IAI XSEL - Page 165

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Part 4 Commands Chapter 1 List of SEL Language Command Codes
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
274
Prohibited EDPA Prohibited Prohibited CP
Declare end of palletizing
setting
274
Optional PAPI Count Count CP Set palletizing counts 275
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 275
Optional PASE Axis number Axis number CP Set palletizing axes 276
Optional PAPT Pitch Pitch CP Set palletizing pitches 276
Optional PAST (Position number) Prohibited CP Set palletizing reference point 277
Optional PAPS Position number Prohibited CP
Set 3 palletizing points for
teaching
278
Optional PSLI Offset amount (Count) CP Set zigzag 281
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 282
Optional PTRG Position number Position number CP Set palletizing arch triggers 283
Optional PEXT (Position number) Prohibited CP Set palletizing composition 284
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 284
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 285
Optional ATRG Position number Position number CP Set arch triggers 286
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 287
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 287
Optional PTNG Palletizing number Variable number CP Get palletizing position number 288
Optional PINC Palletizing number Prohibited CC
Increment palletizing position
number by 1
288
Optional PDEC Palletizing number Prohibited CC
Decrement palletizing position
number by 1
289
Optional PSET Palletizing number Data CC
Set palletizing position number
directly
289
Optional PARG Palletizing number Axis number CP Get palletizing angle 290
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 290
Optional PMVP Palletizing number (Position number) PE
Move to palletizing points via
PTP
291
Optional PMVL Palletizing number (Position number) PE
Move to palletizing points via
interpolation
292
Optional PACH Palletizing number Position number PE Palletizing-point arch motion 293
Palletizing-
related
Optional ARCH Position number Position number PE Arch motion 295
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 297
Prohibited TPCD 0 or 1 Prohibited CP
Specify processing to be
performed when input condition
is not specified
297
Prohibited TSLP Time Prohibited CP Task sleep 298
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
Ref.
328
Building of
pseudo-
ladder task
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
Ref.
328
Optional ECMD 1 Axis number CC Get motor current value 299
Optional ECMD 2 Axis number CC Get home sensor status 300
Optional ECMD 3 Axis number CC Get overrun sensor status 301
Optional ECMD 4 Axis number CC Get creep sensor status 302
Optional ECMD 5 Axis pattern CC Axis operation status 303
Optional ECMD 20 Variable number CC Parameter value acquisition 304
Optional ECMD 250 Axis pattern CC
Set torque limit/” torque limit
over” detection time
305
Extended
commands
Optional NTCH Axis pattern Parameter set number CC
Vibration control parameter set
selection
219