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Part 4 CommandsChapter 1 List of SEL Language Command Codes
Part 4 Commands
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
Command Page Condition Operand 1 Operand 2 Output Function
M
MOD 155 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVL 223 Optional
Destination position
number
Prohibited PE Move to specified position via interpolation
MOVP 222 Optional
Destination position
number
Prohibited PE Move to specified position
MULT 154 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 225 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 224 Optional Travel position number Prohibited PE Move to relative position
N
NTCH 219 Optional
Axis pattern Parameter set number
PE
Vibration control parameter set selection
O
OFAZ 287 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFPZ 284 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 205 Optional Setting axis pattern Offset value CP Set offset
OPEN 259 Optional Channel number Prohibited CP Open channel
OR 160 Optional OR operand variable Operand ZR Logical OR
OTHE 251 Prohibited Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
OUT 172 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 173 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 328 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 201 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 193 Optional Acceleration
Assignment-
destination position
number
CP Assign position acceleration
PACH 293 Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG 290 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 275 Optional Count Count CP Set palletizing counts
PAPN 275 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 217 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 278 Optional Position number Prohibited CP Set 3 palletizing points for teaching
PAPT 276 Optional Pitch Pitch CP Set palletizing pitches
PARG 290 Optional Palletizing number Axis number CP Get palletizing angle
PASE 276 Optional Axis number Axis number CP Set palletizing axes
PAST 277 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 226 Optional Start position number End position number PE Move along path
PAXS 195 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 240 Optional Axis pattern Distance CP Set positioning band
PCHZ 282 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 187 Optional Start position number End position number CP Clear position data
PCPY 188 Optional
Copy-destination
position number
Copy-source position
number
CP Copy position data
PDCL 194 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 289 Optional Palletizing number Prohibited CC
Decrement palletizing position number by
1
PEXT 284 Optional (Position number) Prohibited CP Set palletizing composition
PGET 185 Optional Axis number Position number CC Assign position to variable 199
PGST 253 Optional Variable number Program number CP Get program status
PINC 288 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVP 291 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
PMVL 292 Optional Palletizing number (Position number) PE Move to palletizing points via interpolation
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