IAI X-SEL

143
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
Command Page Condition Operand 1 Operand 2 Output Function
E
ECMD 292 Optional 1 Axis number CC Get motor current value
ECMD 293 Optional 2 Axis number CC Get home sensor status
ECMD 294 Optional 3 Axis number CC Get overrun sensor status
ECMD 295 Optional 4 Axis number CC Get creep sensor status
ECMD 296 Optional 250 Axis pattern CC
Set torque limit/”torque limit over” detection
time
EDDO 240
Prohibited
Prohibited Prohibited CP Declare end of DO
EDIF 238
Prohibited
Prohibited Prohibited CP Declare end of IF
EDPA 267
Prohibited
Prohibited Prohibited CP Declare end of palletizing setting
EDSL 244
Prohibited
Prohibited Prohibited CP Declare end of SLCT
EDSR 176
Prohibited
Prohibited Prohibited CP End subroutine
ELSE 238
Prohibited
Prohibited Prohibited CP
Declare execution destination when IF command
condition is not satisfied
EOR 158 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 177 Optional Prohibited Prohibited CP End program
EXPG 178 Optional
Execution program
number
(Execution program
number)
CC Start program
EXSR 175 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 171 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 195 Optional Variable number Position number CP Get acceleration data
GDCL 196 Optional Variable number Position number CP Get deceleration data
GOTO 174 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 205 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 162 Optional
Time assignment variable
Prohibited CP Get time
GVEL 194 Optional Variable number Position number CP Get speed data
H
HOLD 206 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 214 Optional
Home-return axis pattern
Prohibited PE Return to home
I
IF 236 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 168 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 167 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS 237 Optional Column number
Column number, character
literal
CP Compare strings
ITER 240 Optional Prohibited Prohibited CP Repeat DO
J
JW 220 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 239 Optional Prohibited Prohibited CP Pull out from DO
LET 148 Optional Assignment variable Assigned value ZR Assign