IAI America XSEL-QX User Manual
Page 159
135
Part 4 Commands
RC Gateway Function Commands (Controllers with Gateway Function Only)
* For the RC gateway function commands, refer to “Operation Manual for X-SEL Controller P/Q/PX/QX
RC Gateway Function.”
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
z Operand 2,
GT:
Operand 1 > Operand 2, GE: Operand 1
t Operand 2,
LT:
Operand 1 < Operand 2, LE: Operand 1
d Operand 2
RC position
data use mode
Category
Condition
Command
In X-
SEL
In RC
Operand 1
Operand 2
Output
Function
Optional RPGT
{
X
RC axis number
Position number
CC
Assign RC axis position to
variable 199
Optional RPPT
{
X
RC axis number
Position number
CP
Assign variable 199 to RC axis
position
Optional RPCR
{
X
RC axis number
Variable number
CP
Clear RC axis position data
Optional RPCP
{
X
RC axis number
Variable number
CP
Copy RC axis position data
Optional RPRD
{
X
Position number
Prohibited
CP
Read current RC axis position
Optional RPRQ
{
{
RC axis number
Variable number
CP
Read current RC axis position (1
axis, direct)
Optional RPVL
{
X
RC axis number
Position number
CP
Assign variable 199 to RC axis
position speed
Optional RPAD
{
X
RC axis number
Position number
CP
Assign variable 199 to RC axis
position acceleration/deceleration
Optional RPIP
{
X
RC axis number
Position number
CP
Assign variable 199 to RC axis
position positioning band
Optional RPTQ
{
X
RC axis number
Position number
CP
Assign variable 199 to RC axis
position current-limiting value
Optional RGVL
{
X
RC axis number
Position number
CP
Assign RC axis position speed to
variable 199
Optional RGAD
{
X
RC axis number
Position number
CP
Assign RC axis position
acceleration/deceleration to
variable 199
Optional RGIP
{
X
RC axis number
Position number
CP
Assign RC axis position
positioning band to variable 199
RC axis
position
operation
Optional RGTQ
{
X
RC axis number
Position number
CP
Assign RC axis position current-
limiting value to variable 199
Optional RAXS
{
{
Axis pattern, upper
Axis pattern,
lower
CP
Set RC axis pattern
Optional RSON
{
{
Prohibited
Prohibited
PE
Turn RC axis servo ON
Optional RSOF
{
{
Prohibited
Prohibited
PE
Turn RC axis servo OFF
Optional RHOM
{
{
Prohibited
Prohibited
PE
Return RC axis to its home
Optional RMVP
{
{
Position number
Prohibited
PE
Move by RC axis position
specification
Optional RMPI
{
X
Position number
Prohibited
PE
Incremental move by RC axis
position specification
Optional RMVD
{
X
RC axis number
Variable number
PE
Move by RC axis direct
specification
Optional RMDI
{
X
RC axis number
Variable number
PE
Incremental move by RC axis
direct specification
Optional RPUS
{
X
RC axis number
Position number
PE
Move by RC axis push-motion
operation
RC
actuator
control
command
Optional RSTP
{
{
Prohibited
Prohibited
PE
Decelerate RC axis to stop
RC axis
information
acquisition
Optional RCST
{
{
Variable number
RC axis number
PE
Get RC axis status