IAI America XSEL-S - Manual (Page 103)

5. Program Creating
97
5.3 Program Language Used by the RC Gateway
5.3.1 List of Program Language Commands
A list of program language (SEL language) commands relating to the RC gateway is shown.
This manual only covers those commands needed by the RC gateway function to operate RC axes. For
more information on X-SEL controller programming and commands, refer to the operation manual for your
X-SEL controller.
In the list, shows whether each command language can be used or not in each method of RC position data
use with ż and ×.
(Available: ż, Unavailable: ×)
RC position
data mode Category Condition Command
X-SEL RC
Operand 1 Operand 2 Output Function Page
Free RPGT ż × RC axis number Position number CC Assign the RC axis position to
variable 199
100
Free RPPT ż × RC axis number Position number CP Assign the value of variable 199 as the
position in the RC axis position table
101
Free RPCR ż × RC axis number Variable number CP Clear RC axis position data 102
Free RPCP ż × RC axis number Variable number CP Copy RC axis position data 103
Free RPRD ż × Position number Prohibited CP Read the current RC axis position 104
Free RPRQ ż ż RC axis number Variable number CP Read the current RC axis position
(direct reading of 1 axis)
105
Free RPVL ż × RC axis number Position number CP Assign the value of variable 199 as the
speed in the RC axis position table
106
Free RPAD ż × RC axis number Position number CP
Assign the value of variable 199 as
the acceleration/deceleration in the
RC axis position table
107
Free RPIP ż × RC axis number Position number CP
Assign the value of variable 199 as
the positioning band in the RC axis
position table
108
Free RPTQ ż × RC axis number Position number CP
Assign the value of variable 199 as
the current-limiting value in the RC
axis position table
109
Free RGVL ż × RC axis number Position number CP Assign the speed in the RC axis
position table to variable 199
110
Free RGAD ż × RC axis number Position number CP
Assign the acceleration/deceleration
in the RC axis position table to
variable 199
110
Free RGIP ż × RC axis number Position number CP Assign the positioning band in the RC
axis position table to variable 199
111
R
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Free RGTQ ż × RC axis number Position number CP Assign the current-limiting value in the
RC axis position table to variable 199 111
Free RAXS ż ż Upper byte of
axis pattern
Lower byte of
axis pattern
CP Set the RC axis pattern 112
Free RSON ż ż Prohibited Prohibited PE Turn ON the RC axis servo 113
Free RSOF ż ż Prohibited Prohibited PE Turn OFF the RC axis servo 113
Free RHOM ż ż Prohibited Prohibited PE Perform home return of the RC axis 114
Free RMVP ż ż Position number Prohibited PE Move the RC axis via position
specification
115
Free RMPI ż (Note 1) × Position number Prohibited PE Move the RC axis incrementally 116
Free RMVD ż × RC axis number Variable number PE Move the RC axis via direct value
specification
117
Free RMDI ż (Note 1) × RC axis number Variable number PE Move the RC axis incrementally via
direct value specification
118
Free RPUS ż × RC axis number Position number PE Move the RC axis via push-motion
operation
119 R
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Free RSTP ż ż Prohibited Prohibited PE Decelerate the RC axis to a stop 120
A
cq
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RC
axis
in
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Free RCST ż ż Variable number RC axis number CP Get the RC axis status 121
Output operation type
CC: Command successful, CP: Command accepted, PE: Operation complete
(Note 1) RMPI and RMDI are invalid for Fieldbus Type. Using them would generate (405) RC Gateway Communication Identification
Error (SEL).