IAI X-SEL

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INTELLIGENT ACTUATOR
Part 4 Commands
Part 4 Commands
Chapter 1 List of SEL Language Command Codes
1. By Function
Variables can be specified indirectly in the operand 1, operand 2 and output fields.
Symbols can be input in the condition, operand 1, operand 2 and output fields.
The input items in ( ) under operand 1 and operand 2 are optional.
Once an “actuator control declaration” command is executed in a program, the command will remain valid as
long as the program is running. To change the values (in operand 1, operand 2, etc.) already set by the
“actuator control declaration” command, the necessary parts of the program must be set again. In other words,
the values set by the last executed command will prevail.
The output field will be turned OFF when the command is executed. Once the execution is completed, the
output field may be turned ON depending on the operation type condition in the output field. (The output field
will remain OFF if the condition is not satisfied.)
Note: The output field of a comparison command CPxx (CPEQ, CPNE, CPGT, CPGE, CPLT and CPLE) will not be turned OFF
when the command is executed.
Operation type in the output field
CC: Command was executed successfully,
ZR: Operation result is zero, PE: Operation is complete,
CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1  Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional LET Assignment variable Assigned value ZR Assign 148
Optional TRAN
Copy-destination
variable
Copy-source variable ZR Copy 148
Variable
assignment
Optional CLR Start-of-clear variable End-of-clear variable ZR Clear variable 149
Optional ADD Augend variable Addend ZR Add 150
Optional SUB Minuend variable Subtrahend ZR Subtract 150
Optional MULT Multiplicand variable Multiplier ZR Multiply 151
Optional DIV Dividend variable Divisor ZR Divide 151
Arithmetic
operation
Optional MOD
Remainder
assignment variable
Divisor ZR Calculate remainder 152
Optional SIN
Sine assignment
variable
Operand [radian] ZR Sine 153
Optional COS
Cosine assignment
variable
Operand [radian] ZR Cosine 153
Optional TAN
Tangent assignment
variable
Operand [radian] ZR Tangent 154
Optional ATN
Inverse-tangent
assignment operation
Operand ZR Inverse tangent 154
Function
operation
Optional SQR
Root assignment
variable
Operand ZR Root 155
Optional AND AND operand variable Operand ZR Logical AND 156
Optional OR OR operand variable Operand ZR Logical OR 157
Logical
operation
Optional EOR
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR 158
Comparison Optional CP Comparison variable Comparison value
EQ, NE,
GT, GE,
LT, LE
Compare 159
Optional TIMW Wait time (sec) Prohibited TU Wait 160
Optional TIMC Program number Prohibited CP Cancel waiting 161
Timer
Optional GTTM
Time assignment
variable
Prohibited CP Get time 162
Optional BT Start output, flag (End output, flag) CP Output, flag [ON, OF, NT] 163
Optional BTPN Output port, flag Timer setting CP Output ON pulse 164
Optional BTPF Output port, flag Timer setting CP Output OFF pulse 165
Optional WT I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF] 166
Optional IN Head I/O, flag End I/O, flag CC Input binary (32 bits max.) 167
Optional INB Head I/O, flag Conversion digits CC Input BCD (8 digits max.) 168
Optional OUT Head output, flag End I/O, flag CC Output binary (32 bits max.) 169
Optional OUTB Head output, flag Conversion digits CC Output BCD (8 digits max.) 170
I/O, flag
operation
Optional FMIO Format type Prohibited CP
Set IN (B)/OUT (B) command
format
171