8 bytes. VA L H *1 *2 ‘1234.567’ in column 20 (content of variable 2) will be converted to

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

to variable 1.

the binary number 1234.567 and assigned to variable 100 (content of variable 1).

dnammoC

tsoP

)galF·troptuptuO(

12. SEL Language

● V ALH (Character String Data Hexadecimal)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpOHLAV.oNelbairaV.oNnmuloC

[Function] Converts the hexadecimal data in the column in operand 2 to a decimal number and assigns this to the variable

in operand 1. The length set by the SLEN command will be converted. Only the integers will be converted and the decimal places will be disregarded.

[Example] SCPY 10 ' 1234' Set ' 1234' in column 10.

SLEN 4 Set the length to 4 bytes. VAL 1 1 0 The hexadecimal number ' 1234' in column 10 is converted to the

L ET 1 100 Assign 100 to variable 1. L ET 2 20 Assign 20 to variable 2 SCPY 20 ' ABCD' Copy ' ABCD' to column 20. SLEN 4 Set the length to 4 bytes. VA L H *1 *2 The hexadecimal ' ABCD' in column 20 (content of variable 2) will be

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

number 4660 and assigned to variable 1.

converted to the binary number 43982 and assigned to variable 100 (content of variable 1).

dnammoC

tsoP

)galF·troptuptuO(

● SLEN (Set Length)

noisnapxE

noitidnoc

)RO·DNA(

lanoitpOlanoitpONELShtgneL

[Function] Sets the length for the string command.

SCMP ··· Decimals Invalid SCPY ··· Decimals Invalid ISXX ··· Decimals Invalid STRH ··· Decimals Invalid V AL,VALH ··· Decimals Invalid STR ··· Decimals V alid

[Example] Refer to each of the commands above.

tupnI

noitidnoc

)galF·O/I(

dnammoC 1dnarepO 2dnarepO

dnammoC

tsoP

)galF·troptuptuO(

13. Error Codes

13.1 List of error codes

edoCrorrEemaNrorrEnoitanalpxE

1ArorrEtpurretnIlanretxE

2ArorrEdaolrevOrotoMrotomfodaolrevolacinahceM 3ArorrEnoitaiveD daolrevolacinahcemoteudylreporpmrofrepotelbanusirotoM 4ArorrEtimiLerawtfoStimilerawtfosdedeecxE 5ArorrEesneSeloPelopesnesotelbanU

0BrorrEmargorPoNtsixetonseodmargorP

1BrorrEnoitucexEmargorPmargorpgnitucexeyltnerrucafonoitucexE 2BrorrErevOmargorPsretemarapsatesesohtsdeecxesksatforebmuN 3B 4BrorrErebmuNgaTelbuoDdesuerarebmungatemasehtfoeromroowT 5BrebmuNenituorbuSdenifednUdenifedtonsirebmunenituorbuS 6BrebmuNgaTdenifednUdenifedtonsirebmungaT 7BrorrEriaPenituorbuSytitnauqemasehttoneraRSDEdnaRSGB 8BrorrERSGB1petSrorrERSGBasi1petS 9BrorrEriaPODDE,ODytitnauqemasehttoneraODDEdnaOD

ABrorrErevOtseNODsemit51nahteromdesusawOD BBrorrEriaPFIytitnauqemasehttoneraESLEdnaFI CBrorrEESLEFIDEdnaFIneewtebtonsawhcihwecalpanidesusawESLE

0CrorrEgnimoHoNsrotautcagninnurerofebdemrofreptonsawgnimoH

1CrorrEataDtnioPatadtniopderetsigernudetucexeotedamneebsahtpmettA 2CrorrEnoitucexEelbuoDsixAgnivomyltnerrucsixaotnevigdnammocevoM 3CrorrEtimiLerawtfoSmargorpnidedeecxetimilerawtfoS

ACrorrEnmuloC999~1foegnarehtedistuotessawrebmunnmuloC BCrorrE.oNlennahC2~1foegnarehtedistuotessaweciveD CCrorrErotanimreTtestonsawrettelgnidnE DCrorrE.oNecruoS9~1foegnarehtedistuotessawrebmunecruoS ECrorrEtnecrePnoitoMS%05~0foegnarehtedistuotesswtnecrepnoitomS FCrorrEreggirThcrA%001~05foegnarehtedistuotessawreggirT

0DrorrEnoitareleccAstimilsdeecxenoitareleccA

1DrorrEyticoleVoNtesneebtonsahyticoleV 2DrorrEedirrevO%001~1foegnarehtedistuotessawedirrevO 3DrorrEelgnAseerged021~1.0foegnarehtedistuotessawelgnA 4DrorrEnrettaPsixA 5DrorrErebmuNsixA8~1foegnarehtedistuotessawrebmunsixA 6DrorrEsixAnoitomcra/ralucricnidetangisederasexa3nahteroM 7DrorrErebmuNmargorPtimilehtsdeecxerebmunmargorP 8DrorrErebmuNnoitisoPtimilehtsdeecxerebmunnoitisoP 9DrorrErebmuNtnioPrebmuntniopehtnitupnisawrebmunevitageN

ADrorrErebmuNgalFyltcerrocdengissatonsigalF BDrorrEelbairaVyltcerrocdengissatonsielbairaV CDrorrErevOstigiD)stib23yranib(stigid8sdeecxerebmundengissA DDrorrE)0(noisiviD"0"sinoisividehtfotluseR ED FDrorrEleveLksaT5~1foegnarehtfoedistuotessawlevelksaT

0ErorrEdnammoCdenifednUdnammocdenifednuetucexeotdetpmettA 1ErorrEgnitseNrevOenituorbuSsenituorbus51nahteromfognitseN 2ErorrEgnitseNrednUenituorbuSriapagnikamtoneraRSDEdnaRSXE 3ErorrEnmuloCgnillortnoCtcerroctonsinoitidnocfoesU

GErorrEGMEdetressasaw)potSycnegremE(ycnegremE 0FrorrEtpurretnIhctamtonodtnemeganamtpurretnIdnaUPCrotoM

tnerrucrevorotoM.1

taehrevorevirD.3

rebmuNenituorbuSelbuoD

rorrE

)rorre

noitatupmoCnoitoMralucriC

rorrE

)daolevitagenrevo(tnerrucevitarenegerrevO.2

desuerarebmunenituorbusemasehtfoeromroowT

atadtniop(1Crofosla4DsyalpsiD.yltcerroctestonsawnrettapsixA

tupnisawnoitomralucricmrofreptonnactahtatadnoitisoP

* For the DS Type, E is attached in the front of the error code, displayed on the 1st column.

IAI America DS-S-C1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual