IAI RA Series, Instruction Manual

Page: 72 / 186

4. Operation Program
64
4.5. SEL Commands Used in Extension Motion Control Features
4.5.1. List of SEL Commands in Extension Motion Control Features
This section shows a list of program language (SEL language) commands related to extension
motion control.
For the explanation related to programing for overall XSEL controllers and for SEL commands not
stated in the table below, refer to SEL Programing Manual provided separately.
Division Command Operand 1 Operand 2 Function
Applicable Models
XSEL-
RA/SA
XSEL-
RAX/SAX
RAXD/SAXD
Extensio
n moti
on contro
l axis
positi
on o
perati
on
XPGT Axis No. Position No.
Extension motion control
axis position data read
○ ○
XPPT Axis No. Position No.
Extension motion control
axis position data write
○ ○
XPCR Axis No. Variable No.
Extension motion control
axis position data deletion
○ ○
XPCP Axis No. Variable No.
Extension motion control
axis position data copy
○ ○
XPRD Position No. Prohibited
Extension motion control
axis current command
position read
○ ○
XPRQ Axis No. Variable No.
Extension motion control
axis current command
position read (1-axis direct)
○ ○
XPVL Axis No. Position No.
Extension motion control
axis speed data write
○ ○
XPAC Axis No. Position No.
Extension motion control
axis acceleration data write
○ ○
XPDC Axis No. Position No.
Extension motion control
axis deceleration data write
○ ○
XPIP Axis No. Position No.
Extension motion control
axis position complete
band data write
○ ○
XGVL Axis No. Position No.
Extension motion control
axis speed data read
○ ○
XGAC Axis No. Position No.
Extension motion control
axis acceleration data read
○ ○
XGDC Axis No. Position No.
Extension motion control
axis deceleration data read
○ ○
XGIP Axis No. Position No.
Extension motion control
axis position complete
band data read
○ ○
E
xt
en
si
on
m
ot
io
n c
on
tro
l axis
actuator
co
ntro
l de
cl
ar
ati
on
XAXS
Axis pattern
upper
Axis pattern
lower
Extension motion control
board axis expansion
pattern setting
(0 to 15 axes)
○ ○
XA16
Axis pattern
upper
Axis pattern
lower
Extension motion control
board axis expansion
pattern setting
(16 to 31 axes)
○ ○
XACZ Axis No. Prohibited
Extension motion control
axis arch motion Z-axis
declaration
○ ○
XATG Position No. Position No.
Extension motion control
axis arch trigger setting
○ ○
XAEX (Position No.) Prohibited
Extension motion control
axis arch motion
composition setting
○ ○
XOAZ Offset value Prohibited
Extension motion control
axis Z-axis offset setting
○ ○
ME0364-2B