IAI XSEL User Manual

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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
P
PRDQ 190 Optional Axis number Variable number PE Read current axis position (1 axis direct)
PRED 189 Optional Read axis pattern
Save-destination position
number
CP Read current axis position
PPUT 186 Optional Axis number Position number CP Write position data
PSET 289 Optional Palletizing number Data CP Set palletizing position number directly
PSIZ 196 Optional
Size assignment variable
number
CP Confirm position size
PSLI 281 Optional Offset amount (Count) CP Set zigzag
PSPL 229 Optional Start position number End position number CC Move along spline
PTNG 288 Optional Palletizing number Variable number CP Get palletizing position number
PTRG 283 Optional Position number Position number CP Set palletizing arch triggers
PTRQ 232 Optional Axis pattern Ratio CE Change push torque limit parameter
PTST 191 Optional
Confirmation axis
pattern
Confirmation position
number
CP Confirm position data
PUSH 230 Optional Target position number Prohibited PE Move by push motion
PVEL 192 Optional Speed
Assignment-destination
position number
CP Assign position speed
Q
QRTN 218 Optional 0 or 1 Prohibited CP Set quick-return mode
R
READ 260 Optional Channel number Column number CC Read from channel
RSPG 184 Optional
Resumption program
number
(Resumption program
number)
CC Resume program
S
SCHA 264 Optional Character code Prohibited CP Set end character
SCMP 266 Optional Column number
Column number, character
literal
EQ Compare character strings
SCPY 265 Optional Column number
Column number, character
literal
CC Copy character string
SCRV 204 Optional Ratio Prohibited CP Set sigmoid motion ratio
SGET 267 Optional Variable number
Column number, character
literal
CP Get character
SIN 156 Optional
Sine assignment variable
Operand ZR Sine
SLCT 248 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 273 Optional Character string length Prohibited CP Set length
SPUT 268 Optional Column number Data CP Set character
SQR 158 Optional
Root assignment variable
Operand ZR Root
SSPG 183 Optional
Pause program number (Pause program number)
CC Pause program
STOP 228 Optional Axis stop pattern Prohibited CP Decelerate and stop axis
STR 269 Optional Column number Data CC Convert character string; decimal
STRH 270 Optional Column number Data CC Convert character string; hexadecimal
SUB 153 Optional Minuend variable Subtrahend ZR Subtract
SV 220 Optional Operation axis pattern Prohibited PE Servo [ON, OF]
SYST 254 Optional Variable number Prohibited CP Get system status
POTP 216 Optional 0 or 1 Prohibited CP Set PATH output type

IAI XSEL Specifications

General

Type	Controller
Power Supply	24V DC
Communication	Ethernet, RS-232
Communication Interface	Ethernet
Operating Temperature	0 to 50 °C
Weight	Varies depending on model. Consult datasheet.