Iai-america DS-S-C1 Manual de usuario

Intelligent Actuator Inc.DS-S-C1Super SEL Type EProgramming ManualSuper SEL Type ESEL LANGUAGE

8Program Mode.oNtroP noitcnuF noitanalpxE)tupniresu(10.oNGRP)tupniresu(20.oNGRP)tupniresu(40.oNGRP)tupniresu(80.oNGRP)tupniresu(01.oNGRP)tupniresu(02.

98edoCrorrEemaNrorrEnoitanalpxE1ArorrEtpurretnIlanretxEtnerrucrevorotoM.1)daolevitagenrevo(tnerrucevitarenegerrevO.2taehrevorevirD.32ArorrEdaolrevOrot

9913.2 What to do When an Error Code OccursBelow we indicate what to do in case any of the error codes described on the preceding page appear in the 7

100(2) B0 - BC Programming Errors Group 1An error will be displayed when there is a problem with the written program itself or the program that w

101(3) C0 - CF programming errors Group 2/Command Error - 1This group of errors is also related to programming, but primarily arises from the way

102D2 Override error The override was specified outside the range of 1 ~100%. Specify value within this range.D3 Angle error The angle parameter for

103(5) E0 - E3 programming errors Group 4/Command error - 3These errors, like those in sections 3 and 4 above, primarily arise from the way the co

104 Another thing to consider with an emergency stopUsually, the emergency stop input is tied to a ground. In the case where you are using an extern

Intelligent Actuator Inc.2690 W. 237th StreetTorrance, CA 90505310-891-6015 / 310-891-0815 (Fax)www.intelligentactuator.comPublication No. IAI-040CPu

9.oNtroP noitcnuF noitanalpxE)tupniresu(10.oNGRPmargorPehtnrut,edomgninoitisopehtgnisunehW.sutats)FFO(]0[ottupni.oN)tupniresu(20.oNGRP)tupniresu(40.oN

103. FlagsThe function of flags is to set and reset data within "Memory." This is analogous to "internal relays" or "coils&q

11Command Operand 1 Operand 2Add 1 1This command adds 1 to variable register #1. If the register contains 2, then the variable becomes 3.Add one to v

12Integer VariableRegisterReal VariableRegister4. VariablesNote: The variable 99 is a special register for whole integer calculation.The numbers that

1312344. VariablesCommand Operand 1 Operand 2LET 1 1234Command Operand 1 Operand 2LET 2 *1 Variables with an asterisk (*)The asterisk symbol (*) is

14TAG 1GOTO 1Can be used individually in each program.Ta g5. Tags"Tag" means heading. A TAG can be thought of as the same as placing labels

15EXSR 1EXSR 1EXSR 1BGSR 1EDSRSubroutineCall subroutineFrequently repeated steps in a program can be expressed as subroutines in order to simplify the

16There are two ways to designate the axes to be used: axis number and axis pattern.7.1 Axis number and notationWith the Super SEL controller, multip

177.2 Axis PatternSelection of an axis is specified by either "1" or "0"Axis No. 8 7 6 5 4 3 2 1Used 1 1 1 1 1 1 1 1Not Used 0 0 0

This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, pleasecontact IA T

181~1500 mm/secStandard0.3G±9999.999mmThe SEL programming consists of a position and application program (command) section.8.1 Position ProgramIn the

19 Carry out a command when an input condition is established, and turn the post ON, if post isdesignated. When not established, go on to the next s

20ORANDANDOR ExpansionAND/OR ExpansionCond 1Cond 2Cond 3Cond 1Cond 2Cond 1Cond 2Cond 3ANDOR8. 2-2 Expansion ConditionIt is possible to combine conditi

219.1 Common parameters for multiple axes(1) Servo parameters.oN emaNretemaraP tluafeD tnetnoC1eziSsixA8 sexaforebmuN2rotaremuN1 rotaremuN3rotanimoneD

229. List of Parameters.oN emaNretemaraP tluafeD tnetnoC1DIlanimreT99edocsserddapord-itluM2)S(tuOemiT0 )S(tuoemiT3)s/tib(etaRduaB3 )s/tib(etarduaB4htg

239. List of Parameters.oN emaNretemaraP tluafeD tnetnoC1eziSsixA1 sexaforebmuN2rotaremuN1 rotaremuN3rotanimoneD1 rotanimoneD4)%(ediRrevO001edirrevO5)

24.oN emaNretemaraP tluafeD tnetnoC1emaNsixA8~1emansixA2ecivreSovreS004)s/semit(ecivresovresfosemitfo.oN3rotaremuN1 rotaremuN4rotanimoneD1 rotanimoneD

25.oNemaNretemaraPtluafeDtnetnoC1xaMMPRrotoM0004mumixamMPRrotoM2esluPredocnE004noituloverrepeslupredocnE3daeLwercS8 )mm(daelwercS4elpitluM4 reilpitlum

2610. List of SEL Language Command CodesyrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaPelpitluMsixAelgniSsixAciremuNsnoitaluclaClan

27yrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaPelpitluMsixAelgniSsixAecruoseRlanoitpOSRTG*.oNecruoserniatbO ecruosereriuqcA85OOlan

1Foreword*1 An interpreter is executing a command as it translates that command into computer language.SEL Language is the simplest type of the numero

28yrogetaC noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaPelpitluMsixAelgniSsixAFIderutcurtSlanoitpOXXFIelbairaverpamoCelbairavnosirapmoC]ELT

2911. Alphabetical List of SEL Language Command CodesnoitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaPelpitluMsixAelgniSsixAlanoitpOGPBA.oNmar

30noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO noitcnuF egaPelpitluMsixAelgniSsixAlanoitpODLOHtroptupniesuaP tropesuaperalceD86OOlanoitpOEMOHnrettapsixa

3111. Alphabetical List of SEL Language Command Codes* Commands not yet publicly available cannot be used.noitidnoC dnammoC 1dnarepO 2dnarepO tuptuO

32[Function] Assigns the contents of the variable in Operand 2 to the variable in Operand 1.This function is also known as "indirect addressing&q

33[Function] Clears the variables from the variable in operand 1 to the variable in operand 2.The contents of the cleared variables becomes 0.When 0 i

3412. SEL Language● SUB (Subtract)[Function] Adds the value in operand 2 to the contents of the variable in operand 1, then stores this in thevariable

3512. SEL LanguagenoisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpOTLUM.oNelbair

3612. SEL Language[Function] Divides the contents of the variable in operand 1 by the value in operand 2, then storesthe remainder in the variable in

3712. SEL LanguagenoisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpONIS.oNelbaira

2Table of Contents1. Numerals and Symbols in SEL Language1.1 List of numerals handled by SEL Language ...

3812. SEL LanguagenoisdnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpONAT.oNelbair

3912. SEL LanguagenoisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpORQS.oNelbaira

4012. SEL LanguagenoisdnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpODNA.oNelbair

41noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpORO.oNelbairaVataDRZ● OR (Logi

42noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpOROE.oNelbairaVataDRZ● EOR (Ex

43noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpOXXPC.oNelbairaVataDQEENTGEGTL

4412.6 Timer Commands[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 de

45[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

4612. SEL Language[Function] Turns ON, OFF, or inverts from the output · flag designated in operand 1 to the output · flag designatedin operand 2.BTXX

47[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 r

3Table of Contents12. SEL Language12.1 Numeric calculation commands ...

48133 • • • • • • • • • • • Variable 99[Function] Reads the value from the designated I/O port or flag as a binary number, then stores thisvalue in va

49 [Function] Reads the BCD value from the designated input port, then stores this value in variable register 99.noisnapxEnoitidnoc)RO·DNA(tupnInoiti

50[Function] Output the value of variable 99 to output ports or flags from operand 1 to opreand 2.Note 1: The maximum number of digits that can be o

51[Function] Output the value of variable 99 to ourput ports or flags from operand 1 to operand 2.Note 1: The maximum number of digits that can be o

52[Function] Sets the tag number designated in operand 1.[Example] Refer to the GOTO command.12. SEL Language● TAG (Tag Declaration)● GOTO (Jump)noisn

53[Function] Commands end of subroutine. This is always required at the end of a subroutine. After this, theprogram moves to the step after the EXSR c

54[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 o

55[Function] Executes programs paused by the SLPG command assigned in operand 1.Once the startup is succesful, output turns ON.[Function] Pauses self

56[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 t

57[Function] Changes task level of operand 1 to the check value of operand 2. Assigns task level range from1~5 and check value at 10mm/sec per unit.

4l Battery Back-up RangeWhen the power is turned back ON, everything will be cleared except the area backed up by the battery.(Same as an emergency st

58[Function] Returns the obtained resources.[Example 1] Please refer to GTRS.[Function] Obtains resource. If resource is not available, program pauses

5912.11 Position Data Operation Commands[Function] Reads the position data for the designated axis to variable 199. (Opposite of PPUT) Whenexecuting

6012. SEL Language[Function] Copies data in the designated position No. (copy data in operand 2 to operand 1).[Example] PCPY 20 10 Copy data from posi

61[Function] Reads the current coordinates of the axis designated in operand 1 and writes it to the positiondesignated in Operand 2.[Example] PRED 11

6212. SEL Language● PVEL (Assign Velocity Data)[Function] Assigns the value in operand 1 as the velocity for the designated position data. Variables

6312. SEL Language● PSIZ (Check Position Data Size)[Function] Checks the maximum size of the position data that can be used.[Example] PSIZ 1 The maxim

64● OVRD (Override)[Function] This command decreases the velocity according to the designated ratio. (Velocity coefficient setting).The range of the

6512. SEL Language[Function] Sets the acceleration of the actuator movement which is expressed in G (Gravity). The maximum accelerationvaries and dep

66[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 t

6760%200 (No.1)(No.2)60%200(No.3)0XY[Function] Sets the axis movement position ratio to execute the ARCH command.*The position ratio depends on the di

5l Range of numerical values in SELSEL uses two types of numbers, integers and real numbers but are subject to the following limitations.1. Inside the

68Input 25 ONHOLDtInput 25 OFFVMotionCompletedRemainingmotion[Function] Designates an input port for sending a command to decelerate and stop while a

69 [Function] Designates an input or flag for sending a command to decelerate and stop while a move command is beingexecuted. If the actuator is mo

70[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

7112. SEL Language[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

72[Function] This commands turns the servo of the designated axes ON/OFF .SVXX12.13 Actuator Control Commands12. SEL Language● SVXX (Servo ON/OFF)

73[Function] This command moves the actuator to the designated position number from point to point withoutinterpolation.[Example] MOVP 100Moves to Pos

74[Function] Moves the actuator to the designated point while using interpolation (not point to point).[Example] MOVL 100Move to position No. 100 usin

75[Function] Moves the actuator to the designated point in operand 1 from the current position while interpolating(not point to point).[Example] MVLI

76noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpOHCRAgnitratS.oNnoitisopgnidnE

77[Function] Executes circular motion using the current position as the startingpoint and passing points 1 and 2. The rotation direction is deter-min

6.oNtupnItnemngissAG·EepyT320~100dradnatS740~420noitpO170~840noitpO590~270noitpO.oNtuptuOtnemngissAG·EepyT323~003dradnatS743~423noitpO173~843noitpO593

78noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpOCRAgnissaP1noitisopgnissaP2no

79noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoitpOlanoitpOXWXJsixAnrettapO/IgalFEP12. S

8012. SEL Language[Function] Compares the contents of the variable in operand 1 and the value in operand 2. When the condition is estab-lished, the p

81● ISXX (String Comparison)[Function] Compares the character string in the column numbers in Operand 1 and Operand 2. When the conditionis establish

82[Function] Declares the end of an IFXX command.[Example] Refer to IFXX.[Function] The ELSE command is used in conjunction with the IFXX command and

83[Function] Compares the contents of the variable in Operand 1 and the value in Operand 2. While the condition is established, the commands are exec

84[Function] Escapes the DOXX loop, then the program proceeds to the next step after EDDO.[Example] DWEQ 1 0 · · 600 LEAV · ·EDD

8512.16 Branching commands12. SEL LanguagenoisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOlanoi

86● WHXX (Selected When True Variable)12. SEL LanguagenoisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2

8712. SEL LanguagenoisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarepOXXSW.oNmuloCretcarahclaretiL·

7.oNtroP noitcnuF noitanalpxE000tupnitratSlanretxE .detucexesimargorpdetangisedeht,NOsnruttupnitnemomehttA100tupniresU .esoohcyehtsatropsihtesunacsres

8812. SEL Language● EDSL (End of Selected Group)noisnapxEnoitidnoc)RO·DNA(tupnInoitidnoc)galF·O/I(dnammoCtsoP)galF·troptuptuO(dnammoC 1dnarepO 2dnarep

8912.17 External input output command[Function] Opens the channel specified in operand 1. Channels specified after this will be able to transmit

90[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 SC

9112. SEL Language[Function] Writes the character string from the channel in operand 1 to the column in operand 2.Stops writing after the character de

92[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

93[Function] Sets the data in operand 2 to the column in operand 1.[Example] SPUT 5 10 Set 10 (LF) to column 5.LET 1 100 Assign 100 to variable 1.LET

94[Function] Copies the data in operand 2 which has been converted to a decimal character string to the column inoperand 1. Uses zero-suppress to mat

95[Function] Copies the data in operand 2 which has been converted to a hexadecimal character string to the column inoperand 1. Uses zero-suppress to

9612. SEL Language[Function] Converts the data in the column in operand 2 to a number and assigns this to the variablein operand 1. The length set by

9712. SEL Language[Function] Converts the hexadecimal data in the column in operand 2 to a decimal number and assigns this to the variable in operand