INTELLIGENT ACTUATOR
Table of Contents
1.
Values and Symbols Used in SEL Language .................................................................. 121
1.1 List of Values and Symbols Used................................................................................... 121
1.2 I/O Ports ......................................................................................................................... 122
1.3 Virtual I/O Ports .............................................................................................................. 123
1.4 Flags............................................................................................................................... 125
1.5 Variables......................................................................................................................... 126
1.6 Tags................................................................................................................................ 129
1.7 Subroutines .................................................................................................................... 130
1.8 Symbols.......................................................................................................................... 131
1.9 Character-String Literals................................................................................................. 131
1.10 Axis Specification ........................................................................................................... 132
2. Position Part..................................................................................................................... 134
3. Command Part................................................................................................................. 135
3.1 SEL language Structure ................................................................................................. 135
3.2 Extension Condition ....................................................................................................... 136
Part 4 Commands ................................................................................................... 137
Chapter 1 List of SEL Language Command Codes ......................................................................... 137
1. By Function...................................................................................................................... 137
2. Alphabetical Order........................................................................................................... 142
Chapter 2 Explanation of Commands............................................................................................... 148
1. Commands....................................................................................................................... 148
1.1 Variable Assignment....................................................................................................... 148
1.2 Arithmetic Operation....................................................................................................... 150
1.3 Function Operation......................................................................................................... 153
1.4 Logical Operation ........................................................................................................... 156
1.5 Comparison Operation ................................................................................................... 159
1.6 Timer............................................................................................................................... 160
1.7 I/O, Flag Operation......................................................................................................... 163
1.8 Program Control............................................................................................................. 174
1.9 Task Management.......................................................................................................... 177
1.10 Position Operation.......................................................................................................... 182
1.11 Actuator Control Declaration .......................................................................................... 197
1.12 Actuator Control Command............................................................................................ 213
1.13 Structural IF.................................................................................................................... 236
1.14 Structural DO.................................................................................................................. 239
1.15 Multi-Branching .............................................................................................................. 241
1.16 System Information Acquisition ...................................................................................... 245
1.17 Zone ............................................................................................................................... 248
1.18 Communication .............................................................................................................. 252
1.19 String Operation ............................................................................................................. 258
1.20 Palletizing-Related ......................................................................................................... 267
1.21 Palletizing Calculation Command .................................................................................. 281
1.22 Palletizing Movement Command ................................................................................... 284
1.23 Building of Pseudo-Ladder Task..................................................................................... 290
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