IAI X-SEL

145
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
P
PRDQ 187 Optional Axis number Variable number CP Read current axis position (1 axis direct)
PRED 186 Optional Read axis pattern
Save-destination position
number
CP Read current axis position
PSET 282 Optional Palletizing number Data CC Set palletizing position number directly
PSIZ 193 Optional
Size assignment variable
number
CP Confirm position size
PSLI 274 Optional Offset amount (Count) CP Set zigzag
PSPL 222 Optional Start position number End position number PE Move along spline
PTNG 281 Optional Palletizing number Variable number CP Get palletizing position number
PTRG 276 Optional Position number Position number CP Set palletizing arch triggers
PTRQ 225 Optional Axis pattern Ratio CC Change push torque limit parameter
PTST 188 Optional
Confirmation axis pattern
Confirmation position
number
CP Confirm position data
PUSH 233 Optional Target position number Prohibited PE Move by push motion
PVEL 189 Optional Speed
Assignment-destination
position number
CP Assign position speed
Q
QRTN 212 Optional 0 or 1 Prohibited CP Set quick-return mode
R
READ 253 Optional Channel number Column number CC Read from channel
RSPG 181 Optional
Resumption program
number
(Resumption program
number)
CC Resume program
S
SCHA 257 Optional Character code Prohibited CP Set end character
SCMP 259 Optional Column number
Column number, character
literal
EQ Compare character strings
SCPY 258 Optional Column number
Column number, character
literal
CC Copy character string
SCRV 201 Optional Ratio Prohibited CP Set sigmoid motion ratio
SGET 260 Optional Variable number
Column number, character
literal
CP Get character
SIN 153 Optional
Sine assignment variable
Operand ZR Sine
SLCT 241 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 266 Optional Character string length Prohibited CP Set length
SPUT 261 Optional Column number Data CP Set character
SQR 155 Optional
Root assignment variable
Operand ZR Root
SSPG 180 Optional
Pause program number (Pause program number)
CC Pause program
STOP 221 Optional Axis stop pattern Prohibited CP Decelerate and stop axis
STR 262 Optional Column number Data CC Convert character string; decimal
STRH 263 Optional Column number Data CC Convert character string; hexadecimal
SUB 150 Optional Minuend variable Subtrahend ZR Subtract
SV 213 Optional Operation axis pattern Prohibited PE Servo [ON, OF]
SYST 247 Optional Variable number Prohibited CP Get system status