IAI PSEL, Operation Manual

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Table of Contents
2. Spare consumable parts .............................................................................................................. 72
3. Replacement Procedure for System-Memory Backup Battery (Optional) ................................... 73
Part 2 Programs ....................................................................................................... 75
Chapter 1 SEL Language Data................................................................................................................ 75
1. Values and Symbols Used in SEL Language............................................................................... 75
1.1 List of Values and Symbols Used ..................................................................................... 75
1.2 I/O Ports ............................................................................................................................ 76
1.3 Virtual I/O Ports................................................................................................................. 77
1.4 Flags ................................................................................................................................. 79
1.5 Variables ........................................................................................................................... 80
1.6 Tags................................................................................................................................... 83
1.7 Subroutines ....................................................................................................................... 84
1.8 Symbols ............................................................................................................................ 85
1.9 Character-String Literals ................................................................................................... 85
1.10 Axis Specification ............................................................................................................. 86
2. Position Part ................................................................................................................................. 88
3. Command Part ............................................................................................................................. 89
3.1 SEL language Structure .................................................................................................... 89
3.2 Extension Condition .......................................................................................................... 90
Chapter 2 List of SEL Language Command Codes................................................................................. 91
1. By Function .................................................................................................................................. 91
2. Alphabetical Order ....................................................................................................................... 96
Chapter 3 Explanation of Commands.................................................................................................... 101
1. Commands ................................................................................................................................. 101
1.1 Variable Assignment ....................................................................................................... 101
1.2 Arithmetic Operation ....................................................................................................... 104
1.3 Function Operation ......................................................................................................... 107
1.4 Logical Operation.............................................................................................................110
1.5 Comparison Operation.....................................................................................................113
1.6 Timer ................................................................................................................................114
1.7 I/O, Flag Operation ..........................................................................................................117
1.8 Program Control.............................................................................................................. 128
1.9 Task Management........................................................................................................... 131
1.10 Position Operation.......................................................................................................... 136
1.11 Actuator Control Declaration .......................................................................................... 151
1.12 Actuator Control Command............................................................................................ 167
1.13 Structural IF .................................................................................................................... 190
1.14 Structural DO .................................................................................................................. 193
1.15 Multi-Branching .............................................................................................................. 195
1.16 System Information Acquisition ...................................................................................... 199
1.17 Zone ............................................................................................................................... 202
1.18 Communication .............................................................................................................. 206
1.19 String Operation ............................................................................................................. 213
1.20 Arch-Motion-Related ...................................................................................................... 222
1.21 Palletizing-Related ......................................................................................................... 227
1.22 Palletizing Calculation Command .................................................................................. 234
1.23 Palletizing Movement Command ................................................................................... 237
1.24 Building of Pseudo-Ladder Task..................................................................................... 239
1.25 Extended Command....................................................................................................... 241
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note.............................. 244
1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]..... 244
2. PATH/PSPL Commands............................................................................................................. 246