IAI X-SEL PX, Operation Manual, Page: 164 / 560

137
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 319 Optional 1
Axis number CC Get motor current value
ECMD 319 Optional 2
Axis number CC Get home sensor status
ECMD 320 Optional 3 Axis number CC Get overrun sensor status
ECMD 320 Optional 4 Axis number CC Get creep sensor status
ECMD 321 Optional 250 Axis pattern CC
Set torque limit/detection time for torque limit
over error
EDDO 265 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 263 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 293 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 269 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 171 Prohibited Prohibited Prohibited CP End subroutine
ELSE 263 Prohibited Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 153 Optional Exclusive OR operand
variable
Operand ZR Logical exclusive OR
EXIT 172 Optional Prohibited Prohibited CP End program
EXPG 170 Optional Execution program
number
(Execution program
number)
CC Start program
EXSR 170 Optional Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 166 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 190 Optional Variable number Position number CP Get acceleration data
GARM 273 Optional Variable number Prohibited CP Get current arm system
GDCL 191 Optional Variable number Position number CP Get deceleration data
GOTO 169 Optional Jump destination tag
number
Prohibited CP Jump
GRP 205 Optional Valid axis pattern Prohibited CP Set group axes
GTIF 226 Optional Interference check zone
number
Position number CP
Get definition coordinates of simple
interference check zone (SCARA only)
GTTL 213 Optional Tool coordinate system
number
Position number CP
Get tool coordinate system definition data
(SCARA only)
GTTM 157 Optional Time assignment
variable
Prohibited CP Get time
GTWK 216 Optional Load coordinate system
number
Position number CP
Get load coordinate system definition data
(SCARA only)
GVEL 189 Optional Variable number Position number CP Get speed data
H
HOLD 206 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 228 Optional Home return axis pattern Prohibited PE Return to home (Linear movement axis only)
I
IF

261 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 163 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 162 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS

262 Optional Column number
Column number,
character literal
CP Compare strings
ITER 265 Optional Prohibited Prohibited CP Repeat DO
J
J

W

235 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 264 Optional Prohibited Prohibited CP Pull out from DO
LEFT 218 Optional Prohibited Prohibited PE
Change current arm system to left arm
(SCARA only)
(Arm 2 may operate if the current arm system
is the opposite arm)
LET 141 Optional Assignment variable Assigned value ZR Assign
138
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
M
MOD 145 Optional Remainder assignment
variable
Divisor ZR Calculate remainder
MOVL 231 Optional Destination position
number
Prohibited PE Move to specified position via interpolation
MOVP 230 Optional Destination position
number
Prohibited PE Move to specified position
MULT 144 Optional Multiplicand variable Multiplier ZR Multiply
MVLI 233 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 232 Optional Travel position number Prohibited PE Move to relative position
O
OFAZ 307 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset
OFPZ 304 Optional Offset amount Prohibited CP Set palletizing Z-axis offset (SCARA only)
OFST 202 Optional Setting axis pattern Offset value CP Set offset
OPEN 278 Optional Channel number Prohibited CP Open channel
OR 152 Optional OR operand variable Operand ZR Logical OR
OTHE 269 Prohibited Prohibited Prohibited CP
Declare branching destination when condition
is not satisfied
OUT 164 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 165 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 373 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 194 Optional Speed ratio Prohibited CP Set speed ratio
P
PACC 185 Optional Acceleration
Assignment destination
position number
CP Assign position acceleration
PACH 313 Optional Palletizing number Position number PE Palletizing point arch motion (SCARA only)
PAPG 310 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 294 Optional Count Count CP Set palletizing counts
PAPN 294 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 210 Optional Distance Speed CP Set PUSH command distance, speed
PAPS 297 Optional Position number
Palletizing position
setting type
CP Set 3 palletizing points for 4-point teaching
PAPT 295 Optional Pitch Pitch CP Set palletizing pitches
PARG 310 Optional Palletizing number Axis number CP Get palletizing angle
PASE 295 Optional Axis number Axis number CP Set palletizing axes
PAST 296 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 234 Optional Start position number End position number PE Move along path
PAXS 187 Optional Axis pattern assignment
variable number
Position number CP Read axis pattern
PBND 255 Optional Axis pattern Distance CP Set positioning band
PCHZ 302 Optional Axis number Prohibited CP Set palletizing Z-axis (SCARA only)
PCLR 179 Optional Start position number End position number CP Clear position data
PCPY 180 Optional Copy destination
position number
Copy source position
number
CP Copy position data
PDCL 186 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 309 Optional Palletizing number Prohibited CC Decrement palletizing position number by 1
PEXT 304 Optional (Position number) Prohibited CP Set palletizing composition (SCARA only)
PGET 177 Optional Axis number Position number CC Assign position to variable 199
PGST 271 Optional Variable number Program number CP Get program status
PINC 308 Optional Palletizing number Prohibited CC Increment palletizing position number by 1
PMVL 312 Optional Palletizing number (Position number) PE
Move to palletizing points via interpolation
(Linear movement axis only)
PMVP 311 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 209 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 178 Optional Axis number Position number CP Assign value of variable 199
PRDQ 182 Optional Axis number Variable number CP Read current axis position (1 axis direct)
140