1 list of program language commands, Chapter 3 programs 99 – IAI America XSEL-S User Manual
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Chapter 3 Programs
99
3.3 Program Language Used in Extension Motion Control Boards
3.3.1 List of Program Language Commands
This section shows a list of program language (SEL language) commands related to extension motion
control boards. This manual explains only the commands required for functions used for extension motion
control boards. Refer to the operation manual of the XSEL controller for explanation of programming and
commands for XSEL controller.
Division Condition Command
Operand 1
Operand 2
Output
Function
Page
Optional XCRP
Pulse input channel No. Prohibited
CP
Extension motion control board axis input counter clear
92
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Optional XGTP
Pulse input channel No. Prohibited
CP
Extension motion control board axis input counter current value
acquisition
92
Optional XPGT
Axis No.
Position No.
CP
Extension motion control board axis position data read
93
Optional XPPT
Axis No.
Position No.
CP
Extension motion control board axis position data write
93
Optional XPCR
Axis No.
Variable No.
CP
Extension motion control board axis position data deletion
94
Optional XPCP
Axis No.
Variable No.
CP
Extension motion control board axis position data copy
94
Optional XPRD
Position No.
Prohibited
CP
Extension motion control board axis current command position read
95
Optional XPRQ
Axis No.
Variable No.
CP
Extension motion control board axis current command position read
(1-axis direct)
95
Optional XPVL
Axis No.
Position No.
CP
Extension motion control board axis speed data write
96
Optional XPAC
Axis No.
Position No.
CP
Extension motion control board axis acceleration data write
96
Optional XPDC
Axis No.
Position No.
CP
Extension motion control board axis deceleration data write
97
Optional XPIP
Axis No.
Position No.
CP
Extension motion control board axis position complete band data write
97
Optional XGVL
Axis No.
Position No.
CP
Extension motion control board axis speed data read
98
Optional XGAC
Axis No.
Position No.
CP
Extension motion control board axis acceleration data read
98
Optional XGDC
Axis No.
Position No.
CP
Extension motion control board axis deceleration data read
98
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Optional XGIP
Axis No.
Position No.
CP
Extension motion control board axis position complete band data read
99
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Optional XAXS
Axis pattern upper
Axis pattern lower
CP
Extension motion control board axis expansion pattern setting
100
Optional XSON
Prohibited
Prohibited
PE
Extension motion control board axis servo ON
101
Optional XSOF
Prohibited
Prohibited
PE
Extension motion control board axis servo OFF
101
Optional XHOM
Prohibited
Prohibited
PE
Extension motion control board axis home return
102
Optional XMVP
Position No.
Prohibited
PE
Extension motion control board axis position specified move
102
Optional XMPI
Position No.
Prohibited
PE
Extension motion control board axis position relative mode
103
Optional XMVL
Position No.
Prohibited
PE
Extension motion control board axis position specified interpolation
move
104
Optional XMLI
Position No.
Prohibited
PE
Extension motion control board axis position relative interpolation
move
105
Optional XMVD
Axis No.
Variable No.
PE
Extension motion control board axis direct value specified absolute
position move
106
Optional XMDI
Axis No.
Variable No.
PE
Extension motion control board axis direct value specified relative
position move
107
Optional XJ
Input, output, flag No.
Variable No.
PE
Extension motion control board axis jog movement
108
Optional XPED
Prohibited
Prohibited
PE
Wait for extension motion control board axis positioning completion
during local program use
109
Optional XSTP
Prohibited
Prohibited
PE
Extension motion control board axis movement stop
109
Optional XWIP
Prohibited
Prohibited
CP
Waiting for extension motion control board axis positioning complete
signal ON
110
Optional XCAS
Slave axis No.
Variable No.
PE
Extension motion control board axis synchronous electronic CAM
(master axis specification) synchronization start
111
Optional XCTM
Slave axis No.
Variable No.
PE
Extension motion control board axis individual electronic CAM (time
specification) movement
116
Optional XSFS
Slave axis No.
Variable No.
PE
Extension motion control board axis electronic shaft synchronization
start
118
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Optional XSYE
Slave axis No.
(End type)
PE
Extension motion control board axis synchronous movement
completion
120
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Optional XAST
Variable No.
Axis No.
CP
Extension motion control board axis status acquisition
122
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Optional ECMD
20
Axis No.
CP
Acquisition of parameter value
123
Output part operation type: CC: command normal completion, CP: Command passing, PE: Operation completion