IAI X-SEL User Manual

141
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 BGPA Palletizing number Prohibited CP
Declare start of palletizing
setting
267
Prohibited EDPA Prohibited Prohibited CP
Declare end of palletizing
setting
267
Optional PAPI Count Count CP Set palletizing counts 268
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 268
Optional PASE Axis number Axis number CP Set palletizing axes 269
Optional PAPT Pitch Pitch CP Set palletizing pitches 269
Optional PAST (Position number) Prohibited CP Set palletizing reference point 270
Optional PAPS Position number Prohibited CP
Set 3 palletizing points for
teaching
271
Optional PSLI Offset amount (Count) CP Set zigzag 274
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 275
Optional PTRG Position number Position number CP Set palletizing arch triggers 276
Optional PEXT (Position number) Prohibited CP Set palletizing composition 277
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 277
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 278
Optional ATRG Position number Position number CP Set arch triggers 279
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 280
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 280
Optional PTNG Palletizing number Variable number CP Get palletizing position number 281
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
281
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
282
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
282
Optional PARG Palletizing number Axis number CP Get palletizing angle 283
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 283
Optional PMVP Palletizing number (Position number) PE
Move to palletizing points via
PTP
284
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
285
Optional PACH Palletizing number Position number PE Palletizing-point arch motion 286
Palletizing-
related
Optional ARCH Position number Position number PE Arch motion 288
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Optional CHPR 0 or 1 Prohibited CP Change task level 290
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition
is not specified
290
Prohibited TSLP Time Prohibited CP Task sleep 291
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
Ref.
319
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
Ref.
319
Optional ECMD 1 Axis number CC Get motor current value 292
Optional ECMD 2 Axis number CC Get home sensor status 293
Optional ECMD 3 Axis number CC Get overrun sensor status 294
Optional ECMD 4 Axis number CC Get creep sensor status 295
Extended
commands
Optional ECMD 250 Axis pattern CC
Set torque limit/”torque limit
over” detection time
296

IAI X-SEL Specifications

General

Brand	IAI
Model	X-SEL
Category	Controller
Language	English