IAI X-SEL User Manual

138
INTELLIGENT ACTUATOR
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
Category Condition Command Operand 1 Operand 2 Output Function Page
Optional GOTO
Jump-destination tag
number
Prohibited CP Jump 174
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 174
Optional EXSR
Execution subroutine
number
Prohibited CP Execute subroutine 175
Prohibited BGSR
Declaration subroutine
number
Prohibited CP Start subroutine 175
Program
control
Prohibited EDSR Prohibited Prohibited CP End subroutine 176
Optional EXIT Prohibited Prohibited CP End program 177
Optional EXPG
Execution program
number
(Execution program
number)
CC Start program 178
Optional ABPG Stop program number (Stop program number) CC Stop other program 179
Optional SSPG Pause program number (Pause program number) CC Pause program 180
Task
management
Optional RSPG
Resumption program
number
(Resumption program
number)
CC Resume program 181
Optional PGET Axis number Position number CC Assign position to variable 199 182
Optional PPUT Axis number Position number CP Assign value of variable 199 183
Optional PCLR Start position number End position number CP Clear position data 184
Optional PCPY
Copy-destination
position number
Copy-source position
number
CP Copy position data 185
Optional PRED Read axis pattern
Save-destination position
number
CP Read current axis position 186
Optional PRDQ Axis number Variable number CP
Read current axis position (1
axis direct)
187
Optional PTST
Confirmation axis
pattern
Confirmation position
number
CC Confirm position data 188
Optional PVEL Speed [mm/sec]
Assignment-destination
position number
CP Assign position speed 189
Optional PACC Acceleration [G]
Assignment-destination
position number
CP Assign position acceleration 190
Optional PDCL Deceleration [G]
Assignment-destination
position number
CP Assign position deceleration 191
Optional PAXS
Axis-pattern assignment
variable number
Position number CP Read axis pattern 192
Optional PSIZ
Size assignment
variable number
CP Confirm position size 193
Optional GVEL Variable number Position number CP Get speed data 194
Optional GACC Variable number Position number CP Get acceleration data 195
Position
operation
Optional GDCL Variable number Position number CP Get deceleration data 196
Optional VEL Speed [mm/sec] Prohibited CP Set speed 197
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 198
Optional ACC Acceleration [G] Prohibited CP Set acceleration 199
Optional DCL Deceleration [G] Prohibited CP Set deceleration 200
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 201
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 202
Optional DEG Division angle [deg] Prohibited CP Set division angle 203
Optional BASE Reference axis number Prohibited CP Set reference axis 204
Optional GRP Valid axis pattern Prohibited CP Set group axes 205
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 206
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 207
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 208
Optional DIS Distance Prohibited CP Set spline division distance 209
Optional POTP 0 or 1 Prohibited CP Set PATH output type 210
Optional PAPR Distance Speed CP
Set PUSH command distance,
speed
211
Actuator
control
declaration
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 212

IAI X-SEL Specifications

General

Brand	IAI
Model	X-SEL
Category	Controller
Language	English