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Part 4 CommandsChapter 1 List of SEL Language Command Codes
Part 4 Commands
Commands Relating to Electronic Cam Function (Applicable only to controllers with electronic cam
function)
* For the details of electronic cam commands, refer to the “Operation Manual for XSEL Controller P/Q/PCT/QCT: Electronic Cam
Function.”
Operation type in the output field
CC: Command was executed successfully, CP: Command part has passed, PE: Operation is complete
Category Condition Command Operand 1 Operand 2 Output Function
Optional XCRP
Pulse input
channel number
Prohibited CP Pulse I/O board axis input counter clear
Extended
motion
board input
operation
Optional XGTP
Pulse input
channel number
Prohibited CP
Pulse I/O board axis input counter present value
acquisition
Optional XPGT Axis number Position number CC Pulse I/O board axis position data read
Optional RPPT Axis number Position number CP Pulse I/O board axis position data write
Optional XPCR Axis number Variable number CP Pulse I/O board axis position data clear
Optional XPCP Axis number Variable number CP Pulse I/O board axis position data copy
Optional XPRD Position number Prohibited CP Pulse I/O board axis current command position read
Optional XPRQ Axis number Variable number CP
Pulse I/O board axis current command position read (1-
axis direct)
Optional XPVL Axis number Position number CP Pulse I/O board axis speed data write
Optional XPAC Axis number Position number CP Pulse I/O board axis acceleration data write
Optional XPDC Axis number Position number CP Pulse I/O board axis deceleration data write
Optional XPIP Axis number Position number CP
Pulse I/O board axis positioning complete band data
write
Optional XGVL Axis number Position number CP Pulse I/O board axis speed data read
Optional XGAC Axis number Position number CP Pulse I/O board axis acceleration data read
Optional XGDC Axis number Position number CP Pulse I/O board axis deceleration data read
Extended motion board
axis position operation
Optional XGIP Axis number Position number CP Pulse I/O board axis positioning band data read
Extended motion
board axis
actuator control
declaration
Optional XAXS
Axis pattern,
upper byte
Axis pattern,
upper byte
CP Pulse I/O board axis extended pattern setting
Optional XSON Prohibited
Axis pattern, lower
byte
CP Pulse I/O board axis servo ON
Optional XSOF Prohibited Prohibited CP Pulse I/O board axis servo OFF
Optional XHOM Prohibited Prohibited PE Pulse I/O board axis home return
Optional XMVP Position number Prohibited PE Pulse I/O board axis move to specified position
Optional XMPI Position number Prohibited PE Pulse I/O board axis move to relative position
Optional XMVL Position number Prohibited PE
Pulse I/O board axis move by interpolation to specified
position
Optional XMLI Position number Prohibited PE
Pulse I/O board axis move by interpolation to relative
position
Optional XMVD Axis number Variable number PE
Pulse I/O board axis move to absolute position by direct
value specification
Optional XMDI Axis number Variable number PE
Pulse I/O board axis move to relative position by direct
value specification
Optional XPED Prohibited Prohibited PE
Pulse I/O board axis in use by own program – Wait for
end of axis positioning operation
Optional XSTP Prohibited Prohibited PE Pulse I/O board axis movement stop
Optional XCAS Slave axis number Variable number PE
Pulse I/O board axis synchronization electronic cams
(principle axis specification) synchronization start
Optional XCTM Slave axis number Variable number PE
Pulse I/O board axis independent electronic cam (time
specification) movement
Optional XSFS Slave axis number Variable number PE
Pulse I/O board axis electronic shaft synchronization
start
Extended motion board axis
actuator control command
Optional XSYE Slave axis number (End type) PE Pulse I/O board axis synchronization operation end
Extended motion
board axis status
acquisition
Optional XAST Variable number Axis number CP Pulse I/O board axis status acquisition
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