IAI XSEL - Page 167

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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
Command Page Condition Operand 1 Operand 2 Output Function
E
ECMD
299
Optional 1 Axis number CC Get motor current value
ECMD
300
Optional 2 Axis number CC Get home sensor status
ECMD
301
Optional 3 Axis number CC Get overrun sensor status
ECMD
302
Optional 4 Axis number CC Get creep sensor status
ECMD
303
Optional 5 Axis number CC Axis operation status
ECMD
304
Optional 20 Variable number CC Parameter value acquisition
ECMD
305
Optional 250 Axis pattern CC
Set torque limit/” torque limit over” detection
time
EDDO 247
Prohibited
Prohibited Prohibited CP Declare end of DO
EDIF 245
Prohibited
Prohibited Prohibited CP Declare end of IF
EDPA 274
Prohibited
Prohibited Prohibited CP Declare end of palletizing setting
EDSL 251
Prohibited
Prohibited Prohibited CP Declare end of SLCT
EDSR 179
Prohibited
Prohibited Prohibited CP End subroutine
ELSE 245
Prohibited
Prohibited Prohibited CP
Declare execution destination when IF command
condition is not satisfied
EOR 161 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 180 Optional Prohibited Prohibited CP End program
EXPG 181 Optional
Execution program
number
(Execution program
number)
CC Start program
EXSR 178 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 174 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 198 Optional Variable number Position number CP Get acceleration data
GDCL 199 Optional Variable number Position number CP Get deceleration data
GOTO 177 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 208 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 165 Optional
Time assignment variable
Prohibited CP Get time
GVEL 197 Optional Variable number Position number CP Get speed data
H
HOLD 209 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 221 Optional
Home-return axis pattern
Prohibited PE Return to home
I
IF 243 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 171 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 170 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS 244 Optional Column number
Column number, character
literal
CP Compare strings
ITER 247 Optional Prohibited Prohibited CP Repeat DO
J
J W 227 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 246 Optional Prohibited Prohibited CP Pull out from DO
LET 151 Optional Assignment variable Assigned value ZR Assign