IAI X-SEL

147
INTELLIGENT ACTUATOR
Part 4 Commands
RC Gateway Function Commands (Controller with Gateway Function Only)
* For commands relating to the RC gateway function, refer to the “Operation Manual for X-SEL Controller
P/Q/PX/QX RC Gateway Function.”
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
How RC position
data is used
Category
Condition Command
Within
X-SEL
Within
RC
Operand 1 Operand 2 Output Function
Optional RPGT

X RC-axis number Position number CC
Assign RC-axis position to
variable 199
Optional RPPT

X RC-axis number Position number CP
Assign content of variable 199
to RC-axis position
Optional RPCR

X RC-axis number Variable number CP Clear RC-axis position data
Optional RPCP

X RC-axis number Variable number CP Copy RC-axis position data
Optional RPRD

X Position number Prohibited CP Read current RC-axis position
Optional RPRQ
 
RC-axis number Variable number CP
Read current RC-axis position
(direct reading for one axis)
Optional RPVL

X RC-axis number Position number CP
Assign content of variable 199
to speed under RC-axis position
Optional RPAD

X RC-axis number Position number CP
Assign content of variable 199
to acceleration/deceleration
under RC-axis position
Optional RPIP

X RC-axis number Position number CP
Assign content of variable 199
to positioning band under RC-
axis position
Optional RPTQ

X RC-axis number Position number CP
Assign content of variable 199
to current-limiting value under
RC-axis position
Optional RGVL

X RC-axis number Position number CP
Assign speed under RC-axis
position to variable 199
Optional RGAD

X RC-axis number Position number CP
Assign
acceleration/deceleration under
RC-axis position to variable 199
Optional RGIP

X RC-axis number Position number CP
Assign positioning band under
RC-axis position to variable 199
RC-axis position operations
Optional RGTQ

X RC-axis number Position number CP
Assign current-limiting value
under RC-axis position to
variable 199
Optional RAXS
 
Axis pattern,
upper byte
Axis pattern,
lower byte
CP Set RC-axis pattern
Optional RSCN
 
Prohibited Prohibited PE Turn RC-axis servo ON
Optional RSOF
 
Prohibited Prohibited PE Turn RC-axis servo OFF
Optional RHCM
 
Prohibited Prohibited PE Return RC-axis to home
Optional RMVP
 
Position number Prohibited PE
Move RC-axis via position
specification
Optional RMPI

X Position number Prohibited PE Move RC-axis position relatively
Optional RMVD

X RC-axis number Variable number PE
Move RC-axis via direct value
specification
Optional RMDI

X RC-axis number Variable number PE
Move RC-axis relatively via
direct value specification
Optional RPUS

X RC-axis number Position number PE
Move RC-axis via push-motion
action
RC-actuator control commands
Optional RSTP
 
Prohibited Prohibited PE Decelerate RC-axis to stop
RC-axis
information
acquisition
Optional RCST
 
Variable number RC-axis number PE Acquire RC-axis status