IAI X-SEL

144
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
M
MOD 152 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVL 216 Optional
Destination position
number
Prohibited PE Move to specified position via interpolation
MOVP 215 Optional
Destination position
number
Prohibited PE Move to specified position
MULT 151 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 218 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 217 Optional Travel position number Prohibited PE Move to relative position
O
OFAZ 280 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFPZ 277 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 202 Optional Setting axis pattern Offset value CP Set offset
OPEN 252 Optional Channel number Prohibited CP Open channel
OR 157 Optional OR operand variable Operand ZR Logical OR
OTHE 244 Prohibited Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
OUT 169 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 170 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 319 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 198 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 190 Optional Acceleration
Assignment-
destination position
number
CP Assign position acceleration
PACH 286 Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG 283 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 268 Optional Count Count CP Set palletizing counts
PAPN 268 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 211 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 271 Optional Position number Prohibited CP Set 3 palletizing points for teaching
PAPT 269 Optional Pitch Pitch CP Set palletizing pitches
PARG 283 Optional Palletizing number Axis number CP Get palletizing angle
PASE 269 Optional Axis number Axis number CP Set palletizing axes
PAST 270 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 219 Optional Start position number End position number PE Move along path
PAXS 192 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND 233 Optional Axis pattern Distance CP Set positioning band
PCHZ 275 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 184 Optional Start position number End position number CP Clear position data
PCPY 185 Optional
Copy-destination
position number
Copy-source position
number
CP Copy position data
PDCL 191 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 282 Optional Palletizing number Prohibited CC
Decrement palletizing position number by
1
PEXT 277 Optional (Position number) Prohibited CP Set palletizing composition
PGET 182 Optional Axis number Position number CC Assign position to variable 199
PGST 246 Optional Variable number Program number CP Get program status
PINC 281 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL 285 Optional Palletizing number (Position number) PE Move to palletizing points via interpolation
PMVP 284 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 210 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 183 Optional Axis number Position number CP Assign value of variable 199