INTELLIGENT

ACTUATOR

SEL Language
Programming Manual
Tenth Edition
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Contents

Table of Contents of Commands in Alphabetical Order ······················································ 1

Table of Contents of Commands by Function ··································································· 11

Safety Guide ····················································································································· 23

1. Preparation in Advance······························································································ 31
1.1 Related Manuals ················································································································· 31
1.2 Programming Tool ··············································································································· 32
1.3 PC Operational Environment ······························································································ 33
1.4 Axes on Each Actuator and Precautions············································································· 34
1.4.1 Single-Direction Axis ···································································································· 34
1.4.2 Rectangular Axes, TT/TTA ··························································································· 35
1.4.3 Rotational Axis ············································································································· 36
1.4.4 Gripper ························································································································· 37
1.4.5 TTA, MSEL-PC/PG ······································································································ 37
1.4.6 SCARA Robot ·············································································································· 56
2. Connection with Host System ···················································································· 89
2.1 I/O Signal····························································································································· 89
2.1.1 XSEL-J/K Type Controllers ·························································································· 90
2.1.2 XSEL-P/Q/PCT/QCT Controllers ················································································· 96
2.1.3 XSEL-PX/QX Controllers ··························································································· 102
2.1.4 XSEL-R/S/RX/SX/RXD/SXD Controllers ··································································· 106
2.1.5 XSEL-RA/SA/RAX/SAX/RAXD/SAXD Controllers······················································112
2.1.6 SSEL, ASEL, PSEL Controllers ··················································································118
2.1.7 Tabletop Robot TT/TTA ······························································································ 121
2.1.8 MSEL Controller ········································································································· 126
3. Program ··················································································································· 129
3.1 Position Table and Program Format·················································································· 129
3.1.1 Position Table············································································································· 129
3.2 Program····························································································································· 134
3.3 Program Format ················································································································ 135
3.4 Relationship of program and position table······································································· 138
3.5 Basic Stage (Program creation and position table creation) ············································· 139
3.5.1 Home Return and Home Return Completion Signal·················································· 139
3.5.2 Positioning Operation (Moving position) ···································································· 140
3.5.3 Moving Back and Forth between Two Points····························································· 141
3.5.4 Repeated Operation··································································································· 142
3.5.5 PATH Operation (Continuous operation among multiple positions)··························· 143
3.5.6 External Signal Output during Path Movement·························································· 144
3.5.7 Circle/Arc Operation··································································································· 145
3.5.8 Axis Movement by External Signals and Output of Completion Signal to
External Device ·········································································································· 146
3.5.9 Changing the Moving Speed······················································································ 147
3.5.10 Speed Setting Change during PATH (Continuous) Operation ··································· 148
3.5.11 Variables and Flags [Global/Local] ············································································ 149
3.5.12 How to Use Subroutines ···························································································· 150
3.5.13 Pausing the Operation ······························································································· 151
3.5.14 Canceling the Operation ···························································································· 152
3.5.15 Aborting from Other Program····················································································· 153
3.5.16 Operation by Position Number Specification via External Signals and Output of
Completion Signal to External Device········································································ 154
 3.5.17 Operation by Coordinate Value Input via External Signals and Output of
Completion Signal to External Device········································································ 155
3.5.18 Output of Current Position Coordinate Value to External Device ······························ 156
3.5.19 Conditional Jump ······································································································· 157
3.5.20 How to Pause and Then Resume Program after Output Signal Input ······················· 158
3.5.21 How to Use Offset ······································································································ 159
3.5.22 How to Repeat Specified Operation Multiple Times··················································· 160
3.5.23 Constant Feed Operation [Pitch Feed] ······································································ 161
3.5.24 How to JOG via External Signal Input········································································ 162
3.5.25 Switching Programs ··································································································· 163
3.5.26 Aborting a Program ···································································································· 164
3.5.27 Way to Prevent Duplicated Startup by Program ························································ 165
3.5.28 How to Cause Rotational Axis [Multi-rotation Specification] to
Rotate Multiple Times································································································· 166
3.6 For Advanced Operations (program edit)·········································································· 168
3.6.1 Handling of Axis Numbers and Patterns ···································································· 168
3.6.2 Setting of Multi-tasking and Task Level······································································ 171
3.6.3 Pseudo-Ladder Task ·································································································· 174
3.6.4 How to Use Arch Motion ···························································································· 179
3.6.5 How to Use Palletizing Function ················································································ 181
3.6.6 Handling of WAIT Timers ··························································································· 198
3.6.7 Handling of Shot Pulse Timers··················································································· 198
3.6.8 Handling of Number of Symbol Definitions ································································ 199
3.6.9 Serial Communication ································································································ 200
3.7 Controller Data Structure and Saving of Data ··································································· 205
3.7.1 XSEL-J/K/KE/KT/KET, JX/KX/KETX ·········································································· 205
3.7.2 XSEL-P/Q/PCT/QCT, PX/QX ····················································································· 209
3.7.3 XSEL-R/S/RX/SX/RXD/SXD······················································································ 215
3.7.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD ······································································· 218
3.7.5 ASEL, PSEL··············································································································· 221
3.7.6 SSEL ·························································································································· 225
3.7.7 TT/TTA ······················································································································· 229
3.7.8 MSEL ························································································································· 233
4. Program Edit············································································································ 236
4.1 Each Type of Data Available to Handle on the Program and its Range···························· 236
4.2 Setting of Function and Values·························································································· 240
4.2.1 Handling of I/O Port···································································································· 240
4.2.2 Handling (Setting and Resetting) of Flags ································································· 241
4.2.3 How to Deal with Values and Variables ····································································· 242
4.2.4 Specification Method for Local String and Global String············································ 246
4.2.5 Handling of Tag Numbers··························································································· 247
5. SEL Commands······································································································· 248
5.1 How to Read Explanation of Command ············································································ 248
[1] SEL language structure······························································································ 248
[2] Applicable models ······································································································ 249
[3] Description of functions······························································································ 249
5.2 SEL Language Code Table for each Function ·································································· 250
5.3 Explanation of Commands ································································································ 259
[1] Variable Assignment··································································································· 259
[2] Arithmetic Operation ·································································································· 262
[3] Function Operation····································································································· 267
[4] Logical Operation ······································································································· 276
[5] Comparison Operation ······························································································· 282
[6] Timer ·························································································································· 283
[7] I/O, Flag Operation····································································································· 286
[8] Program Control········································································································· 299
[9] Task Management······································································································ 304
 [10] Position Operation ··················································································· 309
[11] Actuator Control Declaration······································································· 326
[12] Actuator Control Command ········································································ 389
[13] IF structure ····························································································· 436
[14] Structural DO ·························································································· 440
[15] Multi-Branching ······················································································· 444
[16] System Information Acquisition ··································································· 449
[17] Zone ····································································································· 453
[18] Communication ······················································································· 457
[19] String Operation ······················································································ 468
[20] Arch-Motion ···························································································· 477
[21] Palletizing Definition ················································································· 483
[22] Palletizing Calculation ··············································································· 498
[23] Palletizing Movement················································································ 504
[24] Building of Pseudo-Ladder Task ·································································· 508
[25] Extended Command················································································· 511
[26] RC gateway function commands ································································· 533
[27] Extension Motion Control Function ······························································ 559
[28] Conveyor Tracking Related Commands ························································ 619
[29] Vision System I/F Related Command ··························································· 623
[30] Anti-Vibration Control Related Command ······················································ 627
5.4 Key Characteristics of Actuator Control Commands and Points to Note ····················· 628
5.4.1 Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS and CNTP] ···· 628
5.4.2 PATH/PSPL Commands ············································································ 631
5.4.3 CIR/ARC Commands················································································ 631
5.4.4 CIR2/ARC2/ARCD/ARCC Commands ·························································· 631
5.5 Position Output Operation Features ··································································· 632
5.5.1 Outline··································································································· 632
5.5.2 How to Valid Position Output Operation Function (TTA, MSEL) ·························· 633
5.5.3 How to Valid Position Data Output Operation Setting ······································· 634
5.5.4 Valid SEL Language Commands for Output Operation of
Position Data and Common Notes for Caution················································ 635
5.5.5 Explanation of Each Output Function ··························································· 636
5.5.6 Common Notes for Caution ········································································ 644
5.5.7 Other Caution Notes················································································· 645
6. Program Examples·················································································· 647
6.1 Operation by Jog Command Doll-Picking Game Machine···································· 647
6.2 Operation by Point Movement Command Riveting System ·································· 650
6.3 Palletizing Operation Palletizing System·························································· 653
6.4 Screw-Tightening Machine··············································································· 656
7. Appendix······························································································· 661
Change History ···························································································· 663
 Table of Contents of Commands in Alphabetical Order
Some commands cannot be used depending on the actuator. For details, refer to individual
commands.
XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD

ABPG Stop other program ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 306

Absolute value
ABS ○ ○ ○ 275
calculation

ACC Set acceleration ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 330

Set acceleration ○
ACCS ratio in PTP ○ ○ ○ ○ (PCX/PG 331
operation X only)
Declare arch motion
ACHZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 479
Z-axis
Indicate ACMX
ACMX ○ ○ ○ ○ ○ ○ 344
acceleration

ACOS Inverse cosine ○ ○ ○ 270

ADD Add ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 262

Set arch motion

AEXT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 481
composition

AND Logical AND ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 276

ARC Move along arc ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 433

ARC2 Move along arc 2 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 416

Move along arc via

specification of
ARCC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 426
center position and
center angle
Move along arc via
specification of end
ARCD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 424
position and center
angle

ARCH Arch motion ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 477

Move
ARCS three-dimensionally ○ ○ ○ ○ ○ ○ ○ ○ ○ 420
along arc

ASIN Inverse sine ○ ○ ○ 268

ATN Inverse tangent ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 272

ATRG Set arch trigger ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 480

AXST Get axis status ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 449

BASE Set reference axis ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 340

Declare start of
BGPA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 483
palletizing setting

BGSR Start subroutine ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 302

BTPF Output OFF pulse ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 288

BTPN Output ON pulse ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 287

Output, flag
BT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 286
[ON, OF, NT]

CANC Declare port to abort ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 343

CHPR Change task level ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 508

CHVL Change speed ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 422

CIR Move along circle ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 431

CIR2 Move along circle 2 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 414

Move
CIRS three-dimensionally ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 418
along circle

1
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD

CLOS Close channel ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 458

CLR Clear variable ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 261

PTP Continuous ○ ○
CNTP Operation Mode (V1.10 (V1.10 402
Setting or later) or later)

COS Cosine ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 269

Compare number of
variable
CP…… ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 282
comparisons based
on free comparison

DCL Set deceleration ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 332

Set deceleration ○
DCLS ratio for PTP ○ ○ ○ (PCX/PG 333
operation X only)

DEG Set division angle ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 339

Define coordinates
○
of simple
DFIF ○ ○ ○ (PCX/PG 378
interference check
X only)
zone
Define tool ○
DFTL ○ ○ ○ ○ 357
coordinate system (TTA only)
Define load ○
DFWK ○ ○ ○ ○ 364
coordinate system (TTA only)
Set spline division
DIS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 348
distance

DIV Divide ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 265

Angle conversion
DTOR ○ ○ ○ 274
(degrees to radians)
Loop
DW…… [EQ, NE, GT, GE, LT, ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 440
LE]

○
○
Get motor current (V1.18 (TTA only
ECMD1 ○ ○ ○ ○ ○ ○ ○ ○ 511
value V1.22
or later) or later)

Get home sensor

ECMD2 ○ ○ ○ ○ ○ 512
status
Get overrun sensor
ECMD3 ○ ○ ○ ○ ○ 513
status
Get creep sensor
ECMD4 ○ ○ ○ ○ ○ 514
status
Get axis operation
ECMD5 ○ ○ ○ ○ ○ ○ ○ ○ 515
status
Current position ○
○
ECMD6 acquirement on ○ (V1.20 ○ ○ 516
(TTA only)
each axis system or later)
Get total movement ○
ECMD7 ○ 517
count (TTA only)
○
ECMD8 Get total mileage ○ 518
(TTA only)
Get position ○
ECMD9 ○ 519
deviation (TTA only)
○ ○
Acquirement of
ECMD10 (V1.10 (V1.10 520
Overload Level
or later) or later)
Acquirement of ○ ○
ECMD11 Encoder Overheated (V1.10 (V1.10 521
Level or later) or later)

ECMD20 Get parameter ○ ○ ○ ○ ○ ○ ○ ○ 522

Set torque
○ Δ
limit/detection time
ECMD250 ○ ○ ○ ○ ○ ○ (V0.52 (With a 524
for torque limit over
or later) condition)
error
Conversion from
each axis
ECMD280 coordinates to work ○ 527
coordinates in wrist
unit equipped robot
Conversion from
work coordinates to
ECMD281 each axis ○ 528
coordinates in wrist
unit equipped robot

2
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD
Conversion from tool
coordinates to work
ECMD282 ○ 530
coordinates in wrist
unit equipped robot
Conversion from
each axis
ECMD290 coordinates to work ○ 527
coordinates in wrist
unit equipped robot
Conversion from
work coordinates to
ECMD291 each axis ○ 528
coordinates in wrist
unit equipped robot
Conversion from tool
coordinates to work
ECMD292 ○ 530
coordinates in wrist
unit equipped robot
User system error
ECMD300 ○ ○ 532
output

EDDO Declare end of DO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 443

EDIF Declare end ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 439

Declare end of
EDPA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 484
palletizing setting
Declare end of
EDSL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 448
SLCT

EDSR End subroutine ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 303

Declare execution
destination when IF
ELSE ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 438
command condition
is not satisfied
Logical exclusive
EOR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 278
OR

EXIT End program ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 304

EXPG Start program ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 305

EXSR Execute subroutine ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 301

Set IN (B)/OUT (B)

FMIO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 294
command format

Get acceleration
GACC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 324
data
○
Get current arm
GARM ○ ○ ○ ○ (PCX/PG 452
system
X only)
Get deceleration
GDCL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 325
data

GOTO Jump ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 299

GRP Set group axes ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 341

Get definition
○
coordinates of
GTIF ○ ○ ○ ○ (PCX/PG 382
simple interference
X only)
check zone
Get tool coordinate ○
GTTL system definition ○ ○ ○ ○ ○ (TTA 362
data only)
Acquirement of ○
GTAM target arm system ○ ○ (PCX/PG 322
data X only)

GTTM Get time ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 285

○
Image capture
GTVD ○ ○ ○ (PC/PG 625
command
only)
Get load coordinate ○
GTWK system definition ○ ○ ○ ○ ○ (TTA 369
data only)

GVEL Get speed data ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 323

Declare port to
HOLD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 342
pause

3
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD

HOME Return to home ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 390

Compare
IF [EQ, NE, GT, GE, LT, ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 436
LE]
Input BCD
INB ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 291
(8 digits max.)
Input binary
IN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 290
(32 bits max.)
Connected
Destination IP
IPCN address / Port ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 467
Number Setting

IS Compare strings ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 437

ITER Repeat DO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 442

Jog
JW ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 406
[FN, FF, BN, BF]

LEAV Pull out from DO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 441

○
Change current arm
LEFT ○ ○ ○ ○ (PCX/PG 373
system to left arm
X only)

LET Assign ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 259

○ ○
LSFT Logic Shifted to Left (V1.10 (V1.10 280
or later) or later)

MOD Calculate remainder ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 266

○
Move by direct value
MOVD ○ ○ (PCX/PG 399
specification
X only)
Move to specified
MOVL position via ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 393
interpolation
Move to specified
MOVP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 391
position

MULT Multiply ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 264

Move incrementally ○
MVDI by direct value ○ ○ (PC/PG 400
specification only)
Move to relative
MVLI position via ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 397
interpolation
Move to relative
MVPI ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 395
position

NBND Set close distance ○ 387

○ ○
NOT Deny (V1.10 (V1.10 279
or later) or later)
○ ○
Anti-Vibration
(Linear (Linear
NTCH Control Parameter ○ ○ ○ 627
drive drive
Set Select
axis) axis)

Set arch-motion
OFAZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 482
Z-axis offset
Set palletizing Z-axis
OFPZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 497
offset

OFST Set offset ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 338

OPEN Open channel ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 457

OR Logical OR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 277

4
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD
Declare branching
destination when
OTHE ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 447
condition is not
satisfied
Output current
OTPS ○ 298
position
Output binary
OUT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 292
(32 bits max.)
Output BCD
OUTB ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 293
(8 digits max.)
Output relay for
OUTR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 175
ladder

OVRD Set speed coefficient ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 328

Assign position
PACC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 318
acceleration
Palletizing point arch
PACH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 506
motion
Get palletizing
PAPG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 503
calculation data
Set palletizing
PAPI ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 485
counts
Set palletizing
PAPN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 486
pattern
Set PUSH command
PAPR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 350
distance, speed
Set palletizing points
PAPS for 3-point or 4-point ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 490
teaching
Set palletizing
PAPT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 488
pitches

PARG Get palletizing angle ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 502

PASE Set palletizing axes ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 487

Set palletizing
PAST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 489
reference point

PATH Move along path ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 401

PAXS Read axis pattern ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 320

PBND Set positioning band ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 428

PCHZ Set palletizing Z-axis ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 494

PCLR Clear position data ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 311

PCPY Copy position data ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 312

Assign position
PDCL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 319
deceleration
Decrement
PDEC palletizing position ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 500
number by 1
Wait for end of
operation of axis
PEND ○ 435
using current
program
Set palletizing
PEXT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 496
composition
Assign position to
PGET ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 309
variable 199

PGST Get program status ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 450

Increment palletizing
PINC position number by ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 499
1
Move to palletizing ○
PMVL points via ○ ○ ○ ○ ○ ○ ○ ○ ○ (PC/PG ○ 505
interpolation only)
Move to palletizing
PMVP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 504
points via PTP
Set PATH output
POTP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 349
type
Assign value of
PPUT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 310
variable 199
Read current axis
PRDQ position ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 314
(1 axis direct)

5
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD
Read current axis
PRED ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 313
position
Set palletizing
PSET position number ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 501
directly
Confirm position
PSIZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 321
size

PSLI Set zigzag ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 493

PSPL Move along spline ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 410

○
Substitution of target
PTAM ○ ○ (PCX/PG 315
arm system data
X only)
Get palletizing
PTNG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 498
position number
Specify current arm ○
PTPD as PTP target arm ○ ○ ○ ○ (PCX/PG 376
system X only)
Specify current arm ○
PTPE as PTP target arm ○ ○ ○ ○ (PCX/PG 377
system X only)
Specify left arm as ○
PTPL PTP target arm ○ ○ ○ ○ (PCX/PG 375
system X only)
Specify right arm as ○
PTPR PTP target arm ○ ○ ○ ○ (PCX/PG 374
system X only)
Set palletizing arch
PTRG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 495
triggers
Change push torque
PTRQ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 413
limit parameter
Confirm position
PTST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 316
data
Move by push
PUSH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 411
motion
Assign position
PVEL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 317
speed

○ ○
Set quick return
QRTN ○ ○ ○ ○ (V1.10 ○ ○ (PC/PG ○ 351
mode
or later) only)

RAXS Set RC axis pattern ○ ○ ○ ○ 547

RCST Get RC axis status ○ ○ ○ ○ 557

READ Read from channel ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 459

Assign RC axis
position acceleration/
RGAD ○ ○ ○ ○ 544
deceleration to
variable 199
Assign RC axis
RGIP position positioning ○ ○ ○ ○ 545
width to variable 199
Assign RC axis
position
RGTQ ○ ○ ○ ○ 546
current-limiting value
to variable 199
Assign RC axis
RGVL position speed to ○ ○ ○ ○ 543
variable 199
Return RC axis to its
RHOM ○ ○ ○ ○ 550
home
○
Change right arm of
RIGH ○ ○ ○ ○ (PCX/PG 372
current arm system
X only)
Incremental move by
RMDI RC axis direct ○ ○ ○ ○ 554
specification
Incremental move by
RMPI RC axis position ○ ○ ○ ○ 552
specification
Move by RC axis
RMVD ○ ○ ○ ○ 553
direct specification
Move by RC axis
RMVP ○ ○ ○ ○ 551
position specification

6
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD
Assign variable 199
to RC axis position
RPAD ○ ○ ○ ○ 540
acceleration/
deceleration
Copy RC axis
RPCP ○ ○ ○ ○ 536
position data
Clear RC axis
RPCR ○ ○ ○ ○ 535
position data
Assign RC axis
RPGT position to variable ○ ○ ○ ○ 533
199
Assign variable 199
RPIP to RC axis position ○ ○ ○ ○ 541
positioning band
Assign variable 199
RPPT ○ ○ ○ ○ 534
to RC axis position
Read current RC
RPRD ○ ○ ○ ○ 537
axis position
Read current RC
RPRQ axis position (1 axis, ○ ○ ○ ○ 538
direct)
Assign variable 199
RPTQ to RC axis position ○ ○ ○ ○ 542
current-limiting value
Move by RC axis
RPUS push-motion ○ ○ ○ ○ 555
operation
Assign variable 199
RPVL to RC axis position ○ ○ ○ ○ 539
speed
○ ○
Logic Shifted to
RSFT (V1.10 (V1.10 281
Right
or later) or later)
Turn RC axis servo
RSOF ○ ○ ○ ○ 549
OFF
Turn RC axis servo
RSON ○ ○ ○ ○ 548
ON

RSPG Resume program ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 308

Decelerate RC axis
RSTP ○ ○ ○ ○ 556
to stop
Angle conversion
RTOD ○ ○ ○ 274
(radians to degrees)

SCHA Set end character ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 466

Compare character
SCMP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 469
strings
Copy character
SCPY ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 468
string
Set sigmoid motion
SCRV ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 334
ratio
Specify error type for ○
SEIF simple contact check ○ ○ ○ ○ (PCX/PG 381
area X only)

SGET Get character ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 470

SGN Get signs ○ ○ ○ 275

SIN Sine ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 267

Declare start of
SLCT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 444
multi-branching

SLEN Set length ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 476

○
Select tool
SLTL ○ ○ ○ ○ ○ (TTA 360
coordinate system
only)
○
Declare use of
SLVS ○ ○ ○ (PC/PG 623
Vision System
only)
○
Select load
SLWK ○ ○ ○ ○ ○ (TTA 367
coordinate system
only)
Specify output for ○
SOIF simple interference ○ ○ ○ ○ (PCX/PG 380
check zone X only)

SPUT Set character ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 471

SQR Root ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 273

7
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD

SSPG Pause program ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 307

Decelerate and stop

STOP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 409
axis
Convert character
STR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 472
string; decimal
Convert character
STRH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 473
string; hexadecimal

SUB Subtract ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 263

SV Servo [ON, OF] ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 389

SYST Get system status ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 451

TAG Jump destination ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 300

TAN Tangent ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 271

TIMC Cancel waiting ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 284

Timer relay for

TIMR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 175
ladder

TIMW Wait ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 283

Move relatively
between positions ○
TMLI on tool coordinate ○ ○ ○ ○ ○ (TTA 430
system via only)
interpolation
Move relatively
○
between positions
TMPI ○ ○ ○ ○ ○ (TTA 429
on tool coordinate
only)
system
○
Set read timeout
TMRD ○ ○ (TT 461
value
only)
○
Set read timeout
TMRW ○ ○ ○ ○ ○ ○ ○ ○ ○ (TTA 463
value
only)
Specify processing
to be performed
TPCD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 509
when input condition
is not specified
○ ○
Image capturing and (Linear (Linear
TRAC ○ ○ ○ ○ 620
tracking command drive drive
axis) axis)

TRAN Copy ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 260

TSLP Task sleep ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 510

Declare use of
TRMD ○ ○ ○ ○ ○ ○ 619
Conveyor Tracking

Convert character
VAL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 474
string data; decimal
Convert character
VALH string data; ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 475
hexadecimal

VEL Set speed ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 326

○
Set speed ratio for
VELS ○ ○ ○ ○ (PCX/PG 327
PTP operation
X only)

VLMX Specify VLMX speed ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 347

Set tip load ○

WGHT mass/inertial ○ ○ ○ (PCX/PG 383
moment X only)
Tip load condition
WGT2 ○ ○ 385
setting 2
Branch value
WH [EQ, NE, GT, GE, LT, ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 445
LE]

WRIT Output to channel ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 465

8
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD
Branch character
WS string ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 446
[EQ, NE]
Wait for I/O, flag
WT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 289
[ON, OF]
Wait for zone OFF,
WZFA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 455
with AND
Wait for zone OFF,
WZFO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 456
with OR
Wait for zone ON,
WZNA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 453
with AND
Wait for zone ON,
WZNO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 454
with OR

Extension motion
control axis patterns
XA16 ○ ○ 576
setting
(16 to 31 axes)
Extension motion
XACH control axis arch ○ ○ 614
motion
Extension motion
control axis arch
XACZ ○ ○ 616
motion Z-axis
declaration
Extension motion
control axis arch
XAEX ○ ○ 616
motion composition
setting
Acquire extension ○
XAST motion control axis (0 to 15 ○ ○ ○ 611
status axes)
Extension motion
XATG control axis arch ○ ○ 617
trigger setting
Set extension
XAXS motion control axis ○ ○ ○ ○ 575
patterns
Start synchronizing
extension motion
control axis
XCAS ○ ○ ○ 593
electronic cam
(indicating main
axis)
Clear input counter
XCRP record for extension ○ ○ ○ 559
motion control axis
Move extension
motion control axis
XCTM ○ ○ ○ 604
individual electronic
cam (indicating time)
Read extension
XGAC motion control axis ○ ○ ○ ○ 572
acceleration data
Read extension
XGDC motion control axis ○ ○ ○ ○ 573
deceleration data
Read extension
motion control axis
XGIP ○ ○ ○ ○ 574
poaitioning width
data
Acquire current
record of extension
XGTP ○ ○ 560
motion control axis
input counter
Read extension
XGVL motion control axis ○ ○ ○ ○ 571
speed data
Return extension
XHOM motion control axis ○ ○ ○ ○ 579
to home position
Perform extension
XJ motion control axis ○ ○ ○ ○ 588
jog operation
Move extension
motion control axis
XMDI ○ ○ ○ ○ 585
to directly indicated
relative position
Move extension
motion control axis
XMLI ○ ○ ○ ○ 583
for position relative
interpolation

9
 XSEL XSEL XSEL
XSEL XSEL XSEL XSEL XSEL ASEL
Command Function -P/Q/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-J/K -JX/KX -PX/QX -R/S -RA/SA PSEL
PCT/QCT RXD/SXD RAXD/SAXD
Perform extension
motion control axis
XMPI ○ ○ ○ ○ 581
position relative
movement
Move extension
motion control axis
XMVD ○ ○ ○ ○ 584
to directly indicated
absolute position
Move extension
motion control axis
XMVL ○ ○ ○ ○ 582
for position indicated
interpolation
Move extension
XMVP motion control axis ○ ○ ○ ○ 580
to indicated position
Extension motion
control axis arch
XOAZ ○ ○ 618
motion Z-axis offset
setting
Write extension
motion control board
XPAC ○ ○ ○ ○ 568
axis acceleration
data
Copy extension
XPCP motion control board ○ ○ ○ ○ 564
axis position data
Erase extension
XPCR motion control axis ○ ○ ○ ○ 563
position data
Write extension
XPDC motion control axis ○ ○ ○ ○ 569
deceleration data
Waiting for
extension motion
control axis to finish
XPED ○ ○ ○ ○ 589
positioning operation
of axis used by
self-program
Read extension
XPGT motion control axis ○ ○ ○ ○ 561
position data
Write extension
motion control axis
XPIP ○ ○ ○ ○ 570
positioning complete
width data
Write extension
XPPT motion control axis ○ ○ ○ ○ 562
position data
Read extension
motion control axis
XPRD ○ ○ ○ ○ 565
current command
position
Read extension
motion control axis
XPRQ current command ○ ○ ○ ○ 566
position (single-axis
direct)
Extension motion
XPTH control axis path ○ ○ 586
operation
Write extension
XPVL motion control axis ○ ○ ○ ○ 567
speed data
Start synchronizing
of extension motion
XSFS ○ ○ ○ 606
control axis
electronic shaft
Extension motion
XSOF control axis servo ○ ○ ○ ○ 578
OFF
Extension motion
XSON control axis servo ○ ○ ○ ○ 577
ON
Cancel operation of
XSTP extension motion ○ ○ ○ ○ 590
control axis
Synchronizing of
extension motion
XSYE ○ ○ ○ 609
control axis
completed
Waiting for
extension motion
control axis
XWIP ○ ○ ○ ○ 591
positioning complete
signal to be turned
ON

10
 Table of Contents of Commands by Function
Some commands cannot be used depending on the actuator. For details, refer to individual
commands.
XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Clear variable CLR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 261

assignment
Variable

Assign LET ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 259

Copy TRAN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 260

Add ADD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 262

Arithmetic operation

Divide DIV ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 265

Calculate remainder MOD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 266

Multiply MULT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 264

Subtract SUB ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 263

Sine SIN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 267

Inverse sine ASIN ○ ○ ○ 268

Cosine COS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 269

Inverse cosine ACOS ○ ○ ○ 270

Function operation

Tangent TAN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 271

Inverse tangent ATN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 272

Root SQR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 273

Angle conversion
DTOR ○ ○ ○ 274
(degrees to radians)
Angle conversion
RTOD ○ ○ ○ 274
(radians to degrees)
Absolute value
ABS ○ ○ ○ 275
calculation

Get signs SGN ○ ○ ○ 275

Logical AND AND ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 276

Logical exclusive OR EOR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 278

Logical operation

Logical OR OR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 277

○ ○
Deny NOT (V1.10 (V1.10 279
or later) or later)
○ ○
Logic Shifted to Left LSFT (V1.10 (V1.10 280
or later) or later)
○ ○
Logic Shifted to Right RSFT (V1.10 (V1.10 281
or later) or later)
Comparison

Compare CP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 282

Get time GTTM ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 285

Timer

Cancel waiting TIMC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 284

Wait TIMW ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 283

11
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Output OFF pulse BTPF ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 288

Output ON pulse BTPN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 287

Output, flag
BT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 286
[ON, OF, NT]
Set IN (B)/OUT (B)
FMIO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 294
command format
I/O, flag operation

Input binary
IN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 290
(32 bits max.)
Input BCD
INB ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 291
(8 digits max.)
Output current
OTPS ○ 298
position
Output binary
OUT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 292
(32 bits max.)
Output BCD
OUTB ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 293
(8 digits max.)
Wait for I/O, flag
WT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 289
[ON, OF]

Start subroutine BGSR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 302

Program control

End subroutine EDSR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 303

Execute subroutine EXSR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 301

Jump GOTO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 299

Declare jump
TAG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 300
destination

Stop other program ABPG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 306

Task management

End program EXIT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 304

Start program EXPG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 305

Resume program RSPG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 308

Pause program SSPG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 307

Get acceleration data GACC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 324

Get deceleration data GDCL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 325

○
Acquirement of target
GTAM ○ ○ (PCX/PGX 322
arm system data
only)

Get speed data GVEL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 323

Assign position
PACC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 318
acceleration

Read axis pattern PAXS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 320

Clear position data PCLR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 311

Copy position data PCPY ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 312

Position operation

Assign position
PDCL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 319
deceleration
Assign position to
PGET ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 309
variable 199
Assign value of
PPUT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 310
variable 199
Read current axis
position PRDQ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 314
(1 axis direct)
Read current axis
PRED ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 313
position

Confirm position size PSIZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 321

○
Substitution of target
PTAM ○ ○ (PCX/PGX 315
arm system data
only)

Confirm position data PTST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 316

Assign position
PVEL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 317
speed

12
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Set acceleration ACC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 330

○
Set acceleration ratio
ACCS ○ ○ ○ ○ (PCX/PGX 331
for PTP operation
only)
Indicate ACMX
ACMX ○ ○ ○ ○ ○ ○ 344
acceleration

Set reference axis BASE ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 340

Declare port to abort CANC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 343

Set deceleration DCL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 332

○
Set deceleration ratio
DCLS ○ ○ ○ ○ (PCX/PGX 333
for PTP operation
only)

Set division angle DEG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 339

Define coordinate for ○

simple contact check DFIF ○ ○ ○ ○ (PCX/PGX 378
area only)
Define tool ○
DFTL ○ ○ ○ ○ ○ 357
coordinate system (TTA only)
Define load ○
DFWK ○ ○ ○ ○ ○ 364
coordinate system (TTA only)
Set spline division
DIS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 348
distance

Set group axes GRP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 341

Get defined ○
coordinate for simple GTIF ○ ○ ○ ○ (PCX/PGX 382
contact check area only)
Get defined data of
○
tool coordinate GTTL ○ ○ ○ ○ ○ 362
(TTA only)
system
Get defined data of
○
load coordinate GTWK ○ ○ ○ ○ ○ 369
(TTA only)
system
Actuator control declaration

Declare port to pause HOLD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 342

○
Change left arm of
LEFT ○ ○ ○ ○ (PCX/PGX 373
current arm system
only)

Set close distance NBND ○ ○ 387

Set offset OFST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 338

Set speed coefficient OVRD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 328

Set PUSH command

PAPR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 350
distance, speed

Set output type POTP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 349

Specify current arm ○

of PTP target arm PTPD ○ ○ ○ ○ (PCX/PGX 376
system only)
Specify current arm ○
of PTP target arm PTPE ○ ○ ○ ○ (PCX/PGX 377
system only)
Specify left arm of ○
PTP target arm PTPL ○ ○ ○ ○ (PCX/PGX 375
system only)
Specify right arm of ○
PTP target arm PTPR ○ ○ ○ ○ (PCX/PGX 374
system only)
○ ○
Set quick return
QRTN ○ ○ ○ ○ (V1.10 ○ ○ (PC/PG ○ 351
mode
or later) only)
○
Change right arm of
RIGH ○ ○ ○ ○ (PCX/PGX 372
current arm system
only)
Set sigmoid motion
SCRV ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 334
ratio
Specify error type for ○
simple contact check SEIF ○ ○ ○ ○ (PCX/PGX 381
area only)
Select tool coordinate ○
SLTL ○ ○ ○ ○ ○ 360
system (TTA only)
Select load ○
SLWK ○ ○ ○ ○ ○ 367
coordinate system (TTA only)
Specify output for ○
simple interference SOIF ○ ○ ○ ○ (PCX/PGX 380
check zone only)

Set speed VEL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 326

13
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD
○
Set speed ratio for
VELS ○ ○ ○ ○ (PCX/PGX 327
PTP operation
Actuator control declaration

only)

Specify VLMX speed VLMX ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 347

○
Set tip load
WGHT ○ ○ ○ (PCX/PGX 383
mass/inertial moment
only)
Tip load condition
WGT2 ○ ○ 385
setting 2
PTP Continuous ○ ○
Operation Mode CNTP (V1.10 (V1.10 402
Setting or later) or later)
Move along arc
(ARC2 is ARC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 433
recommended)
Move along arc 2
ARC2 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 416
(arc interpolation)
Move along arc via
specification of center
ARCC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 426
position and center
angle
Move along arc via
specification of end
ARCD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 424
position and center
angle
Move three-
dimensionally along ARCS ○ ○ ○ ○ ○ ○ ○ ○ ○ 420
arc

Change speed CHVL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 422

Move along circle

(CIR2 is CIR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 431
recommended)
Move along circle 2
CIR2 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 414
(arc interpolation)
Move three-
dimensionally along CIRS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 418
circle

Return to home HOME ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 390

Jog
J…W… ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 406
[FN, FF, BN, BF]
○
Move by direct value
MOVD ○ ○ (PC/PG 399
specification
only)
Actuator control command

Move to specified
position via MOVL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 393
interpolation
Move to specified
MOVP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 391
position
Move incrementally ○
by direct value MVDI ○ ○ (PC/PG 400
specification only)
Move to relative
position via MVLI ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 397
interpolation
Move to relative
MVPI ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 395
position

Move along path PATH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 401

Set positioning width PBND ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 428

Wait for end of

operation of axis
PEND ○ 435
using current
program

Move along spline PSPL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 410

Change push torque

PTRQ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 413
limit parameter

Move by push motion PUSH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 411

Decelerate and stop

STOP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 409
axis

Servo [ON, OF] SV…… ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 389

Move relatively
between positions on
○
tool coordinate TMLI ○ ○ ○ ○ ○ 430
(TTA only)
system via
interpolation
Move relatively
between positions on ○
TMPI ○ ○ ○ ○ ○ 429
tool coordinate (TTA only)
system

14
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Declare end of IF EDIF ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 439

Declare execution
Structural IF

destination when IF
ELSE ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 438
command condition is
not satisfied
Compare [EQ, NE,
IF ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 436
GT, GE, LT, LE]

Compare strings IS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 437

Loop [EQ, NE, GT,

DW ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 440
GE, LT, LE]
Structural DO

Declare end of DO EDDO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 443

Repeat DO ITER ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 442

Pull out from DO LEAV ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 441

Declare end EDSL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 448

Declare branching
destination when
Multi-branching

OTHE ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 447
condition is not
satisfied
Declare start of
SLCT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 444
multi-branching
Branch value [EQ,
WH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 445
NE, GT, GE, LT, LE]
Branch character
WS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 446
string [EQ, NE]

Get axis status AXST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 449

System information

○
Get current arm
acquisition

GARM ○ ○ ○ ○ (PCX/PGX 452

system
only)

Get program status PGST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 450

Get system status SYST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 451

Wait for zone OFF,

WZFA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 455
with AND
Wait for zone OFF,
WZFO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 456
with OR
Zone

Wait for zone ON,

WZNA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 453
with AND
Wait for zone ON,
WZNO ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 454
with OR

Close channel CLOS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 458

Open channel OPEN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 457

Read from channel READ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 459

Communication

Set end character SCHA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 466

Set read timeout ○

TMRD ○ ○ ○ 461
value (TT only)
○
Set timeout value TMRW ○ ○ ○ ○ ○ ○ ○ ○ ○ 463
(TTA only)

Output to channel WRIT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 465

Connected
Destination IP
address / Port IPCN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 467
Number Setting
Compare character
SCMP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 469
strings

Copy character string SCPY ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 468

Get character SGET ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 470

Set length SLEN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 476

String operation

Set character SPUT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 471

Convert character
STR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 472
string; decimal
Convert character
STRH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 473
string; hexadecimal
Convert character
VAL ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 474
string data; decimal
Convert character
string data; VALH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 475
hexadecimal

15
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Arch motion ARCH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 477

Declare arch motion

ACHZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 479
Z-axis
Arch motion

Set arch motion

AEXT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 481
composition

Set arch triggers ATRG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 480

Set arch motion

OFAZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 482
Z-axis offset
Declare start of
BGPA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 483
palletizing setting
Declare end of
EDPA ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 484
palletizing setting
Set palletizing Z-axis
OFPZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 497
offset

Set palletizing counts PAPI ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 485

Set palletizing pattern PAPN ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 486

Set palletizing points

Palletizing definition

for 3-point or 4-point PAPS ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 490

teaching

Set palletizing pitches PAPT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 488

Set palletizing axes PASE ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 487

Set palletizing
PAST ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 489
reference point

Set palletizing Z-axis PCHZ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 494

Set palletizing
PEXT ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 496
composition

Set zigzag PSLI ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 493

Set palletizing arch

PTRG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 495
triggers
Get palletizing
PAPG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 503
calculation data

Get palletizing angle PARG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 502

Palletizing operation

Decrement palletizing
PDEC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 500
position number by 1
Increment palletizing
PINC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 499
position number by 1
Set palletizing
position number PSET ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 501
directly
Get palletizing
PTNG ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 498
position number
Palletizing-point arch
PACH ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 506
motion
movement
Palletizing

Move to palletizing ○
points via PMVL ○ ○ ○ ○ ○ ○ ○ ○ ○ (PC/PG ○ 505
interpolation only)
Move to palletizing
PMVP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 504
points via PTP

Change task level CHPR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 508

Output relay for

OUTR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 175
Building of pseudo-

ladder
ladder task

Timer relay for ladder TIMR ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 175

Specify processing to
be performed when
TPCD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 509
input condition is not
specified

Task sleep TSLP ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 510

16
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD
○
○
Get motor current (TTA only
ECMD1 ○ ○ ○ ○ ○ ○ ○ ○ (V1.18 511
value V1.22
or later)
or later)
Get home sensor
ECMD2 ○ ○ ○ ○ ○ 512
status
Get overrun sensor
ECMD3 ○ ○ ○ ○ ○ 513
status
Get creep sensor
ECMD4 ○ ○ ○ ○ ○ 514
status
Get axis operation
ECMD5 ○ ○ ○ ○ ○ ○ ○ ○ 515
status
Current position ○
○
acquirement on each ECMD6 ○ (V1.20 ○ ○ 516
(TTA only)
axis system or later)
Get total movement ○
ECMD7 ○ 517
count (TTA only)
○
Get total mileage ECMD8 ○ 518
(TTA only)
○
Get position deviation ECMD9 ○ 519
(TTA only)
○ ○
Acquirement of ECMD
(V1.10 (V1.10 520
Overload Level 10
or later) or later)
Acquirement of ○ ○
ECMD
Encoder Overheated (V1.10 (V1.10 521
11
Level or later) or later)
Extended commands

ECMD
Get parameter ○ ○ ○ ○ ○ ○ ○ ○ 522
20
Set torque limit/ ○ Δ
ECMD
detection time for ○ ○ ○ ○ ○ ○ (V0.52 (With a 524
250
torque limit over error or later) condition)
Conversion from
each axis coordinates
ECMD
to work coordinates ○ 527
280
in wrist unit equipped
robot
Conversion from
work coordinates to
ECMD
each axis coordinates ○ 528
281
in wrist unit equipped
robot
Conversion from tool
coordinates to work ECMD
○ 530
coordinates in wrist 282
unit equipped robot
Conversion from
each axis coordinates
ECMD
to work coordinates ○ 527
290
in wrist unit equipped
robot
Conversion from
work coordinates to
ECMD
each axis coordinates ○ 528
291
in wrist unit equipped
robot
Conversion from tool
coordinates to work ECMD
○ 530
coordinates in wrist 292
unit equipped robot
User system error ECMD
○ ○ 532
output 300
○
Vision System

Declare use of Vision

SLVS ○ ○ ○ (PC/PG 623
I/F Related

System
only)
○
Image Caputure
GTVD ○ ○ ○ (PC/PG 625
command
only)
Declare use of
TRMD ○ ○ ○ ○ ○ ○ 619
Conveyor Tracking
Conveyor
Tracking
Related

○ ○
Image capturing and (Linear (Linear
TRAC ○ ○ ○ 620
tracking command drive drive
axis) axis)
Anti-Vibration

○ ○
Related
Control

Anti-Vibration Control (Linear (Linear

NTCH ○ ○ ○ 627
Parameter Set Select drive drive
axis)○ axis)

17
 RC Gateway Function Commands (Controllers with Gateway Function Only)

XSEL XSEL XSEL XSEL XSEL

XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD
Assign RC axis
position to variable RPGT ○ ○ ○ ○ 533
199
Assign variable 199 to
RPPT ○ ○ ○ ○ 534
RC axis position
Clear RC axis position
RPCR ○ ○ ○ ○ 535
data
Copy RC axis position
RPCP ○ ○ ○ ○ 536
data
Read current RC axis
RPRD ○ ○ ○ ○ 537
position
Read current RC axis
position RPRQ ○ ○ ○ ○ 538
(1 axis, direct)
Assign variable 199 to
RC axis position RPVL ○ ○ ○ ○ 539
RC axis position operation

speed
Assign variable 199 to
RC axis position
RPAD ○ ○ ○ ○ 540
acceleration/
deceleration
Assign variable 199 to
RC axis position RPIP ○ ○ ○ ○ 541
positioning width
Assign variable 199 to
RC axis position RPTQ ○ ○ ○ ○ 542
current-limiting value
Assign RC axis
position speed to RGVL ○ ○ ○ ○ 543
variable 199
Assign RC axis
position acceleration/
RGAD ○ ○ ○ ○ 544
deceleration to
variable 199
Assign RC axis
position positioning RGIP ○ ○ ○ ○ 545
width to variable 199
Assign RC axis
position
RGTQ ○ ○ ○ ○ 546
current-limiting value
to variable 199

18
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Set RC axis pattern RAXS ○ ○ ○ ○ 547

Turn RC axis servo

RSON ○ ○ ○ ○ 548
ON
Turn RC axis servo
RSOF ○ ○ ○ ○ 549
OFF
RC actuator control command

Return RC axis to its

RHOM ○ ○ ○ ○ 550
home
Move by RC axis
RMVP ○ ○ ○ ○ 551
position specification
Incremental move by
RC axis position RMPI ○ ○ ○ ○ 552
specification
Move by RC axis
RMVD ○ ○ ○ ○ 553
direct specification
Incremental move by
RC axis direct RMDI ○ ○ ○ ○ 554
specification
Move by RC axis
RPUS ○ ○ ○ ○ 555
push-motion operation
Decelerate RC axis to
RSTP ○ ○ ○ ○ 556
stop
information
acquisition
RC axis

Get RC axis status RCST ○ ○ ○ ○ 557

19
 Extension Motion Control Function Related Commands

XSEL XSEL XSEL XSEL XSEL

XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD

Clear input counter

control board input
Extension motion

record for extension XCRP ○ ○ 559

operations

motion control

Acquire current record

of extension motion XGTP ○ ○ 560
control input counter

Read extension
motion control axis XPGT ○ ○ ○ ○ 561
position data
Write extension
motion control axis XPPT ○ ○ ○ ○ 562
position data
Erase extension
motion control axis XPCR ○ ○ ○ ○ 563
position data
Copy extension
motion control axis XPCP ○ ○ ○ ○ 564
position data
Read extension
Extension motion control board axis position operations

motion control axis

XPRD ○ ○ ○ ○ 565
current command
position
Read extension
motion control axis
current command XPRQ ○ ○ ○ ○ 566
position
(single-axis direct)
Write extension
motion control axis XPVL ○ ○ ○ ○ 567
speed data
Write extension
motion control axis XPAC ○ ○ ○ ○ 568
acceleration data
Write extension
motion control axis XPDC ○ ○ ○ ○ 569
deceleration data
Write extension
motion control axis
XPIP ○ ○ ○ ○ 570
positioning complete
width data
Read extension
motion control axis XGVL ○ ○ ○ ○ 571
speed data
Read extension
motion control axis XGAC ○ ○ ○ ○ 572
acceleration data
Read extension
motion control axis XGDC ○ ○ ○ ○ 573
deceleration data
Read extension
motion control axis XGIP ○ ○ ○ ○ 574
positioning width data
board axis actuator control
Extension motion control

Set extension motion

control axis patterns XAXS ○ ○ ○ ○ 575
declarations

(0 to 15 axes)

Set extension motion

control axis patterns XA16 ○ ○ 576
(16 to 31 axes)

Extension motion
XSON ○ ○ ○ ○ 577
control axis servo ON
Extension motion control board axis actuator

Extension motion
XSOF ○ ○ ○ ○ 578
control axis servo OFF
Return extension
motion control axis to XHOM ○ ○ ○ ○ 579
control commands

home position
Move extension
motion control axis to XMVP ○ ○ ○ ○ 580
indicated position
Perform extension
motion control axis
XMPI ○ ○ ○ ○ 581
position relative
movement
Move extension
motion control axis for
XMVL ○ ○ ○ ○ 582
position indicated
interpolation

20
 XSEL XSEL XSEL XSEL XSEL
XSEL XSEL XSEL ASEL
Category Function Command -J/K/ -P/Q/ -JX/KX/ -RX/SX/ -RAX/SAX/ SSEL MSEL TT/TTA Page
-PX/QX -R/S -RA/SA PSEL
KE/KT/KET PCT/QCT KETX RXD/SXD RAXD/SAXD
Move extension
motion control axis for
XMLI ○ ○ ○ ○ 583
position relative
interpolation
Move extension
motion control axis to
XMVD ○ ○ ○ ○ 584
directly indicated
Extension motion control board axis actuator control commands

absolute position
Move extension
motion control axis to
XMDI ○ ○ ○ ○ 585
directly indicated
relative position
Extension motion
control axis path XPTH ○ ○ 586
operation
Perform extension
motion control axis jog XJ ○ ○ ○ ○ 588
operation
Waiting for extension
motion control axis to
finish positioning XPED ○ ○ ○ ○ 589
operation of axis used
by self-program
Cancel operation of
extension motion XSTP ○ ○ ○ ○ 590
control axis
Waiting for extension
motion control axis
XWIP ○ ○ ○ ○ 591
positioning complete
signal to be turned ON
Start synchronizing
extension motion
control axis electronic XCAS ○ ○ 593
cam (indicating main
axis)
Move extension
board axis actuator control

motion control axis

Extension motion control

XCTM ○ ○ ○ 604
individual electronic
cam (indicating time)
commands

Start synchronizing of
extension motion
XSFS ○ ○ ○ 606
control axis electronic
shaft
Cancel operation of
extension motion XSYE ○ ○ ○ 609
control axis
Extension motion control board
axis status acquirement

Acquire extension
motion control axis XAST ○ ○ ○ ○ 611
status

Extension motion
control axis arch XACH ○ ○ 614
motion
Extension motion
control axis arch
XACZ ○ ○ 616
motion Z-axis
Arch Motion related

declaration
Extension motion
control axis arch
XAEX ○ ○ 616
motion composition
setting
Extension motion
control axis arch XATG ○ ○ 617
trigger setting
Extension motion
control axis arch
XOAZ ○ ○ 618
motion Z-axis offset
setting

21
22
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

Operation
No. Description
Description
1 Model ● This product has not been planned and designed for the application
Selection where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
● Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.

23
 Operation
No. Description
Description
2 Transportation ● When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When in transportation, consider well about the positions to hold,
weight and weight balance and pay special attention to the carried
object so it would not get hit or dropped.
● Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and ● The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention
of condensation.
● Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation (1) Installation of Robot Main Body and Controller, etc.
and Start ● Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● Do not get on or put anything on the product. Failure to do so may
cause an accidental fall, injury or damage to the product due to a drop
of anything, malfunction of the product, performance degradation, or
shortening of its life.
● When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

24
 Operation
No. Description
Description
4 Installation (2) Cable Wiring
and Start ● Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do
not coil it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
● Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
● When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
● Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
● Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
● The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
● For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
● Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ω or below).

25
 Operation
No. Description
Description
4 Installation (4) Safety Measures
and Start ● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection
fence) so that nobody can enter the area within the robot’s movable
range. When the robot under operation is touched, it may result in
death or serious injury.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
● When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
● Take the measure so that the work part is not dropped in power failure
or emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to
secure safety.
● Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or
fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● Perform the teaching operation from outside the safety protection
fence, if possible. In the case that the operation is to be performed
unavoidably inside the safety protection fence, prepare the “Stipulations
for the Operation” and make sure that all the workers acknowledge and
understand them well.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

26
 Operation
No. Description
Description
6 Trial ● When the work is carried out with 2 or more persons, make it clear who
Operation is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
● When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic ● Check before starting the automatic operation or rebooting after
Operation operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside of the
safety protection fence.
● In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
● When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.

27
 Operation
No. Description
Description
8 Maintenance ● When the work is carried out with 2 or more persons, make it clear who
and is to be the leader and who to be the follower(s) and communicate well
Inspection with each other to ensure the safety of the workers.
● Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification ● Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.

28
 Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to
the warning level, as follows, and described in the Instruction Manual for each model.

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger product is not handled correctly, will result in death or serious Danger
injury.

This indicates a potentially hazardous situation which, if the

Warning product is not handled correctly, could result in death or serious Warning
injury.

This indicates a potentially hazardous situation which, if the

Caution product is not handled correctly, may result in minor injury or Caution
property damage.

This indicates lower possibility for the injury, but should be kept to
Notice
use this product properly. Notice

29
30
1. Preparation in Advance
SEL language is the simplest type of language in many existing robot languages.
Even though SEL language is an interpreter program, it enables to perform high level controls

1. Preparation in Advance
in simple expression ways.
In this manual, describes how to use SEL language, explanations of command language,
examples of how to create programs for each actuator, etc.

In this section, explains what are needed to be prepared beforehand to start programming, or
the things that you need to know for programming.

1.1 Related Manuals

Please make sure to refer also to the instruction manuals for the controller and accessories
that you intend to use. Listed below are the related instruction manuals.

No. Name Manual No.

1 XSEL-J/K Controller Instruction Manual ME0116
2 XSEL-KT Controller Instruction Manual ME0134
3 XSEL-JX/KX Controller Instruction Manual ME0119
4 XSEL-P/Q/PCT/QCT Controller Instruction Manual ME0148
5 XSEL-PX/QX Controller Instruction Manual ME0152
6 PSEL Controller Instruction Manual ME0172
7 ASEL Controller Instruction Manual ME0165
8 SSEL Controller Instruction Manual ME0154
9 TT Controller ME0149
PC Software
10 ME0154
IA-101-X-MW/IA-101-X-USBMW
11 Teaching Pendant SEL-T/TD/TG ME0183
12 Teaching Pendant IA-T-X/XD ME0160
Touch Panel Teaching TB-01/01D/01DR Applicable for Program
13 ME0325
Controller Instruction Manual
Touch Panel Teaching TB-02/02D Applicable for Program Controller
14 ME0356
Instruction Manual
15 DeviceNet Instruction Manual ME0124
16 CC-Link Instruction Manual ME0123
17 PROFIBUS Instruction Manual ME0153
18 XSEL Ethernet Instruction Manual ME0140
19 XSEL Controller RC Gateway Function Instruction Manual ME0188
XSEL-P/Q/PCT/QCT Controller Electronic Cam Function Instruction
20 ME0246
Manual
21 OMRON Vision Sensor Tracking Instruction Manual ME0237
22 Keyence Vision Sensor Tracking Instruction Manual ME0238
23 Cognex Vision Sensor Tracking Instruction Manual ME0239
XSEL-P/Q/PCT/QCT Controller Vision System I/F Function
24 ME0264
Instruction Manual
25 XSEL-R/S/RX/SX/RXD/SXD Controller Instruction Manual ME0308
26 XSEL-RA/SA/RAX/SAX/RAXD/SAXD Controller Instruction Manual ME0359
27 Tabletop Robot TTA Instruction Manual ME0320
28 MSEL Instruction Manual ME0336

31
 1.2 Programming Tool
To create a program with SEL language, it is necessary to prepare a dedicated teaching
pendant or PC software provided by IAI.
1. Preparation in Advance

Please confirm in the table below that the controller you intend to use complies with the
programming tool that you have.

Controller

XSEL-J/K/KE/KT/KET

XSEL-RA/RAX/RAXD

XSEL-SA/SAX/SAXD
XSEL-JX/KX/KETX

XSEL-PX/RX/RXD

XSEL-QX/SX/SXD
Model

XSEL-Q/QCT/S
XSEL-P/PCT/R

TT/TTA

MSEL
ASEL

PSEL

SSEL
No. Item
Model
Code of
Programming
Tool
PC software
1 (with RS232C cable IA-101-X-MW { { { { { { { { {
+ emergency stop box)
PC software
(with USB conversion
2 IA-101-X-USBMW { { { { { { { { {
adapter + RS232C cable
+ emergency stop box)
PC software
(with RS232C cable
3 + emergency stop box IA-101-X-MW-J { { { {
+ connector conversion
cable)
PC software
4 (with USB cable + IA-101-X-USB { { { {
dummy plug)
PC software
(with safety category 4
5 IA-101-XA-MW { { {
cable + emergency stop
box)
Teaching pendant {
{
(TTA has
6 SEL-T (J is { { { { { { { { some
excluded) restrictions)
Teaching pendant {
{
(TTA has
7 (with deadman switch) SEL-TD (J is { { { { { { { { some
excluded) restrictions)
Teaching pendant (with {
(TTA has
8 TP adapter for Safety SEL-TG { { { { { { { { { some
Categories) restrictions)
Teaching pendant { { {
9 IA-T-X { (Q is { { { (QX is { { { (TTA is
excluded) excluded) excluded)
Teaching pendant { { {
10 (with deadman switch) IA-T-XD { (Q is { { { (QX is { { { (TTA is
excluded) excluded) excluded)
11 Touch panel teaching TB-01 { { { { { { { { { { { { {
Touch panel teaching
12 TB-01D { { { { { { { { { { { { {
(with deadman switch)
13 Touch panel teaching TB-02 { { { { { { { { { { { { {
Touch panel teaching
14 TB-02D { { { { { { { { { { { { {
(with deadman switch)
{: Applicable, Blank: Not applicable

32
1.3 PC Operational Environment
If you use the PC software, make sure your PC meets the following specifications before
installing the software. [Refer to PC Software Instruction Manual for how to install it.]

1. Preparation in Advance
Also, confirm in the next section that it is applicable for the controller that you intend to use.

1) Operating System (OS)

Windows XP SP2 or later, Windows Vista, Windows 7, Windows 8/8.1
2) Main Memory
It should possess memory capacity necessary to operate Windows®.
3) Display Monitor
XGA or more.
4) Hard Disk
Hard disk with free space of 30MB or more
(This software is to be used with being installed in the hard disk.)
5) Serial Port
There should be 1 unit of RS232C port that is capable for the communication speed
setting of 9600bps or more.
(Note) This is for the case the model code of PC software is IA-101-*-MW.
6) USB Port
There should be 1 unit of USB port with its version 1.1 or more.
(Note) This is for the case the model code of PC software is IA-101-*-USBMW.
7) Keyboard
It should comply with the PC main unit. (PC/AT compatible keyboard)
8) Pointing Device
It should be operated in Windows® OS.
9) Drive Device
The PC should possess a CD-ROM drive device that complies with the PC or a
compatible drive device that can read CD-ROM.

* SEL language is available on the following controllers.

1) XSEL (all types)
2) ASEL
3) PSEL
4) SSEL
5) TT/TTA
6) MSEL

33
 1.4 Axes on Each Actuator and Precautions
In this section, explains the construction of axis number of each actuator on the 3-dimensional
coordinate system, X, Y and Z.
1. Preparation in Advance

1.4.1 Single-Direction Axis

The coordinate value from the home corresponds to 0mm in position data.
Positions from the home represent position data.
The direction is reversed if the actuator is of reversed-home specification.

＋
00(原点)
(Home) Position No.3 Position No.4····
Position No.1

These positions can be set as desired

Axis Number of the position table will be that of the connector that is connected physically to
the actuator motor and encoder cable. [Refer to the instruction manual of the controller for the
details.]

34
 1.4.2 Rectangular Axes, TT/TTA
The coordinate value from the home of each axis corresponds to 0mm in position data.
With each axis, positions from the home represent position data.

1. Preparation in Advance
Rectangular
Axes Axis3
(Axis 3)

Axis2
(Axis 2)

0 (Home)
Axis2
(Y-axis)

Axis1 Axis1
(Axis 1) (X-axis)
Axis3
(Z-axis)
Axis Number is that the actuator motor and encoder cable is connected physically.
The coordinate system shown in the figure below is when each actuator motor and encoder
cable is connected to the Axis Number in bracket.
Refer to the instruction manual of each controller for the details.

Axis3
(Axis 3) Axis2
(Axis 2)

Axis2 Axis1
(Y-axis) (X-axis)

0 (Home)
Axis1
(Axis 1)

Axis3
(Z-axis)

35
 1.4.3 Rotational Axis

The coordinate value from the home corresponds to 0° in position data.

Rotational angles from the home represent position data.
1. Preparation in Advance

0° 300° + -

To the rotation axes, there is the finite stroke type that operates within the established angular
range and the infinite stroke type that can rotate for a number of times in the indicated
direction.
Refer to the instruction manual of each actuator for the details.

36
1.4.4 Gripper
The coordinate value (opening side) from the home corresponds to 0mm in position data.
1/2 stroke*1 from the home represent position data.

1. Preparation in Advance
*1 Stroke : Distance between both grippers

Finger Attachment
フィンガアタッチメント

1.4.5 TTA, MSEL-PC/PG

TTA : V 2.00 or later
MSEL-P/C/PG : V 2.00 or later

[1] Overview
In the groups of axes can be structured by indicating linear axes in parameters, and the work
coordinate system and tool coordinate system can be determined to these axis groups.
The structured axis groups are called “coordinate system definition unit”, and each axis
constructing the unit is called “coordinate system definition unit axis”.

The coordinate system definition unit axis usually makes positioning of the tool attachment
(*1)
datum point or tool tip on the selected work coordinate system. However, it makes positioning
of SEL language commands TMPI, TMLI and XY (tool) coordinate system jog on the tool
coordinate system.

*1 Tool Attachment Datum Point (PT0) : It is a point of datum when a tool is attached.
If there is R-axis in the coordinate system constructing
axes, it will be one point on the rotation axis of R-axis.
If there is no R-axis in the coordinate system
constructing axes, it will be one point on the axis that a
tool is attached.

Figure : Example for Tool Attachment Datum Point

(Left : Combination for Four-Axis, Right : Combination for Two-Axis)

37
 [2] Setting of parameters

Shown below, describes how to set the parameters necessary for using the work and tool
coordinate system features on the linear axis.
1. Preparation in Advance

• By setting All Axes Parameter No. 55 “Coordinate System Definition 1 Control” to “1h”, the
coordinate system definition unit becomes effective.
Initial value Access
No. Parameter name Input range Unit Remarks
(Reference) right
Bits 0-3 : Unit Valid Indication
Coordinate 0~ (0: Invalid,
55 System Definition 0H F
FFFFFFFFH 1: Valid)
1 Control
Bits 4-31 : Reservation

• Indicate the physical axis applicable for the coordinate axes (X-axis, Y-axis, Z-axis and R-axis)
in the coordinate system in All Axes Parameter No. 56 “Coordinate System Definition 1
Constructing Axis Setting”.
Initial value Access
No. Parameter name Input range Unit Remarks
(Reference) right
Bits 0 to 3: X Indicated
Axis Number
Bits 4 to 7: Y Indicated
Axis Number
Coordinate
Bits 8 to 11: Z Indicated
System Definition 0~
56 0H F Axis Number
1 Constructing FFFFFFFFH
Bits 12 to 15: R Indicated
Axis Setting
Axis Number
Bits 16 to 31: Reservation
(No applicable definition
axis when Axis No. = 0)

Stated below are the caution items regarding the setting of All Axes Parameter No. 56. “5C0
Coordinate System Setting Error” will occur when there is an error in setting related to these
caution items described below.
x The patterns of constructing axes that are available to indicate should be either of “XY”,
“XYZ”, “XYZR” and “XYR”.
x Duplicated indication of one physical axis is not allowed.
x It is necessary that the axes indicated as the X, Y and Z-axes are linear driving axes (Each
Axis Parameter No. 1 = “0”), and that the axis indicated as R-axis should be rotary driving
axis (Each Axis Parameter No. 1 = “1”).
x The following axes cannot be indicated.
[Synchronized Slave Axes, Infinite Stroke Axes, Shortcut Control Valid Axes]

Caution :x There may be a case that an error such as “D41 Coordinate System Data
Management Domain ID Error” occurs after conducting parameter writing →
reboot when the coordinate system definition unit gets activated by setting All
Axes Parameter No. 55 for the first time.
In such a case, initialize the memory for the “coordinate system definition data”
using the PC software or a teaching pendant and then reboot the controller.
x There will be limitation in some part of operation if indicated to the coordinate
system definition unit axis. (Refer to [4] for details.)

38
• In case there is an axis indicated as the R-axis in All Axes Parameter No. 56, establish the
setting in All Axes Parameter No. 57 “Coordinate System Definition 1 R-Axis Coordinates
Direction Setting”.
Initial value Input Access
No. Parameter name Unit Remarks

1. Preparation in Advance
(Reference) range right
Relation between direction
Coordinate
of rotation from X-axis to
System Definition
Y-axis and R-axis direction
57 1 R-Axis 0 0~1 F in base coordinate system
Coordinates
0: Same direction
Direction Setting
1: Opposite direction

(All Axes Parameter No. 57 is the parameter to define the relations of X-axis, Y-axis and
R-axis in the base coordinate system.
In case this parameter is not established correctly, the axes will not operate as expected.
Pay attention when establish the setting for this parameter as the controller cannot judge
right or wrong for the contents of the setting.)

Establish the setting as described below for the value in All Axes Parameter No. 57.
x When “Rb Positive Direction” is the same as “Rotating Direction from Xb Positive Direction
to Yb Positive Direction” → “0”
x When “Rb Positive Direction” is opposite “Rotating Direction from Xb Positive Direction to
Yb Positive Direction” → “1”

(Example) In the construction below, Rb positive direction (clockwise) is opposite the rotating
direction from Xb positive direction to Yb positive direction R’ (counterclockwise),
thus All Axes Parameter No. 56 should be set to “1”.

X-Axis
Ｘ軸
Y-Axis
Ｙ軸

Z-Axis
Ｚ軸

R-Axis
Ｒ軸

Example for unit (Left : Each axis system / Right : Base coordinate system)

39
 (Example) Example for Standard Setting in TTA

All Axes Parameter No.55

1. Preparation in Advance

Setting Value
1h

All Axes Parameter No.56

TTA Type
Setting Value
TTA-A2 / TTA-C2 (2-axis Type) 21h
TTA-A3 / TTA-C3 (3-axis Type) 321h
TTA-A4 / TTA-C4 (4-axis Type) 4321h

All Axes Parameter No.57

X-Axis Home Y-Axis Home
Setting Value
Type Type (for four-axis type)
Standard Standard 0
Reversed
Specification (NM)
Standard 1
Reversed
Standard
Specification (NM)
1
Reversed Reversed
Specification (NM) Specification (NM)
0

* Shown above are just examples for standard settings. There would be no problem if change
is made in the setting for All Axes Parameter No. 56 and 57 as long as there is no
contradiction to the composition of the axes.
In such a case, make sure to check the caution items for each parameter so the settings can
be established with no failure.
(Example) In TTA-C4 (XY Home Standard Type)
x Indicate Axis1 as Y-axis and Axis2 as X-axis
→ All Axes Parameter No. 56 = “4312h”, All Axes Parameter No. 57 = “1”
x Construct the coordinate system only with Axis1 and Axis2
→ All Axes Parameter No. 56 = “21h”

40
[3] Coordinates for Coordinate System Definition Unit
The coordinate system for the coordinate system definition unit consists of four coordinate
axes at the maximum (X-axis, Y-axis, Z-axis and R-axis).
At this time, it should be premised that the physical axes applicable for each coordinate axis
satisfy the following conditions.

1. Preparation in Advance
x X-axis, Y-axis and Z-axis are laid orthogonally to each other.
x The center axis of rotary for the R-axis is laid orthogonally to XY plane. (It is parallel to Z-axis if
there is Z-axis.)
x A tool is attached on the R-axis if there is R-axis. (It should be premised that the tool attachment
datum point is on the R rotation axis.)

X-Axis
Y-Axis

Z-Axis

R-Axis

Example for orthogonal unit satisfying conditions above

41
 [Each Axis System]
Each axis system is the coordinate system specific for each linear axis.
In below, shows each axis system in four-axis type TTA for example.
1. Preparation in Advance

Ｙj

Ｘj

Ｒｊ

Ｚj

Example for Each Axis System in Four-Axis Type TTA (XYZ Home Standard Specification)
(Left:TTA-C4 / Right:TTA-A4)

42
[Base Coordinate System]
It is the coordinate system to indicate the position of the datum point for tool installation
against the work piece mount face. Work Coordinate System No. 0 (work coordinate system

1. Preparation in Advance
offset 0) = Base Coordinate System. X axis of Base Coordinate System is described as Xb, Y
axis as Yb, Z axis as Zb and R axis as Rb.

(Example) TTA-C4 (XYZ Home Standard Specification)

Work Piece

The base coordinate system can be defined as shown below.

43
 Also, when a work piece is mounted on an axis of either X, Y or Z-axis, the positive side of the
base coordinate system is the opposite direction of the operation direction of the physical axis.
For instance, in below explains for when a work piece is mounted on the X-axis in TTA-A4
(XYZ Home Standard Specification).
1. Preparation in Advance

In this case, if moving the X-axis in the positive direction of each axis system, the tool
attachment datum point seems to move in opposite direction to the motion if viewed from the
work piece.

If viewed from the work

piece, the tool attachment
datum point seems as
moving as shown in the
figure above

Therefore, the base coordinate system is shown as the figure below.

In below, shows the definition related to the home of the base coordinate system and the
direction of coordinates.
Home : The position of the tool attachment datum point under
condition that each axis system coordinates for all the
unit constructing axes = 0
Positive direction of coordinate : The direction that the tool attachment datum point moves
to the work piece mount face when each axis in the each
axis system is moved in the positive direction.

44
[Work Coordinate System]
It is the 32 kinds of coordinate systems defined by the offset of each axis against the base

1. Preparation in Advance
coordinate system.
Work Coordinate System No. 0 is reserved as Base Coordinate System (= Work Coordinate
System Offset = 0) by the system.

Set the offset of each axis as described below.

x X, Y, Z Offset
Distance from the base coordinate system home to the work coordinate system home along
Xb, Yb and Zb directions
x R Offset
Amount of work coordinate system rotation when base coordinate system taken as the
datum

45
 Also, the direction of the coordinate system rotation (positive direction of R offset) is defined as
described below by the axis structure of the coordinate system definition unit.
x When no R-axis in constructing axes x x x x x x x Rotating Direction from Xb positive
1. Preparation in Advance

direction to Yb positive direction

x When there is R-axis in constructing axes x x x Rb Positive direction

Without R-Axis With R-Axis

R Offset > Direction of Rotation at 0

46
(1) Setting of Work Coordinate System
When required to define Work Coordinate System No. 1 and No. 2 as shown in the figure
below;

1. Preparation in Advance
Home of Work Coordinate
System No. 2

Home of Work
Coordinate System No. 1

The offset of Work Coordinate System No. 1 and No. 2 are to be set as shown in the table
below.

Work Coordinate Offset

System No. X [mm] Y [mm] Z [mm] R [deg]
1 200.000 120.000 0.000 -25.000
2 150.000 300.000 0.000 45.000

47
 (2) Positioning on Work Coordinate System
Select the work coordinate system to be used and perform positioning.
When selecting the work coordinate system number in SEL program, use SLWK Command.
Also, the selected work coordinate system number is valid after program complete and after
1. Preparation in Advance

rebooting.

1) When having PTP positioning to Position No. 5 and No. 6 on Work Coordinate System No. 1.

Work Coordinate Offset

System No. X [mm] Y [mm] Z [mm] R [deg]
1 200.000 120.000 0.000 -25.000

Coordinate Data
Position No.
Axis1(X) Axis2(Y) Axis3(Z) Axis4(R)
5 0.000 0.000 0.000 0.000
6 50.000 40.000 0.000 -45.000

40

-25°

Yw1
50

Xw1 -45°

* Example for when the datum surface on the R-axis orients Xb positive direction when
each axis system coordinate on all the unit axes = 0

48
2) When having PTP positioning to Position No. 5 and No. 6 on Work Coordinate System No. 2.

Work Coordinate Offset

1. Preparation in Advance
System No. X [mm] Y [mm] Z [mm] R [deg]
2 150.000 300.000 0.000 45.000

Coordinate Data
Position No.
Axis1(X) Axis2(Y) Axis3(Z) Axis4(R)
5 0.000 0.000 0.000 0.000
6 50.000 40.000 0.000 -45.000

Yw2

40

45° -45°

50

Xw2

49
 [Tool Coordinate System]
It is the 128 kinds of coordinate systems defined by the too (such as hand) dimensions (offset)
1. Preparation in Advance

of that attached on the tool attached position. Work Coordinate System No. 0 is reserved as
offset = 0 of Tool Coordinates by the system.
Select the defined tool coordinate system number, and it is used as the destination point at
positioning of the tool tip as well as the tool attached position.
R-axis

Tool

Tool Tip

Xoftn : X Tool Coordinate offset

Yoftn : X Tool Coordinate offset
Zoftn : X Tool Coordinate offset
Roftn : X Tool Coordinate offset

Xtn : Tool Coordinate X-axis

Ytn : Tool Coordinate X-axis
Ztn : Tool Coordinate X-axis
Rtn : Tool Coordinate X-axis

(n is coordinate system number)

Select the defined Tool Coordinate System and operate the R axis with JOG operation, and
such movement as shown in the figure below can be performed.

Regarding directions of X and Y axes (Xtn and Ytn) in tool coordinate system
With R-Axis : Varies relying on coordinates of R-axis
Without R-Axis : Always fixed, the directions depends on R offset of tool coordinate system

50
(1) Setting the tool coordinate system
Set the offset amount from the tool attached position to the tool tip.
Set the tool offset as explained below under condition that each axis system coordinates for all
the unit constructing axes is 0 is taken as the datum.

1. Preparation in Advance
– X, Y, Z offset
Distance from the tool attached position to the tool tip along Xb, Yb and Zb
directions of the base coordinate system
– R offset
Angle of the working direction with Xb positive direction as the datum
(Definition for direction of angle is the same as work coordinate system R offset)

x Example for Tool Coordinate System Setting

When required to set Tool Coordinate System No. 1 as shown in the figure below;
(The figure below is assumed to show that each axis system coordinates for all the unit
constructing axes is 0)

PT0
Tool tip
ツール先端

The offset of Tool Coordinate System No. 1 are to be set as shown in the table below.

Tool Coordinate Offset

System No. X [mm] Y [mm] Z [mm] R [deg]
1 10.000 21.000 -6.000 45.000

51
 (2) Positioning using Tool Coordinate System Offset
Select the work coordinate system to be used and perform positioning.
When selecting the work coordinate system number in SEL program, use SLTL Command.
Also, the selected work coordinate system number is valid after program complete and after
1. Preparation in Advance

rebooting.

1) When having the tool tip on Tool Coordinate System No. 1 to perform PTP positioning
from Position No. 5 to No. 6 in Work Coordinate System No. 1;

Work Coordinate Offset

System No. X [mm] Y [mm] Z [mm] R [deg]
1 200.000 120.000 0.000 -25.000

Tool Coordinate Offset

System No. X [mm] Y [mm] Z [mm] R [deg]
1 10.000 21.000 -6.000 45.000

Coordinate Data
Position No.
Axis1(X) Axis2(Y) Axis3(Z) Axis4(R)
5 0.000 0.000 0.000 0.000
6 50.000 40.000 0.000 -45.000

52
2) When having the tool tip on Tool Coordinate System No. 1 to perform PTP positioning
from Position No. 5 to No. 6 in Work Coordinate System No. 2;

1. Preparation in Advance
Work Coordinate Offset
System No. X [mm] Y [mm] Z [mm] R [deg]
2 150.000 300.000 0.000 45.000

Tool Coordinate Offset

System No. X [mm] Y [mm] Z [mm] R [deg]
1 10.000 21.000 -6.000 45.000

Coordinate Data
Position No.
Axis1(X) Axis2(Y) Axis3(Z) Axis4(R)
5 0.000 0.000 0.000 0.000
6 50.000 40.000 0.000 -45.000

Yw2

40

45° -45°

50

Xw2

53
 [4] Caution Note

(1) Limitation in Coordinate System Constructing Axes

1. Preparation in Advance

Shown below are the cases when limitation is applied to indication for operation of X, Y and
R-axes in the coordinate system definition unit.
Indicated Axis
Operations Subject for Limitation X Y Z R
Pressing Movement (PUSH) ∆*1 ∆*1 ○ ∆*1
Arch motion Z-axis (ACHZ/PCHZ) ∆*1 ∆*1 ○ ×
palletize XY-axis (PASE/PAPS) ○ ○ ○ ×
Circular / Arc Movement (CIRS/ARCS)
3-Dimensional Circular / (CIR/ARC) ○ ○ ○ ×
Arc Movement
Circular / Arc Movement 2 (CIR2/ARC2)
Arc Movement with (ARCC/ARCD) ○ ○ ∆*2 ×
Center Indication

○ : Available for Indication ∆ : Available for Indication with Conditions × : Unavailable for Indication

(*1) Permitted only when operated physical axis is one axis to the indicated axis
(*2) Permitted only when operated axes are two axes in total

Example : To indicate X-axis in PUSH Command

1) Work coordinate system R offset is 0 (in such case as Work Coordinate System No. 0)
→ Available to indicate (Only X-axis operates)
2) Work coordinate system R offset is not 0
→ Unavailable to indicate (Operation necessary on X and Y-axes)

Yb Yb
Ywn

Ywn

Xb Xb

Xwn Xwn

○ : Available
○：指定可能for Indication × : Unavailable
×：指定不可 for Indication

54
(2) Note for Other Caution

x While in operation of either X-axis or Y-axis (or R-axis) in a SEL program, or with operation of

1. Preparation in Advance
PC software or TP, X-axis and Y-axis (and R-axis) cannot be operated in another SEL
program.

x When operating either X-axis or Y-axis (or R-axis), it is basically necessary that servo is
turned on and home return operation is completed on all of X-axis and Y-axis (and R-axis). It
could cause an error if operation is attempted with those conditions above unsatisfied.

x In the position edit window for the PC software and teaching tools applicable for the feature,
when operation is made to turn on/off the servo to the coordinate system definition unit axes,
servo turns on/off on all the axes in the applicable units.

x When performing CP operation on the R-axis by setting the tool coordinate system offset, the
operation speed and acceleration / deceleration on the X-axis and Y-axis will be limited so
they do not exceed the indicated velocity and acceleration / deceleration. Therefore, even if
the indicated velocity and acceleration / deceleration are the same, the actual operation
speed may tend to be slower as the tool length (distance from the tool attachment datum
point to the tool tip) gets longer.

x When attempted to perform CP operation or JOG operation on the work coordinate system or
tool coordinate system while the coordinate system definition unit axis is out of the soft limit,
“Error No. C73 Target Track Soft Limit Exceeding Error” could occur. In such a case, use the
PC software or a teaching pendant and have JOG operation on each axis system to have the
axis moved inside the soft limit from outside.

x When a velocity change command is issued to CP operation including the R-axis, the
specification could be limited depending on the condition. Refer in the section for CHVL
Command for details. [Refer to the explanation of section of CHVL command for details.]

x When a synchronized master axis is indicated as the coordinate system definition unit axis,
the applicable synchronized slave axes are to be treated as the axes outside the unit (*
Operation will be synchronized to the synchronized master axis as it does in ordinary use).
Therefore, the work coordinate system and the tool coordinate system are not considered in
the current position display of the slave axes, and will be in the each axis system value.

55
 1.4.6 SCARA Robot
[1] Coordinates
1. Preparation in Advance

A horizontal articulated (SCARA) robot has three coordinate systems including the base
coordinate system, work coordinate system and tool coordinate system.
Base coordinate system

Coordinates Work coordinate system

Tool coordinate system

56
(1) Base coordinate system (= Work Coordinate System No. 0)
This is a combination of three-dimensional rectangular coordinates and rotational axis
coordinates defined in the robot prior to shipment.
Work Coordinate System No. 0 (= 0 work coordinate system offsets) = Base coordinate
system.

1. Preparation in Advance
* There is no rotary axis on Three-Axis Type SCARA ROBOT (IXP-3N****). (Xb, Yb and Zb)
are available to indicate as the target position.

The XY-axis home is the center of the base (center of rotation of arm 1).
The Z-axis home is the top edge of the effective Z-axis stroke.
The R-axis home is where the D-cut surface faces the -Xb direction.
The X-axis, Y-axis, Z-axis and R-axis on the base coordinate system are indicated as Xb, Yb,
Zb and Rb, respectively.

R-axis position as viewed

from above
Center of tool
installation surface

D-cut surface
of R-axis

Z-axis position

-Zb Zb=0
Stroke
+Zb

57
 (2) Work coordinate system
This is a combination of 32 types of three-dimensional rectangular coordinates and rotational
axis coordinates defined by the offset of each axis relative to the base coordinate system.
Note that Work Coordinate System No. 0 is reserved as the base coordinate (= 0 work
coordinate system offset) by the system.
1. Preparation in Advance

Xofwn: X work coordinate offset

Yofwn: Y work coordinate offset
Zofwn: Z work coordinate offset
Rofwn: R work coordinate offset

Xwn: Work coordinate system, X-axis

Ywn: Work coordinate system, Y-axis
Zwn: Work coordinate system, Z-axis
Rwn: Work coordinate system, R-axis

(n indicates the work coordinate system number.)

* R work coordinate offset is valid also on Three-Axis Type SCARA ROBOT (IXP-3N****).

58
(3) Tool coordinate system
This is a combination of 128 types of three-dimensional rectangular coordinates and rotational
axis coordinates defined by the dimension (offset) of the tool (hand, etc.) installed on the tool
installation surface. Note that Tool Coordinate System No. 0 is reserved as one with 0 tool
coordinate system offset by the system.

1. Preparation in Advance
When a defined tool coordinate system number is selected, the robot uses the tip of the tool,
not the center of the tool installation surface, as the point to reach by positioning.

R-axis

Tool

Tip of tool

Xoftn: X tool coordinate offset

Yoftn: Y tool coordinate offset
Zoftn: Z tool coordinate offset
Roftn: R tool coordinate offset

Xtn: Tool coordinate system, X-axis

Ytn: Tool coordinate system, Y-axis
Ztn: Tool coordinate system, Z-axis
Rtn: Tool coordinate system, R-axis

(n indicates the tool coordinate system number.)

When a defined tool coordinate system is elected and the R-axis is jogged, the axis operates
as shown below.

The orientation of the tool coordinate system axis is always the same as the orientation of the
base coordinate system axis on Three-Axis Type SCARA ROBOT (IXP-3N****). As there is no
R axis, the control of the orientation (posture) of the tool cannot be conducted. Therefore,
there may be a case the tool end may not be the reachable point at positioning. Also, the
setting of the tool coordinate system offset on the R axis will be ignored.

59
 [2] CP Operation and PTP Operation

How CP operation and PTP operation differ as they pertain to SCARA robots is explained.

(1) CP operation
1. Preparation in Advance

1) Path
The axes move to the target position while interpolating with one another. The path of the
tip of movement can be specified by a command (linear, circle, arc, path movement, etc.).

(Example)
Position No. 1
MOVL 1
Move from the current position to position No. 1
along a straight line.

The arm system does not change during CP operation.

CP operation commands: MOVL MVLI TMLI PATH PSPL PUSH CIR2 ARC2 ARCD
ARCC CIRS ARCS CIR ARC
For details on these commands, refer to “Explanation of Each Command”

2) Setting of speed and acceleration/deceleration for CP operation

In CP operation, the speed and acceleration/deceleration are set beforehand in the
program using a control declaration command.
Speed setting command “VEL” unit [mm/sec]
Acceleration setting command “ACC” unit [G]
Deceleration setting command “DCL” unit [G]

(Example)
ACC 0.5 Set the acceleration for CP operation to 0.5G.
DCL 0.5 Set the deceleration for CP operation to 0.5G.
VEL 500 Set the speed for CP operation to 500mm/sec.

MOVL 2 Move to position No. 2 along a straight line.

The speed and acceleration/deceleration for CP operation can also be set in the VEL,
ACC and DCL fields of the position data table.
To set these items as part of position data, do so for each position number. If the VEL,
ACC and DCL fields of the position data table contain settings for a given position number,
they are given priority over the “VEL”, “ACC” and “DCL” commands in the program when
moving to the applicable position number.

60
 3) Notes on CP operation
The singular point is where both arms 1 and 2 extend straight.
If the actuator moves near the singular point via CP operation, poor path precision,
vibration (abnormal noise) or error may occur. The following errors may generate:
“D09: Driver overspeed error”, “B91: Main overspeed error”, “C64: Abnormal servo

1. Preparation in Advance
acceleration/deceleration error”, “B74: CP operation limit band entry error”, “CB6:
Deviation overflow error”, etc.
These errors may be avoided by lowering the speed and/or acceleration/deceleration.

With the area inside for the amount of

either All Axes Parameter No. 50 or No.
227 from the singularity defined as the
CP operation limit band, the CP operation
is limited within this area. (In the figure on
the left, the area between the solid line
and dotted line is the CP operation limit
band.)
All-axis parameter CP operation
No. 50 limit band
The controller generates an error upon
detecting an entry of the target path or
actual movement path into the CP
operation limit band as a result of path
calculation. If the target movement path
enters the CP operation band as a result
of path calculation, “B7C: Target path in
CP operation limit band error (PTP/jotting
of axis permitted)” occurs.

If the actual movement path enters the CP operation limit band, on the other hand, “B74:
CP operation limit band entry error (PTP/jogging of axis permitted)” or “C74: Actual
position soft limit over error” occurs.
The width of the CP operation limit band (distance between the solid line and dotted line)
varies depending on the arm length of the robot.
(If the arm length is 500 or 600, this width becomes approx. 0.5mm (All Axes Parameter
No. 50 or No. 227, “Width of CP operation limit band around point directly above Arm
1/2”).)

Avoid writing programs that cause the actuator to pass the CP operation limit band via CP
operation.
The actuator cannot pull out from the CP operation limit band by means of CP operation. In
this case, move the actuator in PTP operation. Exercise caution in situations where the
condition of each arm is not recognized, such as when the program is started, etc.
With CP operation, conduct test operation at low speed at first and confirm absence of
problems, and then gradually raise the speed to an appropriate level.

61
 (2) PTP operation
1) Movement path
Each axis moves to the target position at the specified speed. The path of the tip of
movement cannot be specified by a command.
1. Preparation in Advance

(Example)

Position No. 1
MOVP 1
Move from the current position to position No. 1 via
PTP operation.

The arm system may change during movement depending on the operation area and arm
system control command.
PTP operation commands: MOVP MVPI TMPI PACH PMVP ARCH
For details on these commands, refer to “Explanation of Each Command”

2) Setting of speed and acceleration/deceleration for PTP operation

In PTP operation, the speed and acceleration/deceleration are set beforehand in the
program using a control declaration command.
Speed setting command “VELS”, unit [% (percentage relative to the maximum PTP speed
(SCARA axis) set in axis-parameter No. 28)]
Acceleration setting command “ACCS”, unit [% (percentage relative to the maximum PTP
acceleration for SCARA axis set in axis-parameter No. 134)]
Deceleration setting command “DCLS”, unit [% (percentage relative to the maximum PTP
deceleration for SCARA axis set in axis-parameter No. 135)]

(Example)
ACCS 50 Set the acceleration for PTP operation to 50% of the
maximum PTP acceleration.
DCLS 50 Set the deceleration for PTP operation to 50% of the
maximum PTP deceleration.
VELS 50 Set the speed for PTP operation to 50% of the maximum PTP
speed.

MOVP 2 Move to position 2 via PTP operation.

3) Note on PTP operation

The arm system may change during an operation depending on the operation area, arm
system control command or position data arm system.
Refer to “[4] Arm System”.

62
[3] Settings of Each Axis
(1) Base coordinate system
1) Positioning on Base Coordinate System
To select a work coordinate system number in the SEL program, use a SLWK command.
The work coordinate system selection number that has been set will remain effective even

1. Preparation in Advance
after the program ends or after the system-memory backup battery has been set and
power has been reconnected. (For XSEL-RX/SX/RXD/SXD,
XSEL-RAX/SAX/RAXD/SAXD, MSEL-PCX/PGX battery is not necessary.)
The figure below shows a part of the position edit screen in the PC software for horizontal
articulated robot.
In this example, the following teaching settings are assumed:
Position data for Position No. 1: X = 300, Y = 200, Z = 0, R=0
Position data for Position No. 2: X = -350, Y = 300, Z = 50, R = 30
Position data for Position No. 3: X = -320, Y = -250, Z = 100, R = -30
The selected work coordinate system number is displayed.
Work Coordinate System No. 0 = Base coordinate system

The selected tool coordinate system number is displayed. In the case of

Tool Coordinate System No. 0, the center of the tool installation surface is positioned.

2) Position to the position data shown above via PTP operation.

Position No.2
Program example
Position No.1 VELS 50
ACCS 50
SLWK 0 Select Work Coordinate System No. 0
SLTL 0 Select Tool Coordinate System No. 0

PTPR Specify right arm of PTP target arm system

MOVP 1
MOVP 2
MOVP 3

EXIT
Position No.3

63
 (2) Work coordinate system
1) Setting of Work Coordinate System
Set the offset relative to the base coordinate system.

(Example) Setting example of work coordinate system

1. Preparation in Advance

Define Work Coordinate System No. 1 and No. 2 as shown below.

Home of Work
Coordinate
System No. 2
Home of Work
Coordinate
System No. 1

For the offset of Work Coordinate System No. 1, set Xofw1 = 150, Yofw1 = 200, Zofw1 = 0
and Rofw1 = 30.
For the offset of Work Coordinate System No. 2, set Xofw2 = -400, Yofw2 = 100, Zofw2 =
25 and Rofw2 = -20.
Shown below is the edit screen for work coordinate system definition data in the PC
software for horizontal articulated robot, where Work Coordinate System No. 1 and No. 2
have been set.

* To set a work coordinate system offset in the SEL program, use a DFWK command.

64
2) Positioning on Work Coordinate System
Perform positioning after selecting the work coordinate system you want to use.
To select a work coordinate system number in the SEL program, use a SLWK command.
The work coordinate system selection number that has been selected will remain effective
even after the program ends or after the system-memory backup battery has been set and

1. Preparation in Advance
power has been reconnected. (For XSEL-RX/SX/RXD/SXD,
XSEL-RAX/SAX/RAXD/SAXD, MSEL-PCX/PGX battery is not necessary.)
(Example 1) Position to Position No. 5 and No. 6 via PTP operation on Work Coordinate
System No. 1.

Position No. 6

Program example
:
:
Position No. 5 :
SLWK 1 Select Work Coordinate System No. 1
SLTL 0 Select Tool Coordinate System No. 0
PTPR Specify right arm of PTP target arm system
MOVP 5 Move to Position No. 5.
MOVP 6 Move to Position No. 6.
:
:
:

The R-axis position is shown to the left

(viewed from above).
Position No. 6 The Z-axis position is as follows:
Position No. 5 Zb = 0
D-cut surface Position No. 6 Zb = 20
of R-axis

Position No. 5

65
 (Example 2) Position to Position No. 5 and No. 6 via PTP operation on Work Coordinate
System No. 2.
1. Preparation in Advance

Program example
:
:
:
Position No. 6 SLWK 2 Select Work Coordinate System No. 2
SLTL 0 Select Tool Coordinate System No. 0
PTPR Specify right arm of PTP target arm system
MOVP 5 Move to Position No. 5.
MOVP 6 Move to Position No. 6.
:
:
:

Position No. 5

The R-axis position is shown to the left

Position No. 5 (viewed from above).
The Z-axis position is as follows:
Position No. 5 Zb = 25
Position No. 6
Position No. 6 Zb = 45

D-cut surface
of R-axis
(- direction)

66
(3) Tool coordinate system
1) Setting of Tool Coordinate System
Set the offset from the center of the tool installation surface to tip of the tool.
(Example) Setting example of tool coordinate system
Define Tool Coordinate System No. 1 as shown below.

1. Preparation in Advance
Offsets under Tool Coordinate System No. 1: Xoft1 = 45, Yoft1 = 35, Zoft1 = -10,
Roft1 = 45
Shown below is the edit screen for tool coordinate system definition data in the PC
software for horizontal articulated robot, where Tool Coordinate System No. 1 has been
set.

* To set a tool coordinate system offset in the SEL program, use a DFTL command.

67
 2) Positioning Using Tool Coordinate System Offset
Perform positioning after selecting the tool coordinate system you want to use.
To use a tool coordinate system number in the SEL program, use a SLTL command.
The tool coordinate system selection number that has been selected will remain effective
even after the program ends or after the system-memory backup battery has been set and
1. Preparation in Advance

power has been reconnected. (For XSEL-RX/SX/RXD/SXD,

XSEL-RAX/SAX/RAXD/SAXD, MSEL-PCX/PGX battery is not necessary.)

The orientation of the tool coordinate system axis is always the same as the orientation of the
base coordinate system axis on Three-Axis Type SCARA ROBOT (IXP-3N****). As there is no
R axis, the control of the orientation (posture) of the tool cannot be conducted. Therefore,
there may be a case the tool end may not be the reachable point at positioning. Also, the
setting of the tool coordinate system offset on the R axis will be ignored.

(Example 1) Position the tip of the tool on Tool Coordinate System No. 1 to Position No. 5
and No. 6 on Work Coordinate System No. 1 via PTP operation.

Program example
:
:
Position No. 6 :
SLWK 1 Select Work Coordinate System No. 1
SLTL 1 Select Tool Coordinate System No. 1
PTPR Specify right arm of PTP target arm system
MOVP 5 Move to Position No. 5.
MOVP 6 Move to Position No. 6.
:
:
:
The Z-axis position at the tip of the tool is as follows:
Position No. 5 Zb = 0
Position No. 6 Zb = 20
The figure on the left is viewed from above.

Position No. 5

68
(Example 2) Position the tip of the tool on Tool Coordinate System No. 1 to Position No. 5
and No. 6 on Work Coordinate System No. 2 via PTP operation.

1. Preparation in Advance
Program example
:
:
:
SLWK 2 Select Work Coordinate System No. 2
SLTL 1 Select Tool Coordinate System No. 1
PTPR Specify right arm of PTP target arm system
MOVP 5 Move to Position No. 5.
MOVP 6 Move to Position No. 6.
:
:
:
The Z-axis position at the tip of the tool is as follows:
Position No. 5 Zb = 25
Position No. 6 Zb = 45

69
 [4] Arm System

(1) Right arm system/left arm system

Robot postures are classified into two types: right arm system and left arm system.
1. Preparation in Advance

Left arm system Right arm system

Right arm system : Condition where arms 1 and 2 extend straight and arm 2 is positioned in
the CCW direction.
Left arm system : Condition where arms 1 and 2 extend straight and arm 2 is positioned in
the CW direction.
The conditions of robot arms are expressed by assuming them as human arms.

The operation area is different between the right arm system and left arm system.
The figure below shows the operation area of each arm system of a robot whose arm length is
500mm.

Operation area of left arm system Operation area of right arm system

70
(2) Arm control commands (dedicated SCARA commands)
The left arm system is defined as “opposite arm system” of the right arm system, and vice
versa.
The actual arm system currently used is defined as “current arm system”.
The arm system scheduled to be used for positioning to the target under a movement

1. Preparation in Advance
command is defined as “target arm system”.

Commands that are used to control the robot arm system include PTPD, PTPE, PTPR, PTPL,
RIGH and LEFT.
PTPD, PTPE, PTPR and PTPL are control declarations for the target arm system of PTP
operation, so they remain valid throughout the program once declared. In the case of CP
operation where the arm system does not change, operation is performed based on the
current arm system without being affected by the above commands.
Only one of PTPD, PTPE, PTPR and PTPL, whichever is executed last, remains valid.
RIGH and LEFT are control commands for the current arm system.

(3) Arm system control commands and arm system changes

Arm system commands and how the arm system changes during PTP operation as a result of
their declaration are explained.

Set position No. 1 to 4 as shown below ([1] to [4]).

Try moving the actuator using a MOVP command (PTP operation) in the order of 1 → 2 → 3
→ 2 → 1 → 4.
Move the robot while it is positioned at position No. 1.
Position No. 3 is inside the limited area for left arm system (positioning to this position is not
possible if the right arm system is used).
Position No. 4 is inside the limited area for right arm system (positioning to this position is not
possible if the left arm system is used).

[1] [2]

Arm system control command

[4] [3]

: Limited area for : Limited area for

right arm system left arm system

How the arm system changes with an arm system control command is explained for each
command.

71
 In the figure, the black arrows indicate movements where the arm system changes.
White arrows indicate movements where the arm system does not change.
The shaded arm represents the right arm system. The unshaded arm represents the left arm
system.
1. Preparation in Advance

[PTPD]
Following the execution of a PTPD command, the robot performs positioning by moving
according to the current arm system. The PTPD command prohibits situations where the
current arm system is opposite the target arm system. An attempt to move to an area to which
positioning is impossible without changing to the opposite arm system generates an error
“C73: Target path soft limit over error”. Even when a PTPD command is not executed, this
command is already effective on the robot when the program is started.

1) Starting from right arm system

C73 error occurs.

2) Starting from left arm system

C73 error occurs.

72
[PTPE]
Following the execution of a PTPE command, the robot gives priority to the current arm
system for movement and positioning. The PTPE command permits situations where the
current arm system is opposite the target arm system. Therefore, it is permitted to move to an

1. Preparation in Advance
area to which positioning is impossible without changing to the opposite arm system.
To prohibit moving to the area for opposite arm system after permitting such movement,
execute a PTPD command.

1 Starting from right arm system

2 Starting from left arm system

73
 [PTPR]
Following the execution of a PTPR command, the robot performs positioning according to the
right arm system. The PTPR command limits the target arm system to the right arm system.
Therefore, an attempt to move to an area to which positioning is impossible without changing
to the left arm system generates a “C73: Target path soft limit over error”.
1. Preparation in Advance

Executing a PTPR command alone does not initiate any arm movement.
When a PTP movement command is executed following the execution of a PTPR command
and while the current arm system is the left arm system, the robot moves as it changes from
the left arm system to right arm system and performs positioning according to the right arm
system.

1 Starting from right arm system

C73 error occurs.

2 Starting from left arm system

C73 error occurs.

74
[PTPL]
Following the execution of a PTPL command, the robot performs positioning according to the
left arm system. The PTPL command limits the target arm system to the left arm system.
Therefore, an attempt to move to an area to which positioning is impossible without changing
to the right arm system generates a “C73: Target path soft limit over error”.

1. Preparation in Advance
Executing a PTPL command alone does not initiate any arm movement.
When a PTP movement command is executed following the execution of a PTPL command
and while the current arm system is the right arm system, the robot moves as it changes from
the right arm system to left arm system and performs positioning according to the left arm
system.

1 Starting from right arm system

C73 error occurs.

2 Starting from left arm system

C73 error occurs.

75
 [RIGH]
The RIGH command changes the current arm system to the right arm system.
When a RIGH command is executed while the current arm system is the left arm system, arm
2 operates in such a way that both arms 1 and 2 form a straight line.
Executing a RIGH command while the current arm system is the right arm system does not
1. Preparation in Advance

initiate any arm movement.

1 Starting from left arm system

C73 error occurs.

In the above example, the PTPD command is effective because no arm system control
command other than RIGH is set.
The RIGH command only controls the current arm system. It does not limit positioning via PTP
operation to the right arm system. The arm system used for positioning varies depending on
the control declaration of target arm system (PTPD, PTPE, PTPR, PTPL).
Accordingly, the specific operation that takes place after the execution of a RIGH command
varies depending on the control declaration of target arm system which is currently effective.

2 RIGH command at PTPL command execution

C73 error occurs.

76
[LEFT]
The LEFT command changes the current arm system to the left arm system.
When a LEFT command is executed while the current arm system is the right arm system, arm
2 operates in such a way that both arms 1 and 2 form a straight line.
Executing a LEFT command while the current arm system is the left arm system does not

1. Preparation in Advance
initiate any arm movement.

1 Starting from right arm system

C73 error occurs.

In the above example, the PTPD command is effective because no arm system control
command other than LEFT is set.
The LEFT command only controls the current arm system. It does not limit positioning via PTP
operation to the left arm system. The arm system used for positioning varies depending on the
control declaration of target arm system (PTPD, PTPE, PTPR, PTPL).
Accordingly, the specific operation that takes place after the execution of a LEFT command
varies depending on the control declaration of target arm system which is currently effective.

2 LEFT command at PTPR command execution

C73 error occurs.

77
 [4] PTP Acceleration/Deceleration Optimization Function

IX-***H Type and IXP Type operates in the optimum acceleration / deceleration speed during
the PTP operation.
1. Preparation in Advance

(Note) Those such as IX-NNN5020 do not operate in the optimum acceleration/deceleration

speed during the PTP operation. For those models, the maximum
acceleration/deceleration speed during the PTP operation relies on the values set in
Axis Parameters No. 134 “Maximum PTP acceleration for SCARA axis” and No. 135
“Maximum PTP deceleration for SCARA axis”.
The acceleration for PTP operation corresponds to the ratio (%) set according to the
ACCS command and DCLS command.

(1) Function overview

PTP optimum acceleration/deceleration is the automatic adjustment function to obtain the
optimized acceleration and deceleration responding to the conditions of such facts as the tip
load. In PTP optimum acceleration/deceleration, it is necessary to set the tip load mass with
the WGHT Command as well as the acceleration and deceleration ratios with ACCS and
DCLS Commands set for the existing models. Set an appropriate load mass according to the
load to be transported, etc.
The calculation formats of PTP acceleration and deceleration in PTP optimum
acceleration/deceleration are as shown below:

z PTP acceleration = Maximum acceleration determined by the load mass, etc. × ACCS
command [%]
z PTP deceleration = Maximum deceleration determined by the load mass, etc. × DCLS
command [%]

* The WGHT command is supported by XSEL-PX/QX controllers of main application

Ver.0.45 or later.
This command can be input in PC software of Ver.7.5.0.0 or later or on teaching pendants
TB-02(D) : first edition or later, TB-01(D) : first edition or later, SEL-T (D) of Ver.1.11 or later.
(Not applicable for IA-T-X(0))

Caution
• PTP optimum acceleration/deceleration would not work with the ideal acceleration or
deceleration unless the setting of the WGHT Command according the actual robot tip load is
conducted. Make sure to setup the tip load mass setting in the WGHT Command.

• PTP optimum acceleration/deceleration function is effective only for the PTP operation. It cannot
be operated with the optimized acceleration or deceleration for CP operation or direct-movement
axis.

• If an overload error occurs, lower the acceleration setting and/or deceleration setting as deemed
appropriate or make other adjustment such as providing a stopping time after
acceleration/deceleration to prevent an overload error from occurring.

78
[5] Horizontal Movement Optimizing Function responding to Z-axis position

SCARA Robot (IX-***H) can utilize the horizontal movement optimizing function.

(Note) Note that the horizontal movement Z-position optimization function is not available for

1. Preparation in Advance
those such as IX-NNN5020. (Using this function would generate a “D8A: Internal
parameter error for acceleration/deceleration optimization or horizontal movement
Z-position optimization function”.)

(1) Function overview

Horizontal movement optimizing function by Z-axis is the function to optimize the horizontal
movement condition based on Z-axis position and the tip load mass.
This function can be set effective/ineffective in the all axes parameter No. 51. When a
parameter setting change is made, make sure to reset the software or reboot the system after
the flash ROM writing is complete.
The tip load mass setting by the WGHT Command is required while the SCARA Z-axis position
and horizontal movement optimizing function are effective. Set the load mass setting
accordingly following the transporting work figure.

z All-axis common parameters

Parameter Default value Input Access
No. Unit Remarks
name (reference) range privilege
Bits 8 to 11: Z-axis
Position -> horizontal movement
optimized (PTP)
(0: Disable, 1: Enable)
(Available only on high-speed
SCARA robots with main
application Ver.0.45 or later)
Bits 12 to 15: Z-axis
Position -> horizontal movement
0H to
SCARA-axis optimized (CP)
51 0H FFFFF F
control 1 (0: Disable, 1: Enable)
FFFH
* Disabling this function is
recommended if the CP
operation requires constant
speed, path precision and
attainment of specified
speed.
(Available only on high-speed
SCARA robots with main
application Ver.0.45 or later)

* The WGHT command is supported by XSEL-PX/QX controllers of main application

Ver.0.45 or later.
This command can be input in PC software of Ver.7.5.0.0 or later or on teaching pendants
TB-02(D) : first edition or later, TB-01(D) : first edition or later, SEL-T (D) of Ver.1.11 or later.
(Not applicable for IA-T-X(0))

79
 Caution
• It is necessary to set the tip load mass with the WGHT Command while the horizontal
movement optimizing function by Z position is activated. An appropriate result could not be
1. Preparation in Advance

gained unless the mass setting according the actual robot tip load is conducted.

• When the horizontal movement optimizing function by Z position is activated, the speed may not
reach the set speed due to the robot load mass or movement position. Make the horizontal
movement optimization function invalid if it is required to reach the set speed.
* When also it is indicated the Operation 1 = 0 (prioritized to reach set speed automatic division)
for DIS (divide distance setting for spline movement) and DIG (arc angle setting), the
horizontal movement optimization function should be prioritized and may not reach the set
speed.

• When operating individually with the PATH, CIR, ARC, CIRS, ARCS or PSPL Command while
the horizontal movement optimization (CP) by Z position is activated, the movement speed
during the command may vary due to the robot load mass or the movement position. In a
continuous operation with the continuous operation related commands (PATH, PSPL, CIR2,
ARC2, CIRS, ARCS, CIRS, ARCD, ARCC, CIR, ARC Commands, etc.), the movement speed
between the commands may vary due to the operational condition. Make the horizontal
movement optimization (CP) invalid if an evenly paced speed is required.

• When the horizontal movement optimization (CP) by Z axis is activated, the track of CP
operation may slightly vary due to the robot load mass and movement position.
If accuracy in the track is required, make the horizontal movement optimization (CP) invalid.

80
[6] Soft Limit

The soft limit is set in axis-specific parameter No. 7 and 8. Below is an example of a screen
showing the soft limits for IX5020 (arm length 500mm, Z-axis 200mm).

1. Preparation in Advance
The soft limit parameters are set by coordinate values according to each axis system.
Axis 1 corresponds to arm 1, axis 2 corresponds to arm 2, axis 3 corresponds to Z-axis, and
axis 4 corresponds to R-axis.
The setting units is [0.001deg] for arm 1, arm 2 and R-axis (rotational axis). The setting unit for
Z-axis is [0.001mm].
The soft limits are used to limit the range of operation of arm 1, arm 2, Z-axis or R-axis from
the coordinate home of each axis system. It is not affected by the work coordinates system or
tool coordinate systems.

(Note) These parameters have been set to the maximum limits of range of operation at the
factory. Do not set values that would enlarge the range of operation.

(1) Coordinates on each axis system and soft limits

[Soft limits for arm 1]

The arm 1 position at which the arm faces the +Xb direction defines the coordinate home of
the axis system of arm 1 (0deg).
This position is not affected by the arm 2 position.
Operating angles in the counterclockwise direction (positive direction) from this coordinate
home of axis system are limited by the soft limit+ (axis 1 of axis-specific parameter No. 7).
Operating angles in the clockwise direction (negative direction) are limited by the soft limit-
(axis 1 of axis-specific parameter No. 8).

Center of rotation of arm 1 Coordinate home of axis

system of arm 1 (0deg)

Soft limit+ Soft limit-

212deg in the -32deg in the
example of PC example of PC
software screen software screen

81
 [Soft limits for arm 2]
The arm 2 position at which the arm forms a straight line with arm 1 defines the coordinate
home of the axis system of arm 2 (0deg).
This position is not affected by the arm 1 position.
Operating angles in the counterclockwise direction (positive direction) from this coordinate
1. Preparation in Advance

home of axis system are limited by the soft limit+ (axis 2 of axis-specific parameter No. 7).
Operating angles in the clockwise direction (negative direction) are limited by the soft limit-
(axis 2 of axis-specific parameter No. 8).
Coordinate home of axis
system of arm 2 (0deg)

Center of rotation of arm 2

Soft limit+ Soft limit-

147deg in the -147deg in the
example of PC example of PC
software screen software screen
[Soft limits for Z-axis]
The Z-axis position at which the mechanical stopper attached to the Z-axis is approx. 5mm
below the mechanical end at the bottom of arm 2 defines the coordinate home of the axis
system of Z-axis (0mm). This position is the same as the Axis 3 = 0mm position on the base
coordinate system. (On actuators of clean-room specification and dust-proof/splash-proof
specification, this mechanical stopper is not visible because it is located inside bellows.)
Movements in the downward direction (positive direction) from this coordinate home of axis
system are limited by the soft limit+ (axis 3 of axis-specific parameter No. 7). Movements in
the upward direction (negative direction) from this coordinate home of axis system are limited
by the soft limit- (axis 3 of axis-specific parameter No. 8). (The relationship is reversed on
actuators of inverse specification.)

Coordinate home of axis

system of Z-axis (0mm)

Soft limit+
200mm in the
example of PC
software screen

82
 [Soft limits for R-axis]
The R-axis position at which the D-cut surface at the tip of the axis faces the center of rotation
of arm 2 defines the coordinate home of the axis system of R-axis (0deg). This position is not
affected by the arm 1 or arm 2 position.

1. Preparation in Advance
Center of rotation of R-axis D-cut surface

Operating angles in the

counterclockwise direction (positive
direction) from this coordinate home of
axis system are limited by the soft limit+
(axis 4 of axis-specific parameter No. 7).
Soft limit- Operating angles in the clockwise
Soft limit+ -720deg in the direction (negative direction) are limited
720deg in the example of PC by the soft limit- (axis 4 of axis-specific
software screen
example of PC parameter No. 8).
software screen

Center of rotation of arm 2

When limiting the operating range of the R-axis, you must pay attention to the difference
between the base coordinate system and this axis system.

(Example)
Limit the range of operation of the R-axis to ±180 from the position shown below.
(Limit the R-axis to within ±180deg in the Axis 4 = 0 condition on the base coordinate system.)
-180deg (base coordinate) +Yb

Orientation of D-cut surface

-Xb direction 180deg (base coordinate)

-Xb +Xb
-270deg
(axis system of R-axis)

Orientation of D-cut surface

+90deg
(axis system of R-axis)
Orientation of center
of rotation of arm 2 In this case, the R-axis is limited to within
90deg in the positive direction and within
270deg in the negative direction from the
coordinate home of the axis system of R-axis.
The parameters below are set as follows:
Axis 4 of axis-specific parameter No. 7 = 90000
Axis 4 of axis-specific parameter No. 8 = -270000

83
 (2) Monitoring of axis system coordinates
You can use the PC software or teaching pendant to monitor axis system coordinates.
Shown below is an example of a PC software screen. When the jog movement coordinate
system is selected for each axis system in the position data edit window, the currently
displayed position switch to a coordinate based on the selected axis system.
1. Preparation in Advance

(An IX5020 (arm length 500mm, Z-axis 200mm) is located at the position of Axis 1 = 0,
Axis 2 = 500, Axis 3 = 0, Axis 4 = 0 on the base coordinate system.)

(Note) Position data cannot be loaded in each axis system.

[For details on the specific operating procedure, refer to the Instruction Manual for your PC
software or teaching pendant.]

84
[7] Simple Contact Check Zone

The simple contact check zone is an area you must set when checking for contact between
the robot and nearby equipment.
When tool coordinate system No. 0 (= tool coordinate system offset 0) is selected, you can

1. Preparation in Advance
detect an entry into the simple contact check zone by the center position of the tool mounting
surface. When any one of tool coordinate system No. 1 to 127 (= tool coordinate system offset
enabled) is selected, you can detect a similar entry by the tool tip position.

[Notes on use of simple contact check zone]

• An entry into the simple contact check zone by the center position of the tool mounting
surface (when tool coordinate system No. 0 is selected) or tool tip position (when any one of
tool coordinate system No. 1 to 127 is selected) is detected. An entry by the outer periphery
of the R-axis or any part of the tool other than its tip is not detected.
• This function does not prevent an entry into the simple contact check zone. It only detects an
entry after it has occurred.
• An entry cannot be detected reliably unless the applicable position remains inside the simple
contact check zone for 5msec or more. This function is intended to provide a means for
simple check by low-speed operation.
• The path changes between high-speed operation (actual operation) and low-speed
operation. Ensure a sufficient margin to avoid contact. (The robot tends to pass on the inner
side of the path during high-speed operation compared to low-speed operation.)
• The coordinates defining the simple contact check zone are always recognized as data of
the base coordinate system (work coordinate system selection No. 0). Take note that
changing the work coordinate system does not change the position of the simple contact
check zone.
If the coordinates defining the simple contact check zone are changed, it will take 5msec
before the check result according to the new coordinates is reflected.
• In PTP operation, the robot does not move along a fixed path. Conduct test operation at low
speed to confirm absence of contact near an obstacle (including a part of the robot), and
then gradually raise the speed to an appropriate level.
• If physical output port numbers or global flag numbers are duplicated, chattering occurs and
operation results become unstable. Do not specify duplicate numbers.
• Use of the simple contact check zone consumes significant CPU power. When this function
is not used, disable the function by setting 0 for the applicable “physical output port
number/global flag number” and “error type”.
• The simple interference check zone becomes available after the home-operation complete
or the absolute coordinate confirmation. Note that interference check cannot be held when
home-return operation is incomplete or the absolute coordinate is unconfirmed.
• In Physical Output Port Number and Global Flag Number of Simple Interference Check
Zone Definition, numbers to duplicate with those set in System Output Port / Flag Numbers
(Output Function Select, Linear Axis Zone, etc.) Error No. 906 “Input and Output Port / Flag
Number Error” generates if any duplicated number is indicated.

[Setting of simple contact check zone]

Set the simple contact check zone using position data of the base coordinate system.
Enter the maximum and minimum coordinate values of the simple contact check zone.
Set the boundary surfaces of the simple contact check zone in parallel with the base
coordinate axes.
B A
To set a rectangular solid like the one shown to the
left as the simple contact check zone, enter the
E
F coordinate values of two points according to a
D combination of A-G, B-H, C-E or D-F.
C

G H
85
 (Example) Setting example of simple contact check zones
Define simple contact check zone No. 1, 2 and 3 as shown below.
1. Preparation in Advance

B A

Simple contact Simple contact

No. 2 No. 1
E
F
C D

G H

Simple contact
No. 3

[1] For simple contact check zone No. 1, set a

rectangular solid as the simple contact
check zone.
A : Xb = 475, Yb = -50, Zb = 150, Rb = 0
G : Xb = 400, Yb = 50, Zb = 200, Rb = 180
An entry into this rectangular solid is not
detected if Rb is outside the range of 0 to
180°.

[2] For simple contact check zone No. 2, set an

area where Yb is 425mm or more as the
simple contact check zone.

[3] For simple contact check zone No. 3, set an

area where Xb is -400mm or less and Zb is
130mm or more as the simple contact
check zone.

Shown below is the screenshot of the edit window for the simple contact check zone definition
data in PC software dedicated for SCARA Robot assuming the simple contact check zones
No. 1, No. 2 and No. 3 are set.

86
 • As for simple contact check zone No. 1, an entry into this rectangular solid is not detected if
the Rb is outside the range of 0 to 180°. To detect an entry into this zone regardless of the
R-axis coordinate value, leave the coordinate 1 and 2 fields for zone 1 and R blank.

1. Preparation in Advance
• If either the maximum value or minimum value is not limited, as is the case with simple
contact check zone No. 2 and 3, enter a value outside the range of operation (such as 1000
for zone 2, and 1000 or -1000 for zone 3).

• The maximum value and minimum value can be set under either coordinate 1 or 2.

• According to the above settings, output port No. 311 turns ON upon entry into simple contact
check zone No. 1, output port No. 312 turns ON upon entry into simple contact check zone
No. 2, and output port No. 313 turns ON upon entry into simple contact check zone No. 3.

* Use a DFIF command if you want to set a simple contact check zone within the SEL
program.

[Note on detection while tool coordinate system is selected]

While the tool coordinate system is selected, this function detects an entry of the tool tip, not
the center of the mounting surface, into the simple contact check zone.

Simple contact check zone

Tool tip

Depending on the movement path, a part of the tool other than its tip may enter the simple
contact check zone, as shown below. Exercise due caution because in this case, the entry will
not be detected until the tool tip enters the simple contact check zone.

Simple contact check zone

Tool tip

87
 z Caution
In XSEL-RXD/SXD, XSEL-RAXD/SAXD, the definitions of SCARA axes (Axes 1 to 4) are to be
set to Axes 1 to 4 and SCARA axes (Axes 5 to 8) to Axes 5 to 8. SCARA axes (Axes 1 to 4)
and SCARA axes (Axes 5 to 8) cannot be set in one zone number at the same time. (10 zone
1. Preparation in Advance

definitions are required in total for 2 units of SCARA.)

Each coordinate axis number expresses the meaning listed below.

yAxis 1: Interference domain data of X-axis for SCARA axes (Axes 1 to 4)
yAxis 2: Interference domain data of Y-axis for SCARA axes (Axes 1 to 4)
yAxis 3: Interference domain data of A-axis for SCARA axes (Axes 1 to 4)
yAxis 4: Interference domain data of R-axis for SCARA axes (Axes 1 to 4)
yAxis 5: Interference domain data of X-axis for SCARA axes (Axes 5 to 8)
yAxis 6: Interference domain data of Y-axis for SCARA axes (Axes 5 to 8)
yAxis 7: Interference domain data of Z-axis for SCARA axes (Axes 5 to 8)
yAxis 8: Interference domain data of R-axis for SCARA axes (Axes 5 to 8)

88
2. Connection with Host System
When transferring the data between the host system (PLC, etc.), it can be selected from the
following methods(Note 1):
1) Use 24V DC I/O.
2) Use the serial communication (RS232C).
3) Use the Fieldbus communication(Note 2) (option). … This is able to control like I/O.
(Note 1) It includes the optional functions.

2. Connection with Host System

(Note 2) A dedicated PCB is required separately.
The types of applicable Fieldbus are CC-Link, DeviceNet, PROFIBUS,
PROFINET-IO (MSEL-PC/PG/PCX/PGX), Ethernet (for
XSEL-J/X/JX/KX/P/Q/PX/QX/TT only), EtherNet/IP (for XSEL-R*/S*, SSEL, ASEL,
PSEL, TTA, MSEL-PC/PG/PCX/PGX only) and EtherCAT (for XSEL-R*/S*, TTA,
MSEL-PC/PG/PCX/PGX only). [For details, refer to the Fieldbus Instruction Manual
provided separately and the Instruction Manual for the host system.]

2.1 I/O Signal

There are 2 types of input and output signals as shown below.
1) Input and Output I/O Port
2) Virtual I/O Port
PLC (Host) XSEL Controller I/O Port
Input Port Output Port

Data Transfer
I/O Unit

Fieldbus Master Data Transfer

Unit

Port No. Function Port No. Function

Program Start Alarm Output
General-purpose Input Ready Output
General-purpose Input Emergency Stop Output
General-purpose Input General-purpose Output
General-purpose Input General-purpose Output
General-purpose Input General-purpose Output
General-purpose Input General-purpose Output
Program Specification (PRG No.1) General-purpose Output
Input Program Specification (PRG No.2) Output General-purpose Output
Program Specification (PRG No.4) General-purpose Output
Program Specification (PRG No.8) General-purpose Output
Program Specification (PRG No.10) General-purpose Output
Program Specification (PRG No.20) General-purpose Output
Program Specification (PRG No.40) General-purpose Output
General-purpose Input General-purpose Output
General-purpose Input General-purpose Output

(Note) The numbers of I/O ports are:

Input: 000 to 299 (300 points max.)
Output: 300 to 599 (300 points max.) 89
 2.1.1 XSEL-J/K Type Controllers
XSEL-J/K type controllers
• XSEL-J/K/KE/KT/KET
• XSEL-JX/KX/KETX

[1] Input and Output I/O Port

2. Connection with Host System

With XSEL-J/K type controllers, the assignments of input and output functions to I/O ports are
fixed and cannot be changed.

I/O Signal Table

Input
Pin No. Wire Port No. Standard (factory) setting I/O parameter
color Can be changed by I/O parameter
1 Brown-1 K, KX types : Cannot be connected.
J, JX types : +24V input
2 Red-1 000 Program start No. 30 0: General-purpose input
1: Program start (BCD specification)
2: Program start (binary specification)
3 Orange-1 001 General-purpose input No. 31 0: General-purpose input
1: Soft reset signal
4 Yellow-1 002 General-purpose input No. 32 0: General-purpose input
1: Servo ON signal
5 Green-1 003 General-purpose input No. 33 0: General-purpose input
1: Auto program start upon power-ON reset or
software reset in AUTO mode
2: Auto program start signal
6 Blue-1 004 General-purpose input No. 34 0: General-purpose input
1: Software interlock of all servo axes (OFF level)
7 Purple-1 005 General-purpose input No. 35 0: General-purpose input
1: Operation pause cancellation input (ON edge)
8 Gray-1 006 General-purpose input No. 36 0: General-purpose input
1: Operation pause signal (OFF level)
9 White-1 007 Program number specification (MSB) No. 37 0: General-purpose input
1: Program number specification (MSB)
10 Black-1 008 Program number specification (bit 2) No. 38 0: General-purpose input
1: Program number specification (bit 2)
11 Brown-2 009 Program number specification (bit 3) No. 39 0: General-purpose input
1: Program number specification (bit 3)
12 Red-2 010 Program number specification (bit 4) No. 40 0: General-purpose input
1: Program number specification (bit 4)
13 Orange-2 011 Program number specification (bit 5) No. 41 0: General-purpose input
1: Program number specification (bit 5)
14 Yellow-2 012 Program number specification (bit 6) No. 42 0: General-purpose input
1: Program number specification (bit 6)
15 Green-2 013 Program number specification (LSB: No. 43 0: General-purpose input
bit 7) 1: Program number specification (LSB: bit 7)
16 Blue-2 014 General-purpose input No. 44 0: General-purpose input
1: Drive-source cutoff cancellation (ON edge)
17 Purple-2 015 General-purpose input No. 45 0: General-purpose input
The following settings are effective only with
XSEL-J/K:
1: Home return of all effective axes (ON edge)
2: Home return of all effective incremental axes (ON
edge)
18 Gray-2 016 General-purpose input
19 White-2 017 General-purpose input
20 Black-2 018 General-purpose input
21 Brown-3 019 General-purpose input
22 Red-3 020 General-purpose input
23 Orange-3 021 General-purpose input
24 Yellow-3 022 General-purpose input
25 Green-3 023 General-purpose input
26 Blue-3 024 General-purpose input
27 Purple-3 025 General-purpose input
28 Gray-3 026 General-purpose input
29 White-3 027 General-purpose input
30 Black-3 028 General-purpose input
31 Brown-4 029 General-purpose input
32 Red-4 030 General-purpose input
33 Orange-4 031 General-purpose input

90
Output
Pin No. Wire Port No. Standard (factory) setting I/O parameter
color Can be changed by I/O parameter
34 Yellow-4 300 Output of operation-cancellation level No. 46 0: General-purpose output
or higher error (OFF) 1: Output of operation-cancellation level or higher error
(ON)
2: Output of operation-cancellation level or higher error
(OFF)
3: Output of operation-cancellation level or higher error
+ Emergency stop output (ON)

2. Connection with Host System

4: Output of operation-cancellation level or higher error
+ Emergency stop output (OFF)
35 Green-4 301 READY output (PIO-trigger program No. 47 0: General-purpose output
operation enabled AND no cold-start 1: READY output (PIO-trigger program operation
level or higher error) (Main application enabled)
version 0.20 or later) 2: READY output (PIO-trigger program operation
enabled AND no operation-cancellation level or
higher error)
(Main application Ver.0.20 or later)
3: READY output (PIO-trigger program operation
enabled and no cold-start level or higher error)
(Main application Ver.0.20 or later)
36 Blue-4 302 Emergency stop output (OFF) No. 48 0: General-purpose output
2: Emergency stop output (ON)
3: Emergency stop output (OFF)
37 Purple-4 303 General-purpose output No. 49 0: General-purpose output
1: AUTO mode output
2: Auto operation output (When other parameter No.
12 is set to ‘1’)
38 Gray-4 304 General-purpose output No. 50 0: General-purpose output
The following settings are effective only with
XSEL-J/K:
1: Output when all effective axes are home (= 0)
2: Output when all effective axes have completed
home return
3: Output when all effective axes are at home preset
coordinate
(Main application Ver.0.21 or later)
* To move an actuator of absolute encoder
specification to coordinate 0 or the home preset
coordinate, use a MOVP command instead of
HOME command.
39 White-4 305 General-purpose output No. 51 0: General-purpose output
2: Axis 1 servo ON output
(Main application Ver.0.44 or later)
40 Black-4 306 General-purpose output No. 52 0: General-purpose output
2: Axis 2 servo ON output
(Main application Ver.0.44 or later)
41 Brown-5 307 General-purpose output No. 53 0: General-purpose output
2: Axis 3 servo ON output
(Main application Ver.0.44 or later)
42 Red-5 308 General-purpose output No. 54 0: General-purpose output
2: Axis 4 servo ON output
(Main application Ver.0.44 or later)
43 Orange-5 309 General-purpose output No. 55
44 Yellow-5 310 General-purpose output No. 56
45 Green-5 311 General-purpose output No. 57
46 Blue-5 312 General-purpose output No. 58
47 Purple-5 313 General-purpose output No. 59 0: General-purpose output
1: System-memory backup battery voltage low alarm
level or lower
48 Gray-5 314 General-purpose output No. 60 0: General-purpose output
1: Absolute-battery backup battery voltage low alarm
level or lower
(OR check of all axes. If an error level is detected,
this output is retained until power-ON reset or
software reset.)
(Main application Ver.0.28 or later)
49 White-5 315 General-purpose output No. 61
50 Black-5 K, KX types : Need not be connected.
J, JX types : 0V input

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

91
 [2] Virtual I/O Ports
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

XSEL-J/K Virtual Input Ports (Internal Flags)

Port No. Function
2. Connection with Host System

7000 Always OFF

7001 Always ON
7002 Voltage low warning for system-memory backup battery
7003 Abnormal voltage of system-memory backup battery
7004 (For future expansion = Use strictly prohibited)
7005 (For future expansion = Use strictly prohibited)
7006 Top-level system error = Message level error is present
7007 Top-level system error = Operation-cancellation level error is present
7008 Top-level system error = Cold-start level error is present
7009 (For future expansion = Use strictly prohibited)
7010 Drive-source cutoff factor is present (including when waiting for cutoff reset input)
7011 Latch signal indicating that all-operation-cancellation factor is present (latch signal for recognizing 1-shot
cancellation factor; latch is cancelled by 7300-ON)
7012 All-operation-pause factor is present (including when waiting for restart switch signal) (Valid only during
automatic operation recognition)
7013 All-servo-axis-interlock factor is present (all-operation-pause factor + interlock input-port factor)
7014 (For future expansion = Use strictly prohibited)
7015 Voltage low warning for axis-1 absolute-data backup battery (main application version 0.28 or later)
7016 Abnormal voltage of axis-1 absolute-data backup battery (latched until power-on reset or software reset) (main
application version 0.28 or later)
7017 Voltage low warning for axis-2 absolute-data backup battery (main application version 0.28 or later)
7018 Abnormal voltage of axis-2 absolute-data backup battery (latched until power-on reset or software reset) (main
application version 0.28 or later)
7019 Voltage low warning for axis-3 absolute-data backup battery (main application version 0.28 or later)
7020 Abnormal voltage of axis-3 absolute-data backup battery (latched until power-on reset or software reset) (main
application version 0.28 or later)
7021 Voltage low warning for axis-4 absolute-data backup battery (main application version 0.28 or later)
7022 Abnormal voltage of axis-4 absolute-data backup battery (latched until power-on reset or software reset) (main
application version 0.28 or later)
7023 to 7030 For future expansion = Use strictly prohibited
7031 Reading SIO CH1 (standard SIO) (reception ready) (*OFF if used for PC/TP connection) (main application
versions 0.41 or later)
7032 Reading SIO CH2 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7033 Reading SIO CH3 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7034 Reading SIO CH4 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7035 Reading SIO CH5 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7036 Reading SIO CH6 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7037 Reading SIO CH7 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7038 to 7040 (For future expansion = Use strictly prohibited)
7041 to 7070 (For future expansion = Use strictly prohibited)
7071 In AUTO mode (main application version 0.87 or later)
7072 During automatic operation (main application version 0.87 or later)
7073 to 7100 (For future expansion = Use strictly prohibited)
7101 Running program No. 01 (including during pause)
~ ~
7164 Running program No. 64 (including during pause)
7165 to 7299 (For future expansion = Use strictly prohibited)

92
 XSEL-J/K Virtual Output Ports (Internal Flags)
Port No. Function
7300 Latch cancellation output for a latch signal indicating that all-operation-cancellation factor
is present (7011) (latch is cancelled only when operation-cancellation factor is no longer present)
(7300 will be turned OFF following an attempt to cancel latch.)
7301 to 7380 (For future expansion = Use strictly prohibited)

2. Connection with Host System

7381 to 7399 (For future expansion = Use strictly prohibited)
7400 to 7599 (For future expansion = Use strictly prohibited)

93
 XSEL-JX/KX Virtual Input Ports (Internal Flags)
Port No. Function
7000 Always OFF
7001 Always ON
7002 System-memory backup battery voltage low warning
7003 System-memory backup battery voltage error
2. Connection with Host System

7004 (Reserved by the system = Use is strictly prohibited)

7005 (Reserved by the system = Use is strictly prohibited)
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 (Reserved by the system = Use is strictly prohibited)
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock input port)
7014 (Reserved by the system = Use is strictly prohibited)
7015 Axis 1 absolute-data backup battery voltage low warning
7016 Axis 1 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7017 Axis 2 absolute-data backup battery voltage low warning
7018 Axis 2 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7019 Axis 3 absolute-data backup battery voltage low warning
7020 Axis 3 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7021 Axis 4 absolute-data backup battery voltage low warning
7022 Axis 4 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7023 to 7030 (For future expansion = Use is strictly prohibited)
7031 Reading SIO CH1 (standard SIO) (Receive ready) (*OFF if a PC/TP is connected)
7032 Reading SIO CH2 (standard SIO) (Receive ready)
7033 Reading SIO CH3 (standard SIO) (Receive ready)
7034 Reading SIO CH4 (standard SIO) (Receive ready)
7035 Reading SIO CH5 (standard SIO) (Receive ready)
7036 Reading SIO CH6 (standard SIO) (Receive ready)
7037 Reading SIO CH7 (standard SIO) (Receive ready)
7038 to 7070 (Reserved by the system = Use is strictly prohibited)
7071 In the AUTO mode (Main application Ver.0.34 or later)
7072 During auto operation (Main application Ver.0.34 or later)
7073 to 7100 (Reserved by the system = Use is strictly prohibited)
7101 Program No. 01 is being executed (or paused).
~ ~
7164 Program No. 64 is being executed (or paused).
7165 to 7299 (For future expansion = Use is strictly prohibited)

94
 XSEL-JX/KX Virtual Output Ports (Internal Flags)
Port No. Function
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation cancellation
(7011). (Unlatched only when the cause of operation cancellation is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 to 7380 (For future expansion = Use is strictly prohibited)

2. Connection with Host System

7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 to 7599 (For future expansion = Use is strictly prohibited)

95
 2.1.2 XSEL-P/Q/PCT/QCT Controllers
[1] Input and Output I/O Port
With XSEL-P/Q/PCT/QCT controllers, input and output functions can be assigned to input and
output ports as desired.
For input ports, set input functions using I/O parameters 30 to 45 (input function selections 000
to 015) and then use I/O parameters 283 to 298 to set the port numbers to assign the
2. Connection with Host System

respective functions to.

For output ports, set output functions using I/O parameters 46 to 61 (output function selections
300 to 315) and then use I/O parameters 299 to 314 to set the port numbers to assign the
respective functions to.
You can also use I/O parameters 331 to 346 (output function selections 300 (area 2) to 315
(area 2)) to set output functions and then use I/O parameters 315 to 330 to set the port
numbers to assign the respective functions to.

Input
Pin Port Standard Remarks
Wire color Inputs are set as shown in the table prior to the shipment, but you can change these
No. No. (factory-set) function
input functions by setting applicable I/O parameters.
1 Brown-1 +24V input Parameter Parameter name Function
No.
2 Red-1 000 Program start No. 30 Input function 0: General-purpose input
selection 000 1: Program start (input ports 007 to 013, BCD
specification)
2: Program start (input ports 007 to 013, binary
specification)
3: Program start (input ports 008 to 014, BCD
specification)
4: Program start (input ports 008 to 014, binary
specification)
3 Orange-1 001 General-purpose input No. 31 Input function 0: General-purpose input
selection 001 1: Soft reset signal
4 Yellow-1 002 General-purpose input No. 32 Input function 0: General-purpose input
selection 002 1: Servo ON signal
5 Green-1 003 General-purpose input No. 33 Input function 0: General-purpose input
selection 003 1: Auto program start upon power-ON reset or
software reset in AUTO mode
2: Auto program start signal
6 Blue-1 004 General-purpose input No. 34 Input function 0: General-purpose input
selection 004 1: Software interlock of all servo axes (OFF level)
7 Purple-1 005 General-purpose input No. 35 Input function 0: General-purpose input
selection 005 1: Operation pause cancellation input (ON edge)
8 Gray-1 006 General-purpose input No. 36 Input function 0: General-purpose input
selection 006 1: Operation pause signal (OFF level)
9 White-1 007 Program number No. 37 Input function 0: General-purpose input
specification (MSB) selection 007 1: Program number specification (MSB)
10 Black-1 008 Program number No. 38 Input function 0: General-purpose input
specification (bit 2) selection 008 1: Program number specification (bit 2)
11 Brown-2 009 Program number No. 39 Input function 0: General-purpose input
specification (bit 3) selection 009 1: Program number specification (bit 3)
12 Red-2 010 Program number No. 40 Input function 0: General-purpose input
specification (bit 4) selection 010 1: Program number specification (bit 4)
13 Orange-2 011 Program number No. 41 Input function 0: General-purpose input
specification (bit 5) selection 011 1: Program number specification (bit 5)
14 Yellow-2 012 Program number No. 42 Input function 0: General-purpose input
specification (bit 6) selection 012 1: Program number specification (bit 6)
15 Green-2 013 Program number No. 43 Input function 0: General-purpose input
specification selection 013 1: Program number specification (LSB: bit 7)
(LSB: bit 7)
16 Blue-2 014 General-purpose input No. 44 Input function 0: General-purpose input
selection 014 1: Drive-source cutoff cancellation (ON edge)
17 Purple-2 015 General-purpose input No. 45 Input function 0: General-purpose input
selection 015 1: Home return of all effective axes (ON edge)
2: Home return of all effective incremental axes (ON
edge)
18 Gray-2 016 General-purpose input
19 White-2 017 General-purpose input
20 Black-2 018 General-purpose input
21 Brown-3 019 General-purpose input
22 Red-3 020 General-purpose input
23 Orange-3 021 General-purpose input
24 Yellow-3 022 General-purpose input
25 Green-3 023 General-purpose input
26 Blue-3 024 General-purpose input
27 Purple-3 025 General-purpose input
28 Gray-3 026 General-purpose input
29 White-3 027 General-purpose input
30 Black-3 028 General-purpose input
31 Brown-4 029 General-purpose input
32 Red-4 030 General-purpose input
33 Orange-4 031 General-purpose input

96
Output
Remarks
Pin Wire Port Standard Setting When the unit is delivered, the output is set as shown in the table.
No. color No. (in the delivery) However, the output function can be changed using the I/O parameter setting.
Function Parameter Parameter Name Function
No. *1
34 YW-4 300 Error Output at the No.46 Output Function 0: Universal Output
Operation Cancellation No.331 Selection 300 1: Error Output at the Operation Cancellation Level
Level or more (OFF) Output Function or more (ON)
Selection 300 2: Error Output at the Operation Cancellation Level

2. Connection with Host System

(Area 2) or more (OFF)
3: Error Output at the Operation Cancellation Level
or more + Emergency-stop output (ON)
4: Error Output at the Operation Cancellation Level
or more + Emergency-stop output (OFF)
35 GN-4 301 READY Output (PIO No.47 Output Function 0: Universal Input
Trigger Program No.332 Selection 301 1: READY Output (PIO Trigger Program Operation
Operation Available and Output Function Available)
without occurrence of Selection 301 2: READY Output (PIO Trigger Program Operation
any error at the cold (Area 2) Available)and without occurrence of any error at
start level or more) the operation cancellation level or more
(Main Application Ver. 3: READY Output (PIO Trigger Program Operation
0.20 or later) Available)and READY Output (PIO Trigger
Program Operation Available, and without
occurrence of any error at the cold start level or
more or more level or more
36 BL-4 302 Emergency-stop output No.48 Output Function 0: Universal Input
(OFF) No.333 Selection 302 2: Emergency-stop output (ON)
Output Function 3: Emergency-stop output (OFF)
Selection 302
(Area 2)
37 PL-4 303 Universal Output No.49 Output Function 0: Universal Output
No.334 Selection 303 1: AUTO Mode Output
Output Function 2: Output during the Automatic Operation (In
Selection 303 addition, when the parameter No. 12 is set to “1”)
(Area 2)
38 GY-4 304 Universal Output No.50 Output Function 0: Universal Output
No.335 Selection 304 1: Output at the time of “All Effective Axes Homing
Output Function (=0)”
Selection 304 2: Output when all the effective axes homing is
(Area 2) completed
3: Output when all the effective axes home preset
coordinates are set
* When the actuator applicable to the absolute
encoder is moved to the coordinates “0” or
home preset coordinates, use “MOVE” order,
not “HOME” order.
39 WT-4 305 Universal Output No.51 Output Function 0: Universal Output
No.336 Selection 305 1: Axis 1 in-position output (turned OFF when
Output Function pressing missed)
Selection 305 2: Output during the Axis 1 servo ON
(Area 2)
40 BK-4 306 Universal Output No.52 Output Function 0: Universal Output
No.337 Selection 306 1: Axis 2 in-position output (turned OFF when
Output Function pressing missed)
Selection 306 2: Output during the Axis 2 servo ON
(Area 2)
41 BR-5 307 Universal Output No.53 Output Function 0: Universal Output
No.338 Selection 307 1: Axis 3 in-position output (turned OFF when
Output Function pressing missed)
Selection 307 2: Output during the Axis 3 servo ON
(Area 2)
42 RD-5 308 Universal Output No.54 Output Function 0: Universal Output
No.339 Selection 308 1: Axis 4 in-position output (turned OFF when
Output Function pressing missed)
Selection 308 2: Output during the Axis 4 servo ON
(Area 2)
43 OR-5 309 Universal Output No.55 Output Function 0: Universal Output
No.340 Selection 309 1: Axis 5 in-position output (turned OFF when
Output Function pressing missed)
Selection 309 2: Output during the Axis 5 servo ON
(Area 2)
44 YW-5 310 Universal Output No.56 Output Function 0: Universal Output
No.341 Selection 310 1: Axis 6 in-position output (turned OFF when
Output Function pressing missed)
Selection 310 2: Output during the Axis 6 servo ON
(Area 2)
45 GN-5 311 Universal Output No.57 Output Function
No.342 Selection 311
Output Function
Selection 311
(Area 2)
46 BL-5 312 Universal Output No.58 Output Function
No.343 Selection 312
Output Function
Selection 312
(Area 2)

97
 Remarks
Pin Wire Port Standard Setting When the unit is delivered, the output is set as shown in the table.
No. color No. (in the delivery) However, the output function can be changed using the I/O parameter setting.
Function Parameter
No. *1 Parameter Name Function
47 PL-5 313 Universal Output No.59 Output Function 0: Universal Output
No.344 Selection 313 1: System Memory Backup Battery Low Voltage
Output Function Alarm Level or less
Selection 313
2. Connection with Host System

(Area 2)
48 GY-5 314 Universal Output No.60 Output Function 0: Universal Output
No.345 Selection 314 1: Absolute Battery Backup Battery Low Voltage
Output Function Alarm Level or less (All axes OR check: Error level
Selection 314 detection is maintained until power ON reset and
(Area 2) software reset)
49 WT-5 315 Universal Output No.61 Output Function
No.346 Selection 315
Output Function
Selection 315
(Area 2)
50 BK-5 0V Output

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

98
[2] Virtual I/O Port
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

XSEL-P/Q/PCT/QCT Virtual Input Ports (Internal Flags)

Port No. Function

2. Connection with Host System

7000 Always OFF
7001 Always ON
7002 System-memory backup battery voltage low warning
7003 System-memory backup battery voltage error
7004 (Reserved by the system = Use is strictly prohibited)
7005 (Reserved by the system = Use is strictly prohibited)
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 (Reserved by the system = Use is strictly prohibited)
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock input port)
7014 (Reserved by the system = Use is strictly prohibited)
7015 Axis 1 absolute-data backup battery voltage low warning
7016 Axis 1 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7017 Axis 2 absolute-data backup battery voltage low warning (Main application version 0.28 or later)
7018 Axis 2 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7019 Axis 3 absolute-data backup battery voltage low warning
7020 Axis 3 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7021 Axis 4 absolute-data backup battery voltage low warning
7022 Axis 4 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7023 Axis 5 absolute-data backup battery voltage low warning (Effective only with 6-axis types)
7024 Axis 5 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
(Effective only with 6-axis types)
7025 Axis 6 absolute-data backup battery voltage low warning (Effective only with 6-axis types)
7026 Axis 6 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
(Effective only with 6-axis types)
7027 to 7040 (Reserved by the system = Use is strictly prohibited)
7041, 7042 (For future expansion = Use is strictly prohibited)
7043 Axis 1 home return completion
7044 Axis 2 home return completion
7045 Axis 3 home return completion
7046 Axis 4 home return completion
7047 Axis 5 home return completion
7048 Axis 6 home return completion
7049 to 7070 (For future expansion = Use is strictly prohibited)
7071 In the AUTO mode
7072 During auto operation
7073 to 7100 (Reserved by the system = Use is strictly prohibited)
7101 Program No. 01 is being executed (or paused).
~ ~
7164 Program No. 64 is being executed (or paused).

99
 XSEL-P/Q/PCT/QCT Virtual Input Ports (Internal Flags)
Port No. Function
7165 Program No. 65 is being executed (or paused).
(Controller with increased memory capacity (with gateway function) only)
~ ~
7228 Program No. 128 is being executed (or paused).
2. Connection with Host System

(Controller with increased memory capacity (with gateway function) only)

7229 to 7299 (For future expansion = Use is strictly prohibited)

100
 XSEL-P/Q/PCT/QCT Virtual Output Ports (Internal Flags)
Port No. Function
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation cancellation
(7011). (Unlatched only when the cause of operation cancellation is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 Axis 1 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)

2. Connection with Host System

The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7302 Axis 2 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7303 Axis 3 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7304 Axis 4 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7305 Axis 5 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7306 Axis 6 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7307 to 7380 (For future expansion = Use is strictly prohibited)
7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 to 7599 (For future expansion = Use is strictly prohibited)

101
 2.1.3 XSEL-PX/QX Controllers
[1] Input and Output I/O Port
With XSEL-PX/QX type controllers, the assignments of input and output functions to I/O ports
are fixed and cannot be changed.

Input
2. Connection with Host System

I/O parameter
Pin Port Standard
Wire color Inputs are set as shown in the table prior to the shipment, but you can change these input
No. No. (factory-set) function
functions by setting applicable I/O parameters.
1 Brown-1 +24V input
2 Red-1 000 Program start No. 30 0: General-purpose input
1: Program start (input ports 007 to 013, BCD specification)
2: Program start (input ports 007 to 013, binary specification)
3: Program start (input ports 008 to 014, BCD specification)
4: Program start (input ports 008 to 014, binary specification)
3 Orange-1 001 General-purpose input No. 31 0: General-purpose input
1: Soft reset signal
4 Yellow-1 002 General-purpose input No. 32 0: General-purpose input
1: Servo ON signal
5 Green-1 003 General-purpose input No. 33 0: General-purpose input
1: Auto program start upon power-ON reset or software reset in AUTO mode
2: Auto program start signal
6 Blue-1 004 General-purpose input No. 34 0: General-purpose input
1: Software interlock of all servo axes (OFF level)
7 Purple-1 005 General-purpose input No. 35 0: General-purpose input
1: Operation pause cancellation input (ON edge)
8 Gray-1 006 General-purpose input No. 36 0: General-purpose input
1: Operation pause signal (OFF level)
9 White-1 007 Program number No. 37 0: General-purpose input
specification (MSB) 1: Program number specification (MSB)
10 Black-1 008 Program number No. 38 0: General-purpose input
specification (bit 2) 1: Program number specification (bit 2)
11 Brown-2 009 Program number No. 39 0: General-purpose input
specification (bit 3) 1: Program number specification (bit 3)
12 Red-2 010 Program number No. 40 0: General-purpose input
specification (bit 4) 1: Program number specification (bit 4)
13 Orange-2 011 Program number No. 41 0: General-purpose input
specification (bit 5) 1: Program number specification (bit 5)
14 Yellow-2 012 Program number No. 42 0: General-purpose input
specification (bit 6) 1: Program number specification (bit 6)
15 Green-2 013 Program number No. 43 0: General-purpose input
specification 1: Program number specification (LSB: bit 7)
(LSB: bit 7)
16 Blue-2 014 General-purpose input No. 44 0: General-purpose input
1: Drive-source cutoff cancellation (ON edge)
17 Purple-2 015 General-purpose input No. 45 0: General-purpose input
1: Home return of all effective axes (ON edge)
2: Home return of all effective incremental axes (ON edge)
18 Gray-2 016 General-purpose input
19 White-2 017 General-purpose input
20 Black-2 018 General-purpose input
21 Brown-3 019 General-purpose input
22 Red-3 020 General-purpose input
23 Orange-3 021 General-purpose input
24 Yellow-3 022 General-purpose input
25 Green-3 023 General-purpose input
26 Blue-3 024 General-purpose input
27 Purple-3 025 General-purpose input
28 Gray-3 026 General-purpose input
29 White-3 027 General-purpose input
30 Black-3 028 General-purpose input
31 Brown-4 029 General-purpose input
32 Red-4 030 General-purpose input
33 Orange-4 031 General-purpose input

102
Output
Pin Wire Port Standard
No. color No. (factory-set) function
34 Yellow-4 300 Output of No. 46 0: General-purpose output
operation-cancellation 1: Output of operation-cancellation level or higher error (ON)
level or higher error (OFF) 2: Output of operation-cancellation level or higher error (OFF)
3: Output of operation-cancellation level or higher error + Emergency stop
output (ON)
4: Output of operation-cancellation level or higher error + Emergency stop

2. Connection with Host System

output (OFF)
35 Green-4 301 READY output No. 47 0: General-purpose output
(PIO-trigger program 1: READY output (PIO-trigger program operation enabled)
operation enabled AND no 2: READY output (PIO-trigger program operation enabled AND no
cold-start level or higher operation-cancellation level or higher error)
error) (Main application 3: READY output (PIO-trigger program operation enabled AND no cold-start
Ver.0.20 or later) level or higher error)
36 Blue-4 302 Emergency stop output No. 48 0: General-purpose output
(OFF) 2: Emergency stop output (ON)
3: Emergency stop output (OFF)
37 Purple-4 303 General-purpose output No. 49 0: General-purpose output
1: AUTO mode output
2: Auto operation output (When other parameter No. 12 is set to ‘1’)
38 Gray-4 304 General-purpose output No. 50 0: General-purpose output
The following settings are effective only with XSEL-J/K:
1: Output when all effective axes are home (= 0)
2: Output when all effective axes have completed home return
3: Output when all effective axes are at home preset coordinate
* To move an actuator of absolute encoder specification to coordinate 0 or
the home preset coordinate, use a MOVP command instead of HOME
command.
39 White-4 305 General-purpose output No. 51 0: General-purpose output
2: Axis 1 servo ON output
40 Black-4 306 General-purpose output No. 52 0: General-purpose output
2: Axis 2 servo ON output
41 Brown-5 307 General-purpose output No. 53 0: General-purpose output
2: Axis 3 servo ON output
42 Red-5 308 General-purpose output No. 54 0: General-purpose output
2: Axis 4 servo ON output
43 Orange-5 309 General-purpose output No. 55 0: General-purpose output
2: Axis 5 servo ON output
44 Yellow-5 310 General-purpose output No. 56 0: General-purpose output
2: Axis 6 servo ON output
45 Green-5 311 General-purpose output No. 57

46 Blue-5 312 General-purpose output No. 58

47 Purple-5 313 General-purpose output No. 59 0: General-purpose output

1: System-memory backup battery voltage low alarm level or lower
48 Gray-5 314 General-purpose output No. 60 0: General-purpose output
1: Absolute-battery backup battery voltage low alarm level or lower
(OR check of all axes. If an error level is detected, this output is retained
until power-ON reset or software reset.)
49 White-5 315 General-purpose output No. 61
50 Black-5 0V input

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

103
 [2] Virtual I/O Port
Should be the same as XSEL-P/Q/PCT/QCT [Refer to 2.1.2 XSEL-P/Q/PCT/QCT]

XSEL-PX/QX Virtual Input Ports (Internal Flags)

Port No. Function
7000 Always OFF
2. Connection with Host System

7001 Always ON
7002 Voltage low warning for system memory backup battery
7003 Abnormal voltage of system memory backup battery
7004 (For future expansion = Use strictly prohibited)
7005 (For future expansion = Use strictly prohibited)
7006 Top level system error = Message level error is present
7007 Top level system error = Operation cancellation level error is present
7008 Top level system error = Cold start level error is present
7009 (For future expansion = Use strictly prohibited)
7010 Drive source cutoff factor is present (including when waiting for cutoff reset input)
Latch signal indicating that all operation cancellation factor is present (latch signal for recognizing 1-shot
7011
cancellation factor; latch is cancelled by 7300 being ON)
All operation pause factor is present (including when waiting for restart switch signal. Valid only during
7012
automatic operation recognition)
7013 All servo axis interlock factor is present (all operation pause factor + interlock input port factor)
7014 (For future expansion = Use strictly prohibited)
7015 Voltage low warning for axis 1 absolute data backup battery
7016 Abnormal voltage of axis 1 absolute data backup battery (latched until power on reset or software reset)
7017 Voltage low warning for axis 2 absolute data backup battery (main application version 0.28 or later)
7018 Abnormal voltage of axis 2 absolute data backup battery (latched until power on reset or software reset)
7019 Voltage low warning for axis 3 absolute data backup battery
7020 Abnormal voltage of axis 3 absolute data backup battery (latched until power on reset or software reset)
7021 Voltage low warning for axis 4 absolute data backup battery
7022 Abnormal voltage of axis 4 absolute data backup battery (latched until power on reset or software reset)
Voltage low warning for axis 5 absolute data backup battery (valid only when the controller supports up to 6
7023
axes)
Abnormal voltage of axis 5 absolute data backup battery (latched until power on reset or software reset. Valid
7024
only when the controller supports up to 6 axes)
Voltage low warning for axis 6 absolute data backup battery (valid only when the controller supports up to 6
7025
axes)
Abnormal voltage of axis 6 absolute data backup battery (latched until power on reset or software reset. Valid
7026
only when the controller supports up to 6 axes)
7027 to 7040 (For future expansion = Use strictly prohibited)
7041 to 7070 (For future expansion = Use strictly prohibited)
7071 In AUTO mode
7072 During automatic operation
7073 to 7100 (For future expansion = Use strictly prohibited)
7101 Running program No. 01 (including during pause)
~ ~
7164 Running program No. 64 (including during pause)
Running program No. 65 (including during pause)
7165
(Controller with increased memory size (with gateway function) only)
~ ~
Running program No. 128 (including during pause)
7228
(Controller with increased memory size (with gateway function) only)
7229 to 7299 (For future expansion = Use strictly prohibited)

104
 XSEL-PX/QX Virtual Output Ports (Internal Flags)
Port No. Function
Latch cancellation output for a latch signal indicating that all operation cancellation factor is present (port 7011.
7300 The latch is cancelled only when operation cancellation factor is no longer present. 7300 will be turned OFF
following an attempt to cancel latch)
7301 to 7380 (For future expansion = Use strictly prohibited)

2. Connection with Host System

7381 to 7399 (For future expansion = Use strictly prohibited)
7400 to 7599 (For future expansion = Use strictly prohibited)

105
 2.1.4 XSEL-R/S/RX/SX/RXD/SXD Controllers
[1] Input and Output I/O Port
With XSEL-R/S/RX/SX/RXD/SXD controllers, input and output functions can be assigned to
input and output ports as desired.
For input ports, set input functions using I/O parameters 30 to 45 (input function selections 000
to 015) and then use I/O parameters 283 to 298 to set the port numbers to assign the
2. Connection with Host System

respective functions to.

For output ports, set output functions using I/O parameters 46 to 61 (output function selections
300 to 315) and then use I/O parameters 299 to 314 to set the port numbers to assign the
respective functions to.
You can also use I/O parameters 331 to 346 (output function selections 300 (area 2) to 315
(area 2)) to set output functions and then use I/O parameters 315 to 330 to set the port
numbers to assign the respective functions to.

Input
Pin Port Standard Remarks
Wire color Inputs are set as shown in the table prior to the shipment, but you can change these
No. No. (factory-set) function
input functions by setting applicable I/O parameters.
1 Brown-1 +24V input Parameter Parameter name Function
No.
2 Red-1 000 Program start No. 30 Input function 0: General-purpose input
selection 000 1: Program start (input ports 007 to 013, BCD
specification)
2: Program start (input ports 007 to 013, binary
specification)
3: Program start (input ports 008 to 014, BCD
specification)
4: Program start (input ports 008 to 014, binary
specification)
3 Orange-1 001 General-purpose input No. 31 Input function 0: General-purpose input
selection 001 1: Soft reset signal
4 Yellow-1 002 General-purpose input No. 32 Input function 0: General-purpose input
selection 002 1: Servo ON signal
5 Green-1 003 General-purpose input No. 33 Input function 0: General-purpose input
selection 003 1: Auto program start upon power-ON reset or
software reset in AUTO mode
2: Auto program start signal
6 Blue-1 004 General-purpose input No. 34 Input function 0: General-purpose input
selection 004 1: Software interlock of all servo axes (OFF level)
7 Purple-1 005 General-purpose input No. 35 Input function 0: General-purpose input
selection 005 1: Operation pause cancellation input (ON edge)
8 Gray-1 006 General-purpose input No. 36 Input function 0: General-purpose input
selection 006 1: Operation pause signal (OFF level)
9 White-1 007 Program number No. 37 Input function 0: General-purpose input
specification (MSB) selection 007 1: Program number specification (MSB)
10 Black-1 008 Program number No. 38 Input function 0: General-purpose input
specification (bit 2) selection 008 1: Program number specification (bit 2)
11 Brown-2 009 Program number No. 39 Input function 0: General-purpose input
specification (bit 3) selection 009 1: Program number specification (bit 3)
12 Red-2 010 Program number No. 40 Input function 0: General-purpose input
specification (bit 4) selection 010 1: Program number specification (bit 4)
13 Orange-2 011 Program number No. 41 Input function 0: General-purpose input
specification (bit 5) selection 011 1: Program number specification (bit 5)
14 Yellow-2 012 Program number No. 42 Input function 0: General-purpose input
specification (bit 6) selection 012 1: Program number specification (bit 6)
15 Green-2 013 Program number No. 43 Input function 0: General-purpose input
specification selection 013 1: Program number specification (LSB: bit 7)
(LSB: bit 7)
16 Blue-2 014 General-purpose input No. 44 Input function 0: General-purpose input
selection 014 1: Drive-source cutoff cancellation (ON edge)
17 Purple-2 015 General-purpose input No. 45 Input function 0: General-purpose input
selection 015 1: Home return of all effective axes (ON edge)
2: Home return of all effective incremental axes (ON
edge)
18 Gray-2 016 General-purpose input
19 White-2 017 General-purpose input
20 Black-2 018 General-purpose input
21 Brown-3 019 General-purpose input
22 Red-3 020 General-purpose input
23 Orange-3 021 General-purpose input
24 Yellow-3 022 General-purpose input
25 Green-3 023 General-purpose input
26 Blue-3 024 General-purpose input
27 Purple-3 025 General-purpose input
28 Gray-3 026 General-purpose input
29 White-3 027 General-purpose input
30 Black-3 028 General-purpose input
31 Brown-4 029 General-purpose input
32 Red-4 030 General-purpose input
33 Orange-4 031 General-purpose input

106
Output
Remarks
Pin Wire Port Standard Setting When the unit is delivered, the output is set as shown in the table.
No. color No. (in the delivery) However, the output function can be changed using the I/O parameter setting.
Function Parameter Parameter Name Function
No. *1
34 YW-4 300 Error Output at the No.46 Output Function 0: Universal Output
Operation Cancellation No.331 Selection 300 1: Error Output at the Operation Cancellation Level
Level or more (OFF) Output Function or more (ON)
Selection 300 2: Error Output at the Operation Cancellation Level

2. Connection with Host System

(Area 2) or more (OFF)
3: Error Output at the Operation Cancellation Level
or more + Emergency-stop output (ON)
4: Error Output at the Operation Cancellation Level
or more + Emergency-stop output (OFF)
5: Error output of cold start level or more (ON)
6: Error output of cold start level or more (OFF)
7: Message level related to maintenance information
alarm function
(OFF) for error output of (Error No. 231 to 232)
35 GN-4 301 READY Output (PIO No.47 Output Function 0: Universal Input
Trigger Program No.332 Selection 301 1: READY Output (PIO Trigger Program Operation
Operation Available and Output Function Available)
without occurrence of Selection 301 2: READY Output (PIO Trigger Program Operation
any error at the cold (Area 2) Available)and without occurrence of any error at
start level or more) the operation cancellation level or more
(Main Application Ver. 3: READY Output (PIO Trigger Program Operation
0.20 or later) Available)and READY Output (PIO Trigger
Program Operation Available, and without
occurrence of any error at the cold start level or
more or more level or more
36 BL-4 302 Emergency-stop output No.48 Output Function 0: Universal Input
(OFF) No.333 Selection 302 2: Emergency-stop output (ON)
Output Function 3: Emergency-stop output (OFF)
Selection 302
(Area 2)
37 PL-4 303 Universal Output No.49 Output Function 0: Universal Output
No.334 Selection 303 1: AUTO Mode Output
Output Function 2: Output during the Automatic Operation (In
Selection 303 addition, when the parameter No. 12 is set to “1”)
(Area 2)
38 GY-4 304 Universal Output No.50 Output Function 0: Universal Output
No.335 Selection 304 1: Output at the time of “All Effective Axes Homing
Output Function (=0)”
Selection 304 2: Output when all the effective axes homing is
(Area 2) completed (Coordinates determined)
3: Output when all the effective axes home preset
coordinates are set
39 WT-4 305 Universal Output No.51 Output Function 0: Universal Output
No.336 Selection 305 1: Axis 1 in-position output (turned OFF when
Output Function pressing missed)
Selection 305 2: Output during the Axis 1 servo ON
(Area 2)
40 BK-4 306 Universal Output No.52 Output Function 0: Universal Output
No.337 Selection 306 1: Axis 2 in-position output (turned OFF when
Output Function pressing missed)
Selection 306 2: Output during the Axis 2 servo ON
(Area 2)
41 BR-5 307 Universal Output No.53 Output Function 0: Universal Output
No.338 Selection 307 1: Axis 3 in-position output (turned OFF when
Output Function pressing missed)
Selection 307 2: Output during the Axis 3 servo ON
(Area 2)
42 RD-5 308 Universal Output No.54 Output Function 0: Universal Output
No.339 Selection 308 1: Axis 4 in-position output (turned OFF when
Output Function pressing missed)
Selection 308 2: Output during the Axis 4 servo ON
(Area 2)
43 OR-5 309 Universal Output No.55 Output Function 0: Universal Output
No.340 Selection 309 1: Axis 5 in-position output (turned OFF when
Output Function pressing missed)
Selection 309 2: Output during the Axis 5 servo ON
(Area 2)
44 YW-5 310 Universal Output No.56 Output Function 0: Universal Output
No.341 Selection 310 1: Axis 6 in-position output (turned OFF when
Output Function pressing missed)
Selection 310 2: Output during the Axis 6 servo ON
(Area 2)
45 GN-5 311 Universal Output No.57 Output Function 0: Universal Output
No.342 Selection 311 1: Axis 7 in-position output (turned OFF when
Output Function pressing missed)
Selection 311 2: Output during the Axis 7 servo ON (system
(Area 2) monitoring task output)
46 BL-5 312 Universal Output No.58 Output Function 0: Universal Output
No.343 Selection 312 1: Axis 8 in-position output (turned OFF when
Output Function pressing missed)
Selection 312 2: Output during the Axis 8 servo ON (system
(Area 2) monitoring task output)

107
 Remarks
Pin Wire Port Standard Setting When the unit is delivered, the output is set as shown in the table.
No. color No. (in the delivery) However, the output function can be changed using the I/O parameter setting.
Function Parameter
No. *1 Parameter Name Function
47 PL-5 313 Universal Output No.59 Output Function 0: Universal Output
No.344 Selection 313 1: Reserved by the system
Output Function
Selection 313
2. Connection with Host System

(Area 2)
48 GY-5 314 Universal Output No.60 Output Function 0: Universal Output
No.345 Selection 314 1: Voltage low warning for absolute-data backup
Output Function battery
Selection 314
(Area 2)
49 WT-5 315 Universal Output No.61 Output Function 0: Universal Output
No.346 Selection 315
Output Function
Selection 315
(Area 2)
50 BK-5 0V Output

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

108
[2] Virtual I/O Port
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

XSEL-R/S/RX/SX/RXD/SXD Virtual Input Ports (Internal Flags)

Port No. Function

2. Connection with Host System

7000 Always OFF
7001 Always ON
7002 to 7005 (Reserved by the system = Use is strictly prohibited)
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 (Reserved by the system = Use is strictly prohibited)
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock input port)
7014 (Reserved by the system = Use is strictly prohibited)
7015 Axis 1 absolute-data backup battery voltage low warning
7016 Axis 1 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7017 Axis 2 absolute-data backup battery voltage low warning
7018 Axis 2 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7019 Axis 3 absolute-data backup battery voltage low warning
7020 Axis 3 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7021 Axis 4 absolute-data backup battery voltage low warning
7022 Axis 4 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7023 Axis 5 absolute-data backup battery voltage low warning
7024 Axis 5 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7025 Axis 6 absolute-data backup battery voltage low warning
7025 Axis 6 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7027 Axis 7 absolute-data backup battery voltage low warning
7028 Axis 7 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7029 Axis 8 absolute-data backup battery voltage low warning
7030 Axis 8 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7031 to 7040 (Reserved by the system = Use is strictly prohibited)
7041 to 7042 (For future expansion = Use is strictly prohibited)
7043 Axis 1 home return completion
7044 Axis 2 home return completion
~ ~
7048 Axis 6 home return completion
7049 Axis 7 home return completion
7050 Axis 8 home return completion
7051 to 7069 (For future expansion = Use is strictly prohibited)
7070 (Reserved by the system = Use is strictly prohibited)
7071 In the AUTO mode
7072 During auto operation
7073 to 7074 (For future expansion = Use is strictly prohibited)
7075 During Tracking Conveyor Speed Drop Detection

109
 XSEL-R/S/RX/SX/RXD/SXD Virtual Input Ports (Internal Flags)
Port No. Function
7076 Tracking Operation Complete Work Position Arrival Latch Signal (Latches until “TRAC 1 nnn” or “Tracking
Operation Execution Program Finish”)
7077 In Tracking Conveyor Tracking Complete Range
7078 Tracking Reversed Operation Detected Work Position Arrival Latch Signal (Latches until “TRAC 1 nnn” or
2. Connection with Host System

“Tracking Operation Execution Program Finish”)

7079 During Tracking Mode (Work detection valid) (for SCARA controller only)
7080 During Tracking Operation (including a pause in tracking operation)
7081 to 7100 (Reserved by the system = Use is strictly prohibited)
7101 Program No. 01 is being executed (or paused).
7102 Program No. 02 is being executed (or paused).
7103 Program No. 03 is being executed (or paused).
~ ~
7227 Program No. 127 is being executed (or paused).
7228 Program No. 128 is being executed (or paused).
7229 to 7299 (Reserved by the system = Use is strictly prohibited)

110
 XSEL-R/S/RX/SX/RXD/SXD Virtual Output Ports (Internal Flags)
Port No. Function
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation cancellation
(7011). (Unlatched only when the cause of operation cancellation is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 to 7380 (For future expansion = Use is strictly prohibited)

2. Connection with Host System

7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 to 7599 (For future expansion = Use is strictly prohibited)

111
 2.1.5 XSEL-RA/SA/RAX/SAX/RAXD/SAXD Controllers
[1] Input and Output I/O Port
With XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, input and output functions can be
assigned to input and output ports as desired.
For input ports, set input functions using I/O parameters 30 to 45 (input function selections 000
to 015) and then use I/O parameters 283 to 298 to set the port numbers to assign the
2. Connection with Host System

respective functions to.

For output ports, set output functions using I/O parameters 46 to 61 (output function selections
300 to 315) and then use I/O parameters 299 to 314 to set the port numbers to assign the
respective functions to.
You can also use I/O parameters 331 to 346 (output function selections 300 (area 2) to 315
(area 2)) to set output functions and then use I/O parameters 315 to 330 to set the port
numbers to assign the respective functions to.

Input
Pin Port Standard Remarks
Wire color Inputs are set as shown in the table prior to the shipment, but you can change these
No. No. (factory-set) function
input functions by setting applicable I/O parameters.
1 Brown-1 +24V input Parameter Parameter name Function
No.
2 Red-1 000 Program start No. 30 Input function 0: General-purpose input
selection 000 1: Program start (input ports 007 to 013, BCD
specification)
2: Program start (input ports 007 to 013, binary
specification)
3: Program start (input ports 008 to 014, BCD
specification)
4: Program start (input ports 008 to 014, binary
specification)
3 Orange-1 001 General-purpose input No. 31 Input function 0: General-purpose input
selection 001 1: Soft reset signal
4 Yellow-1 002 General-purpose input No. 32 Input function 0: General-purpose input
selection 002 1: Servo ON signal
5 Green-1 003 General-purpose input No. 33 Input function 0: General-purpose input
selection 003 1: Auto program start upon power-ON reset or
software reset in AUTO mode
2: Auto program start signal
6 Blue-1 004 General-purpose input No. 34 Input function 0: General-purpose input
selection 004 1: Software interlock of all servo axes (OFF level)
7 Purple-1 005 General-purpose input No. 35 Input function 0: General-purpose input
selection 005 1: Operation pause cancellation input (ON edge)
8 Gray-1 006 General-purpose input No. 36 Input function 0: General-purpose input
selection 006 1: Operation pause signal (OFF level)
9 White-1 007 Program number No. 37 Input function 0: General-purpose input
specification (MSB) selection 007 1: Program number specification (MSB)
10 Black-1 008 Program number No. 38 Input function 0: General-purpose input
specification (bit 2) selection 008 1: Program number specification (bit 2)
11 Brown-2 009 Program number No. 39 Input function 0: General-purpose input
specification (bit 3) selection 009 1: Program number specification (bit 3)
12 Red-2 010 Program number No. 40 Input function 0: General-purpose input
specification (bit 4) selection 010 1: Program number specification (bit 4)
13 Orange-2 011 Program number No. 41 Input function 0: General-purpose input
specification (bit 5) selection 011 1: Program number specification (bit 5)
14 Yellow-2 012 Program number No. 42 Input function 0: General-purpose input
specification (bit 6) selection 012 1: Program number specification (bit 6)
15 Green-2 013 Program number No. 43 Input function 0: General-purpose input
specification selection 013 1: Program number specification (LSB: bit 7)
(LSB: bit 7)
16 Blue-2 014 General-purpose input No. 44 Input function 0: General-purpose input
selection 014 1: Drive-source cutoff cancellation (ON edge)
17 Purple-2 015 General-purpose input No. 45 Input function 0: General-purpose input
selection 015 1: Home return of all effective axes (ON edge)
2: Home return of all effective incremental axes (ON
edge)
18 Gray-2 016 General-purpose input
19 White-2 017 General-purpose input
20 Black-2 018 General-purpose input
21 Brown-3 019 General-purpose input
22 Red-3 020 General-purpose input
23 Orange-3 021 General-purpose input
24 Yellow-3 022 General-purpose input
25 Green-3 023 General-purpose input
26 Blue-3 024 General-purpose input
27 Purple-3 025 General-purpose input
28 Gray-3 026 General-purpose input
29 White-3 027 General-purpose input
30 Black-3 028 General-purpose input
31 Brown-4 029 General-purpose input
32 Red-4 030 General-purpose input
33 Orange-4 031 General-purpose input

112
Output
Remarks
Pin Wire Port Standard Setting When the unit is delivered, the output is set as shown in the table.
No. color No. (in the delivery) However, the output function can be changed using the I/O parameter setting.
Function Parameter Parameter Name Function
No. *1
34 YW-4 300 Error Output at the No.46 Output Function 0: Universal Output
Operation Cancellation No.331 Selection 300 1: Error Output at the Operation Cancellation Level
Level or more (OFF) Output Function or more (ON)
Selection 300 2: Error Output at the Operation Cancellation Level

2. Connection with Host System

(Area 2) or more (OFF)
3: Error Output at the Operation Cancellation Level
or more + Emergency-stop output (ON)
4: Error Output at the Operation Cancellation Level
or more + Emergency-stop output (OFF)
5: Error output of cold start level or more (ON)
6: Error output of cold start level or more (OFF)
7: Message level related to maintenance information
alarm function
(OFF) for error output of (Error No. 231 to 232)
35 GN-4 301 READY Output (PIO No.47 Output Function 0: Universal Input
Trigger Program No.332 Selection 301 1: READY Output (PIO Trigger Program Operation
Operation Available and Output Function Available)
without occurrence of Selection 301 2: READY Output (PIO Trigger Program Operation
any error at the cold (Area 2) Available)and without occurrence of any error at
start level or more) the operation cancellation level or more
(Main Application Ver. 3: READY Output (PIO Trigger Program Operation
0.20 or later) Available)and READY Output (PIO Trigger
Program Operation Available, and without
occurrence of any error at the cold start level or
more or more level or more
36 BL-4 302 Emergency-stop output No.48 Output Function 0: Universal Input
(OFF) No.333 Selection 302 2: Emergency-stop output (ON)
Output Function 3: Emergency-stop output (OFF)
Selection 302
(Area 2)
37 PL-4 303 Universal Output No.49 Output Function 0: Universal Output
No.334 Selection 303 1: AUTO Mode Output
Output Function 2: Output during the Automatic Operation (In
Selection 303 addition, when the parameter No. 12 is set to “1”)
(Area 2)
38 GY-4 304 Universal Output No.50 Output Function 0: Universal Output
No.335 Selection 304 1: Output at the time of “All Effective Axes Homing
Output Function (=0)”
Selection 304 2: Output when all the effective axes homing is
(Area 2) completed (Coordinates determined)
3: Output when all the effective axes home preset
coordinates are set
39 WT-4 305 Universal Output No.51 Output Function 0: Universal Output
No.336 Selection 305 1: Axis 1 in-position output (turned OFF when
Output Function pressing missed)
Selection 305 2: Output during the Axis 1 servo ON
(Area 2)
40 BK-4 306 Universal Output No.52 Output Function 0: Universal Output
No.337 Selection 306 1: Axis 2 in-position output (turned OFF when
Output Function pressing missed)
Selection 306 2: Output during the Axis 2 servo ON
(Area 2)
41 BR-5 307 Universal Output No.53 Output Function 0: Universal Output
No.338 Selection 307 1: Axis 3 in-position output (turned OFF when
Output Function pressing missed)
Selection 307 2: Output during the Axis 3 servo ON
(Area 2)
42 RD-5 308 Universal Output No.54 Output Function 0: Universal Output
No.339 Selection 308 1: Axis 4 in-position output (turned OFF when
Output Function pressing missed)
Selection 308 2: Output during the Axis 4 servo ON
(Area 2)
43 OR-5 309 Universal Output No.55 Output Function 0: Universal Output
No.340 Selection 309 1: Axis 5 in-position output (turned OFF when
Output Function pressing missed)
Selection 309 2: Output during the Axis 5 servo ON
(Area 2)
44 YW-5 310 Universal Output No.56 Output Function 0: Universal Output
No.341 Selection 310 1: Axis 6 in-position output (turned OFF when
Output Function pressing missed)
Selection 310 2: Output during the Axis 6 servo ON
(Area 2)
45 GN-5 311 Universal Output No.57 Output Function 0: Universal Output
No.342 Selection 311 1: Axis 7 in-position output (turned OFF when
Output Function pressing missed)
Selection 311 2: Output during the Axis 7 servo ON (system
(Area 2) monitoring task output)
46 BL-5 312 Universal Output No.58 Output Function 0: Universal Output
No.343 Selection 312 1: Axis 8 in-position output (turned OFF when
Output Function pressing missed)
Selection 312 2: Output during the Axis 8 servo ON (system
(Area 2) monitoring task output)

113
 Remarks
Pin Wire Port Standard Setting When the unit is delivered, the output is set as shown in the table.
No. color No. (in the delivery) However, the output function can be changed using the I/O parameter setting.
Function Parameter
No. *1 Parameter Name Function
47 PL-5 313 Universal Output No.59 Output Function 0: Universal Output
No.344 Selection 313 1: Reserved by the system
Output Function
Selection 313
2. Connection with Host System

(Area 2)
48 GY-5 314 Universal Output No.60 Output Function 0: Universal Output
No.345 Selection 314 1: Voltage low warning for absolute-data backup
Output Function battery
Selection 314
(Area 2)
49 WT-5 315 Universal Output No.61 Output Function 0: Universal Output
No.346 Selection 315
Output Function
Selection 315
(Area 2)
50 BK-5 0V Output

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

114
[2] Virtual I/O Port
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

XSEL-RA/SA/RAX/SAX/RAXD/SAXD Virtual Input Ports (Internal Flags)

Port No. Input/ Function

2. Connection with Host System

Output
7000 Always OFF
7001 Always ON
7002 to 7005 (Reserved by the system = Use is strictly prohibited)
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 (Reserved by the system = Use is strictly prohibited)
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock input port)
7014 (Reserved by the system = Use is strictly prohibited)
7015 Axis 1 absolute-data backup battery voltage low warning
7016 Axis 1 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7017 Axis 2 absolute-data backup battery voltage low warning
7018 Axis 2 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7019 Axis 3 absolute-data backup battery voltage low warning
7020 Axis 3 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7021 Axis 4 absolute-data backup battery voltage low warning
7022 Axis 4 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7023 Input Axis 5 absolute-data backup battery voltage low warning
7024 Axis 5 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7025 Axis 6 absolute-data backup battery voltage low warning
7025 Axis 6 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7027 Axis 7 absolute-data backup battery voltage low warning
7028 Axis 7 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7029 Axis 8 absolute-data backup battery voltage low warning
7030 Axis 8 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7031 to 7040 (Reserved by the system = Use is strictly prohibited)
7041 to 7042 (For future expansion = Use is strictly prohibited)
7043 Axis 1 home return completion
7044 Axis 2 home return completion
~ ~
7048 Axis 6 home return completion
7049 Axis 7 home return completion
7050 Axis 8 home return completion
7051 to 7069 (For future expansion = Use is strictly prohibited)
7070 (Reserved by the system = Use is strictly prohibited)
7071 In the AUTO mode
7072 During auto operation
7073 to 7074 (For future expansion = Use is strictly prohibited)
7075 During Tracking Conveyor Speed Drop Detection

115
 XSEL-R/S/RX/SX/RXD/SXD Virtual Input Ports (Internal Flags)
Port No. Input/ Function
Output
7076 Tracking Operation Complete Work Position Arrival Latch Signal (Latches until “TRAC 1 nnn” or “Tracking
Operation Execution Program Finish”)
7077 In Tracking Conveyor Tracking Complete Range
2. Connection with Host System

7078 Tracking Reversed Operation Detected Work Position Arrival Latch Signal (Latches until “TRAC 1 nnn” or
“Tracking Operation Execution Program Finish”)
7079 During Tracking Mode (Work detection valid) (for SCARA controller only)
7080 During Tracking Operation (including a pause in tracking operation)
7081 to 7100 Input (Reserved by the system = Use is strictly prohibited)
7101 Program No. 01 is being executed (or paused).
7102 Program No. 02 is being executed (or paused).
7103 Program No. 03 is being executed (or paused).
~ ~
7227 Program No. 127 is being executed (or paused).
7228 Program No. 128 is being executed (or paused).
7229 to 7299 (Reserved by the system = Use is strictly prohibited)

116
 XSEL-RA/SA/RAX/SAX/RAXD/SAXD Virtual Output Ports (Internal Flags)
Port No. Input/ Function
Output
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation
cancellation (7011). (Unlatched only when the cause of operation cancellation is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 Axis 1 Gripper Release Output (On; Releasing Command, Off; Gripping Command)

2. Connection with Host System

* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7302 Axis 2 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7303 Axis 3 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7305 Output Axis 4 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7301 Axis 5 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7306 Axis 6 Gripper Release Output (On; Releasing Command, Off; Gripping Command)
* Each Axis Parameter No. 103 “Brake Output Control Method Select” = 1 (Valid when User Control)
The purpose of signal may differ depending on the actuator to be mounted.
(main application versions 0.41 or later)
7307 to 7380 (For future expansion = Use is strictly prohibited)
7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 (For future expansion = Use is strictly prohibited)
7401 Program No. 129 is being executed (or paused)
7402 Program No. 130 is being executed (or paused)
7403 Program No. 131 is being executed (or paused)
Input
~ ~
7526 Program No. 254 is being executed (or paused)
7527 Program No. 255 is being executed (or paused)
7528 to 7380 Output (For future expansion = Use is strictly prohibited)

117
 2.1.6 SSEL, ASEL, PSEL Controllers
[1] Input and Output I/O Port
With SSEL, ASEL and PSEL controllers, input and output functions can be assigned to input
and output ports as desired.
For input ports, set input function setting values (0 to 23) in input function selections 000 to
015 (I/O parameters 30 to 45) corresponding to port No. 000 to 015 or input function selections
2. Connection with Host System

016 to 023 (I/O parameters 251 to 258) corresponding to port No. 16 to 23, and the set
functions will be assigned.
For output ports, set output function setting values (0 to 17, 24, 25) in output function
selections 300 to 307 (I/O parameters 46 to 53) corresponding to port No. 300 to 307, and the
set functions will be assigned.

Program mode
Input
Input
Input function
Pin Port Standard (factory-set) Paramet Parameter function
Wire color setting value Function
No. No. function er No. name setting
(factory setting)
value
1A Brown 1 - I/O power supply +24 V - - - 0 General-purpose input

Program No. 1 selection Input function Program start (BCD)

1B Red 1 016 251 9 1
(MSB) selection 016 (ON edge) signal
Program No. 2 selection Input function Program start (BIN)
2A Orange 1 017 252 10 2
(bit 2) selection 017 (ON edge) signal
Program No. 4 selection Input function
2B Yellow 1 018 253 11 3 Soft reset signal (ON for 1sec)
(bit 3) selection 018
Program No. 8 selection Input function
3A Green 1 019 254 12 4 Servo ON signal (ON edge)
(bit 4) selection 019
Program No. 10 selection Input function
3B Blue 1 020 255 13 5 Auto program start signal (ON edge)
(bit 5) selection 020
Program No. 20 selection Input function All-servo-axis software interlock
4A Purple 1 021 256 14 6
(bit 6) selection 021 (OFF level)
Program No. 40 selection Input function Operation pause cancellation input
4B Gray 1 022 257 15 7
(LSB: bit 7) selection 022 (ON edge)
Input function Operation pause signal
5A White 1 023 Software reset 258 3 8
selection 023 (OFF level)
Input function
5B Black 1 000 Program start 30 1 9 Program number specification (MSB)
selection 000
Input function
6A Brown 2 001 General-purpose input 31 0 10 Program number specification (bit 2)
selection 001
Input function
6B Red 2 002 General-purpose input 32 0 11 Program number specification (bit 3)
selection 002
Input function
7A Orange 2 003 General-purpose input 33 0 12 Program number specification (bit 4)
selection 003
Input function
7B Yellow 2 004 General-purpose input 34 0 13 Program number specification (bit 5)
selection 004
Input function
8A Green 2 005 General-purpose input 35 0 14 Program number specification (bit 6)
selection 005
Input function Program number specification
8B Blue 2 006 General-purpose input 36 0 15
selection 006 (LSB: bit 7)
Input function
9A Purple 2 007 General-purpose input 37 0 16 Error reset (ON edge)
selection 007
Input function Drive-source cutoff cancellation input
9B Gray 2 008 General-purpose input 38 0 17
selection 008 (ON edge)
Input function All-effective-axis home return command
10A White 2 009 General-purpose input 39 0 18
selection 009 signal (ON edge)
Input function All-effective-incremental-axis home
10B Black 2 010 General-purpose input 40 0 19
selection 010 return (ON edge)
Input function PC/teaching pendant servo movement
11A Brown 3 011 General-purpose input 41 0 20
selection 011 command acceptance input
Input function
11B Red 3 012 General-purpose input 42 0 21 Remote mode control input
selection 012
Input function
12A Orange 3 013 General-purpose input 43 0 22 Axis 1 forced brake release input
selection 013
Input function
12B Yellow 3 014 General-purpose input 44 0 23 Axis 2 forced brake release input
selection 014
Input function
13A Green 3 015 General-purpose input 45 0 24 to 27 Reserved by the system
selection 015
24 Program number specification (bit 8)

25 Program number specification (bit 9)

118
Program mode
Output
Input function Input
Pin Wire Port Standard (factory-set) Parameter Parameter setting value function
Function
No. color No. function No. name (factory setting
setting) value
13B Blue 3 300 Alarm output 46 Output 2 0 General-purpose input
function
selection 300

2. Connection with Host System

14A Purple 3 301 Ready output 47 Output 7 1 Output of operation-cancellation
function level or higher error (ON)
selection 301
14B Gray 3 302 General-purpose output 48 Output 0 2 Output of operation-cancellation
function level or higher error (OFF)
selection 302
15A White 3 303 General-purpose output 49 Output 0 3 Output of operation-cancellation
function level or higher error + Emergency
selection 303 stop output (ON)
15B Black 3 304 General-purpose output 50 Output 0 4 Output of operation-cancellation
function level or higher error + Emergency
selection 304 stop output (OFF)
16A Brown 4 305 General-purpose output 51 Output 0 5 READY output (PIO-trigger
function program operation enabled)
selection 305
16B Red 4 306 General-purpose output 52 Output 0 6 READY output (PIO-trigger
function program operation enabled AND
selection 306 no operation-cancellation level or
higher error)
17A Orange 4 307 General-purpose output 53 Output 0 7 READY output (PIO-trigger
function program operation enabled AND
selection 307 no cold-start level or higher error)
17B Yellow 4 N I/O power supply 0V - - - 8 Emergency stop output (ON)
9 Emergency stop output (OFF)
10 AUTO mode output
11 Auto operation output
12 Output when all effective axes are
home (= 0)
13 Output when all effective axes
have completed home return
14 Output when all effective axes are
at home preset coordinate
15 System-memory backup battery
(optional) voltage low warning
output
16 Absolute-data backup battery
(optional) voltage low warning
output
17 Drive-source cutoff (SDN)
notification output
24 Axis 1 servo ON output
25 Axis 2 servo ON output

*1 Output function setting values 1, 2, 3 and 4 cannot be assigned at the same time.
*2 Output function setting values 5, 6 and 7 cannot be assigned at the same time.

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

119
 [2] Virtual I/O Port
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

ASEL/PSEL/SSEL Virtual Input Ports (Internal Flags)

Port No. Function
2. Connection with Host System

7000 Always OFF

7001 Always ON
7002 System-memory backup battery voltage low warning
7003 System-memory backup battery voltage error
7004 (Reserved by the system = Use is strictly prohibited)
7005 (Reserved by the system = Use is strictly prohibited)
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 (Reserved by the system = Use is strictly prohibited)
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock input port)
7014 (Reserved by the system = Use is strictly prohibited)
7015 Axis 1 absolute-data backup battery voltage low warning
7016 Axis 1 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7017 Axis 2 absolute-data backup battery voltage low warning
7018 Axis 2 absolute-data backup battery voltage error (Latched until power-ON reset or software reset)
7019 to 7026 (For future expansion = Use is strictly prohibited)
7027 to 7040 (Reserved by the system = Use is strictly prohibited)
7041, 7042 (For future expansion = Use is strictly prohibited)
7043 Axis 1 home return completion
7044 Axis 2 home return completion
7045 to 7070 (For future expansion = Use is strictly prohibited)
7071 In the AUTO mode
7072 During auto operation
7073 to 7100 (Reserved by the system = Use is strictly prohibited)
7101 Program No. 01 is being executed (or paused).
~ ~
7164 Program No. 64 is being executed (or paused).
7165 Program No. 65 is being executed (or paused). ··· Dedicated only for SSEL with expanded memory capacity
~ ~
7228 Program No. 128 is being executed (or paused). Dedicated only for SSEL with expanded memory capacity
7229 to 7299 (For future expansion = Use is strictly prohibited)

ASEL/PSEL/SSEL Virtual Output Ports (Internal Flags)

Port No. Function
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation cancellation
(7011). (Unlatched only when the cause of operation cancellation is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 to 7380 (For future expansion = Use is strictly prohibited)
7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 to 7599 (For future expansion = Use is strictly prohibited)

120
2.1.7 Tabletop Robot TT/TTA
[1] Input and Output I/O Port
With the tabletop robot TT, input and output functions can be assigned to input and output
ports as desired.
For input ports, set input functions using I/O parameters 30 to 45 (input function selections 000
to 015) and then use I/O parameters 283 to 298 to set the port numbers to assign the

2. Connection with Host System

respective functions to.
For output ports, set output functions using I/O parameters 46 to 61 (output function selections
300 to 315) and then use I/O parameters 299 to 314 to set the port numbers to assign the
respective functions to.
You can also use I/O parameters 331 to 346 (output function selections 300 (area 2) to 315
(area 2)) to set output functions and then use I/O parameters 315 to 330 to set the port
numbers to assign the respective functions to.

Input
Remarks
Pin Port Standard
Wire color Inputs are set as general-purpose inputs, but you can change these input functions by setting applicable
No. No. (factory-set) function
I/O parameters.
Parameter
1 Brown 1 - I/O power supply +24V Parameter name Function
No.
30 Input function selection 000*1 1: Program start
2 Red 1 016 General-purpose input
31 Input function selection 001 0: General-purpose input
1: Soft reset signal
3 Orange 1 017 General-purpose input 32 Input function selection 002 0: General-purpose input
1: Soft reset signal
4 Yellow 1 018 General-purpose input 33 Input function selection 003 0: General-purpose input
1: Auto program start upon power-ON reset or software
5 Green 1 019 General-purpose input reset in AUTO mode
2: Auto program start signal
6 Blue 1 020 General-purpose input 34 Input function selection 004 0: General-purpose input
1: Software interlock of all servo axes (OFF level)
35 Input function selection 005 0: General-purpose input
7 Purple 1 021 General-purpose input
1: Operation pause cancellation input (ON edge)
36 Input function selection 006 0: General-purpose input
8 Gray 1 022 General-purpose input 1: Operation pause signal (OFF level)
37 Input function selection 007*2 0: General-purpose input
9 White 1 023 General-purpose input 1: Program number specification (LSB)
38 Input function selection 008*2 0: General-purpose input
10 Black 1 024 General-purpose input 1: Program number specification (bit 2)
39 Input function selection 009*2 0: General-purpose input
11 Brown 2 025 General-purpose input 1: Program number specification (bit 3)
40 Input function selection 010*2 0: General-purpose input
1: Program number specification (bit 4)
12 Red 2 026 General-purpose input
41 Input function selection 011*2 0: General-purpose input
1: Program number specification (bit 5)
13 Orange 2 027 General-purpose input
42 Input function selection 012*2 0: General-purpose input
1: Program number specification (bit 6)
14 Yellow 2 028 General-purpose input 43 Input function selection 013*2 0: General-purpose input
1: Program number specification (MSB: bit 7)
15 Green 2 029 General-purpose input 2: Error reset (ON edge)
44 Input function selection 014 0: General-purpose input
16 Blue 2 030 General-purpose input 1: Drive-source cutoff cancellation (ON edge)
45 Input function selection 015 0: General-purpose input
17 Purple 2 031 General-purpose input 1: Home return of all effective axes (ON edge)
2: Home return of all effective incremental axes (ON edge)

*1 If input function selection 000 (program start) is assigned to a port other than No. 000, the start
switch on the front panel is disabled.
*2 If input function selections 007 to 013 (program selection switches) are assigned to ports other
than No. 007 to 013, the program selection switches on the front panel are disabled.

121
 Output
Remarks
Pin Port Standard
Wire color Outputs are set as general-purpose outputs, but you can change these output functions by setting
No. No. (factory-set) function
applicable I/O parameters.
Parameter
Parameter name Function
18 Gray 2 316 General-purpose output No.
46 Output function selection 300
*3 0: General-purpose output
331 Output function selection 300 (area 2) 1: Output of operation-cancellation level or higher
error (ON)
19 White 2 317 General-purpose output 2: Output of operation-cancellation level or higher
2. Connection with Host System

error (OFF)
3: Output of operation-cancellation level or higher
error + Emergency stop output (ON)
20 Black 2 318 General-purpose output 4: Output of operation-cancellation level or higher
error + Emergency stop output (OFF)
47 Output function selection 301
*3 0: General-purpose output
21 Brown 3 319 General-purpose output 332 Output function selection 301 (area 2) 1: READY output (PIO-trigger program operation
enabled)
2: READY output (PIO-trigger program operation
enabled AND no operation-cancellation level or
22 Red 3 320 General-purpose output higher error)
3: READY output (PIO-trigger program operation
enabled AND no cold-start level or higher error)
48 Output function selection 302*3 0: General-purpose output
23 Orange 3 321 General-purpose output 333 Output function selection 302 (area 2) 1: Emergency stop output (ON)
2: Emergency stop output (OFF)
49 Output function selection 303
*3 0: General-purpose output
334 Output function selection 303 (area 2) 1: AUTO mode output
24 Yellow 3 322 General-purpose output 2: Auto operation output (When other parameter No.
12 is set to ‘1’)
50 Output function selection 304
*3 0: General-purpose output
25 Green 3 323 General-purpose output 335 Output function selection 304 (area 2) 1: Output when all effective axes are home (= 0)
2: Output when all effective axes have completed
home return
3: Output when all effective axes are at home preset
26 Blue 3 324 General-purpose output coordinate
51 Output function selection 305 0: General-purpose output
336 Output function selection 305 (area 2) 2: Axis 1 servo ON output
27 Purple 3 325 General-purpose output 52 Output function selection 306 0: General-purpose output
337 Output function selection 306 (area 2) 2: Axis 2 servo ON output
53 Output function selection 307 0: General-purpose input
28 Gray 3 326 General-purpose output 338 Output function selection 307 (area 2) 2: Axis 3 servo ON output
54 Output function selection 308
0: General-purpose output
339 Output function selection 308 (area 2)
29 White 3 327 General-purpose output
55 Output function selection 309
0: General-purpose output
340 Output function selection 309 (area 2)

30 Black 3 328 General-purpose output 56 Output function selection 310

0: General-purpose output
341 Output function selection 310 (area 2)
57 Output function selection 311
0: General-purpose output
31 Brown 4 329 General-purpose output 342 Output function selection 311 (area 2)
58 Output function selection 312
0: General-purpose output
343 Output function selection 312 (area 2)
32 Red 4 330 General-purpose output 59 Output function selection 313
0: General-purpose output
344 Output function selection 313 (area 2)
60 Output function selection 314
33 Orange 4 331 General-purpose output 0: General-purpose output
345 Output function selection 314 (area 2)
61 Output function selection 315
0: General-purpose output
346 Output function selection 315 (area 2)
34 Yellow 4 - I/O power supply 0 V

*3 Since output function selections 300 to 304 are assigned to LEDs in the panel window, the
LEDs are disabled if parameters 46 to 50 are set as general-purpose outputs or port number
assignments are changed using parameters 299 to 303.
If you want to output system signals to the I/O shown in the tables above, use output function
selection area 2.

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

122
[2] Virtual I/O Port
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

TT Virtual Input Ports (Internal Flags)

Port No. Function

2. Connection with Host System

7000 Always OFF
7001 Always ON
7002 System-memory backup battery voltage low warning
7003 System-memory backup battery voltage error
7004 Reserved by the system = Use is prohibited
7005 Reserved by the system = Use is prohibited
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 Reserved by the system = Use is prohibited
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock input port)
7014 to 7050 Reserved by the system = Use is prohibited
7051 to 7070 For future expansion = Use is prohibited
7071 In the AUTO mode
7072 During auto operation
7073 to 7100 Reserved by the system = Use is prohibited
7101 Program No. 01 is being executed (or paused).
~ ~
7164 Program No. 64 is being executed (or paused).
7165 to 7299 For future expansion = Use is prohibited

TT Virtual Output Ports (Internal Flags)

Port No. Function
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation cancellation
(7011). (Unlatched only when the cause of operation cancellation is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 to 7380 (For future expansion = Use is strictly prohibited)
7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 to 7599 (For future expansion = Use is strictly prohibited)

123
 TTA Virtual Input/Output Ports (Internal Flags)
Port No. Input/Output Function
7000 Always OFF
7001 Always ON
7002 Reserved by the system = Use is strictly prohibited
7003 Reserved by the system = Use is strictly prohibited
2. Connection with Host System

7004 Reserved by the system = Use is strictly prohibited

7005 Reserved by the system = Use is strictly prohibited
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 Reserved by the system = Use is strictly prohibited
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation
input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to
be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock
input port)
7014 Reserved by the system = Use is strictly prohibited
7015 Axis 1 absolute-data backup battery voltage low warning (feature dedicated only for TTA-S)
7016 Axis 1 absolute-data backup battery voltage error (Latched until power-ON reset or software
reset)
7017 Axis 2 absolute-data backup battery voltage low warning (feature dedicated only for TTA-S)
7018 Axis 2 absolute-data backup battery voltage error (Latched until power-ON reset or software
reset) (feature dedicated only for TTA-S)
Input
7019 Axis 3 absolute-data backup battery voltage low warning (feature dedicated only for TTA-S)
7020 Axis 3 absolute-data backup battery voltage error (Latched until power-ON reset or software
reset) (feature dedicated only for TTA-S)
7021 Axis 4 absolute-data backup battery voltage low warning (feature dedicated only for TTA-S)
7022 Axis 4 absolute-data backup battery voltage error (Latched until power-ON reset or software
reset) (feature dedicated only for TTA-S)
7023 to 7042 Reserved by the system = Use is strictly prohibited
7043 Axis 1 home return completion (Main application V2.00 or later)
7044 Axis 2 home return completion (Main application V2.00 or later)
7045 Axis 3 home return completion (Main application V2.00 or later)
7046 Axis 4 home return completion (Main application V2.00 or later)
7047 to 7050 Reserved by the system = Use is strictly prohibited
7051 Axis 1 servo-ON completion (Main application V2.10 or later)
7052 Axis 2 servo-ON completion (Main application V2.10 or later)
7053 Axis 3 servo-ON completion (Main application V2.10 or later)
7054 Axis 4 servo-ON completion (Main application V2.10 or later)
7055 to 7070 For future expansion = Use is strictly prohibited
7071 In the AUTO mode
7072 During auto operation
7073 to 7074 For future expansion = Use is strictly prohibited
7075 to 7100 During Tracking Conveyor Speed Drop Detection
7101 Program No. 01 is being executed (or paused).
~ ~
7228 Program No. 128 is being executed (or paused).
7229 to 7299 For future expansion = Use is strictly prohibited

124
 TTA Virtual Input/Output Ports (Internal Flags)
Port No. Input/Output Function
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of
all-operation cancellation (7011). (Unlatched only when the cause of operation cancellation is
no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
Output
7301 to 7380 (For future expansion = Use is strictly prohibited)

2. Connection with Host System

7381 to 7399 (Reserved by the system = Use is strictly prohibited)
7400 (For future expansion = Use is strictly prohibited)
7401 Program No. 129 is being executed (or paused).
~ Input ~
7527 Program No. 255 is being executed (or paused).
7528 to 7599 Output (For future expansion = Use is strictly prohibited)

125
 2.1.8 MSEL Controller
[1] Input and Output I/O Port
In Input Function Select No. 000 to 015 and Output Function Select No. 300 to 315, dedicated
functions can be set, and they can be assigned to desired input and output ports.
For input ports, set input functions using I/O parameters 30 to 45 (input function selections 000
to 015) and then use I/O parameters 283 to 298 to set the port numbers to assign the
2. Connection with Host System

respective functions to.

For output ports, set output functions using I/O parameters 46 to 61 (output function selections
300 to 315) and then use I/O parameters 299 to 314 to set the port numbers to assign the
respective functions to.
For other I/O port Nos., they can be used freely as the universal I/O port.

(1) Input Port Function Assignment

Input Parameter
function Setting Setting at
Input Signal Functions
selection No. values delivery
No.
0 General-purpose input
Program start (Indicated input port = 007 to 014, Start of program number
1 {
000 No.30 indicated in BCD ... ON edge)
Program start (Indicated input port = 007 to 014, Start of program number
2
indicated in binary ... ON edge)
0 General-purpose input {
001 No.31
1 Software reset signal (Kept on continuously for 1sec)
0 General-purpose input {
002 No.32
1 Servo ON signal (Edge input)
0 General-purpose input
Indicated program automatically starts by power-on reset / software reset
003 No.33 1 {
in AUTO Mode
2 Start of Auto Start Program (kept on continuously for 100ms)
0 General-purpose input {
004 No.34
1 Software interlock on all servo axes (level signal with always being on)
0 General-purpose input {
005 No.35
1 Operation pause cancellation input (On-edge process signal)
0 General-purpose input {
006 No.36
1 Operation pause cancellation input (level signal with always being on)
Independent from value in Input Function Select 000 0 General-purpose input
007 No.37 When Input Function Select 000 = 1
1 Program number specification 0 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
008 No.38 When Input Function Select 000 = 1
1 Program number specification 1 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
009 No.39 When Input Function Select 000 = 1
1 Program number specification 2 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
010 No.40 When Input Function Select 000 = 1
1 Program number specification 3 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
011 No.41 When Input Function Select 000 = 1
1 Program number specification 4 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
012 No.42 When Input Function Select 000 = 1
1 Program number specification 5 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
013 No.43 When Input Function Select 000 = 1
1 Program number specification 6 bit {
When Input Function Select 000 = 2
Independent from value in Input Function Select 000 0 General-purpose input
014 No.44 When Input Function Select 000 = 1
1 Program number specification 7 bit {
When Input Function Select 000 = 2
015 No.45 0 General-purpose input {

126
(2) Output Port Function Assignment
Input Parameter
function Setting Setting at
Input Signal Functions
selection No. values delivery
No.
0 General-purpose output
1 Output of operation-cancellation level or higher error (ON)
2 Output of operation-cancellation level or higher error (OFF)

2. Connection with Host System

{
Output of operation-cancellation level or higher error + Emergency stop
3
output (ON)
Output of operation-cancellation level or higher error + Emergency stop
4
300 No.46 output (OFF)
5 Error output of cold start level or more (ON)
6 Error output of cold start level or more (OFF)
Message level related to maintenance information alarm function
7
(ON) for error output of (Error No. 231 to 232)
Message level related to maintenance information alarm function
8
(OFF) for error output of (Error No. 231 to 232)
0 General-purpose output
１ READY output (PIO-trigger program operation enabled)
READY output (PIO-trigger program operation enabled AND no
301 No.47 2
operation-cancellation level or higher error)
READY output (PIO-trigger program operation enabled AND no cold-start
3 {
level or higher error)(ON)
0 General-purpose output
302 No.48 1 Emergency stop output (ON)
2 Emergency stop output (OFF) {
303 No.49 0 General-purpose output {
304 No.50 0 General-purpose output {
305 No.51 0 General-purpose output {
306 No.52 0 General-purpose output {
307 No.53 0 General-purpose output {
308 No.54 0 General-purpose output {
309 No.55 0 General-purpose output {
310 No.56 0 General-purpose output {
311 No.57 0 General-purpose output {
312 No.58 0 General-purpose output {
313 No.59 0 General-purpose output {
314 No.60 0 General-purpose output {
315 No.61 0 General-purpose output {

• By default, the ON/OFF state of an input signal is recognized by the controller when the
signal has remained ON/OFF for approx. 4msec or more.
• The setting for this ON/OFF duration can be changed using I/O parameter No. 20, “Input
filtering period”.

ON duration OFF duration

127
 [2] Virtual I/O Port
Virtual I/O ports are provided so that the controller can notify internal information. They are
used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary.

MSEL Virtual Input Ports (Internal Flags)

Port No. Input/Output Function
2. Connection with Host System

7000 Always OFF

7001 Always ON
7002 Reserved by the system = Use is strictly prohibited
7003 Reserved by the system = Use is strictly prohibited
7004 Reserved by the system = Use is strictly prohibited
7005 Reserved by the system = Use is strictly prohibited
7006 Critical system error = A message level error is present.
7007 Critical system error = An operation-cancellation level error is present.
7008 Critical system error = A cold-start level error is present.
7009 Reserved by the system = Use is strictly prohibited
7010 A cause of drive-source cutoff is present (including a condition waiting for a cutoff cancellation
input).
7011 A latch signal indicating that a cause of all-operation cancellation is present.
(This latch signal is used to recognize a cause of 1-shot reset. Latch cancellation: 7300-ON)
7012 A cause of all-operation pause is present (including a condition waiting for the restart switch to
be pressed).
(Effective only in the auto operation recognition mode)
7013 A cause of all-servo-axis interlock is present (cause of all-operation pause + cause of interlock
input port)
7014 to 7042 Input Reserved by the system = Use is strictly prohibited
7043 Axis 1 home return completion (Main application V2.00 or later)
7044 Axis 2 home return completion (Main application V2.00 or later)
7045 Axis 3 home return completion (Main application V2.00 or later)
7046 Axis 4 home return completion (Main application V2.00 or later)
7047 to 7050 Reserved by the system = Use is strictly prohibited
7051 Axis 1 servo-ON completion (Main application V2.10 or later)
7052 Axis 2 servo-ON completion (Main application V2.10 or later)
7053 Axis 3 servo-ON completion (Main application V2.10 or later)
7054 Axis 4 servo-ON completion (Main application V2.10 or later)
7055 to 7070 For future expansion = Use is strictly prohibited
7071 In the AUTO mode
7072 During auto operation
7073 to 7074 For future expansion = Use is strictly prohibited
7075 to 7100 During Tracking Conveyor Speed Drop Detection
7101 Program No. 01 is being executed (or paused).
~ ~
7228 Program No. 128 is being executed (or paused).
7229 to 7299 For future expansion = Use is strictly prohibited
7300 A latch cancellation signal is output to cancel the latch signal indicating a cause of
all-operation cancellation (7011). (Unlatched only when the cause of operation cancellation
is no longer present.)
(7300 is turned OFF after latch cancellation is attempted.)
7301 to Output (For future expansion = Use is strictly prohibited)
7380
7381 to (Reserved by the system = Use is strictly prohibited)
7399
7400 (For future expansion = Use is strictly prohibited)
7401 Program No. 129 is being executed (or paused).
~ Input ~
7527 Program No. 255 is being executed (or paused).
7528 to 7599 Output (For future expansion = Use is strictly prohibited)

128
3. Program
3.1 Position Table and Program Format
To run the robot,
• Program
• Position data
(information of positions for the robot to move)
Controller
it is necessary to create 2 types of data as Personal
computer

3. Program
shown below and input them to the controller
with using PC. 1) Program 2) Position data

3.1.1 Position Table

The position data is to be input in the position table provided in the PC software.
(Note) • The edit window differs depending on the type of robot.
• The total number of settable positions differ depending on the controller
Controller Position Total Number
XSEL-P/Q/PCT/QCT, PX/QX 20000
53332 (1-axis specification)
40000 (2-axis specification)
32000 (3-axis specification)
26666 (4-axis specification)
XSEL-R/S/RX/SX/RXD/SXD
22856 (5-axis specification)
20000 (6-axis specification)
17776 (7-axis specification)
16000 (8-axis specification)
55000 (1-axis specification)
47142 (2-axis specification)
41250 (3-axis specification)
XSEL-RA/SA/RAX/SAX/ 36666 (4-axis specification)
RAXD/SAXD 33000 (5-axis specification)
30000 (6-axis specification)
27500 (7-axis specification)
25384 (8-axis specification)
XSEL-J/K/KE/KT/KET
3000
JX/KX/KETX
SSEL 20000
ASEL/PSEL 1500
TT 3000
TTA 30000
MSEL 30000

129
 [1] Single/rectangular axes, TT robots
Set positions (coordinate values), speeds, accelerations and decelerations in the position table
and store the table in the controller.

Deceleration
Acceleration
Positions for each axis (coordinate values) Speed
3. Program

● Axes 1 to 8: Position (coordinate value)

Set the positions (coordinates) for all the connected axes (8 axes at maximum).
The setting range varies depending on the actuator.
The maximum range is from -99999.999 to 99999.999.

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Single/rectangular axes Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

● Comment Column (shown on the right side of the position data)

Applicable models : XSEL-RA/SA/RAX/SAX/RAXD/SAXD
XSEL-R/S/RX/SX/RXD/SXD
y Input is available up to 32 words with half width characters and 16 with full width at the
maximum.
y Comment can be added to Positions No. 1 to 10000.
y Comment needs to be written to flash ROM after the data is transferred.
(Note 1) When having the software reset conducted or the power turned OFF without writing
the position data to the flash ROM after a change is made to a comment, 22B
“Position Data Comment Lost Error” will occur and the comment that a change was
made will be deleted.
It is only the comment which is lost, and the program operation is available.

(Note 2) Comment is applicable also for PCLR (Position Data Clear) Command and PCPY
(Position Data Copy) Command in SEL Program.
Therefore, in case that the position data with a comment being set is cleared by
PCLR Command, or that a copy is made to the position with a comment being set in
the area to copy from or area to copy to with PCPY Command, if the software reset is
conducted or the power is turned OFF without the position data being written to the
flash ROM, 22B “Position Data Comment Lost Error” will occur.
Please understand this well when using PCLR or PCPY.

130
● Vel (speed), Acc (acceleration), Dcl (deceleration)
If Vel (speed), Acc (acceleration) and Dcl (deceleration) are set in the position data table, the
values set in the position data table are given priority over the corresponding data set in the
program.
To make the Vel (speed), Acc (acceleration) and Dcl (deceleration) settings in the program
effective, leave these fields blank.

The effective values of speed and acceleration are determined based on the priorities specified
below.

3. Program
Priority Speed Acceleration (Deceleration)
1 Value set in the position data table Value set in the position data table
2 Value set in the VEL command Value set in the ACC (DCL) command
All-axis parameter No. 11, "Default acceleration"
3
(All-axis parameter No. 12, "Default deceleration")

The setting ranges vary depending on the actuator.

• Speed 1 to the value of all-axis common parameter No. 21, “Maximum operating
speed”
• Acceleration 0.01 to the value of all-axis common parameter No. 22, “Maximum
acceleration”
• Deceleration 0.01 to the value of all-axis common parameter No. 23, “Maximum
deceleration”

With rotational axes, values in mm are handled in degrees.

If Axis-specific parameter No. 1, “Axis operation type” is set to 1 (Rotational movement axis
(angle control)), all values indicated in mm (including parameters, etc.) are converted to angles
(in degrees).
These angles (in degrees) indicate angles (in degrees) of a rotating body at the end, as long
as the gear ratio parameters (Axis-specific parameter No. 50, 51) are set correctly.

Example) Distance 1mm → 1deg

Speed 1mm/sec → 1deg/sec
2
Acceleration/deceleration 1G = 9807mm/sec
→ 9807deg/sec2

● For XSEL-RA/SA/RAX/SAX/RAXD/SAXD, TTA and MSEL, there is the output operation data.
Parameter select for TTA and MSEL) [Refer to 5.5 Position Output Operation Features]

131
 [2] SCARA robots
Set positions (coordinate values), target arm system indications, speeds, accelerations and
decelerations in the position table and store the table in the controller.
Target arm
system SCARA 2
Deceleration
Target arm
system SCARA 1 Acceleration
Positions for each axis (coordinate values) Speed
3. Program

● Axes 1 to 8: Position (coordinate value)

Set the positions (coordinates) for all the connected SCARA robots (8 axes at maximum).
The setting range varies depending on the actuator.
The maximum range is from -99999.999 to 99999.999.

SCARA robots 1 SCARA robots 2

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8
X-axis Y-axis Z-axis R-axis X-axis Y-axis Z-axis R-axis

● Arm1-4, Arm5-8: Target arm system indications (for XSEL-RX/SX/RXD/SXD, MSEL-PCX/PGX

(Arm1-4) only)
Indicate the arm system at PTP movement. (R: right arm system, L: left arm system)
The indications become valid when:
1) an operation is made with “Move” in the position data edit window or “Continuous Move”
button, or
2) when SEL program PTP movement command is executed using the position data

(Note 1) Unless otherwise the target arm system is indicated, the operation will be made with the
current arm system.

(Note 2) The priority is put in the order as shown below to the indication of the target arm
systems when PTP movement command is executed by SEL program.
1) Position data settings
2) SEL command (Settings for PTPR, PTPL, PTPD and PTPE)

(Note 3) Error No. B4D “Arm System Setting Error” would be issued if the current arm system
and the target arm system are different at CP movement.

● There is a comment column. (XSEL-RA/SA/RAX/SAX/RAXD/SAXD)

132
● Vel (speed), Acc (acceleration), Dcl (deceleration)
If Vel (speed), Acc (acceleration) and Dcl (deceleration) are set in the position data table, the
values set in the position data table are given priority over the corresponding data set in the
program.
To make the Vel (speed), Acc (acceleration) and Dcl (deceleration) settings in the program
effective, leave these fields blank.
Only for CP operation (*1) the speeds, accelerations and decelerations set in the position table
become effective.
(*1) CP operation is a type of operation in which the axes interpolates with one another

3. Program
to move to the target position. CP operation may be performed in the form of linear
movement, arc movement, etc. If the axes do not interpolate with one another, such
operation is called “PTP operation”.

The effective values of speed and acceleration are determined based on the priorities specified
below.
Priority Speed Acceleration (Deceleration)
1 Value set in the position data table Value set in the position data table
2 Value set in the VEL command Value set in the ACC (DCL) command
All-axis parameter No. 11, "Default acceleration"
3
(All-axis parameter No. 12, "Default deceleration")

The setting ranges vary depending on the actuator.

• Speed 1 to the value of all-axis common parameter No. 21, “Maximum operating
speed”
• Acceleration 0.01 to the value of all-axis common parameter No. 22, “Maximum
acceleration”
• Deceleration 0.01 to the value of all-axis common parameter No. 23, “Maximum
deceleration”

With rotational axes, values in mm are handled in degrees.

If Axis-specific parameter No. 1, “Axis operation type” is set to 1 (Rotational movement axis
(angle control)), all values indicated in mm (including parameters, etc.) are converted to angles
(in degrees).
These angles (in degrees) indicate angles (in degrees) of a rotating body at the end, as long
as the gear ratio parameters (Axis-specific parameter No. 50, 51) are set correctly.

Example) Distance 1mm → 1deg

Speed 1mm/sec → 1deg/sec
2
Acceleration/deceleration 1G = 9807mm/sec
→ 9807deg/sec2

● For XSEL-RA/SA/RAX/SAX/RAXD/SAXD, MSEL-PCX/PGX, there is the output operation data.

Parameter select for TTA and MSEL) [Refer to 5.5 Position Output Operation Features]

133
 3.2 Program
Create a program using the “SEL Language” which is a proprietary language by IAI.

(Note) The number of programs and total number steps vary depending on the controller.

Number of
Controller Total number of program steps
programs
3. Program

XSEL-P/Q/PCT/QCT/PX/QX/
128 9999
R/S/RX/SX/RXD/SXD
XSEL-RA/SA/RAX/SAX/
255 20000
RAXD/SAXD
XSEL-J/K/KE/KT/KET
64 6000
JX/KX/KETX
SSEL 128 9999
ASEL/PSEL 64 2000
TT 64 6000
TTA 255 9999
MSEL 255 9999

134
 3.3 Program Format
[1] Program Edit

The program is to be input to the program edit window in the PC software.

The created program is to be transferred to the controller to be activated.

SEL language is translated by a step number (1 line) to another for the operation. Thus, it is
unnecessary to compile (translate into the computer language).

3. Program
Step No.

Expansion Operand 1 Output

Condition Input Condition
Command and Operand 2
Input Condition Declaration

The program edit window is created in a program format (table format) and you are only to
input the information for position, command, etc. to the appropriate areas.
In the following, explains about the program format.

(Note) For XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, binary and hexadecimal numbers

can be input to Operand1 (Operation 1) and Operand2 (Operation 2).

<Expression>
Binary: Add prefix &B
Decimal: No prefix
Hexadecimal: Add prefix &H

<Example>
AND 200 &B00111000 ; Binary number
AND 200 56 ; Decimal number
AND 200 &H00000038 ; Hexadecimal number

<Caution>
The input range of a number is 99999999 to -9999999 of decimal system regardless of
the number base.
(In hexadecimal system, 0SFSE0FF to FF676981)

135
 [2] Program Format
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output port, flag)
(AND, OR) declaration
E N, Cnd Cmnd Operand1 Operand2 Pst

The above is illustrated as follows in a ladder diagram.

3. Program

Command Operand 1 Operand 2 Output

Input condition

(1) The conditions in front of the command are equivalent to “IF to THEN” for the BASIC
language.

Command Operand 1 Operand 2 Output

Input condition

IF to THENx x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x ELSEx x x x x x x x

To next step

1) The command will be executed if the input conditions meet the requirement. If there is an
indication for the output, it turns the output port on, and if the input conditions do not meet
the requirement, it moves to the next step.
2) If no condition is set, the command is executed unconditionally.
3) To use the condition in reverse (using the so-called contact b logic), add “N” (NOT) to the
condition.
4) You can use an input port, output port or flag for the input condition.
5) Operands 1 and 2, and the output, can be specified indirectly.

(2) Operation of the output, specified after the command and operands 1 and 2, is explained
below.

Command Operand 1 Operand 2 Output

1) In the case of an actuator operation control command, etc., the output turns OFF the
moment the command execution is started and turns ON when the execution is completed.
In the case of a calculation command, etc., the output turns ON when the result becomes
a certain value and turns OFF with other values.
2) You can use an output port or flag for the output.

136
[Application] Extended condition
You can combine extended conditions in a complex manner using the AND gate and OR gate.

(Example)
[Extension by AND]
Combination of A (AND) and A (AND)

(SEL language) (Ladder diagram)

3. Program
Extension Command
Input condition Output
condition
Command Operand 1 Operand 2 Condition 1

Condition 1

A Condition 2
Condition 2
A Condition 3 Command Operand 1 Operand 2

Condition 3

[Extension by OR]
Combination of O (OR) and O (OR)

(SEL language) (Ladder diagram)

Extension Command
Input condition Output
condition
Command Operand 1 Operand 2 Condition 1

Condition 1

{ Condition 2 Command Operand 1 Operand 2

Condition 2

[Extension by AND and OR]

Combination of A (AND) and O (OR)

(SEL language) (Ladder diagram)

Extension Command
Input condition Output
condition
Command Operand 1 Operand 2 Condition 1

Condition 1

A Condition 2
Condition 2
{ Condition 3 Command Operand 1 Operand 2

Condition 3

137
 3.4 Relationship of program and position table
In the case of a movement command such as MOVL, set a position number in operand 1.
Some commands such as ARCH (arch motion) require a position number to be set in operand
2, as well.
The position corresponding to the position number set in the position table is referenced and
the actuator moves to the applicable position.
3. Program

Program format Position table

In the above example, the actuator moves to the positions at 100mm corresponding to position
No. 1 and 150mm corresponding to position No. 2.

Home: 0mm 100mm 150mm

Move

The position table is a single table that can be referenced from all programs. In the example
below, the standard position table is used. A different table is used if the controller has a
gateway function.
(Note) For RC Gateway Function and Extension Motion Control Function, a different position
table is to be used.
[Refer to the Instruction Manual for XSEL Controller P/Q/PX/QX RC Gateway Function.]
[Refer to the Instruction Manual for XSEL-RA/SA/RAX/SAX/RAXD/SAXD Extension Motion
ControlFunction.] [Program format]
Program No. 1

Position table

The position table is

common to all programs.

Program No. n

138
3.5 Basic Stage (Program creation and position table creation)
In this section, explains how to create a program for the basic operation patterns.

3.5.1 Home Return and Home Return Completion Signal

[1] Description
Output a signal to confirm completion of homing (incremental specification).
With the controller, a home return completion signal can be output using an I/O parameter.
However, the following explains how to output a home return completion signal within a

3. Program
program using a general-purpose output.
Once turned ON, a general-purpose output will remain ON even after the current program
ends or other program is started. (It will turn OFF upon emergency stop, etc., but the ON
status can be maintained using an I/O parameter (I/O parameter No. 70 and 71).)
(Note) SCARA robots do not require home return operation.

[2] Example of Use

a. Output a home return completion signal.

st nd
Execute homing. (1 and 2 axes)
Output 303 is turned ON when
home-return operation is complete

b. Use a home return completion signal to make sure the actuator will not perform homing if it
has already been performed.
Execute homing if output 303 is OFF.
Home-return complete output
(turn Output 303 ON)
If 出力303がOFF(NOT)なら
output 303 is OFF (NOT);

c. Use the output field instead of a BTON command.

The same process as Example b. is

proceeded.
Output
section
出力部
[3] Reference

Output port No. 304 can be used as a home return completion output (dedicated output) by
setting I/O parameter No. 50 to “2”.

139
 3.5.2 Positioning Operation (Moving position)
[1] Description
Move the actuator to positions 1 through 5 at a speed of 100mm/sec after homing.

[2] Example of Use

Flowchart
3. Program

Start • Homing must be performed and a speed must be set, before the actuator
can be operated.
• The actuator moves to the position data coordinates specified by the
Homing respective move commands.
• With the absolute specification, homing (HOME command) is not required.

Set speed

Move to P1

Move to P2

Move to P3

Move to P4

Move to P5

End of program

Program (Example)
プログラム(例) Position data (Example)
ポジションデータ(例)

ポジションデータNo.1に移動
ポジションデータNo.2に移動
ポジションデータNo.3に移動
ポジションデータNo.4に移動
ポジションデータNo.5に移動

140
3.5.3 Moving Back and Forth between Two Points
[1] Description
Moves back and forth between two points.

[2] Example of Use

Flowchart

3. Program
Start • The actuator moves back and forth between P1 and P2 indefinitely.
• Use of only 1 axis is assumed.
• Enter TAG in the first of the steps to be repeated, and enter GOTO
Homing
in the last of the steps to be repeated.

Move to P1

Move to P2

Program (Example)
プログラム(例) Position data (Example)
ポジションデータ(例)

TAG1にジャンプ
ポジションデータNo.1に移動
ポジションデータNo.2に移動
TAG1 にジャンプ

141
 3.5.4 Repeated Operation
[1] Description
Use GOTO and TAG commands to repeat the same operation within the program or to jump to
a desired step if a condition is satisfied. A TAG command can be written in a step either before
or after a GOTO command.

[2] Example of Use

Example 1
3. Program

Repeat the same operation. (Move to Position 1 → to position 2 → to position 1 …)

Repeated. Steps to be repeated

Example 2

Skip steps.

Jump. Steps to be ignored

142
3.5.5 PATH Operation (Continuous operation among multiple positions)
[1] Description
This function moves the robot continuously among 4 arbitrary points. (PATH movement)

[2] Example of Use

The actuator moves along the path shown at right, without
stopping at P2 and P3.
Compared with MOVP and MOVL, this command does not

3. Program
require the actuator to position exactly at P2 and P3, and
thus the movement tact time can be reduced.
Assume the following command is executed when the
actuator is stopped at P1:
PATH 2 4
The actuator will move from P1 to P4 by passing points
near P2 and P3.

Even if “PATH 2 3” and “PATH 4 4” are input successively,

the actuator will still move in the same way as when “PATH
2 4” is input.

If “PATH 4 1” is executed while the actuator is stopped at P4,

the actuator will move along the same path in the opposite
direction (P4 → P3 → P2 → P1).

It is possible to move through discontinuous positions

or move continuously by passing the same position.
PATH 1 4
PATH 6 6 discontinuous position
PATH 9 10
As shown above, specify the number corresponding to
the discontinuous position, or No. 6, for both the start
position number and end position number in the PATH
command. The actuator moves continuously in the
sequence of position Nos. P1 → P2 → P3 → P4 → P6
→ P9 → P10.

[3] Example of Use

Refer to the page for “PATH” Command in [12] Actuator Control Command for each command
language for the caution in use.

143
 3.5.6 External Signal Output during Path Movement
[1] Description
Output signals while the actuator is moving with a PATH command.

[2] Example of Use

Before executing a PATH command, declare a POTP command to specify signal output during
movement.
If a given output or global flag is specified in the output field of the PATH command, the output
3. Program

or flag specified in the output field will turn ON as the actuator approaches, via path movement,
the position specified in the PATH command.

Example 1

The actuator moves from P1 to P5 along the positions shown

at right, without stopping. As the actuator approaches P2,
output port 310 turns ON.

← A declaration command to specify signal output during path movement.

← 310 turns ON when the actuator approaches P2 specified in this step.

Example 2
Outputs 310 to 313 can be turned ON sequentially at the respective points of P2 to P5.

← A declaration command to specify signal output during path movement.

← 310 to 313 turn ON sequentially at P2 to P5 specified in this step.

(Note) This command is able only to output and to turn the flag ON. The output or flag that
was turned ON during path operation must be turned OFF (using a BTOF command)
after the operation is completed.

[3] Example of Use

Refer to the page for “PATH” Command in [12] Actuator Control Command for each command
language for the caution in use.

144
3.5.7 Circle/Arc Operation
[1] Description
The actuator moves along a two-dimensional circle or arc.

[2] Example of Use

To specify a circle, specify three points the actuator will pass. To specify an arc, specify the
starting point, passing point and end point.

3. Program
Example 1
Circle
• Specify “CIR2 2 3” after the actuator has moved to P1.
• If “CIR2 2 3” is specified in the figure shown at left, the
actuator will move along this circle clockwise.

• To cause the actuator to move counterclockwise, specify

“CIR2 3 2”.

Example 2
Arc

• Specify “ARC2 2 3” after the actuator has moved to P1.

[3] Reference
1) Some circle and arc commands can be executed not only two-dimensionally (between two
actuator axes) but also three dimensionally (among three actuator axes).

CIRS xxxxxxxxxx Move along circle three-dimensionally

ARCS xxxxxxxxxx Move along arc three-dimensionally

2) Refer to the page for “CIR2, ARC2, CIRS, ARCS” Command in [12] Actuator Control
Command for each command language for the caution in use.

145
 3.5.8 Axis Movement by External Signals and Output of Completion Signal to
External Device
[1] Description
This is a function to enable the axes movement with an external signal input and to output the
complete signal to an external device.

[2] Example of Use

3. Program

Flowchart

Wait for the input port (external signal) 10 to turn ON, and then move to
Start P1 (Position Data No. 1).
Wait for the input port (external signal) 11 to turn ON, and then move to
P2 (Position Data No. 2).
The movement complete signal for P1 is output to the output port 310,
Input 10
and P2 complete signal to port 311.

Move to P1

Output 310 ON

Input 11

Output 310 OFF

Move to P2

Output 311 ON

End of program

Program (Example)
プログラム(例)

146
3.5.9 Changing the Moving Speed
[1] Description
Change the moving speed.

[2] Example of Use

The speed can be set using the following two methods:
a: Use a VEL command within the program
b: Use a speed setting in the position table

3. Program
Program (Example)
プログラム(例) ポジションデータ(例)
Position data (Example)

P1移動

速度1000mm/sec設定

P2移動

P3移動

速度50mm/sec設定

P4移動

Each Position (Position Data No. 1 (P1) to No. 4 (P4))

Moving speeds in the above program

Position at 100mm (P1) … The actuator moves at 100mm/sec.
Position at 200mm (P2) … The actuator moves at 500mm/sec.
Position at 300mm (P3) … The actuator moves at 1000mm/sec.
Position at 400mm (P4) … The actuator moves at 50mm/sec.

If a speed is specified in the position data table, this speed takes precedence over the speed
specified in the application program, as shown above.

147
 3.5.10 Speed Setting Change during PATH (Continuous) Operation
[1] Description
You can change the speed of the actuator without stopping it, by using a PATH command and
VEL fields of the position table.
For example, this command is useful in a paint dispensing application where the application
volume changes in the middle.

[2] Example of Use

3. Program

The actuator moves through linear sections a, b and c at 50mm/sec, 20mm/sec and
50mm/sec, respectively, without stopping (PATH operation).

Application width

Section a Section b Section c

Position data (Example)

ポジションデータ(例)

Program (Example)
プログラム(例)
“PATH 1 4” is the only movement command required.

[3] Reference
The speed can also be changed from other program using a CHVL (speed change) command.

148
3.5.11 Variables and Flags [Global/Local]
[1] Description
The internal variables and flags used in the SEL language are classified into local and global
types.
The data range used commonly by all programs is called the global range, while the data
range used only by each program is called the local range. When multi-tasking programs are
run simultaneously, the global range must be used to synchronize the programs and allow
cross-referencing of variables among the programs.

3. Program
[2] Example of Use
Program handshake

Program A Program B

Waiting for Output

Turn ON Output 600
出力600をON 出力600のON待ち
600 to turn ON

Waiting for Output

出力601のON待ち
601 to turn ON Turn ON Output 601
出力601をON

Use of global flags with the above two programs permits handshake between the programs,
and the actuator moves per “MOVL 1” in program A, moves per “MOVL 2” in program B, and
then move per “MOVL 3” in program A, for example.

Backup in Battery
(Note 1)
The XSEL controller has a built-in battery for retaining variables and flags used in the
programs. The data is retained in the global domain for both variables and flags even if the
power is turned OFF.
The variables and flags in the local range are cleared when the program is started (the
variables are reset to “0”, while the flags turn OFF).
Note 1: XSEL-RA/SA/RAX/SAX/RAXD/SAXD, XSEL-R/S/RX/SX/RXD/SXD, MSEL and TTA
do not have a system memory backup battery since they possess the global domain in
the non-volatile memory.

The system-memory backup battery is optional for ASEL, PSEL and SSEL controllers.
No system-memory backup battery is available for TT robots.
If the system memory is not backed up with a battery, global areas will be cleared once the
power is cut off.

149
 3.5.12 How to Use Subroutines
[1] Description
A subroutine is a group of steps that are called and executed several times within a program.
Subroutines are used to reduce the number of program steps and make the program easy to
read. Up to 99 subroutines can be used in one program. Up to 15 subroutine calls can be
nested.

[2] Example of Use

3. Program

Declare/call subroutines using the following commands:

EXSR: Call a subroutine
BGSR: Declare the start of a subroutine (start of a group of steps)
EDSR: Declare the end of a subroutine (end of a group of steps)

Subroutine

The same tasks are consolidated

into a single location.

[3] Note
Jumping from within a subroutine to a TAG position outside the subroutine using a GOTO
command is prohibited.

150
3.5.13 Pausing the Operation
[1] Description
Use a declaration command HOLD to pause the moving axis temporarily via external input.

[2] Example of Use

A pause interruption operation can be executed to a moving axis (to decelerate the axis to a
stop) by declaring a HOLD command within the program.
While HOLD is input, the actuator pauses (decelerates to a stop, if currently moving) against

3. Program
all moving commands in the same program.

HOLD 20 A declaration to execute pause if general-purpose input 20 turns ON.

Input port 20 ON Input port 20 OFF The axis stops.

Speed

Remaining
operation

Time

Application

You can specify a global flag, instead of an input port, in Operand 1 of the HOLD command.
Use of a global flag allows the actuator to be paused from other program.
The input signal pattern and stop action can be selected using Operand 2.

0 = Contact a (Decelerates to a stop) ⇒ Same as when Operand 2 is not specified.

1 = Contact b (Decelerates to a stop)
2 = Contact b (Decelerates to a stop, and then servo OFF
⇒ The drive power is not cut off.)

[3] Note
If the actuator is paused during homing, it will start the homing sequence from the beginning
upon restart.

151
 3.5.14 Canceling the Operation
[1] Description
Use a declaration command CANC to decelerate the moving axis to a stop and cancel the
remaining operation.

[2] Example of Use

While CANC is input, all movement commands in the same program are cancelled.
3. Program

CANC command
CANC 20 Cancel the movement commands if input port 20 turns ON (declaration).
:
MOVP 1
MOVP 2
:
WTON 21
:

* Declare this command in a step before the movement commands you want to cancel.
* While CANC is input, all operation commands are cancelled sequentially, while tasks
other than operation commands (such as I/O processing and calculation processing) are
executed sequentially.

Input port 20 ON

The operation within this

↑ range is cancelled.
Speed

Remaining
operation

Time→

Application

A desired input signal pattern can be selected for a CANC command using Operand 2.
0 = Contact a (Decelerates to a stop) ⇒ Same as when Operand 2 is not specified.
1 = Contact b (Decelerates to a stop)

[3] Note
It is recommended that you use a WTON command to create an input waiting step, because
otherwise you cannot specify which of the program steps the actuator is currently executing.

152
3.5.15 Aborting from Other Program
[1] Description
Decelerate the moving axis to a stop and cancel the remaining operation. (STOP)

[2] Example of Use

Execute a STOP command from other program to forcibly stop the operation (in the
multi-tasking mode). Specify the axis you want to stop using an axis pattern.

3. Program
Input port 20 ON

The operation within this

↑ range is cancelled.
Speed

Remaining
operation

Time→

Example 1
STOP command
Main program Stop control program
EXPG n The stop program starts. WTON 20 Wait for stop input.
: STOP 11 Axes 1 and 2 stop.
MOVL 1
MOVL 2
:
If “STOP 11” is executed while “MOVL 1” is being executed, “MOVL 1” will be cancelled and
the actuator will continue its operation from “MOVL 2”.

Example 2
Main program Stop control program
EXPG n The stop program starts. WTON 20 Wait for stop input.
: STOP 10 Axis 2 stops.
MOVP 1
MOVP 2
:
If “STOP 10” is executed while “MOVL 1” is being executed, only the axis 2 part of “MOVL 1”
will be cancelled. Both axes 1 and 2 will operate under “MOVL 2”.

[3] Note
If a STOP command is executed during a CP operation (interpolation operation) initiated by
MOVL, etc., the operations of all axes will be cancelled regardless of the axis pattern specified
in the STOP command.

153
 3.5.16 Operation by Position Number Specification via External Signals and
Output of Completion Signal to External Device
[1] Description
Load externally input BCD codes as position numbers to execute movements.

[2] Example of Use

Use an INB command to load a position number as a BCD code from an input port.
A position number can be specified using a value consisting of up to three digits.
3. Program

Flowchart
*1
Input assignment Output
Start
Port Description 303 Movement completion
Initial setting 1 Start input
15 Position specification 1
16 Position specification 2
Start input 17 Position specification 4
18 Position specification 8
Read BCD
19 Position specification 10
20 Position specification 20
21 Position specification 40
Movement
completion OFF 22 Position specification 80
23 Position specification 100
Move to specified 24 Position specification 200
position number 25 Position specification 400
26 Position specification 800
Movement
completion ON

Program (Example)

*1 Shown above is an example of port assignment for XSEL, ASEL, PSEL and SSEL controllers.
An example for TT robots is shown below.
Input assignment
Port Description
28 Start input
16 Position specification 1
17 Position specification 2
18 Position specification 4
19 Position specification 8
20 Position specification 10
21 Position specification 20
22 Position specification 40
23 Position specification 80
24 Position specification 100
25 Position specification 200
26 Position specification 400
27 Position specification 800

154
3.5.17 Operation by Coordinate Value Input via External Signals and Output of
Completion Signal to External Device
[1] Description
Receive target position data as absolute values from a host device to execute movements.

[2] Example of Use

Use an INB command to load position data as a BCD code from an input port.
Each BCD value should consist of four digits, with the last digit indicating a decimal place.

3. Program
The moving axis is axis 1.
Example: If a BCD of “1234” is received, the axis will move to the position at 123.4mm.

Flowchart
Input assignment Output
Start
Port Description 303 Movement completion
1 Start input
Initial setting 15 0.1mm
16 0.2mm
17 0.4mm
Start input 18 0.8mm
19 1mm
20 2mm
Read BCD 21 4mm
22 8mm
Movement 23 10mm
completion OFF 24 20mm
25 40mm
Move to specified
26 80mm
position
27 100mm
Movement
28 200mm
completion ON 29 400mm
30 800mm

Program (Example)
プログラム(例)

[3] Note
With TT robots, 16 general-purpose inputs from 016 to 031 can be input. However, if
coordinate values from 400mm [maximum TT stroke] to 0.0mm are inputs in 0.1mm
increments and a start signal is used to start the movement, as in the example, all of the 16
general-purpose inputs are used. Take note that in this case you can no longer use
general-purpose inputs for other purposes.

155
 3.5.18 Output of Current Position Coordinate Value to External Device
[1] Description
Read the current actuator coordinate in real time and output the coordinate from an output port
as BCD data.

[2] Example of Use

Use a PRDQ command to read the current coordinate value of axis 1.
Output the current coordinate data of axis 1 every 0.2sec as BCD output.
3. Program

The output range is from 0.00 to 999.99mm.

BCD output assignment

Output port No. Description Output port No. Description
324 0.01 337 20
325 0.02 338 40
326 0.04 339 80
327 0.08 340 100
328 0.1 341 200
329 0.2 342 400
330 0.4 343 800
331 0.8
332 1
333 2
334 4
335 8
Unit: mm
Program (Example)

* The current position coordinate is written to variable 101 according to the PRDQ command.
Since the value that has been read into the variable is in the xxx.xxx format, move the unused
digits to below the decimal point so that the result can be output as BCD data.
In this example, the third and subsequent decimal places are not required and thus the value
is multiplied by 100 to obtain the data xxxxx.x.
Next, the BCD output data is copied to dedicated variable 99.
The digit below the decimal point is rounded off at this time.
Then, the final value is output to an external device via an OUTB command.
This program is run in the multi-tasking mode as a sub-program.

[3] Note
The unit of output data may have to be changed as deemed appropriate depending on the
moving range of the actuator and number of available output ports.
If coordinate values from 0mm to 400mm [maximum TT stroke] are output in 0.01mm
increments, as in the example, 19 general-purpose outputs are needed. However, TT robots
only have 16 general-purpose outputs of 316 to 331. Accordingly, you must take an
appropriate action such as changing the unit of output data to 0.1mm.

156
3.5.19 Conditional Jump
[1] Description
Select the destination to jump to via GOTO using the external input, output and/or internal flag
statuses as a condition.
Process is switched over for each input.

[2] Example of Use

3. Program
Example 1

If input 10 turns ON, the actuator will jump to TAG 1. If it turns OFF, the actuator will proceed
to the next processing.

Execute GOTO 1 if input 10 turns ON.

Input 10
Processing a
Processing a

Processing b

* If input 10 turns ON, the actuator will skip processing a and

perform processing b.
If input 10 turns OFF, the actuator will perform processing a,
and then perform processing b.

Example 2
Wait for the input to the two ports 10 and 11, and if Input 10 becomes ON, proceed to the
processing a, and proceed to the processing b if Input 11 becomes ON.

Input 10

Input 11
Processing a

Processing a

Processing b No input.
Processing b Input 10 turns ON.
Input 11 turns ON.

If both inputs 10 and 11 turn ON, the actuator will perform processing a.

157
 3.5.20 How to Pause and Then Resume Program after Output Signal Input
[1] Description
The controller waits for multiple different inputs and performs processing upon reception of any
of these inputs.

[2] Example of Use

Inputs 10 and 20 are monitored, and the actuator will proceed to the next step when either
input is received (OR logic).
3. Program

Input 10 Program a Program b

Input 20

Next processing
Next processing
Next processing
* Both programs a and b perform the same processing.

As shown in the sample, the controller waits for input without using a WTON command.
This method can also be used when multiple input conditions must be combined.

[3] Note
With a WTON command, the program cannot wait for multiple inputs because processing will
resume upon receipt of one of the specified inputs.

158
3.5.21 How to Use Offset
[1] Description
With an OFST command, an offset can be specified for position data when you want to shift
(offset) all teaching points by several millimeters because the actuator was not installed
exactly in the specified position or for other reasons.

[2] Example of Use

Move the actuator from point A to point B, which is offset by 80mm from point A.

3. Program
Home

[3] Note
Once an offset has been set, the offset applies to all movement commands executed
thereafter. To cancel the offset, execute an offset command again by specifying 0mm. An
offset does not apply to other programs (even in the multi-tasking mode). If a given offset must
be applied to all programs, it must be set for all programs individually.

159
 3.5.22 How to Repeat Specified Operation Multiple Times
[1] Description
Execute a specific operation n times.

[2] Example of Use

The actuator moves back and forth between P1 and P2 ten times, and then the program ends.
Use a CPEQ command to compare the number of times the movement has been actually
repeated, against 10.
3. Program

It is assumed that homing has been completed.

Program (Example)

[3] Reference
The same operation can also be performed using a DWEQ command.

160
3.5.23 Constant Feed Operation [Pitch Feed]
[1] Description
Feed the actuator by a specified pitch n times from a reference point.
The pitch and number of repetitions are specified by variables in advance.

[2] Example of Use

Use an OFST command to perform pitch feed.
The number of times the actuator has been fed is counted by a counter variable.

3. Program
The X-axis is fed in the positive direction.
Flowchart

Start

Initial setting

Start input

Move

Increment
pitch variable

Apply offset
Pitch (mm)
Increment
feed counter Reference point (Number of feeds n)

Counter up?

End of
program

Program (Example)

[3] Note
An OFST command applies to movement commands.
Executing an OFST command alone does not move the axis.

[4] Reference
Pitch feed can also be performed with MVPI and MVLI Commands.

161
 3.5.24 How to JOG via External Signal Input
[1] Description
The slider moves forward or backward while an input is ON or OFF.
Instead of an input, an output or global flag can be used as a cue.
The slider will move directly to the next step if the specified input does not satisfy the condition
when the command is executed.
Regardless of the input status, the slider will stop upon reaching the soft limit, and the
command in the next step will be executed.
3. Program

[2] Example of Use

• Explanation of commands
JFWN 1 20 Axis 1 moves forward while input 20 is ON.
JFWF 1 21 Axis 1 moves forward while input 21 is OFF.
JBWN 10 22 Axis 2 moves backward while input 22 is ON.
JBWF 10 23 Axis 2 moves backward while input 23 is OFF.

Example 1

• Stop the axis when a sensor input is received.

The axis comes down and

stops upon detecting a work. :
VEL 50 Specify a low speed.
JFWF 1 20 Move until a sensor input (20) is
Sensor detection line
センサ検出ライン
received.
EXIT The program ends.

Work

Example 2

• Cause the actuator to jog just like in teaching pendant operation (2 axes are operated).

Program (Example)

[3] Note
HOLD, STOP and CANC commands remain valid while the actuators are jogging.

162
3.5.25 Switching Programs
[1] Description
Use EXPG/ABPG commands to switch programs using a program.

[2] Example of Use

Example 1

3. Program
Start program 2 once the processing of program 1 is completed, and then end program 1.

Program 1 Program 2
: :
EXPG 2 :
EXIT

Example 2
Start a program via an external signal, and then end the other program.

Program 1 Program 2
ABPG 2 ABPG 1
: :
If program 2 is started while program 1 is running, program 1 will be aborted.
If program 1 is started while program 2 is running, program 2 will be aborted.

Application
If a program number is specified in operand 2, the programs from the one corresponding to
the program number in operand 1 to the other corresponding to the program number in
operand 2 can be started (EXPG) or ended (ABPG) simultaneously.

[3] Note
z Up to 16 programs (maximum of 8 programs in the case of ASEL/PSEL/SSEL controllers)
can be run at the same time. To use other programs when the controller is already running
16 programs, switch programs by closing a program or programs that are not required.
z If an ABPG command was executed to end a program while the program was executing a
movement command, the actuator immediately decelerates to a stop.

163
 3.5.26 Aborting a Program
[1] Description
Abort a program currently running.
Execute an ABPG command (command to abort other program) from other program in the
multi-tasking mode.

[2] Example of Use

Main program (Prg. 1) Abort control program (Prg. n)
3. Program

EXPG n The abort control program starts. WTON 20 Wait for an abort input.
WTON 10 ABPG 1 Prg. 1 is aborted.
MOVP 1 EXIT The program ends.
BTON 303
:
:

[3] Note
If the running program was executing any movement command, the applicable axis
immediately decelerates to a stop and then the program ends.

164
3.5.27 Way to Prevent Duplicated Startup by Program
[1] Description
How to prevent other programs from starting redundantly using virtual I/O port N710…
(Program No.… running) is explained. If a given program is not running as determined by the
checking of corresponding virtual I/O port N710… (Program No.… running), that program is
started.

[2] Example of Use

3. Program
PRG1 (for task management)
PRG2 (auto)
TAG1 ABPG 3 4
N7102 EXPG 0.02 PRG2 stopped x PRG3 (step)
PRG2 running x ABPG 2
N7103 EXPG 0.03 PRG3 stopped ABPG 4 PRG4 (JOG)
ABPG 2 3
PRG3 running x
x
N7104 EXPG 0.04 PRG4 stopped x
x
PRG4 running
TIMW 0.02 Task open
GOTO 0.01

165
 3.5.28 How to Cause Rotational Axis [Multi-rotation Specification] to Rotate
Multiple Times
Regarding the axis operation types and rotation axis modes
(1) Axis-specific parameter No. 1, “Axis operation type”

No. Parameter name Default value Input range Unit

1 Axis operation type Varies depending on the actuator. 0 to 1 None
3. Program

z Explanation
This parameter defines the type of the actuator used. (Set this to 1.)
z Setting values
0: Linear movement axis Actuator other than rotational axis
1: Rotational movement axis Rotational axis (RS-30/60, RCS2-RT*/RTC*)

(2) Axis-specific parameter No. 66, “Rotational axis mode selection”

No. Parameter name Default value Input range Unit

66 Rotational axis mode selection 0 0 to 5 None

z Explanation
This parameter selects a desired rotational axis mode. (Set this to 1.)
Related parameter: Axis-specific No. 7, “Soft limit+”
z Setting values
0: Normal
1: Index mode
* When the index mode is selected, the soft limit is fixed to 359.999mm internally.
Short-cut control is enabled while the index mode is selected.
2 to 5: Reserved by the system

Caution: Absolute-specification actuators do not support the following settings:

• If this parameter is set to 0 (Linear movement axis), the infinite stroke mode
cannot be set with parameter No. 68.
• If this parameter is set to 1 (Rotational movement axis), short-cut control
cannot be selected in parameter No. 67.

166
 (3) Axis-specific parameter No. 67, “Short-cut control selection for rotational movement axis”

No. Parameter name Default value Input range Unit

Short-cut control selection for
67 0 0 to 1 None
rotational movement axis

z Set this parameter to 1 when the rotation of the rotary axis is required to be in one way.
Multi-rotation operation can be performed by setting this parameter to 1 (Short-cut control
selected) and repeating a movement command in the same rotating direction.

3. Program
What is short-cut control?
A type of operation in which the actuator moves to the closest point in the next move.
It may shortcut if a far point is indicated. Pay attention to the indication value if the
multi-rotation operation is preferred.

z Setting values
0: Not selected
1: Selected

Example: Move the actuator through position No. 2 → 3 → 4 → 1 successively

based on position No. 1 being the reference point.

Position No. 1
Program Position
Step No. Command Operation Position No. Position data
1 MOVP 2 1 0
Position No. 4 Position No. 2 2 MOVP 3 2 90
3 MOVP 4 3 100
4 MOVP 1 4 270
1° of position data
Position No. 3
corresponds to 1mm.

Short-cut control not selected

1 2 3 4
Position No. 1 Position No. 1

Position No. 2 Position No. 2 Position No. 4 Position No. 4

Position No. 3 Position No. 3

Short-cut control selected

1 2 3 4
Position No. 1 Position No. 1

Position No. 2 Position No. 2 Position No. 4 Position No. 4

Position No. 3 Position No. 3

* By selecting short-cut control, you can cause the actuator to rotate in a specific direction.

167
 3.6 For Advanced Operations (program edit)
3.6.1 Handling of Axis Numbers and Patterns

You can specify each axis using an axis number or multiple axes using an axis pattern.

[1] Axis number and indication of axis

Axes are indicated as follows so that multiple axes can be expressed.
To specify only one of multiple axes, specify it by the applicable axis number.
3. Program

Single axis/rectangular axis

Axis Axis number
Axis 1 1
Axis 2 2
Axis 3 3 SSEL, ASEL and PSEL controllers support only up to two axes. TT
Axis 4 4 robots support only up to three axes.
Axis 5 5
Axis 6 6
Axis 7 7
Axis 8 8

In addition to following the above rule, you can also express axis numbers using symbols.

SCARA robot
Axis Axis number (Note) The movements of arms 1 and 2 of a SCARA robot are
X-axis 1 interlocked. It is not that arm 1 always represents the X-axis
and arm 2, Y-axis.
Y-axis 2 Consider that the X-axis (axis No. 1) moves in the direction of
Z-axis 3 X coordinates, while the Y-axis (axis No. 2) moves in the
direction of Y coordinates.
R-axis 4
Note that only when an AXST command is issued, the X-axis
represents the arm 1 axis, while the Y-axis represents the arm
2 axis.
In addition to following the above rule, you can also express axis numbers using symbols.

168
[2] Axis pattern

[Single axis/rectangular axis]

Use “1” or “0” to indicate which axis(es) you want to use.

(Higher) (Lower)

Axis Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

3. Program
Use 1 1 1 1 1 1 1 1
Do not use 0 0 0 0 0 0 0 0

[Example] Use axes 1 and 2.

Axis 2
↓
You should state 000011… (The 0’s at the beginning are not necessary. Take them away and use 11.)
↑
Axis 1

[Example] Use axes 1 and 4.

Axis 4
↓
You should state 1001… (In this case, the 0’s are needed to indicate the position of axis 4.)
↑
Axis 1

Specifying an axis pattern indirectly using a variable

Consider an axis pattern as a binary expression and assign a decimal equivalent of it to a
variable.

[Example] Axis pattern where home return is performed only for axis 3

HOME 100

This pattern is specified indirectly as follows:

100 (binary) → 4 (decimal)
Accordingly:
LET 6 4
HOME *6

If multiple axes must be specified at the same time, use an axis pattern.
• Commands where an axis pattern is used to specify axes
OFST, GRP, SVON, SVOF, HOME, JFWN, JFWF, JBWN, JBWF, STOP, PTST, PRED
CHVL, PBND, WZNA, WZNO, WZFA, WZFO, PAXS, NBND, PTRQ, MOVD, MVDI, NTCH,
RAXS, XAXS, ECMD(250)

169
 [SCARA robot]
Use “1” or “0” to indicate which axis(es) you want to use.

(Higher) (Lower)

Axis R-axis Z-axis Y-axis X-axis

Use 1 1 1 1
Do not use 0 0 0 0
3. Program

(Note) The movements of arms 1 and 2 of a SCARA robot are interlocked. It is not that arm 1
always represents the X-axis and arm 2, Y-axis.
Consider that the X-axis (axis No. 1) moves in the direction of X coordinates, while the
Y-axis (axis No. 2) moves in the direction of Y coordinates.

[Example] Use the X-axis and Y-axis.

Y-axis
↓
You should state 0011… (The 0’s at the beginning are not necessary. Take them away and use 11.)
↑
Axis 1

[Example] Use the X-axis and R-axis.

R-axis
↓
You should state 1001… (In this case, the 0’s are needed to indicate the position of axis R.)
↑
X-axis

Specifying an axis pattern indirectly using a variable

Consider an axis pattern as a binary expression and assign a decimal equivalent of it to a
variable.

If multiple axes must be specified at the same time, use an axis pattern.
• Commands where an axis pattern is used to specify axes
OFST, GRP, PTST, PRED, PBND
(Note) In the case of SVON, SVOF and STOP, all axes are specified regardless of the axis
pattern.

170
3.6.2 Setting of Multi-tasking and Task Level
[1] Multi-tasking

Controllers come standard with the multi-tasking function that allows multiple programs to be
run simultaneously, such as moving actuators in one program and turning ON/OFF solenoid
valves in another programs.
“Multi-tasking” literally means performing multiple tasks. The main CPU processes each
program step by step. If multiple programs are run that contain actuator commands, timer

3. Program
commands, input waiting commands, etc., however, the main CPU uses an idle time while
waiting for completion of each commanded task to process different programs.
(If a given program has no idle time, the system forcibly switches to the next program after
1msec based on “time slicing” action.)
XSEL controllers adopt high-speed CPUs, so multi-tasking is also performed at high speed.
Note that this function also supports simulated ladder circuits, which means that as long as
your equipment is small enough you can build it as a sequencer.

[Example of multi-tasking (running multiple programs)]

Main Sub Simulated Communication

program -program ladder program
Operation Solenoid program Camera, etc.
valve Sensor
control monitoring

Main CPU

[2] Task level

If you want to perform a given task (program) preferentially over other tasks (programs), you
can do so with a CHPR command by setting the parameter to “1: HIGH”. If the parameter is
set to “0: NORMAL”, no priority is set.
You can also set task levels for simulated ladder programs. [Refer to Section 3.6.3]

171
 [3] Multi-Tasking

Take a screw-tightening robot, for example.

In general, a screw-tightening robot consists of axis 1 and axis 2 actuators and a
screw-tightening machine (up/down air cylinder, etc.).

Operation Flow

Move Parts feeder prepares screws

3. Program

Tighten screw

Move XY Parts feeder prepares screws

Tighten screw

Although the flow chart is simple, the movement of axis 1 and axis 2 actuators and the
operation of the parts feeder must take place simultaneously. This requires “multi-tasking”
operation.

Program 1 Start Program 2 Start

Move Parts feeder ON

Screw
preparation OK
Tighten screw

Parts feeder OFF

Move
Shortage of
screws

Tighten screw Timer

172
[4] Program Switching
Various methods are available to switch between programs, depending on the purpose of
programs. The representative methods are explained below.

External start
Program switching
Program Single-tasking -----------EXIT command
Multi-tasking -------------EXPG command

3. Program
There are mainly two ways. One is to conduct with external startup and the other with
application program.

(1) External start method ······· Refer to the Instruction Manual for each controller.

(2) Program method

{ Single-tasking
By executing EXIT Command (program finish) at the end of each program, finish the
program and put back to the condition when the power is turned off. The home position,
however, is remained, thus the next program can be executed with external start input by
specifying another program number.

{ Multi-tasking
By creating a program for control and executing EXPG Command (startup of another
program) in the program, multiple programs run in parallel one after another.

173
 3.6.3 Pseudo-Ladder Task
A pseudo-ladder task function can be used depending on the command and extension
condition.
The input format is shown below. Note that this function must be used by expert engineers
with a full knowledge of PLC software design.

[1] Basic Frame

Extension Input
N Command Operand 1 Operand 2 Output
3. Program

condition condition
E N Cnd Cmnd Operand 1 Operand 2 Pst
LD 7001 CHPR 1
TPCD 1
TAG 1
- - - - - - - - - -

- - - - - - - - - -

- - - - - - - - - -

- - - - - - - - - -
Ladder
statement
field

LD 7001 TSLP 1 to 100

- - - - - - - - - -

- - - - - - - - - -

- - - - - - - - - -

- - - - - - - - - -

Ladder
statement
field

LD 7001 TSLP 1 to 100

LD 7001 GOTO 1
LD 7001 EXIT

* * Virtual input 7001: “Normally ON” contact

174
[2] Ladder Statement Field
1) Extension conditions
LD ·······LOAD
A ·······AND
O ·······OR
AB ·······AND BLOCK
OB ·······OR BLOCK
All of the above extension conditions can be used in non-ladder tasks.

3. Program
2) Ladder commands
OUTR ·········· Ladder output relay (Operand 1 = Output, flag number)
TIMR ·········· Ladder timer relay
(Operand 1 = Local flag number, Operand 2 = Timer setting (sec))

[3] Points to Note

• This system only processes software ladders using an interpreter. Therefore, the processing
time is much longer than that of a dedicated commercial sequencer.
(This system is not suitable for large-scale ladder processing.)
• If an extension condition is not specified for steps in which an input condition is specified,
the steps will be treated as LD (LOAD).
• Always specify a “normally ON” contact for those steps that must be processed without fail,
such as CHPR, TSLP and GOTO. (LD 7001)
Virtual input 7001: “Normally ON” contact

175
 • Ladder processing is based on software ladders using an interpreter, you cannot branch an
output “1” to produce an input “2” or “3” as shown in the input circuit below.
3. Program

Cannot be expressed.

To perform this operation, you can write a ladder as follows, for example.
However, this is conditional upon the output “1” not changing during the output processing at
OUTR301 in line 1. Make sure the output “1” does not change due to other programs.

OUTR301
1
2

OUTR302
1 3

Extension Input
N Command Operand 1 Operand 2 Operand 3
condition condition
E N Cnd Cmnd Operand 1 Operand 2 Operand 3

LD 1
A 2 OUTR 301
LD 1
A 3 OUTR 302

176
[4] Program Example

3. Program
Extension Input
N Command Operand 1 Operand 2 Output
condition condition
E N Cnd Cmnd Operand 1 Operand 2 Pst
LD 7001 CHPR 1
TPCD 1
TAG 1

LD 8
A N 9
O 10
LD N 11
A 12
AB OUTR 314

LD 7001 TSLP 3
LD 7001 GOTO 1
LD 7001 EXIT

177
 An example where 13, 14, 15 and timer TIMER900 are added further is given below.

OUTR 314
8 9 11 12
3. Program

10 13 14

TIMR 900
314 15

0.5 SEC

Extension Input
N Command Operand 1 Operand 2 Output
condition condition
E N Cnd Cmnd Operand 1 Operand 2 Pst
LD 7001 CHPR 1
TPCD 1
TAG 1

LD 8
A N 9
O 10
LD N 11
A 12
LD 13
A N 14
OB
AB OUTR 314
LD 314
A 15 OUTR 900 0.5
LD 7001 TSLP 3
LD 7001 GOTO 1
LD 7001 EXIT

178
3.6.4 How to Use Arch Motion
Move from the current position to end point via arch motion.

Top point of arch motion

* Position No. 12 *

3. Program
Start-point arch trigger End-point arch trigger
Position No. 13 * *
Position No. 11

Start point End point

Position No. 10

Example of program

ACHZ 3 -------- Declare arch motion Z-axis

ATRG 13 (start-point arch trigger position) 11 (end-point arch trigger position) -------- Set arch trigger

ARCH 10 (position of end point) 12 (position of top point of arch motion) ------ Arch motion

• Use an ACHZ command to specify the arch motion Z-axis. In the case of a SCARA robot,
you only need to specify the Z-axis (axis 3) to perform arch motion. (ACHZ 3)
• Use an ATRG command to specify the arch motion trigger.
After rising up to the start arch trigger from the current position by ARCH Command, a
movement in the direction other than Z-axis starts with the arch motion.The actuator passes
the top point being the Z point specified in operand 2 and completes the movement in a
direction other than that of arch motion Z-axis, after which it passes near the end-point arch
trigger and reaches the positions of the specified point.

Note

When operation is resumed after a pause, the transition from rising movement to horizontal
movement and transition from horizontal movement to rising movement may follow the paths
indicated by * (dotted lines) in the figure. Exercise caution to prevent contact.

179
 • The arch motion Z-axis coordinate at the end point corresponds to the sum of the
arch-motion Z-axis component of position data specified in operand 1, if any, and the
arch-motion Z-axis offset. If the position data has no arch-motion Z component, the arch
motion Z-axis coordinate corresponds to the sum of the arch motion Z-axis coordinate at the
start point and the arch motion Z-axis offset. (Normally an offset is added to all positions
such as the arch trigger and Z point.)
• If the start-point arch trigger is set below the start point or end-point arch trigger is set below
the end point, an error occurs. (Note: The upward and downward directions have nothing to
do with + and - of coordinates.)
3. Program

• The rising direction of the arch motion Z-axis is the direction of moving from the end point to
Z point (while the downward direction is the opposite of that direction), and has nothing to do
with the magnitude correlation of coordinate values. Accordingly, be sure to check the actual
operating direction when using this command.
• As for the data of end-position arch trigger, also start/end the operation at a point above the
applicable arch trigger for any effective axis data other than data of the arch motion Z-axis, if
available.
• If a composite arch trigger is set and any effective axis data is available other than data of
the effective axis at the end point or arch motion Z-axis, the applicable axis also operates. In
this case, also start/end the operation at a point above the applicable arch trigger.

180
3.6.5 How to Use Palletizing Function
The SEL language provides palletizing commands that support palletizing operation. These
commands allow simple specification of various palletizing settings and enable arch motion
ideal for palletizing. You can also call a subroutine at the palletizing destination to perform
palletizing operation.

[1] How to Use

Use palletizing commands in the following steps:

3. Program
(1) Palletizing setting
Set palletizing positions, arch motion, etc., using palletizing setting commands.
(2) Palletizing calculation
Specify palletizing positions using palletizing calculation commands.
(3) Palletizing movement
Execute motion using palletizing movement commands.

[2] Palletizing Setting

Use the palletizing setting commands to set items necessary for palletizing operation. The
setting items include the following:

[Palletizing number setting ................ Command: BGPA]

At the beginning of a palletizing setting, determine a palletizing number using a BGPA
command to declare the start of palletizing setting.
At the end, declare the end of palletizing setting using an EDPA command.

BGPA 1 Declare the start of setting for palletizing No. 1.

Set palletizing in these steps.

EDPA Declare the end of palletizing setting at the end.

A maximum of 10 sets (palletizing No. 1 to 10) of palletizing setting can be specified for each
program.

181
 [Palletizing pattern ................ Command: PAPN]
Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
The encircled numbers indicate the order of palletizing and are called “palletizing position
numbers”.

Pattern 1 Pattern 2
3. Program

Preferential Preferential
axis axis
(PX-axis) Start point (PY-axis) (PX-axis) Start point (PY-axis)

Fig. 1

PAPN 2 When pattern 2 is selected

(Setting is not necessary if pattern 1 is selected.)

The row from 1 to 3 to be placed first is called the “preferential axis (PX-axis)”, while the other
direction comprising the palletizing plane is called the “PY-axis”.

[Palletizing counts ................ Command: PAPI]

Set the palletizing counts.

PAPI 3 4 Count for preferential axis (PX-axis): 3, Count for PY-axis: 4

[Palletizing position setting]

Palletizing position setting is performed mainly by method A or B, as explained below. Set the
palletizing positions for each palletizing setting based on method A or B.

Setting method Commands

[3-point or 4-points teaching method]
A Set three position-data points or four position-data points specifying the PAPS
palletizing positions.
[Method to set palletizing positions in parallel with the actuators
(in parallel with an axis on the work coordinate system in the case of a
PASE, PAST
B SCARA robot)]
PAPT
Set from the palletizing axes, palletizing reference point and palletizing
pitches.

182
A. 3-point teaching method
To set the palletizing positions by 3-point teaching, store desired positions in position data
fields as three continuous position data and then specify the first position number using a
PAPS command.
This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel
with the actuators and not crossing with each other.
In the example shown below, position data [1], [3] and [10] are stored in three continuous
position data fields.

3. Program
When three points are taught from position No. 11
Position No. 11 [1] : Start point (First palletizing position)
Position No. 12 [3] : Palletizing position corresponding to the end point in the PX-axis
direction
Position No. 13 [10] : Palletizing position corresponding to the end point in the PY-axis
direction
The encircled numbers indicate palletizing position numbers (palletizing order).

Use a PAPS command to specify the position number corresponding to the start point.

Preferential
axis
(PX-axis)

Start point (PY-axis)

Fig. 1

PAPS 11

The pitches are calculated automatically from the count set for each axis.
In 3-point teaching, you can specify position data for two axes or three axes. If position data is
specified for three axes, the palletizing plane becomes a three-dimensional plane.

183
 B. Method to set palletizing positions in parallel with the actuators
Palletizing reference point: Store the position data of the start point (palletizing position No. 1)
in a position data field and specify the applicable position number
using a PAST command, as shown below.
Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and
PY-axis directions.
Palletizing axes: Use a PASE command to specify the two axes, one representing
the PX-axis direction and the other representing the PY-axis
direction, to be used in palletizing.
3. Program

(An actuator axis number parallel with the preferential axis (PX-axis) and another
perpendicular to the preferential axis)

PX-axis direction pitch

Axis 2

Teach position data No. 100.

PY-axis direction pitch

Axis 1

PAST 100 Teach position data No. 100 as the start point.
PAPT 45 30 The PX-axis direction pitch is 45mm and the PY-axis
direction pitch is 30mm.
PASE 2 1 Set axis 2 as the priority axis (PX-axis) and axis 1 as
the rectangular axis and the priority axis.

(Note) When the above palletizing axes, palletizing pitches and palletizing reference point
are used, the PX-axis and PY-axis must be parallel with the actuators and crossing
with each other.

Select either method A or B for each palletizing setting.

184
 [Zigzag setting ................ Command: PSLI]
Use a PSLI command to set a zigzag layout as shown below.
Zigzag offset: Offset amount in the preferential-axis direction, which will be applied
when even-numbered rows are placed.
“Even-numbered rows” refer to the rows occurring at the even numbers
based on the row placed first representing the first row.

Zigzag count: Number in the even-numbered rows. Two in the diagram below.

3. Program
Preferential Offset
axis
(PX-axis)

Odd-numbered Even-numbered (PY-axis)

row row

[Arch motion setting]

(a) Arch motion Z-axis No. ......................... Applicable command: ACHZ
• In the case of a SCARA robot, you only need to specify the Z-axis (axis 3) to perform arch
motion.
ACHZ 3

(b) Arch motion Z-axis offset ...................... Applicable command: OFAZ

(c) Composite arch motion ......................... Applicable command: AEXT

Composite arch motion data refers to position data used when you want to cause any axis
other than the effective axis at the end point or arch motion Z-axis to perform an additional
operation (such as when setting a rotational angle).
Note, however, that any composite axis operation starts and ends at a position above the
applicable arch trigger.
Set this composite arch motion setting command by specifying a position number under
which composite arch motion data is set.

(d) Arch trigger ........................................... Applicable command: ATRG

The following arch trigger settings are available for arch motion.
Set this arch trigger setting command by specifying a position number under which arch
trigger coordinate data is stored.
(d-1) Start-point arch trigger
Specify the position to be reached after the arch motion is started from the start
point and the actuator moves in the arch motion Z-axis coordinate direction, after
which the actuator will start moving in the direction of other axis. Start-point arch
trigger = Z1
(d-2) End-point arch trigger
Specify the position to be reached in the arch-motion Z-axis coordinate direction
during the arch motion down movement, after which the actuator will end moving in
the direction of other axis. End-point arch trigger = Z3
Top point (X2, Y2, Z2)

(X1, Y1, Z1) (X3, Y3, Z3)

Start point (X0, Y0, Z0) End point (X4, Y4, Z4)

185
 [Palletizing arch motion setting]
(a) Axis number corresponding to palletizing Z direction...... Applicable command: PCHZ
(b) Palletizing Z-axis offset .................................................. Applicable command: OFPZ
(c) Composite palletizing ..................................................... Applicable command: PEXT
Composite palletizing data refers to position data used when you want to cause any axis
other than the PX- or PY- (or PZ-) axis to perform an additional operation in a palletizing
movement command (such as when setting a rotational angle).
Note, however, that any composite axis operation starts and ends at a position above the
applicable palletizing arch trigger.
3. Program

Set this composite palletizing setting command by specifying a position number under
which composite palletizing data is stored.

(d) Palletizing arch trigger ................................................... Applicable command: PTRG

If the end point is the palletizing point, you need palletizing arch triggers just like arch
triggers.
Set this palletizing arch trigger setting command by setting a position number under which
palletizing arch trigger coordinate data is stored.
(d-1) Palletizing start-point arch trigger
(d-2) Palletizing end-point arch trigger

186
[3] Palletizing Calculation
The items that can be operated or obtained using palletizing calculation commands are shown
below:

[Palletizing position number Commands ...... PSET, PINC, PDEC, PTNG]

Number showing the ordinal number of a palletizing point. (In Fig. 1 for [2] given in the
explanation of palletizing pattern, the encircled numbers are palletizing position numbers.)

Always set this command before executing a palletizing movement command

3. Program
(ARCH excepted) --- PSET

For example, executing a palletizing movement command by setting 1 as the palletizing

position number will move the axes to the start point. Executing a palletizing movement
command by setting 2 as the palletizing position number will move the axes to the point
immediately next to the start point in the PX-axis direction.

[Palletizing angle Command ........PARG]

It is an angle (θ in the figure below) of the palletizing preferential axis (PX-axis) against the
work coordinate system axis.
θ indicates an angle calculated by ignoring the coordinate in the palletizing Z-axis direction.
In the figure below, θ will become a positive value if axis 1 is used as the reference for angle
calculation.

Load coordinate
system, Yw-axis Palletizing container

PY-axis

PX-axis
+θ direction
θ
–θ direction

Load coordinate
system, Xw-axis
Fig. 4

If the composite axis is a rotating axis, you can obtain the palletizing angle and add it as an
offset to the operation of the composite axis in order to correct the composite axis against any
position error of the palletizing container.
With XSEL commands, executing a “get palletizing angle” command following a palletizing
setting via 3-point teaching will automatically obtain the palletizing angle.
If 3-point teaching is set three-dimensionally, you must specify the palletizing Z-axis.

[Palletizing calculation data Command .....PAPG]

When a palletizing position number is set, this data refers to the position coordinate data of the
palletizing point corresponding to that palletizing position number.
Note, however, that this position coordinate data does not reflect any normal offset or
palletizing Z-axis offset.

187
 [4] Palletizing Movement
Palletizing movement commands include commands used to move the actuator to palletizing
points and other that uses position data to specify the end point.

[Movement commands to palletizing point ....... PMVP, PMVL, PACH]

Calculate the position coordinate of a two-dimensionally or three-dimensionally positioned
palletizing point and use this coordinate as the end point to move the actuator. (The actuator
moves to the palletizing point corresponding to the palletizing position number specified in the
command when executed)
3. Program

You need two actuator axes to constitute a two-dimensional plane. If you need a vertical axis
(PZ-axis), you must specify one more axis.
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.
PACH: Move from the current position to palletizing position via arch motion.
You must set palletizing arch motion based on palletizing setting.

Top point of arch motion

Position No. 12

Start-point arch trigger End-point arch trigger

Position No. 11 Position No. 13

Start point End point

Palletizing No. 1

188
[Movement command that uses position data as end point...ARCH]
Arch motion is performed to the end point specified by position data.
If the movement is linear in parallel with the actuator, arch motion operation can be possible by
specifying only two axes including the applicable axis and PZ-axis.
Arch motion must be set.

Top point of arch motion

Position No. 12

3. Program
Start-point arch trigger End-point arch trigger
Position No. 13 Position No. 11

Start point End point

Position No. 10

189
 [5] Program Examples

[Simple program example (two-axis specification) using PAPS (set by 3-point teaching)]
The example below specifies movement only and does not cover picking operation.

Step E N Cnd Cmnd Operand1 Operand2 Pst Comment

1 BGPA 1 Start setting palletizing No. 1
2 PAPI 3 4 Number of palletizing points 3 × 4
3 PAPS 2 Set 3-point teaching
3. Program

4 EDPA End setting palletizing No. 1

5
6 VEL 200 Speed 200mm/sec
7 MOVL 1 Move to pick position
8 PSET 1 1 Set palletizing position number to 1
9 TAG 1
Move to palletizing position via
10 PMVL 1
interpolation
Move to pick position via
11 MOVL 1
interpolation
Increment palletizing position
12 PINC 1 600
number by 1
Move to beginning of loop if PINC
13 600 GOTO 1
was successful
14 EXIT End

No. Axis 1 Axis 2 Vel Acc Dcl Remarks

1 10.000 10.000 Pick position
2 70.000 70.000 Position data of reference point
3 148.000 71.000 Position data PX-axis end point
4 69.000 143.000 Position data PY-axis end point

PY-axis end-point coordinates

Position No. 4
(69, 143)

Reference point PX-axis end-point coordinates

Position No. 2 Position No. 3
(70, 70) (148, 71)
Picking position
Position No. 1

190
 [Simple program example (two-axis specification) using PAPS, PAPT and PAST]
The example below specifies movement only and does not cover picking operation.

Step E N Cnd Cmnd Operand1 Operand2 Pst Comment

1 BGPA 1 Start setting palletizing No. 1
2 PAPI 3 4 Number of palletizing points 3 × 4
3 PASE 1 2 PX-axis = Axis 1, PY-axis = Axis 2
4 PAPS 40 25 Pitch X = 40, Y = 25
5 PAST 2 Position No. 2 = Reference point

3. Program
6 EDPA End setting palletizing No. 1
7
8 VEL 200 Speed 200mm/sec
9 MOVL 1 Move to pick position
10 PSET 1 1 Set palletizing position number to 1
11 TAG 1
Move to palletizing position via
12 PMVL 1
interpolation
Move to pick position via
13 MOVL 1
interpolation
Increment palletizing position
14 PINC 1 600
number by 1
Move to beginning of loop if PINC
15 600 GOTO 1
was successful
16 EXIT End

No. Axis 1 Axis 2 Vel Acc Dcl Remarks

1 10.000 10.000 Pick position
2 70.000 70.000 Position data of reference point

PY-axis

(PX-axis)

Reference point
Position No. 2
(70, 70)
Pitch in PX-axis direction: 40
Pitch in PY-axis direction: 25
The PX-axis is parallel with axis 1,
Picking position while the PY-axis is parallel with axis 2.
Position No. 1

191
 [Program example using PAPS (set by 3-point teaching)]
The example below specifies movement only and does not cover picking operation.

Step E N Cnd Cmnd Operand1 Operand2 Pst Comment

1 BGPA 1 Start setting palletizing No. 1
2
3 PAPI 5 7 Number of palletizing points 5 × 7
4 PAPN 1 Palletizing pattern 1
5 PAPS 1 Set by 3-point teaching
3. Program

6 Use data of position No. 1

7 PSLI 20 4 Zigzag offset = 20mm
8 PCHZ 3 Palletizing Z-axis = Axis 3
9 PTRG 4 4 Set palletizing arch trigger
10 Use data of position No. 4
11 OFPZ 100 PZ-axis offset = 100mm
12 PEXT 6 Set composite palletizing
13 Use data of position No. 6
14 EDPA
15
16 PARG 1 1 Get palletizing angle
17 The data is stored in variable 199.
18 PPUT 4 6 Store angle data in variable 199
19 under axis 4 in position No. 6
20 */ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /
21
22 ATRG 4 4 Set arch trigger
23 Use data of position No. 4
24 ACHZ 3 Set arch motion Z-axis
25
26 ACC 0.3 Acceleration
27 DCL 0.3 Deceleration
28 VLMX
29
30 PSET 1 1 Set palletizing position number to 1

Continues to the next page

192
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
31 MOVP 8 Move to pick position
32
33 TAG 1 Beginning of loop process
34 PACH 1 9 Palletizing arch motion
35 Z point specified under position No. 9
36 ARCH 8 9 Arch motion
37 Z point specified under position No. 9

3. Program
Increment palletizing position
38 PINC 1 600
number by 1
Move to beginning of loop if PINC
39 600 GOTO 1
was successful
40
41 EXIT End task
42
43
44
45

No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks

1 100.000 100.000 100.000 ∗.∗∗∗ Position data of reference point
2 260.000 105.000 100.000 ∗.∗∗∗ Position data PX-axis end point
3 95.000 280.000 100.000 ∗.∗∗∗ Position data PY-axis end point
4 ∗.∗∗∗ ∗.∗∗∗ 50.000 ∗.∗∗∗ Position data for arch trigger
5 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
6 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ –1.79 Position data for composite palletizing
7 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
8 0.000 0.000 100.000 0.000 Position data of pick position
9 ∗.∗∗∗ ∗.∗∗∗ 0.000 ∗.∗∗∗ Z position data
10

193
 Schematic diagram of placement point positions according to the program defined earlier

Axis 1 direction Priority axis (PX-axis) end point coordinate position No. 2 (260, 105, 100)
3. Program

PX-axis

Axis 2 direction

PY-axis

Reference point position No. 1

(100, 100, 100) PY-axis end point coordinate position No. 3
(95, 280, 100)

• The number at the top right of each circle indicates the palletizing position number.
• Number of points in PX-axis direction = 5, Number of points PY-axis direction = 7
• Zigzag offsets: 20
• Number of zigzags: 4
• Pallet angle error θ: -1.79°

194
 [Example of program using PASE, PAPT and PAST]
The following program consists of movements only and does not support pick operation.

Step E N Cnd Cmnd Operand1 Operand2 Pst Comment

1 BGPA 1 Start setting palletizing No. 1
2
3 PAPI 5 7 Number of palletizing points 5 × 7
4 PAPN 1 Palletizing pattern 1
5 PASE 1 2 PX-axis = Axis 1, PY-axis = Axis 2

3. Program
6 PAPT 40 30 Pitch (X = 40, Y = 30mm)
7 PAST 1 Set reference position data
8 Use data of position No. 1
9 PSLI 20 4 Zigzag offset = 20mm
10 Number of zigzags = 4
11 PCHZ 3 Palletizing Z-axis = Axis 3
12 PTRG 4 4 Set palletizing arch trigger
13 Use data of position No. 4
14 OFPZ 100 PZ-axis offset = 100mm
15
16 EDPA
17
18 */ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /
19 ATRG 4 4 Set arch trigger
20 Use data of position No. 4
21 ACHZ 3 Set arch motion Z-axis
22
23 ACC 0.3 Acceleration
24 DCL 0.3 Deceleration
25 VLMX
26
27 PSET 1 1 Set palletizing position number
28 MOVP 8 Move to pick position
29 */ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /
30

Continues to the next page

195
 Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
31 TAG 1 Beginning of loop process
32 PACH 1 9 Palletizing arch motion
33 Z point specified under position No. 9
34 ARCH 8 9 Arch motion
35 Z point specified under position No. 9
Increment palletizing position
36 PINC 1 600
number by 1
3. Program

Move to beginning of loop if PINC

37 600 GOTO 1
was successful
38
39 EXIT End task
40

No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks

1 100.000 100.000 100.000 ∗.∗∗∗ Position data of reference point
2 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
3 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
4 ∗.∗∗∗ ∗.∗∗∗ 50.000 ∗.∗∗∗ Position data for arch trigger
5 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
6 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
7 ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ ∗.∗∗∗ (Not used)
8 0.000 0.000 100.000 0.000 Position data of pick position
9 ∗.∗∗∗ ∗.∗∗∗ 0.000 ∗.∗∗∗ Z position data
10

196
 Schematic diagram of placement point positions according to the program defined earlier

Axis 1 direction
PX-axis

3. Program
PY-axis

Reference point (X, Y, Z)

= (100, 100, 100)
Axis 2 direction

• The number at the top right of each circle indicates the palletizing position number.
• Number of points in PX-axis direction = 5, Number of points PY-axis direction = 7
• Pitch in PX-axis direction: 40
• Pitch in PY-axis direction: 30
• Zigzag offsets: 20
• Number of zigzags: 4

197
 3.6.6 Handling of WAIT Timers
WAIT timers are provided to wait for certain events to occur.
Use a TIMW command to specify waiting.
WAIT timers can be actuated in each program.

3.6.7 Handling of Shot Pulse Timers

Shot pulse timers provide a function to turn ON/OFF an I/O flag for a specified time.
3. Program

You can use a BTPN command to turn ON an I/O or flag for a specified time.
Similarly, you can use a BTPF command to turn OFF an I/O or flag for a specified time.
The maximum number of shot pulse timers that can be actuated simultaneously in one
program is 16 as a total of BTPN and BTPF commands.
Note, however, that there are no limitations to how many times these timers can be used in
one program.

198
3.6.8 Handling of Number of Symbol Definitions
With XSEL controllers, you can create a program with ease by using symbols representing
variable numbers, flag numbers, etc.
In the example below, variable No. 203 is defined the symbol “Count3” in the symbol edit
screen.
The defined symbol can be used in programs, and each statement of “Count3” in programs
indicates variable No. 203.

3. Program
Symbol edit screen Program edit screen
For information on how to edit symbols, refer to “Editing Symbols” in the XSEL Teaching Pendant
Instruction Manual or “Symbol Edit Window” in the XSEL PC Software Instruction Manual.

[1] Scope of support

The following items support use of symbols:
Variable number, flag number, tag number, subroutine number, program number, position
number, input port number, output port number, input/output ports number, axis number,
constant

[2] Convention of symbol statement

1) Up to nine single-byte alphanumeric or underscore characters, starting from an alphabet.
(Note: Up to eight single-byte characters in the case of character string literals)
* Symbols can also start with an underscore if you are using PC Software Ver.1.1.0.5 or
later and Teaching Pendant TB-02(D) : first edition or later, TB-01(D) : first edition or
later, SEL-T (D) of Ver.1.04 or later.
* Among the ASCII codes 21h to 7Eh, those single-byte characters that can be entered
from the keyboard can be entered as the second and subsequent characters in a
symbol, if you are using PC Software Ver.1.1.0.5 or later.
* Note that same ASCII codes may be expressed differently if the font used on the PC is
different from that used on the teaching pendant (the same also applies to character
string literals).
5Ch xxxxx PC software: Backslash (overseas specification, etc.)
Teaching pendant: Yen symbol ¥
7Eh xxxxx PC software: ~
Teaching pendant: Right arrow →
2) Defining symbols of the same name within the same function is prohibited. (Defining local
symbols of the same name in different programs is permitted.)
3) Defining symbols of the same name within the flag number group, input port number
group or output port number group, input/output ports number group, is prohibited.
(Defining local symbols of the same name in different programs is permitted.)
4) Defining symbols of the same name within the integer variable number group or real
variable number group is prohibited.
(Defining local symbols of the same name in different programs is permitted.)
5) Defining symbols of the same name within the integer constant group or real constant
group is prohibited.

199
 3.6.9 Serial Communication
[1] String processing commands
Strings are character strings. Strings used by the controllers covered by this manual include
global strings and local strings.
Global strings can be read or written commonly from any program.
Local strings are valid only within each program and cannot be used in other programs.
Global strings and local strings are differentiated by the range to which their number belongs.
Global areas 300 to 999 (700)
3. Program

Local areas 1 to 299 (299)

The communication with the external devices requires to be conducted with the serial
communication using character lines, thus a use of the string is required.

[2] Explanation of transmission format

Communication performed by the systems covered by this manual is basically exchange of
character strings.
Which character strings should be used for which operations is determined beforehand, so
that the receiving side can recognize each character string and perform the corresponding
operation.
A combination of these strings and characters indicating the end of one character string is
called “transmission format”, and the user can determine a desired transmission format freely.
For example, assume a character string consisting of four characters “HOME” which is used
as a home return command.
It is determined the character to finish the character line should be either “CR” or “LF” on PC.
Therefore, it is necessary to follow this rule.

Example of transmission format

伝送フォーマット例

Character
原点復帰指令string for Characters
文字列の終わりを indicating the end
homeを意味する文字列
return command of the character string
示す文字

200
 [3] Explanation of string
Strings sent according to the format explained above are stored in boxes designed to contain
character strings, so that they can be used freely in the program.
Two types of strings are available: global strings that can be read or written in all programs,
and local strings that can be red or written only in each program. Both strings are differentiated
by their column numbers.

Column
カラム 1 2 3 4 5 6 ･･････ ･･････ 295 296 297 298 299

3. Program
Local string
ローカルストリング
299
299

Column
カラム 300 301 302 303 304 ･･････ ･･････ 995 996 997 998 999

Global string
Global string
グローバルストリング
700
700
700

One character is stored in each of the fields of these strings.

The position of a given field comprising a string is indicated by “column XX” and which column
to store can be set freely for each command.
For instance, if a character line “HOME”, which indicates the home-return command, is
received, and the character line is desired to be used in several programs, you should save
the data to Column 300 in the global string.

Column
カラム 300 301 302 303 305 306 307 308 309

Global string
グローバルストリング

Store “HOME”
カラム300から
from column 300
“HOME”を格納

201
 [4] Determination of transmission format
In this example of application program, three types of transmission formats are required, or
namely transmission formats for home return command, movement command and movement
completion. These formats are determined as follows. Note that these are only examples and
the user can freely determine each format.

A. Home return command format

This format is used to issue a home return command from the PC to the controller.
3. Program

B. Movement command format

This format is used to issue an axis movement command from the PC to the controller.

Speed
速度 Axis 1 position
1軸位置 Axis2軸位置
2 position

C. Movement completion format

This format is sent from the controller to the PC when the home return or movement is
completed.

202
 [5] Processing procedure
The processing procedure you should follow to program this application example is explained.
A. Set “LF” as characters (terminator characters) indicating the end of a string.
B. Open channel 1 of the RS232 unit to use this channel 1.
C. Program so that any data, if sent through channel 1, is received into columns starting from
column 1 for local strings.
D. Program so that if the received data is “MOVE”, the applicable speed data is converted to a
binary value and the converted binary value is set in variable 10, while the applicable
position data is converted to a binary value and the obtained binary value is set in position

3. Program
No. 1, after which the actuator moves and when the movement is completed, “OK” is sent.

[6] Application program

STEP No. N OP-CODE OPRND1 OPRND2 POST Comment

1 SCHA 10 Set LF as terminator characters
2 OPEN 1 Open SIO channel 1
3 TAG 1
4 READ 1 1 Read into columns starting from
SIO 1 column 1
5
6 ISEQ 1 ‘HOME’ If Home return command
7 HOME 11 Home return
8 EXSR 1 Send OK
9 EDIF
10
11 ISEQ 1 ‘MOVE’ If movement command:
12 SLEN 3 Reading period with three digits
13 VAL 10 5 Set speed in variable 10
14 VEL *10 Set speed
15
16 PCLR 1 1 Clear position 1
17 SLEN 3.3
18 VAL 199 8 Set axis 1 position in variable 199
19 PPUT 1 1 Set axis 1 data
20
21 VAL 199 15 Set axis 2 position in variable 199
22 PPUT 2 1 Set axis 2 data
23 MOVL 1 Move
24 EXSR 1 Send OK
25 EDIF
26
27 GOTO 1
28 -----------
29 BGSR 1 OK send subroutine
30 SCPY 1 ‘OK’ Set OK
31 SPUT 3 13 Set CR
32 SPUT 4 10 Set LF
33 WRIT 1 1 Send
34 EDSR

203
 [7] Number of SIO Channels for each Controller

The channel numbers of SIO channels used in RS232C serial communication are as shown
below.
Use OPEN and CLOS commands to specify SIO channel numbers that are used to open and
close the RS232C serial communication line.
How many SIO channel numbers are available varies depending on the controller.

SIO channel
Controller
3. Program

number
XSEL-P/Q/PCT/QCT/PX/QX/R/
1 to 2
S/RX/SX/RXD/SXD
XSEL-RA/SA/RAX/SAX/RAXD/
1
SAXD
XSEL-J/JX
(1, 2-axis specification) 1*1
TT
XSEL-J/JX
(3, 4-axis specification)
1*1 *2
XSEL-K/KE/KT/KET,
KX/KETX, TTA, MSEL
SSEL, ASEL, PSEL 0*1
*1 This channel is used as the teaching-pendant connector port.
*2 If an expansion SIO board is installed, No. 2 and subsequent channels can be used.

204
3.7 Controller Data Structure and Saving of Data
3.7.1 XSEL-J/K/KE/KT/KET, JX/KX/KETX
[1] Data structure
The controller contains parameters as well as position data and application programs used
to use the SEL language fully.

3. Program
Data structure of XSEL controller

Communication
Main
Driver Driver Driver Driver
1 2 3 4

SEL language

Application
Position
programs
Parameters data
Parameters Parameters Parameters Parameters

The customer must create position data and application programs.

Certain parameters can be changed according to the customer’s system.

205
 [2] Saving of data
XSEL controllers have areas saved by the backup battery and areas saved by the flash
memory.
Also note that even if you transfer data to your controller via the PC software or teaching
pendant, the data is only written to the temporary memories and will be cleared once the
power is turned OFF or controller is reset, as shown below.
So that your important data is saved without fail, write the data to the flash memory.

[System-memory backup battery is used]

3. Program

Other parameter No. 20 = 2 (System-memory backup battery installed)

Data is retained while
Data edited on the PC or Data is retained even after
the power is ON,
teaching pendant the power is turned OFF
but cleared upon reset

Write to flash
Programs memory
Parameters Temporary Flash
(Content 1) Transfer memory memory
Symbols
Load after reset

Transfer
Slave card
parameters Temporary
Transfer memory
(Content 2)
Load after reset

Transfer
* Encoder Temporary * Encoder
Transfer EEPROM
parameters memory
Load after reset

Battery
Positions Transfer Write to flash Flash
backup memory
memory
memory

SEL global data Battery

(Content 3) Transfer backup
Error lists memory

* Encoder parameters are stored not in the controller, but in the EEPROM of the actuator's encoder. Accordingly, they
are loaded to the controller when the power is turned on or software is reset.
Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory. The controller always operates according to the data in each temporary
memory (dotted box) (excluding parameters).
Content 1: Parameters other than those included in Content 2 below and encoder
parameters
Content 2: Driver card and I/O slot card (power card) parameters
Content 3: Flags, variables and strings

206
[System-memory backup battery is not used]

Other parameter No. 20 = 0 (System-memory backup battery not installed)

Data is retained while
Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

3. Program
Write to flash
Programs memory
Parameters Flash
Transfer Temporary
(Content 1) memory
memory
Symbols
Positions Load after reset

Transfer
Slave card Temporary
parameters Transfer memory
(Content 2)
Load after reset

Transfer

* Encoder Temporary * Encoder

Transfer memory EEPROM
parameters
Load after reset

SEL global data

(Content 3) Transfer Temporary memory
Error lists

Since programs, parameters, symbols and positions are loaded from the flash memory upon
restart, these data in the temporary memories will return to the conditions before editing unless
written to the flash memory. The controller always operates according to the data in each
temporary memory (dotted box) (excluding parameters).
Note: SEL global data cannot be retained unless the backup battery is installed.

207
 [3] Notes

Caution
• Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

• Notes on saving parameters to a file

3. Program

Encoder parameters are stored in the EEPROM of the actuator’s encoder. (Unlike
parameters of other types, these parameters are not stored in the controller’s
EEPROM.) When the power is turned on or software is reset, encoder parameters are
loaded from the EEPROM to the controller.
Accordingly, if parameters are saved to a file after the controller power was turned on
(or software was reset) while the actuator (encoder) was still not connected, the
encoder parameters in this file will become invalid.

• Notes on transferring a parameter file to the controller

When a parameter file is transferred to the controller, encoder parameters are
transferred to the encoder’s EEPROM (excluding manufacturing information and
function information).
Accordingly, if a parameter file is read and transferred to the controller after the
controller power was turned on while the actuator was still not connected, invalid
encoder parameters will be written to the encoder’s EEPROM (as they are transferred
to the controller to which the actuator is connected).
To save parameters to a file, do so while the actuator is connected.

208
3.7.2 XSEL-P/Q/PCT/QCT, PX/QX
[1] Data structure
The controller contains parameters as well as position data and application programs used
to use the SEL language fully.

Data structure of XSEL controller

3. Program
Communication
Main
Driver Driver Driver Driver
1 2 3 4

SEL language

Application
Position
programs
Parameters data
Parameters Parameters Parameters Parameters

The customer must create position data and application programs. Certain parameters can be
changed according to the customer’s system.

209
 [2] Saving of data
XSEL controllers have areas saved by the backup battery and areas saved by the flash
memory.
Also note that even if you transfer data to your controller via the PC software or teaching
pendant, the data is only written to the temporary memories and will be cleared once the
power is turned OFF or controller is reset, as shown below.
So that your important data is saved without fail, write the data to the flash memory.

[System-memory backup battery is used]

3. Program

1) XSEL-P/Q/PCT/QCT, PX/QX
(gateway function + 5V supply switch not available, memory capacity 16M)
Other parameter No. 20 = 2 (System-memory backup battery installed)
Data is retained while
Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

Main CPU memory Main CPU flash memory

Write to flash memory

Programs
Parameters (other than
Transfer
slave parameters)
Symbols Transfer upon reset

Write to flash memory

Transfer Transfer upon reset

Slave card parameters
(driver card

Write to flash memory

parameters) Slave card memory
PC
software Transfer upon reset
TP
Slave card parameters
(fixed portions of driver
card parameters and
Transfer upon reset power parameters)
(Cannot be changed)

Slave card memory

Transfer Slave card parameters Transfer
(encoder parameters)
Transfer upon reset

Memory backed up by battery

Positions
Transfer
Coordinate system data

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory.
The controller always operates according to the data in each temporary memory (excluding
parameters).

210
 2) XSEL-P/Q/PCT/QCT, PX/QX
(gateway function + 5V supply switch available, memory capacity 32M)

Other parameter No. 20 = 2 (System-memory backup battery installed)

Data edited on Data is retained while
Data is retained even after
the PC or the power is ON,
the power is turned OFF
teaching pendant but cleared upon reset

3. Program
Main CPU RAM memory Main CPU flash memory
Write to flash memory
Programs
Parameters (other than
Transfer upon reset
slave card parameters)
Transfer Symbols
*1
Positions (XSEL axes)

Write to flash memory

Transfer
Slave card parameters Transfer upon reset
(variable portions of

Write to flash memory

Write to flash memory

driver parameters)
Slave card memory

PC Transfer upon reset

software
TP Slave card parameters
(fixed portions of driver
Transfer upon reset parameters and power
parameters)
(Cannot be changed)

Slave card memory

Transfer Slave card parameters Transfer
(encoder parameters, etc.)
Transfer upon reset

Memory backed up by battery

*2
Positions (XSEL axes)
Transfer
Coordinate system data

User-data backup
Transfer memory
(positions (RC-axis))
SEL global data
(flags, variables, strings)
Error lists

Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory.
The controller always operates according to the data in each temporary memory (excluding
parameters).

*1 XSEL-P/Q/PCT/QCT and PX/QX controllers support No. 10001 to 20000.

*2 XSEL-P/Q/PCT/QCT and PX/QX controllers support No. 1 to 10000.

211
 [System-memory backup battery is not used]

1) XSEL-P/Q/PCT/QCT, PX/QX
(gateway function + 5V supply switch not available, memory capacity 16M)

Other parameter No. 20 = 0 (System-memory backup battery not installed)

Data is retained while
Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset
3. Program

Main CPU memory Main CPU flash memory

Programs Write to flash memory

Parameters (other than
slave parameters)
Transfer
Symbols
Positions Transfer upon reset
Coordinate system data

Write to flash memory

Transfer Transfer upon reset

Slave card parameters
(driver card
parameters) Slave card memory

PC Transfer upon reset

software
TP
Slave card parameters
(driver card parameters)
Transfer upon reset
(Cannot be changed)

Slave card memory

Transfer Slave card parameters Transfer
(encoder parameters)
Transfer upon reset

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters, symbols and positions are loaded from the flash memory upon
restart, these data in the temporary memories will return to the conditions before editing unless
written to the flash memory. The controller always operates according to the data in the main
CPU memory (excluding parameters).
Note: SEL global data cannot be retained unless the backup battery is installed.

212
 2) XSEL-P/Q/PCT/QCT, PX/QX
(gateway function + 5V supply switch available, memory capacity 32M)

Other parameter No. 20 = 0 (System-memory backup battery installed)

Data is retained while
Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

3. Program
Main CPU RAM memory Main CPU flash memory
Programs
Parameters (other than Write to flash memory
slave card parameters)
Transfer Symbols
Transfer upon reset
*1
Positions (XSEL axes)
Coordinate system data

Write to flash memory

User-data backup memory
Transfer (positions (RC-axis))
Transfer upon reset

Write to flash memory

Slave card parameters Transfer upon reset

PC
software Transfer (variable portions of
TP driver parameters)
Slave card memory

Transfer upon reset

Slave card parameters

(fixed portions of driver
Transfer upon reset parameters and power
parameters)
(Cannot be changed)

Slave card memory

Slave card parameters Transfer
Transfer
(encoder parameters, etc.)
Transfer upon reset

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters, symbols, positions and user-data backup memory are loaded
from the flash memory upon restart, these data in the temporary memories will return to the
conditions before editing unless written to the flash memory. The controller always operates
according to the data in the main CPU memory (excluding parameters).
Note: SEL global data cannot be retained unless the backup battery is installed.

*1 XSEL-P/Q/PCT/QCT and PX/QX controllers support No. 1 to 20000.

213
 [3] Notes

Caution
• Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

• Notes on saving parameters to a file

3. Program

Encoder parameters are stored in the EEPROM of the actuator’s encoder. (Unlike
parameters of other types, these parameters are not stored in the controller’s
EEPROM.) When the power is turned ON or software is reset, encoder parameters
are loaded from the EEPROM to the controller.
Accordingly, if parameters are saved to a file after the controller power was turned on
(or software was reset) while the actuator (encoder) was still not connected, the
encoder parameters in this file will become invalid.

• Notes on transferring a parameter file to the controller

When a parameter file is transferred to the controller, encoder parameters are
transferred to the encoder’s EEPROM (excluding manufacturing information and
function information).
Accordingly, if a parameter file is read and transferred to the controller after the
controller power was turned on while the actuator was still not connected, invalid
encoder parameters will be written to the encoder’s EEPROM (as they are transferred
to the controller to which the actuator is connected).
To save parameters to a file, do so while the actuator is connected.

• Notes on increased number of positions

On controllers with increased memory capacity (with gateway function), the number of
position data points has increased to 20000.
Accordingly, take note of the following points:
* If the memory backup battery is used (other parameter No. 20 = 2), position data is
saved in the memory backup battery for position No. 1 to 10000, and in the main
CPU flash ROM for position No. 10001 to 20000. Accordingly, turning OFF the
power or resetting the software without writing the position data to the flash ROM
will cause the data of position No. 10001 to 20000 to be cleared and the data
previously written to the flash ROM will be loaded the next time the controller is
started. To retain your data, therefore, make sure you write it to the flash ROM. If
the memory backup battery is not used (other parameter No. 20 = 2), all position
data of No. 1 to 20000 is saved in the main CPU flash ROM. In this case, again,
write your data to the flash ROM to make sure the data is retained.

214
3.7.3 XSEL-R/S/RX/SX/RXD/SXD
[1] Data structure
The controller contains parameters as well as position data and application programs used
to use the SEL language fully.

Data structure of XSEL controller

3. Program
Communication
Main
Driver Driver Driver Driver
1 2 3 4

SEL language

Application
Position
programs
Parameters data
Parameters Parameters Parameters Parameters

The customer must create position data and application programs. Certain parameters can be
changed according to the customer’s system.

215
 [2] Saving of data
In XSEL controller, there is a storage domain with saving memory and a storage domain with
flash memory.
Also note that even if you transfer data to your controller via the PC software or teaching
pendant, the data is only written to the temporary memories and will be cleared once the
power is turned OFF or controller is reset, as shown below.
So that your important data is saved without fail, write the data to the flash memory.
Data is retained while
Data edited on the PC or Data is retained even after
the power is ON,
teaching pendant the power is turned OFF
but cleared upon reset
3. Program

Main CPU RAM memory Main CPU flash memory

Programs
Parameters (other than
Write to flash memory
slave parameters)
Symbols
Transfer
Position (X-SEL Axis)
(Latter half)
Position comments Transfer upon reset
(X-SEL Axis)

Slave card parameters

Write to flash memory
(Changeable parts in
Transfer
driver parameters)

Transfer upon reset

Slave card memory

Transfer upon reset

PC software
TP
Slave card parameters
(fixed portions of driver
Transfer upon reset parameters and
power parameters)
(Cannot be changed)

Slave card memory

Transfer
Slave card parameters
Transfer (encoder parameters)
Transfer upon reset

Retaining Memory
Positions (X-SEL Axis)
(First half)
Transfer Coordinate system data
(for SCARA)

User Data Retaining Memory

Transfer (Position (RC Axis))

SEL global data

(flags, variables, strings)
Maintenance information
Error lists

Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory.
The controller always operates according to the data in each temporary memory (excluding
parameters).
Note: The first half of the position data is stored in the saving memory while the second half in
flash memory. The comment for each position data can be used in Positions No. 1 to
10000, and it is saved in the flash memory.

216
[3] Notes

Caution
• Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

• Notes on saving parameters to a file

3. Program
Encoder parameters are stored in the EEPROM of the actuator’s encoder. (Unlike
parameters of other types, these parameters are not stored in the controller’s
EEPROM.) When the power is turned ON or software is reset, encoder parameters
are loaded from the EEPROM to the controller.
Accordingly, if parameters are saved to a file after the controller power was turned on
(or software was reset) while the actuator (encoder) was still not connected, the
encoder parameters in this file will become invalid.

• Notes on transferring a parameter file to the controller

When a parameter file is transferred to the controller, encoder parameters are
transferred to the encoder’s EEPROM (excluding manufacturing information and
function information).
Accordingly, if a parameter file is read and transferred to the controller after the
controller power was turned on while the actuator was still not connected, invalid
encoder parameters will be written to the encoder’s EEPROM (as they are transferred
to the controller to which the actuator is connected).
To save parameters to a file, do so while the actuator is connected.

• Regarding Position Data Save

The storage domain for the position data is saving memory for the position (first half)
and flash ROM of the main CPU for the position (second half). All the position data
comment is to be stored in the flash ROM of the main CPU. Therefore, if the power is
turned OFF or the software reset is conducted before writing to the flash ROM, the
position (second half) and the position comment data are deleted, and the data that
was previously written to the flash ROM is read out the next time the system is turned
on. Do not fail to conduct the flash ROM writing when data saving is required.

• About Initializing of Memory

Because the position data, maintenance information data and SEL global data will not
be initialized (error data remains) even after an error is detected, make sure not to use
the data without canceling it. To cancel an error, initialize the memory of the data
which an error has been detected.
For the position data (second half), do not fail to conduct the flash ROM writing at the
same time after initializing.
(Reference) How to Initialize Memory
• Position Data: Select [Memory Initialization] → [Position Data] Menu in the PC
software
• Coordinate System Data: Select [Memory Initialization] → [Coordinate System
Definition Data] Menu in the PC software
• User Retaining Memory: Select [Memory Initialization] → [User Retaining Memory]
Menu in the PC software
• SEL Global Data: Select [Memory Initialization] → [Global Variables/Flags] Menu
in the PC software
• Maintenance Information Data: Select [Memory Initialization] → [Maintenance
Information] in the PC software and select [Information Initialization]
* Initialization available when Error No. 4A4, 4A5 or 4A6 has occurred

217
 3.7.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD
[1] Data structure
The controller contains parameters as well as position data and application programs used
to use the SEL language fully.

Data structure of XSEL controller

3. Program

Communication
Main
Driver Driver Driver Driver
1 2 3 4

SEL language

Application
Position
programs
Parameters data
Parameters Parameters Parameters Parameters

The customer must create position data and application programs. Certain parameters can be
changed according to the customer’s system.

218
[2] Saving of data
In XSEL controller, there is a storage domain with saving memory and a storage domain with
flash memory.
Also note that even if you transfer data to your controller via the PC software or teaching
pendant, the data is only written to the temporary memories and will be cleared once the
power is turned OFF or controller is reset, as shown below.
So that your important data is saved without fail, write the data to the flash memory.
Data is retained while
Data edited on the PC or Data is retained even after
the power is ON,
teaching pendant the power is turned OFF
but cleared upon reset

3. Program
Main CPU RAM memory Main CPU flash memory
Programs
Parameters
(other than slave parameters)
Write to flash memory
Symbols

Position
Transfer
(Standard motion control axis)
Position comments
(Standard motion control axis)
(No.1 to 10000) Transfer upon reset

Electronic cam table

Slave card parameters

Write to flash memory
(Changeable parts in
Transfer
driver parameters)

Transfer upon reset

Slave card memory

Transfer upon reset

PC software
TP
Slave card parameters
(fixed portions of driver
Transfer upon reset parameters and
power parameters)
(Cannot be changed)

Slave card memory

Transfer
Slave card parameters
Transfer (encoder parameters)
Transfer upon reset

Retaining Memory
Positions
(Standard motion control axis)
Transfer Coordinate system data
(for SCARA)

User Data Retaining Memory

Transfer (Position (Standard
motion control axis))

SEL global data

(flags, variables, strings)
Maintenance information
Error lists

Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory.
The controller always operates according to the data in each temporary memory (excluding
parameters).
Note: The first half of the position data is stored in the battery-less backup memory while the
second half in flash memory. The comment for each position data can be used in
Positions No. 1 to 10000, and it is saved in the flash memory.

219
 [3] Notes

Caution
• Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

• Notes on saving parameters to a file

3. Program

Encoder parameters are stored in the EEPROM of the actuator’s encoder. (Unlike
parameters of other types, these parameters are not stored in the controller’s
EEPROM.) When the power is turned ON or software is reset, encoder parameters
are loaded from the EEPROM to the controller.
Accordingly, if parameters are saved to a file after the controller power was turned on
(or software was reset) while the actuator (encoder) was still not connected, the
encoder parameters in this file will become invalid.

• Notes on transferring a parameter file to the controller

When a parameter file is transferred to the controller, encoder parameters are
transferred to the encoder’s EEPROM (excluding manufacturing information and
function information).
Accordingly, if a parameter file is read and transferred to the controller after the
controller power was turned on while the actuator was still not connected, invalid
encoder parameters will be written to the encoder’s EEPROM (as they are transferred
to the controller to which the actuator is connected).
To save parameters to a file, do so while the actuator is connected.

• Regarding Position Data Save

The storage domain for the position data is battery-less backup memory for the
position (first half) and flash ROM of the main CPU for the position (second half). All
the position data comment is to be stored in the flash ROM of the main CPU.
Therefore, if the power is turned OFF or the software reset is conducted before writing
to the flash ROM, the position (second half) and the position comment data are
deleted, and the data that was previously written to the flash ROM is read out the next
time the system is turned on. Do not fail to conduct the flash ROM writing when data
saving is required.

• About Initializing of Memory

Because the position data, maintenance information data and SEL global data will not
be initialized (error data remains) even after an error is detected, make sure not to use
the data without canceling it. To cancel an error, initialize the memory of the data
which an error has been detected.
For the position data (second half), do not fail to conduct the flash ROM writing at the
same time after initializing.
(Reference) How to Initialize Memory
• Position Data: Select [Memory Initialization] → [Position Data] Menu in the PC
software
• Coordinate System Data: Select [Memory Initialization] → [Coordinate System
Definition Data] Menu in the PC software
• User Retaining Memory: Select [Memory Initialization] → [User Retaining Memory]
Menu in the PC software
• SEL Global Data: Select [Memory Initialization] → [Global Variables/Flags] Menu
in the PC software
• Maintenance Information Data: Select [Memory Initialization] → [Maintenance
Information] in the PC software and select [Information Initialization]
* Initialization available when Error No. 4A4, 4A5 or 4A6 has occurred

220
3.7.5 ASEL, PSEL
[1] Data structure
The controller contains parameters as well as position data and application programs used
to use the SEL language fully.

Data structure of ASEL, PSEL controller

3. Program
Main

SEL language

Parameters Position Application

data programs

221
 [2] Saving of data
On ASEL and PSEL controllers, data is saved as shown below.
Even if you transfer data to your controller via the PC software or teaching pendant, the data
is only written to the temporary memories and will be cleared once the power is turned OFF
or controller is reset, as shown below.
To save the data without fail, be sure to write the data you want to save to the flash ROM.

[System-memory backup battery is not used]

3. Program

Other parameter No. 20 = 0 (System-memory backup battery not installed)

Data edited on Data is retained while
Data is retained even after
the PC or the power is ON,
the power is turned OFF
teaching pendant but cleared upon reset

Main CPU memory Main CPU flash memory

Write to flash memory
Programs
Parameters (other than
Transfer encoder parameters)
Symbols Transfer upon reset
Positions
PC
software
TP

Slave card memory

Transfer Encoder parameters Transfer

Transfer upon reset

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters, symbols and positions are loaded from the flash memory upon
restart, these data in the temporary memories will return to the conditions before editing unless
written to the flash memory. The controller always operates according to the data in the main
CPU memory (excluding parameters).
Note: SEL global data cannot be retained unless the backup battery is installed.
SEL global data is cleared once the control power is turned OFF or software is reset.
Error lists are cleared once the control power is turned OFF.

222
[System-memory backup battery (optional) is used]

The setting of other parameter No. 20 = 2 (System-memory backup battery installed) must be
changed.
Data edited on Data is retained while
Data is retained even after
the PC or the power is ON,
the power is turned OFF
teaching pendant but cleared upon reset

3. Program
Main CPU memory Main CPU flash memory
Write to flash memory
Programs
Parameters (other than
Transfer encoder parameters)
Symbols Transfer upon reset
Positions
PC
software
TP

Slave card memory

Transfer Encoder parameters Transfer

Transfer upon reset

Memory backed up by battery

Transfer Positions

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory.
The controller always operates according to the data in each temporary memory (excluding
parameters).

223
 [3] Notes

Caution
• Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

• Notes on saving parameters to a file

3. Program

Encoder parameters are stored in the EEPROM of the actuator’s encoder. (Unlike
parameters of other types, these parameters are not stored in the controller’s
EEPROM.) When the power is turned ON or software is reset, encoder parameters
are loaded from the EEPROM to the controller.
Accordingly, if parameters are saved to a file after the controller power was turned on
(or software was reset) while the actuator (encoder) was still not connected, the
encoder parameters in this file will become invalid.

• Notes on transferring a parameter file to the controller

When a parameter file is transferred to the controller, encoder parameters are
transferred to the encoder’s EEPROM (excluding manufacturing information and
function information).
Accordingly, if a parameter file is read and transferred to the controller after the
controller power was turned on while the actuator was still not connected, invalid
encoder parameters will be written to the encoder’s EEPROM (as they are transferred
to the controller to which the actuator is connected).
To save parameters to a file, do so while the actuator is connected.

224
3.7.6 SSEL
[1] Data structure
The controller contains parameters as well as position data and application programs used
to use the SEL language fully.

Data structure of SSEL controller

3. Program
Communication
Main
Driver Driver
1 2

SEL language

Parameters Position Application

data programs

Parameters Parameters

The customer must create position data and application programs.

Certain parameters can be changed according to the customer’s system.

225
 [2] Saving of data
On SSEL controllers, data is saved as shown below.
Even if you transfer data to your controller via the PC software or teaching pendant, the data
is only written to the temporary memories and will be cleared once the power is turned OFF
or controller is reset, as shown below.
To save the data without fail, be sure to write the data you want to save to the flash ROM.

[System-memory backup battery is not used]

3. Program

Other parameter No. 20 = 0 (System-memory backup battery not installed)

Data is retained while
Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

Main CPU memory Main CPU flash memory

Programs Write to flash memory

Parameters (other than
Transfer slave parameters)
Symbols Transfer upon reset
Positions

Write to flash memory

Transfer Transfer upon reset

Slave card parameters
(driver card
parameters) Slave card memory

PC Transfer upon reset

software
TP
Slave card parameters
(driver card parameters)
Transfer upon reset (Cannot be changed)

Slave card memory

Transfer Slave card parameters Transfer
(encoder parameters)
Transfer upon reset

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters, symbols and positions are loaded from the flash memory upon
restart, these data in the temporary memories will return to the conditions before editing unless
written to the flash memory. The controller always operates according to the data in the main
CPU memory (excluding parameters).
Note: SEL global data cannot be retained unless the backup battery is installed.
SEL global data is cleared once the control power is turned OFF or software is reset.
Error lists are cleared once the control power is turned OFF.

226
[System-memory backup battery (optional) is used]

The setting of other parameter No. 20 = 2 (System-memory backup battery installed) must be
changed.
Data is retained while
Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

3. Program
Main CPU memory Main CPU flash memory

Programs Write to flash memory

Parameters (other than
Transfer slave parameters)
Symbols Transfer upon reset
Positions

Write to flash memory

Transfer Transfer upon reset

Slave card parameters
(driver card
parameters) Slave card memory

Write to flash memory

PC Transfer upon reset
software
TP
Slave card parameters
(driver card parameters)
Transfer upon reset (Cannot be changed)

Slave card memory

Transfer Slave card parameters Transfer
(encoder parameters)
Transfer upon reset

Memory backed up by battery

Transfer Positions

SEL global data

(flags, variables, strings)
Error lists

Since programs, parameters and symbols are loaded from the flash memory upon restart,
these data in the temporary memories will return to the conditions before editing unless written
to the flash memory.
The controller always operates according to the data in each temporary memory (excluding
parameters).

227
 [3] Notes

Caution
• Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

• Notes on saving parameters to a file

3. Program

Encoder parameters are stored in the EEPROM of the actuator’s encoder. (Unlike
parameters of other types, these parameters are not stored in the controller’s
EEPROM.) When the power is turned ON or software is reset, encoder parameters
are loaded from the EEPROM to the controller.
Accordingly, if parameters are saved to a file after the controller power was turned on
(or software was reset) while the actuator (encoder) was still not connected, the
encoder parameters in this file will become invalid.

• Notes on transferring a parameter file to the controller

When a parameter file is transferred to the controller, encoder parameters are
transferred to the encoder’s EEPROM (excluding manufacturing information and
function information).
Accordingly, if a parameter file is read and transferred to the controller after the
controller power was turned on while the actuator was still not connected, invalid
encoder parameters will be written to the encoder’s EEPROM (as they are transferred
to the controller to which the actuator is connected).
To save parameters to a file, do so while the actuator is connected.

228
3.7.7 TT/TTA
[1] Data structure
The controller module of a tabletop robot contains parameters as well as position data and
application programs used to drive the SEL language.

Data structure of TT/TTA controller

3. Program
Communication
Main
Driver Driver Driver
1 2 3

SEL language

Parameters Position Application

data programs

Parameters Parameters Parameters

The customer must create position data and application programs.

Certain parameters can be changed according to the customer’s system.
[Refer to tabletop robot TT Instruction Manual provided separately.]

229
 [2] Data Saving of TT
When data created/edited using the PC software or teaching pendant is transferred to the
controller (by pressing the Write button or WRT key if you are using the teaching pendant),
the data is temporarily stored in the controller’s memories. Accordingly, such data will be
cleared once the power is turned off or software is reset (restarted).
If you want your data to be retained, be sure to write it to the flash memory.

Note: Global data (variables, flags, strings) is cleared once the power is turned OFF or
software is reset (restarted) (global data cannot be retained after the power is turned
3. Program

OFF). Error lists are retained after the software is reset, but cleared if the power is
turned OFF.

Data is retained while

Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

Programs Write to flash memory

Parameters Flash
Temporary
(Content 1) Transfer memory
memory
Symbols
Positions Load after reset

Transfer
Slave card
Temporary
parameters Transfer memory
(Content 2)
Load after reset

Transfer
Encoder Temporary Encoder
parameters Transfer EEPROM
memory
Load after reset

SEL global data

(Content 3) Transfer Temporary memory
Error lists

Content 1: Parameters other than those included in Content 2 below and encoder parameters
Content 2: Driver card and I/O slot card (power card) parameters
Content 3: Flags, variables and strings

Since programs, parameters, symbols and positions are loaded from the flash memory upon
restart, these data in the temporary memories will return to the conditions before editing unless
written to the flash memory. The controller always operates according to the data in each
temporary memory (dotted box) (excluding parameters).

230
 [3] Notes

Caution
Notes on transferring data and writing it to the flash memory
Never turn OFF the main power while data is being transferred or written to the flash
memory, because data may be lost and the controller will no longer be able to operate.

[4] Data Saving of TTA

3. Program
In the retaining memory (FRAM), Position data (No. 1 to 10000), SEL global data, error list
and maintenance information are stored for backup in standard with no battery.
Position (No. 1 to 10000) is stored only in the retaining memory. (It is not necessary to have
the flash ROM writing.)

Data edited on the PC or Data is retained while the power is ON, Data is retained even after the power is
teaching pendant but cleared upon reset turned OFF

Main CPU RAM Memory Main CPU Flash Memory

Programs
Parameters Write to flash memory
(Other than
Driver card parameter)
Symbols Reset transfer
Positions

Driver CPU Retention Memory

PC software Transfer
Driver card parameter
TP
Transfer

Reset transfer

Main CPU Retention Memory

Position
Transfer (No.1 to 10000)
Coordinate System Data

SEL Global Data

( Flags, Variables, String)
Error lists
Maintenance Information

(Note 1) Do not attempt to turn the power OFF during the memory initialization (position, global
variables and flags) or the maintenance information initialization. As the initializing
process terminates incomplete, errors described below* may be generated in the next
startup. Redo initializing in case the power is turned OFF accidently, and an error is
generated. (* Error No. 4A4, 69E, 6C7 or 826)

(Note 2) As the position data, maintenance information data and SEL global data will not be
initialized even if an error gets detected (error data can be seen as it is), do not attempt
to use the data as it is. To cancel the error, initialize the memory in the data the error
was detected.
For position data (No. 10001 to 30000), conduct also the flash ROM writing after
initializing.

231
 (Reference) How to Initialize Memory
• Position Data: Select [Memory Initialization] → [Position Data] Menu in the PC software
• Coordinate System Data: Select [Memory Initialization] → [Coordinate System Definition Data]
Menu in the PC software
• SEL Global Data: Select [Memory Initialization] → [Global Variables/Flags] Menu in the PC
software
• Maintenance Information Data: Select [Memory Initialization] → [Maintenance Information] in the
PC software and select [Information Initialization]
* Initialization available when Error No. 4A4, 4A5 or 4A6 has occurred
3. Program

232
3.7.8 MSEL

[1] Data structure

The controller module of a MSEL contains parameters as well as position data and application
programs used to drive the SEL language.

Data structure of MSEL controller

3. Program
Main

Driver Communication

SEL language

Parameters Application
Position programs
Parameters data

The customer must create position data and application programs.

Certain parameters can be changed according to the customer’s system.

233
 [2] Saving of data
On MSEL controllers, data is saved as shown below.
Even if you transfer data via the PC software or teaching pendant, the data, except for some
(Note)
, is only written to the memories temporarily and will be cleared once the power is turned
off or controller is reset.
To save the data without fail, be sure to write the data you want to save to the flash ROM.

(Note) The position data (No. 1 to 10000), SEL global data, error list, maintenance information
and SCARA coordinate system data are stored in the battery-less backup memory
3. Program

(FRAM). There is no need of flash ROM writing.

Data is retained while

Data edited on the PC Data is retained even after
the power is ON,
or teaching pendant the power is turned OFF
but cleared upon reset

Main CPU RAM Main CPU flash memory

Transfer

Programs Parameters
(other than driver card Write to flash memory
parameters) Symbols

Positions Transfer upon reset

(No.10,001 to 30,000)

Transfer

PC
software
Driver CPU Retention Memory
TP

Transfer

Driver card parameters

Transfer upon reset

Main CPU
battery-less backup memory

Positions
Transfer
(No.1 to 10,000)
Coordinate System Data

SEL Global Data

( Flags, Variables, String)
Transfer Error lists
Maintenance Information

234
 (Note 1) Do not attempt to turn the power off while initializing the memories (position, global
variables and flags) or maintenance information. It may cause to generate such as an
error* in the next startup due to incomplete of initializing process. Have an initializing
process again in case the power is turned off accidently. (* Error No. 4A4, 69E, 6C7,
826)
(Note 2) Because the position data, maintenance information data and SEL global data will not
be initialized (error data remains) even after an error is detected, make sure not to
use the data without canceling it. To cancel an error, initialize the memory of the data
which an error has been detected.

3. Program
For the position data (No. 10001 to 30000), do not fail to conduct the flash ROM
writing at the same time after initializing.

(Reference) How to Initialize Memory

• Position Data: Select [Memory Initialization] → [Position Data] Menu in the PC software
• Coordinate System Data: Select [Memory Initialization] → [Coordinate System Definition Data]
Menu in the PC software
• SEL Global Data: Select [Memory Initialization] → [Global Variables/Flags] Menu in the PC
software
• Maintenance Information Data: Select [Memory Initialization] → [Maintenance Information] in the
PC software and select [Information Initialization]
* Initialization available when Error No. 4A4, 4A5 or 4A6 has occurred

235
 4. Program Edit
4.1 Each Type of Data Available to Handle on the Program and its Range
In SEL language, separate areas are provided for each task such as I/O port, variables, flags, etc.
Some areas are separated to the global area and local area. Data set to the global area can
be read and written from multiple programs.
The global domain is backed up in the controller battery for the models except for XSEL-R*/S*,
TTA, MSEL Data in local area gets cleared each time the program is booted.
In the following, explains about the area and range. However, It will not be backed up.
SSEL/ASEL/PSEL will be possible backup option.
Global area Local area
4. Program Edit

Function Total Total Remarks

Range Range
number number
Input port 000 to 299 300
Output port 300 to 599 300
Extended Input Ports 1000 to 3999 3000 Applied for
XSEL-P/Q/PCT/QCT and
XSEL-R/S/RX/SX/RXD/SXD,
Extended Output Ports 4000 to 6999 3000 XSEL-RA/SA/RAX/SAX/
RAXD/SAXD
Flag 600 to 899 300 900 to 999 100
99 is a special variable
used in IN, INB, OUT
200 to 299 100 1 to 99 99 and OUTB Variable
(integer) commands,
etc.
1200 to 1299 100 1001 to 1099 99
XSEL-P/Q/PCT/QCT
(Main application
Ver.1.47 or later)
Applied for PC Software
V12.02.00.00 or later,
Touch Panel Teaching
(TB-01) V1.30 or later,
Variable (integer) Touch Panel Teaching
(TB-02)
XSEL-R/S (Main
2000 to 2799 800 application Ver.1.24 or
later)
Applied for PC Software
V12.03.04.00 or later,
Touch Panel Teaching
(TB-01) V1.51 or later,
Touch Panel Teaching
(TB-02)
Applied for
XSEL-RA/SA/RAX/SAX/
RAXD/SAXD
199 is a special variable
300 to 399 100 100 to 199 100 used in PPUT, PGET and
Variable (real number)
PAPG commands, etc.
1300 to 1399 100 1100 to 1199 100
String 300 to 999 700 1 to 299 299
Tag number 1 to 256 256
Sub routine number 1 to 99 99
For SCARA robots,
For the axes of the
coordinate system
definition unit of
Work coordinate system number 0 to 31 32 MSEL-PC/PG and TTA
set in Coordinate System
Definition 1 Constructing
Axes Setting (All Axes
Parameter No. 56)

236
 Global area Local area
Function Total Total Remarks
Range Range
number number
For SCARA robots,
For the axes of the
coordinate system
definition unit of
Tool coordinate system number 0 to 127 128 MSEL-PC/PG and TTA
set in Coordinate System
Definition 1 Constructing
Axes Setting (All Axes
Parameter No. 56)
Simple contact check zone number 1 to 10 10 For SCARA robots

4. Program Edit
For single-axis/
Zone number 1 to 4 4
Cartesian robots
Other than
1 to 10 10 XSEL-RA/SA/RAX/SAX/
Palletizing number RAXD/SAXD
XSEL-RA/SA/RAX/SAX/
1 to 32 10
RAXD/SAXD
Varies depending on the
Axis number 1 to 8 8
controller.
Varies depending on the
Axis pattern 0 to 11111111
controller.
Program number
(XSEL-P/Q/PX/QX/PCT/QCT, 1 to 128 128
XSEL-R/S/RX/SX/RXD/SXD, SSEL)
Program number
(XSEL-J/K/KE/KTKET/JX/KX/KETX, 1 to 64 64
TT, ASEL/PSEL)
Program number
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD, 1 to 255 255
TTA, MSEL)

237
 Global area Local area
Function Total Total Remarks
Range Range
number number
Depend on how
XSEL-R/S/RX/SX/RXD/ 1 to 53332 53332
many axes are to be
SXD (MAX) (MAX)
used
Depend on how
XSEL-RA/SA/RAX/SAX/ 1 to 55000 55000
many axes are to be
RAXD/SAXD (MAX) (MAX)
Position used
number XSEL-P/Q/PX/QX/PCT/QC
1 to 20000 20000
T, SSEL
XSEL-J/K/KE/KT/KET/
1 to 3000 3000
JX/KX/KETX, TT
4. Program Edit

ASEL/PSEL 1 to 1500 1500

TTA, MSEL 1 to 30000 30000
Position XSEL-R/S/RX/SX/RXD/ Comment can be
comments SXD added only in
1 to 10000 10000
(Half-sized 32 XSEL-RA/SA/RAX/SAX/ Positions No. 1 to
characters) RAXD/SAXD 10000
0: NORMAL/
Task level 2
1: HIGH
XSEL-P/Q/PCT/QCT/PX/
1 to 2 2
QX/R/S/RX/SX/RXD/SXD
XSEL-RA/SA/RAX/SAX/
1 1
RAXD/SAXD
XSEL-J/JK
To be communized
(1, 2-axis specification) 1 1
with teaching and
TT
PC software
SIO channel SSEL/ASEL/PSEL 0 1
number XSEL-J/JK To be communized
1 to 3 3
(3, 4-axis specification) with teaching and
XSEL-K/KE/KT/KET/KX/ PC software of
1 to 7 7 channel No. 1
KETX
Channels after
TTA 1 to 3 3 Channel No. 2 are
available for use
when extension SIO
MSEL 1 to 2 2
device is mounted
WAIT timer 1 TIMW command
16 (Can be
BTPN, BTPF
1-shot pulse timer operated
command
simultaneously.)
Use local area
Ladder timer flags. 100 TIMR command
900 to 999
Applied for other
than TTA, MSEL,
Virtual input port
7000 to 7299 300 XSEL-RA/SA/
(SEL system → SEL user program)
RAX/SAX/RAXD/
SAXD
Applied for other
than TTA, MSEL,
Virtual output port
7300 to 7599 300 XSEL-RA/SA/
(SEL user program → SEL system)
RAX/SAX/RAXD/
SAXD
Applied for TTA,
MSEL,
Virtual output port 7000 to 7599 600 XSEL-RA/SA/
RAX/SAX/RAXD/
SAXD
XSEL-P/Q/PCT/QCT/PX/
1000
QX/R/S/RX/SX/RXD/SXD
XSEL-RA/SA/RAX/SAX/
Number of 1000
RAXD/SAXD
symbol
definitions XSEL-J/K/KE/KT/KET/JX/
KX/KETX, TT, TTA, MSEL, 1000
SSEL
ASEL/PSEL 500

238
 Global area Local area
Function Total Total Remarks
Range Range
number number
XSEL-P/Q/PCT/QCT/PX/
5000 (including string literals)
QX/R/S/RX/SX/RXD/SXD
Number of XSEL-RA/SA/RAX/SAX/
10000 (including string literals)
symbol RAXD/SAXD
used in XSEL-J/K/KE/KT/KET/JX/
commands KX/KETX, TT, TTA, MSEL, 5000 (including string literals)
SSEL
ASEL/PSEL 2500 (including string literals)
XSEL-R/S/RX/SX/RXD/
400

4. Program Edit
SXD, TTA, MSEL
XSEL-RA/SA/RAX/SAX/
400
Number of RAXD/SAXD
recorded XSEL-P/Q/PCT/QCT/PX/
200
history QX
XSEL-J/K/KE/KT/KET/JX/
200
KX/KETX, TT
SSEL/ASEL/PSEL 100
* Character-string literals are used in certain string-operation commands and consist of the portion
enclosed by single quotation marks (‘ ‘) (maximum eight single-byte characters).

(Note) When the number of symbols used in a command is at nearly the limit, C46 error “Blank
area shortage error with source-symbol storage table” will occur.

239
 4.2 Setting of Function and Values
Explanation below shows how you should handle the I/O port and how you should take the
variables in your mind when you create a program with SEL language.

4.2.1 Handling of I/O Port

Refer to “2.1 I/O Signal” for I/O ports.

[1] Input ports

These ports are used as input ports for limit switches, sensor switches, etc.

Input number assignment

4. Program Edit

000 to 031 (standard)

[2] Output ports

These ports are used as various output ports.

Output number assignment

300 to 315 (standard)

240
4.2.2 Handling (Setting and Resetting) of Flags
Unlike their literal meaning, flags are actually “memories” where data is set and reset. Flags
correspond to “auxiliary relays” in sequencers.
Flags are classified into two types: general-purpose flags (global flags) that are assigned
numbers from 600 to 899 and usable in all programs, and dedicated flags (local flags) that are
assigned numbers from 900 to 999 and usable only in each program.
The general-purposed flags (global flags) can be saved (in the battery backup or saving
memory, depends on the models) even after the power is turned OFF.
Dedicated flags (local flags) will be cleared once the power is turned OFF.

4. Program Edit
Flag No. 600 to 899 Usable in all programs. "General-purpose flags (global flags)"

Flag No. 900 to 999 Usable only in each program. "Dedicated flags (local flags)"

Program 1 Program n

Turn ON flag 600 Wait for flag 600 to turn ON

(General-purpose flags can be

used to exchange signals like this.)

(The number is the same,

but these are dedicated flags and
exist in a different program,
respectively.)

241
 4.2.3 How to Deal with Values and Variables
(1) How to Deal with Values
If the last digit of the set value is H, set with hexadecimal number.
Refer to the following.
Input the value of hexadecimal number transformed from the binary number.

●Binary number
Binary number expresses a numeral figure with using 2 numbers, 0 and 1.
The number increases in the order of 0, 1, and then the number of digit increases, and goes 10, 11
…
Decimal
0 1 2 3 4 5 6 7 8 9 10
number
4. Program Edit

Binary
0 1 10 11 100 101 110 111 1000 1001 1010
number

●Hexadecimal number
Hexadecimal number expresses a numeral figure with using numbers from 0 to 9 and alphabets
from A to F. The number increases in the order of 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A, B,C, D, E, F, and then
the number of digit increases, and goes 10, 11, …
Decimal
0 to 9 10 11 12 13 14 15 16
number
(Same for decimal and
Hexadecimal hexadecimal numbers) A B C D E F 10
number

Example 1 : 001340H

Bits Bits Bits Bits Bits Bits

Example 2 : 123456H

Bits Bits Bits Bits Bits Bits

242
(2) Types and Handling of Variables

1) Meaning of variables
“Variable” is a technical software term. Simply put, a variable is a “container in which a value
is placed”. You can use variables in many different ways such as placing a value in a
variable, taking a value out of a variable, and adding or subtracting a value to/from a
variable, to name a few.

Place the value 1234

Take out the value 456

4. Program Edit
Add 1

You can do
various things.

Command Operand 1 Operand 2

ADD 1 1

With this command, if 2 is already placed in the box of variable 1 as shown, then 1 is added
and the content of variable 1 becomes 3.

Add 1.

(2 is already placed inside.)

243
 2) Types of variables
Variables are classified into two types as explained below.

[Integer variables]
These variables cannot handle decimal points.
[Example] 1234
Integer variable box
4. Program Edit

200 to 299
Integer variable No. Usable in all programs. “Global integer variables”
1200 to 1299
Usable in all programs. “Global integer variables”
(XSEL-P/Q/PCT/QCT (Ver.1.47 or later)
Applied for PC Software V12.02.00.00 or later, Touch
Panel Teaching (TB-01) V1.30 or later, Touch Panel
Integer variable No. 2000 to 2799 Teaching (TB-02)
XSEL-R/S (Main application Ver.1.24 or later)
Applied for PC Software V12.03.04.00 or later, Touch
Panel Teaching (TB-01) V1.51 or later, Touch Panel
Teaching (TB-02)
XSEL-RA/SA/RAX/SAX/RAXD/SAXD)
1 to 99
Integer variable No. Usable only in each program. “Local integer variables”
1001 to 1099

Caution
• Values from -9,999,999 to 99,999,999 can be entered in programs.
• Variable 99 is a special register used for integer calculations by the system.

[Real variables]
These variables are actual numbers and can also handle decimal points.
[Example] 1234.567
↑
(decimal point)

Real variable box

300 to 399
Real variable No. Usable in all programs. “Global real variables”
1300 to 1399
100 to 199
Real variable No. Usable only in each program. “Local real variables”
1100 to 1199

Caution
• Values from -99,999.9 to 999,999.9 (up to eight digits including the sign and decimal point)
can be entered in programs.
• Variable 199 is a special register used for integer calculations by the system.

244
 [Indirect specification of variables]
Variables are specified with a “*” (asterisk) appended to them.
In the example below, the content of variable box 1 is placed in variable box 2. If “1234” is in
variable box 1, “1234” is placed in variable box 2.

Command Operand 1 Operand 2

LET 1 1234

4. Program Edit
Place

Command Operand 1 Operand 2

LET 2 *1

This usage is called “indirect specification”.

"*" is to be applied also when making an indirect specification of symbolized variables.

Command Operand 1 Operand 2

Place 1 in variable ABC.
LET ABC 1
Place 2 in variable BCD.
LET BCD 2 Add the content of variable BCD, or 2, to variable ABC.
ADD ABC *BCD (The content of variable ABC becomes 3.)

3) Character-String Literals
Character-string literals are used in certain string-operation commands and consist of the
portion enclosed by single quotation marks (‘ ‘) (maximum eight single-byte characters).
With the PC software, single-byte ASCII code characters from 20h to 7Eh (limited to those
that can be input via keyboard) can be used inside the single quotation marks. With the
teaching pendant, single-byte alphanumeric characters and single-byte underscores can be
used.

245
 4.2.4 Specification Method for Local String and Global String
Serial communication is implemented basically by means of exchange of character strings.
These character strings are called “string”.
Strings sent in the communication transmission format can be used freely in programs, or
specifically they are stored in boxes (columns) in which strings are placed.
These string are classified into global string that can be read or written in all programs, and
local string that can be read or written only in each program.
String are differentiated by the range of their number.

Column number
4. Program Edit

Global string 300 to 999 (700)

Local string 1 to 299 (299)

Column

Local strings
299

Column

Global strings
700

The characters constituting a string are stored one by one in each of these fields.
The position of a given field in a string is expressed by column X, and the column to store
each character in can be set freely using a command.

246
4.2.5 Handling of Tag Numbers
A “TAG” is a “heading”.
You may stick labels on pages you want to read frequently. Tags are used for the same
purpose.
The destination to jump to where you specify in the jump command “GOTO” is a “TAG”.

TAG

4. Program Edit
Command Operand 1
TAG Tag number (integer of 1 to 256)

Usable only in each program.

TAG 1

GOTO 1

247
 5. SEL Commands
5.1 How to Read Explanation of Command

How a command is explained is described using an example of LET command.

 LET (Assign)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional LET
Variable
Data ZR
[1] SEL language structure
number

Applicable models
XSEL XSEL ASEL
XSEL XSEL XSEL XSEL
5. SEL Commands

-P/Q/ -RX/SX/ PSEL TT

-J/K -R/S -JX/KX -PX/QX
PCT/QCT RXD/SXD SSEL [2] Applicable models
       

[Function] Assign the value specified in operand 2 to the variable specified in operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1. [3] Description of Functions
[Example 1] LET 1 10 Assign 10 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

3 10 Assign 10 to variable 3.
LET *1 *3 Assign the content 10 of variable 3 to the variable
that corresponds to the content 2 of variable 1.

[1] SEL language structure

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional LET Data ZR
number

3) Command,
1) Expansion condition declaration
2) Input condition 4) Operand 1 5) Operand 2 6) Output

Program screen

The details of SEL language structure components are explained.

1) Expansion condition (LD, A, O, AB, OB)
Free ······· You can freely set a desired expansion condition for simulated ladder tasks by
selecting LD, A, O, AB and OB. This condition can also be set as an expansion
condition for tasks other than simulated ladder tasks.
LD : LOAD
A : AND
O : OR
AB : ANDBLOCK
OB : ORBLOCK

248
 2) Input condition (I/O, flag)
Free ······· You can freely set a desired input condition by selecting an input port, output
port, input/output ports or flag (global area or local area).
3) Command/declaration
State a command/declaration command*1. The command explained in the applicable
section is described.
*1 Once executed in the program, “Actuator Control Declaration” Command (VEL
command, VELS command, etc.) will remain effective while the program is running,
until the command is changed. If you want to change a value (operand 1, operand 2,
etc.) previously set by an “Actuator Control Declaration” Command, you must reset
(change) the value at the necessary location in the program.
4) Operand 1,
5) Operand 2

5. SEL Commands
What is set in these items varies depending on the command. Set an appropriate item
according to each command.
6) Output (output port, flag)
This is where the result of command execution is shown, and the output 6) turns ON and
OFF*2. You can freely set an output port, input/output ports or flag (global area or local
area) in which to store the condition of this output. What is turned ON/OFF in output varies
depending on the command.
In the 6) Output (output port, flag), the following types are to be shown depending on the
operational conditions.
(Output operation types)
CC ········ Command successful
ZR ········ Calculation result zero
PE ········ Operation complete
CP ········ Command passing
TU ········ Timeout
(CP comparison command)
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
*2 The output turns OFF when the command is executed. After the command has been
executed, the output turns ON depending on the condition specified as the output
operation type. (If the condition is not met, the output remains OFF.)
Take note that the output of a CP comparison command does not turn OFF when
the command is executed.

[2] Applicable models

Controllers that support the command are denoted by a “”.
Controllers that do not support the command are denoted by a “”.
The following controllers are applicable when described as “Applicable for all models”.
• XSEL-J/K/JX/KX
• XSEL-P/Q/PX/QX/PCT/QCT
• XSEL-R/S/RX/SX/RXD/SXD
• XSEL-RA/SA/RAX/SAX/RAXD/SAXD
• TT/TTA
• ASEL/PSEL/SSEL
• MSEL-PC/PG/PCX/PGX

[3] Description of functions

Explanation of the function is provided for the corresponding command.

249
 5.2 SEL Language Code Table for each Function
For Operand 1, Operand 2 and the output, the variable indirect specification is available.
For the condition, Operand 1, Operand 2 and the output, an input with symbols is available.
Input into ( ) for Operand 1 and Operand 2 is not compulsory.
“Actuator control declaration” command is kept effective though the program run once it is
executed during the program. A reconstruction of the settings is required for the appropriate
areas in the program if a change to the values (Operand 1, Operand 2, etc.) already set by
“actuator control declaration” command is needed. It means that the values set by the
executed command in the last operation are effective.
The output section is turned OFF when the command is executed. After the command
execution, it may get turned ON depending on the condition of the output section operation
type. (It is turned OFF if the condition does not meet the requirement.)

Caution: Comparative command CP (CPEQ, CPNE, CPGT, CPGE, CPLT, CPLE) output
5. SEL Commands

section does not get turned OFF during the command execution.
Output operation types
CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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

Category Condition Command Operand 1 Operand 2 Output Function Page

Assignment

Optional LET Variable Assignment Assignment number ZR Assign 259

Variable

Optional TRAN Variable to copy data to Variable to copy data from ZR Copy 260
Optional CLR Clear start variable Clear finish variable ZR Clear variable 261
Optional ADD Augend variable Addend ZR Add 262
Optional SUB Minuend variable Subtrahend ZR Subtract 263
Arithmetic
Operation

Optional MULT Multiplicand variable Multiplier ZR Multiply 264

Optional DIV Dividend variable Divisor ZR Divide 265
Modulus assignment
Optional MOD Divisor ZR Modulus calculation 266
variable
Optional SIN Sine assignment variable Operant [Radian] ZR Sine 267
Arc sine assignment
Optional ASIN Operant ZR Inverse-sine 268
variable
Cosine assignment
Optional COS Operant [Radian] ZR Cosine 269
variable
Arc cosine assignment
Optional ACOS Operant ZR Inverse-cosine 270
variable
Function Operation

Tangent assignment
Optional TAN Operant [Radian] ZR Tangent 271
variable
Arc tangent assignment
Optional ATN Operant ZR Inverse-tangent 272
variable
Square root assignment
Optional SQR Operant ZR Root 273
variable
Angle assignment
Optional DTOR Operant ZR Angle conversion (degrees to radians) 274
variable
Angle assignment
Optional RTOD Operant ZR Angle conversion (radians to degrees) 274
variable
Absolute value
Optional ABS Operant ZR Absolute value calculation 275
assignment variable
Optional SGN Sign assignment variable Operant ZR Get signs 275
Logical conjunction
Optional AND Operant ZR Logical AND 276
variable
Logical Operation

Logical disjunction
Optional OR Operant ZR Logical OR 277
variable
Logical operation
Optional EOR Operant ZR Logical exclusive-OR 278
exclusive disjunction
Optional NOT Variable No. Data ZR Deny 279
Optional LSFT Variable No. Number of shifted bits ZR Logic Shifted to Left 280
Optional RSFT Variable No. Number of shifted bits ZR Logic Shifted to Right 281
Comparison

EQ NE GT
Optional CP Comparative variable Compared number GE LT LE
Compare [EQ/NE/GT/GE/LT/LE] 282

250
 Output operation types
CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional TIMW Waiting time [sec] Prohibited TU Wait for certain time 283
Timer

Optional TIMC Program No. Prohibited CP Cancel waiting 284

Optional GTTM Time assignment variable Prohibited CP Get time 285
Optional BT Start output, Flag (Complete output, Flag) CP Output, flag [ON/OF/NT] 286
Optional BTPN Output port, Flag Timer setting CP Output ON pulse 287
Optional BTPF Output port, Flag Timer setting CP Output OFF pulse 288
I/O, Flag Operation

Optional WT I/O, Flag (Waiting time) TU Wait for input and output, flag [ON/OF] 289
Complete input and
Optional IN Head I/O, Flag CC Input binary number (Max 32 bit) 290
output, Flag

5. SEL Commands
Optional INB Head I/O, Flag Convertible digits CC Input BCD (Max eight digits) 291
Complete input and
Optional OUT Head output, Flag CC Output binary number (Max 32 bit) 292
output, Flag
Optional OTPS Output port No. Axis No. CC Output current position data 298
Optional OUTB Head output, Flag Convertible digits CC Output BCD (Max eight digits) 293
Optional FMIO Format type Prohibited CP IN (B) OUT (B) command format 294
Optional GOTO Tag No. to jump to Prohibited CP Jump 299
Prohibited TAG Declaration tag No. Prohibited CP Declaration of destination to jump to 300
Program
Control

Optional EXSR Execution sub routine No. Prohibited CP Execute subroutine 301
Declaration sub routine
Prohibited BGSR Prohibited CP Start subroutine 302
No.
Prohibited EDSR Prohibited Prohibited CP End subroutine 303
Optional EXIT Prohibited Prohibited CP End program 304
Management

Optional EXPG Execution program No. (Execution program No.) CC Start other program 305
(Termination program
Task

Optional ABPG Termination program No. CC Abort other program 306

No.)
Optional SSPG Pause program No. (Pause program No.) CC Pause program 307
Optional RSPG Resume program No. (Resume program No.) CC Resume program 308
Optional PGET Axis No. Position No. CC Assign position to Variable 199 309
Optional PPUT Axis No. Position No. CP Assign Variable 199 value 310
Optional PCLR Start position No. Termination position No. CP Clear position data 311
Position No. to copy data Position No. to copy
Optional PCPY CP Copy position data 312
to data from
Position No. to save
Optional PRED Axis pattern read CP Read current axis position 313
data to
Read current axis position (single-axis
Optional PRDQ Axis No. Variable No. CP 314
direct)
Position Operation

Confirmation position
Optional PTST Axis pattern confirmation CC Check position data 316
No.
Optional PVEL Speed [mm/sec] Position No. to assign to CP Assign position speed 317
Optional PACC Acceleration [G] Position No. to assign to CP Assign position acceleration 318
Optional PDCL Deceleration [G] Position No. to assign to CP Assign position deceleration 319
Axis pattern assignment
Optional PAXS Position No. CP Read axis pattern 320
variable No.
Size assignment variable
Optional PSIZ Prohibited CP Check position data size 321
No.
Optional PTAM Variable No. Position No. CP Substitution of target arm system data 315
Optional GTAM Variable No. Position No. CP Acquirement of target arm system data 322
Optional GVEL Variable No. Position No. CP Get speed data 323
Optional GACC Variable No. Position No. CP Get acceleration data 324
Optional GDCL Variable No. Position No. CP Get deceleration data 325

251
 Output operation types
CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional VEL Speed [mm/sec] Prohibited CP Set speed 326
Optional OVRD Speed ratio [%] (OVRD type) CP Speed coefficient settings 328
Optional ACC Acceleration [G] Prohibited CP Set acceleration 330
Optional DCL Deceleration [G] Prohibited CP Set deceleration 332
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 334
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 338
Optional DEG Division angle [deg] Prohibited CP Division angle settings 339
Optional BASE Datum axis No. Prohibited CP Datum axis setting 340
Optional GRP Effective axis pattern Prohibited CP Set group axes 341
5. SEL Commands

Optional HOLD (Pause input port) (HOLD type) CP Declare port to pause 342
(Cancel complete input
Optional CANC (CANC type) CP Declare port to abort 343
port)
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 347
Optional ACMX ACMX Acceleration No. Prohibited CP Indicate ACMX acceleration 344
Optional DIS Distance Prohibited CP Set division distance at spline movement 348
Optional POTP 0 or 1 Prohibited CP Set PATH output type 349
PUSH Command distance and speed
Optional PAPR Distance Speed CP 350
settings
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 351
Optional ACCS Ratio Prohibited CP Set acceleration ratio 331
Optional DCLS Ratio Prohibited CP Set deceleration ratio 333
Define simple contact check zone
Optional DFIF Contact check zone No. Position No. CP 378
Actuator Control Declaration

coordinate
Tool coordinate system
Optional DFTL Position No. CP Define tool coordinate system 357
No.
Work coordinate system
Optional DFWK Position No. CP Define work coordinate system 364
No.
Get simple contact check zone definition
Optional GTIF Contact check zone No. Position No. CP 382
coordinate
Tool coordinate system Get tool coordinate system definition
Optional GTTL Position No. CP 362
No. data
Work coordinate system Get work coordinate system definition
Optional GTWK Position No. CP 369
No. number
Optional NBND Axis pattern Close distance CP Set close distance 387
Specify PTP target arm system to
Optional PTPD Prohibited Prohibited CP 376
current arm
Tool coordinate system
Optional SLTL Prohibited CP Select tool coordinate system 360
No.
Specify type of simple contact check
Optional SEIF Contact check zone No. 0 to 2 CP 381
zone
Optional RIGH Prohibited Prohibited PE Change current arm system to right arm 372
Optional LEFT Prohibited Prohibited PE Change current arm system to left arm 373
Specify PTP target arm system to right
Optional PTPR Prohibited Prohibited CP 374
arm
Specify PTP target arm system to
Optional PTPE Prohibited Prohibited CP 377
current arm
Optional WGHT Mass (Inertial moment) CP Set tip work mass, inertial moment 383
Optional WGT2 Mass (Inertial moment) CP Tip load condition setting 2 385
Optional VELS Ratio Prohibited CP Set speed ratio 327
Specify output for simple contact check
Optional SOIF Contact check zone No. Output, global flag No. CP 380
zone
Work coordinate system
Optional SLWK Prohibited CP Select work coordinate system 367
No.
Specify PTP target arm system to left
Optional PTPL Prohibited Prohibited CP 375
arm
PTP Continuous Operation Mode
Optional CNTP Other numbers Prohibited CP 402
Setting

252
 Output operation types
CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional SV…… Operation axis pattern Prohibited PE Turn ON/OFF servo 389
Optional HOME Home-return axis pattern Prohibited PE Home return 390
Optional MOVP Position No. to move to Prohibited PE Move by specifying position data 391
Optional MOVL Position No. to move to Prohibited PE Position-indicated interpolation movement 393
Movement amount
Optional MVPI Prohibited PE Position-relative movement 395
position No.
Movement amount
Optional MVLI Prohibited PE Position-relative interpolation movement 397
position No.
Optional PATH Start position No. End position No. PE Move along path 401
Start input and output,
Optional J…W… Drive axis pattern PE Jog [FN/FF/BN/BF] 406

5. SEL Commands
flag
Optional STOP Stop axis pattern Prohibited CP Deceleration and stop of axis 409
Optional PSPL Start position No. End position No. PE Move along spline 410
Optional PUSH Target position No. Prohibited PE Move by push motion 411
Actuator Control Command

Optional PTRQ Axis pattern Ratio [%] CC Change push torque limit parameter 413
Optional CIR2 Passing position 1 No. Passing position 2 No. PE Circle movement 2 (Arc interpolation) 414
Optional ARC2 Passing position No. End position No. PE Arc movement 2 (Arc interpolation) 416
Optional CIRS Passing position 1 No. Passing position 2 No. PE Move along circle three-dimensionally 418
Optional ARCS Passing position No. End position No. PE Move along arc three-dimensionally 420
Optional CHVL Axis pattern Speed CP Change speed 422
Termination position center angle
Optional ARCD End position No. Center angle [°(degree)] PE 424
indicated arc movement
Center position center angle indicated arc
Optional ARCC Center position No. Center angle [°(degree)] PE 426
movement
Optional PBND Axis pattern Distance CP Set positioning width 428
Optional CIR Passing position 1 No. Passing position 2 No. PE Circle movement (CIR2 is recommended) 431
Optional ARC Passing position No. End position No. PE Arc movement (ARC2 is recommended) 433
Wait for end of operation by axes currently
Optional PEND Prohibited Prohibited PE 435
used by program
Optional MOVD Target position (Axis pattern) PE Move via direct value specification 399
Move relatively via direct value
Optional MVDI Travel distance (Axis pattern) PE 400
specification
Move incrementally to position on tool
Optional TMLI Position No. Prohibited PE 430
coordinate system via CP operation
Move incrementally to position on tool
Optional TMPI Position No. Prohibited PE 429
coordinate system via PTP operation
Optional IF…… Comparative variable Compared No. CP Compare [EQ/NE/GT/GE/LT/LE] 436
IF structure

Column No., character

Optional IS…… Column No. CP Compare strings 437
literal
Declaration of IF Command unsuccessful
Prohibited ELSE Prohibited Prohibited CP 438
execution destination
Prohibited EDIF Prohibited Prohibited CP IF termination declaration 439
Optional DW…… Comparative variable Compared No. CP Loop [EQ/NE/GT/GE/LT/LE] 440
Structural

Optional LEAV Prohibited Prohibited CP Pull out of DO 441

DO

Optional ITER Prohibited Prohibited CP Repeat of DO 442

Prohibited EDDO Prohibited Prohibited CP DO termination declaration 443
Optional SLCT Prohibited Prohibited CP Start declaration for multi-branching 444
Multi-Branching

Prohibited WH…… Comparative variable Compared No. CP Branch values [EQ/NE/GT/GE/LT/LE] 445
Column No., character
Prohibited WS…… Column No. CP Branch character line [EQ/NE] 446
literal
Declaration of condition unsuccessful
Prohibited OTHE Prohibited Prohibited CP 447
branching destination
Prohibited EDSL Prohibited Prohibited CP SLCT termination declaration 448
Optional AXST Variable No. Axis No. CP Get axis status 449
Acquisition
nformation
SystemI

Optional PGST Variable No. Program No. CP Get program status 450
Optional SYST Variable No. Prohibited CP Get system status 451
Optional GARM Variable No. Prohibited CP Get current arm system 452

253
 Output operation types
CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional WZNA Zone No. Axis pattern CP Wait for zone ON based on AND gate 453
Optional WZNO Zone No. Axis pattern CP Wait for zone ON based on OR gate 454
Zone

Optional WZFA Zone No. Axis pattern CP Wait for zone OFF based on AND gate 455
Optional WZFO Zone No. Axis pattern CP Wait for zone OFF based on OR gate 456
Optional OPEN Channel No. Prohibited CP Open channel 457
Optional CLOS Channel No. Prohibited CP Close channel 458
Optional READ Channel No. Column No. CC Input from channel 459
Communication

Optional TMRW Read timer setting (Write timer setting) CP Set READ timeout value 463
Optional WRIT Channel No. Column No. CC Output to channel 465
5. SEL Commands

Character setting for sending and

Optional SCHA Character code Prohibited CP 466
receiving
Optional TMRD Timer period Prohibited CP Set READ timeout value 461
Connected Destination IP address / Port
Optional IPCN Channel No. Integer variable No. CP 467
Number Setting
Column No., character
Optional SCPY Column No. CC Copy character string 468
literal
Column No., character
Optional SCMP Column No. EQ Compare character strings 469
literal
Column No., character
Optional SGET Variable No. CP Get character 470
String Operation

literal
Optional SPUT Column No. Data CP Set character 471
Optional STR Column No. Data CC Convert character string; decimal 472
Optional STRH Column No. Data CC Convert character string; hexadecimal 473
Column No., character
Optional VAL Variable No. CC Convert character string data; decimal 474
literal
Column No., character Convert character string data;
Optional VALH Variable No. CC 475
literal hexadecimal
Optional SLEN Character string length Prohibited CP Set length 476
Optional BGPA Palletizing No. Prohibited CP Declare start of palletizing setting 483
Prohibited EDPA Prohibited Prohibited CP Declare end of palletizing setting 484
Optional PAPI Count Count CP Set palletizing counts 485
Optional PAPN Pattern No. Prohibited CP Set palletizing pattern 486
Optional PASE Axis No. Axis No. CP Declare palletizing axes 487
Optional PAPT Pitch Pitch CP Set palletizing pitches 488
Optional PAST (Position No.) Prohibited CP Set palletizing reference point 489
Palletizing position Set palletizing points for 3-point or
Optional PAPS Position No. CP 490
setting type 4-point teaching
Optional PSLI Offset amount (Count) CP Set zigzag 493
Optional PCHZ (Axis No.) Prohibited CP Declare palletizing Z-axis 494
Optional PTRG Position No. Position No. CP Set palletizing arch triggers 495
Optional PEXT (Position No.) Prohibited CP Set composite palletizing 496
Palletizing Definition

Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 497
Optional ACHZ Axis No. Prohibited CP Declare arch-motion Z-axis 479
Optional ATRG Position No. Position No. CP Set arch triggers 480
Optional AEXT (Position No.) Prohibited CP Set composite arch motion 481
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 482
Optional PTNG Palletizing No. Variable No. CP Get palletizing position number 498
Increment palletizing position number
Optional PINC Palletizing No. Prohibited CC 499
by 1
Decrement palletizing position number
Optional PDEC Palletizing No. Prohibited CC 500
by 1
Optional PSET Palletizing No. Data CC Set palletizing position number directly 501
Optional PARG Palletizing No. Axis No. CP Get palletizing angle 502
Optional PAPG Palletizing No. Position No. CP Get palletizing calculation data 503
Optional PMVP Palletizing No. (Position No.) PE Move to palletizing points via PTP 504
Move to palletizing points via
Optional PMVL Palletizing No. (Position No.) PE 505
interpolation
Optional PACH Palletizing No. Position No. PE Arch motion to palletizing point 506
Optional ARCH Position No. Position No. PE Arch motion 477

254
 Output operation types
CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional CHPR 0 or 1 Prohibited CP Change task level 508
Pseudo-Ladder

Specify processing to be performed

Building of

Prohibited TPCD 0 or 1 Prohibited CP 509

when input condition is not specified
Task

Prohibited TSLP Time Prohibited CP Task sleep 510

Optional OUTR Output, flag No. Prohibited CP Ladder output relay 175
Optional TIMR Local flag No. Timer setting CP Ladder timer relay 175
Optional ECMD 1 Axis No. CC Get motor current value 511
Optional ECMD 2 Axis No. CC Get home sensor status 512
Optional ECMD 3 Axis No. CC Get overrun sensor status 513

5. SEL Commands
Optional ECMD 4 Axis No. CC Get creep sensor status 514
Optional ECMD 5 Axis No. CC Get axis operation status 515
Current position acquirement on each
Optional ECMD 6 Axis No. CC 516
axis system
Optional ECMD 7 Axis No. CC Get total movement count 517
Optional ECMD 8 Axis No. CC Get total mileage 518
Optional ECMD 9 Axis No. CC Get position deviation 519
Optional ECMD 10 Axis No. CC Acquirement of Overload Level 520
Acquirement of Encoder Overheated
Optional ECMD 11 Axis No. CC 521
Level
Extended Command

Optional ECMD 20 Axis No. CC Get parameter value 522

Optional Set torque limit/torque limit over
ECMD 250 Axis pattern CC 524
detection time
Optional Conversion from each axis coordinates
ECMD 280 Integer variable No. CC to work coordinates in wrist unit 527
equipped robot
Optional Conversion from work coordinates to
ECMD 281 Integer variable No. CC each axis coordinates in wrist unit 528
equipped robot
Optional Conversion from tool coordinates to
ECMD 282 Integer variable No. CC work coordinates in wrist unit equipped 530
robot
Optional Conversion from each axis coordinates
ECMD 290 Integer variable No. CC to work coordinates in wrist unit 527
equipped robot
Optional Conversion from work coordinates to
ECMD 291 Integer variable No. CC each axis coordinates in wrist unit 528
equipped robot
Optional Conversion from tool coordinates to
ECMD 292 Integer variable No. CC work coordinates in wrist unit equipped 530
robot
Optional ECMD 300 Integer variable No. CC User system error output 532
Select using Vision
Optional SLVS (Timeout time) CC Select Vision System I/F 623
Related
System
Vision

System I/F
I/F

Capturing Trigger Vision System I/F Image-Capture Data

Optional GTVD Variable No. CC 625
Classification Acquirement
Select using Tracking TRAC Command
Optional TRMD CC Tracking Mode Setting 619
Conveyor
Tracking

Mode timeout time

Related

Position No. to save the Tracking Operation Setting & Datum

Optional TRAC 0 or 1 work position CC Point Position Information Obtainment in 620
information Work
Anti-Vibration

Related
Control

Anti-Vibration Control Parameter Set

Optional NTCH Axis pattern Parameter set number CC 627
Select

255
 RC Gateway Function Commands (Controller with Gateway Function Only)
* Refer to “XSEL Controller P/Q/PX/QX RC Gateway Function Instruction Manual” for the
commands related to RC gateway functions.

Output operation types

CC : Command successful, ZR: Calculation result zero
PE : Operation complete, CP: Command passing, TU: Timeout
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
RC position-data
Category Condition Command use mode Operand 1 Operand 2 Output Function Page
XSEL RC
Assign RC axis position
Optional RPGT   RC-axis No. Position No. CC 533
location to Variable 199
Assign Variable 199 to RC axis
5. SEL Commands

Optional RPPT   RC-axis No. Position No. CP 534

position location
Optional RPCR   RC-axis No. Variable No. CP Clear RC-axis position data 535
Optional RPCP   RC-axis No. Variable No. CP Copy RC-axis position data 536
Optional RPRD   Position No. Prohibited CP Read current RC-axis position 537
Read current RC-axis position
Optional RPRQ   RC-axis No. Variable No. CP 538
(single-axis direct)
RC axis position operation

Assign Variable 199 to RC axis

Optional RPVL   RC-axis No. Position No. CP 539
position speed
Assign Variable 199 to
Optional RPAD   RC-axis No. Position No. CP RC axis position 540
acceleration/deceleration
Assign Variable 199 to RC axis
Optional RPIP   RC-axis No. Position No. CP 541
position positioning width
Assign Variable 199 to RC axis
Optional RPTQ   RC-axis No. Position No. CP 542
position current limitation
Assign RC axis position speed
Optional RGVL   RC-axis No. Position No. CP 543
to Variable 199
Assign RC axis position
Optional RGAD   RC-axis No. Position No. CP acceleration/deceleration to 544
Variable 199
Assign RC position positioning
Optional RGIP   RC-axis No. Position No. CP 545
width to Variable 199
Assign RC position current
Optional RGTQ   RC-axis No. Position No. CP 546
limitation to Variable 199
Axis pattern, Axis pattern,
Optional RAXS   CP Set axis pattern for RC axis 547
upper lower
Optional RSON   Prohibited Prohibited PE Turn ON RC-axis servo 548
RC actuator control command

Optional RSOF   Prohibited Prohibited PE Turn OFF RC-axis servo 549

Optional RHOM   Prohibited Prohibited PE Return RC-axis to home 550
Move RC-axis by position
Optional RMVP   Position No. Prohibited PE 551
specification
Move RC-axis incrementally by
Optional RMPI   Position No. Prohibited PE 552
position specification
Move RC axis with direct
Optional RMVD   RC-axis No. Variable No. PE 553
specification
Move RC axis to directly
Optional RMDI   RC-axis No. Variable No. PE 554
specified relative position
Optional RPUS   RC-axis No. Position No. PE Move RC-axis via push motion 555
Optional RSTP   Prohibited Prohibited PE Decelerate and stop RC axis 556
information
acquisition
RC axis

Optional RCST   Variable No. RC-axis No. PE Acquire RC axis status 557

256
Extension Motion Control Function Related Commands
* Refer to “XSEL Controller P/Q/PCT/QCT Electronic Cam function Instruction Manual” (Controller
with Electronic Cam Function Only) for the details of the commands related to the electronic cam
functions.
* Refer to “Extension Motion Control Function Instruction Manual” for the details of the extension
motion control commands.
Output operation types
CC: Command successful, CP: Command passing
PE: Operation complete

Category Condition Command Operand 1 Operand 2 Output Function Page

Motion Control

Clear input counter record for extension

Board Input

Optional XCRP Pulse input channel No. Prohibited CP 559

Operations
Extension

motion control

Acquire current record of extension

Optional XGTP Pulse input channel No. Prohibited CP 560
motion control input counter

5. SEL Commands
Read extension motion control axis
Optional XPGT Axis No. Position No. CC 561
position data
Write extension motion control axis
Optional XPPT Axis No. Position No. CP 562
position data
Extension Motion Control Board Axis Position Operations

Erase extension motion control axis

Optional XPCR Axis No. Variable No. CP 563
position data
Copy extension motion control axis
Optional XPCP Axis No. Variable No. CP 564
position data
Read extension motion control axis
Optional XPRD Position No. Prohibited CP 565
current command position
Read extension motion control axis
Optional XPRQ Axis No. Variable No. CP current command position (single-axis 566
direct)
Write extension motion control axis
Optional XPVL Axis No. Position No. CP 567
speed data
Write extension motion control axis
Optional XPAC Axis No. Position No. CP 568
acceleration data
Write extension motion control axis
Optional XPDC Axis No. Position No. CP 569
deceleration data
Write extension motion control axis
Optional XPIP Axis No. Position No. CP 570
positioning complete width data
Read extension motion control axis
Optional XGVL Axis No. Position No. CP 571
speed data
Read extension motion control axis
Optional XGAC Axis No. Position No. CP 572
acceleration data
Read extension motion control axis
Optional XGDC Axis No. Position No. CP 573
deceleration data
Read extension motion control axis
Optional XGIP Axis No. Position No. CP 574
positioning complete width data
Control Board Axis
Extension Motion
Extension Motion Control Board Axis Actuator Control Commands Actuator Control

Set each pulse I/O axis pattern

Optional XAXS Axis pattern, upper Axis pattern, lower CP 575
Declarations

(0 to 15 axis)

Set each pulse I/O axis pattern

Optional XA16 Axis pattern, upper Axis pattern, lower CP 576
(16 to 31 axis)

Extension motion control axis to servo

Optional XSON Prohibited Prohibited PE 577
ON
Extension motion control axis to servo
Optional XSOF Prohibited Prohibited PE 578
OFF
Extension motion control axis to home
Optional XHOM Prohibited Prohibited PE 579
return
Move extension motion control axis to
Optional XMVP Position No. Prohibited PE 580
indicated position
Perform extension motion control axis
Optional XMPI Position No. Prohibited PE 581
position relative movement
Move extension motion control axis for
Optional XMVL Position No. Prohibited PE 582
position indicated interpolation
Move extension motion control axis for
Optional XMLI Position No. Prohibited PE 583
position relative interpolation
Move extension motion control axis to
Optional XMVD Axis No. Variable No. PE 584
directly indicated absolute position
Move extension motion control axis to
Optional XMDI Axis No. Variable No. PE 585
directly indicated relative position
Extension motion control axis path
Optional XPTH Start position No. End position No. PE 586
operation
Perform extension motion control axis
Optional XJ Input, output, flag No. Prohibited PE 588
jog operation [FN/FF/BN/BF]
Waiting for extension motion control axis
Optional XPED Prohibited Prohibited PE to finish positioning operation of axis 589
used by self-program

257
 Output operation types
CC: Command successful, CP: Command passing
PE: Operation complete

Category Condition Command Operand 1 Operand 2 Output Function Page

Cancel operation of extension motion
Optional XSTP Prohibited Prohibited PE 590
Extension Motion Control Board Axis

control axis
Waiting for extension motion control axis
Actuator Control Commands

Optional XWIP Prohibited Prohibited CP positioning complete signal to be turned 591

ON
Start synchronizing extension motion
Optional XCAS Slave Shaft No. Variable No. PE control axis electronic cam (indicating 593
main axis)
Move extension motion control axis
Optional XCTM Slave Shaft No. Variable No. PE individual electronic cam (indicating 604
time)
Start synchronizing of extension motion
Optional XSFS Slave Shaft No. Variable No. PE 606
control axis electronic shaft
Cancel operation of extension motion
Optional XSYE Slave Shaft No. (Complete Type) PE 609
control axis
5. SEL Commands

Status Acquirement
Control Board Axis
Extension Motion

Acquire extension motion control axis

Optional XAST Variable No. Axis No. CP 611
status

Extension motion control axis arch

Optional XACH Position No. Position No. PE 614
motion
Arch Motion Related

Extension motion control axis arch

Optional XACZ Axis No. Prohibited CP 616
motion Z-axis declaration
Extension motion control axis arch
Optional XAEX (Position No.) Prohibited CP 616
motion composition setting
Extension motion control axis arch
Optional XATG Position No. Position No. CP 617
trigger setting
Extension motion control axis arch
Optional XOAZ Offset value Prohibited CP 618
motion Z-axis offset setting

258
5.3 Explanation of Commands
[1] Variable Assignment

 LET (Assign)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional LET Data ZR
number

5. SEL Commands
Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Assign the value specified in operand 2 to the variable specified in operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1.

[Example 1] LET 1 10 Assign 10 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 3 10 Assign 10 to variable 3.
LET *1 *3 Assign the content 10 of variable 3 to the variable
that corresponds to the content 2 of variable 1.

259
  TRAN (Copy)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Variable
Optional Optional TRAN ZR
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Assign the content of the variable specified in operand 2 to the variable specified
in operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1.

[Example 1] TRAN 1 2 Assign the content of variable 2 to variable 1.

The above operation can be performed with a LET
command as follows.
LET 1 *2
[Example 2] LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
LET 3 4 Assign 4 to variable 3.
LET 4 10 Assign 10 to variable 4.
TRAN *1 *3 Assign 10 of the content 4 of variable 3 to the
variable that corresponds to the content 2 of
variable 1.

The variables change as follows.

1 2 3 4 1 2 3 4
2 3 4 10  2 10 4 10

260
 CLR (Clear variable)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Variable
Optional Optional CLR ZR
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Clear the variables from the one specified in operand 1 through the other
specified in operand 2.
The contents of the variables that have been cleared become 0.
The output will turn ON when 0 is assigned to the variable specified in operand 1.

[Example 1] CLR 1 5 Clear variables 1 through 5.

[Example 2] LET 1 10 Assign 10 to variable 1.

LET 2 20 Assign 20 to variable 2.
CLR *1 *2 Clear the variables from the contents 10 in variable
1 through the contents 20 in variable 2.

261
 [2] Arithmetic Operation

 ADD (Add)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ADD Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Add the content of the variable specified in operand 1 and the value specified in
operand 2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 3 Assign 3 to variable 1.

ADD 1 2 Add 2 to the content of variable 1 (3).
5 (3 + 2 = 5) will be stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 2 Assign 3 to variable 2.
LET 3 2 Assign 2 to variable 3.
ADD *1 *3 Add the content of variable 3, or 2, to the variable
that corresponds to the content of variable 1, or 2.
3 + 2, or 5, is stored in variable 2.

262
 SUB (Subtract)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional SUB Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Subtract the value specified in operand 2 from the content of the variable specified
in operand 1, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 3 Assign 3 to variable 1.

SUB 1 2 Subtract 2 from the content of variable 1 (3).
1 (3 – 2 = 1) will be stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
LET 3 2 Assign 2 to variable 3.
SUB *1 *3 Subtract the content of variable 3 (2), from the
variable corresponding to the content of variable 1
(2). 1 (3 - 2 = 1) will be send in variable 2.

263
  MULT (Multiply)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional MULT Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Multiply the content of the variable specified in operand 1 by the value specified
in operand 2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 3 Assign 3 to variable 1.

MULT 1 2 Multiply the content of variable 1 (3) by 2.
3  2, or 6, is stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
LET 3 2 Assign 2 to variable 3.
MULT *1 *3 Multiply the variable that corresponds to the content
of variable 1, or 2, by the content of variable 3, or 2.
3  2, or 6, is stored in variable 2.

264
 DIV (Divide)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional DIV Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Divide the content of the variable specified in operand 1 by the value specified in
operand 2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

(Note) If the variable specified in operand 1 is an integer variable, any decimal places
will be rounded off.

[Example 1] LET 1 6 Assign 6 to variable 1.

DIV 1 2 Divide the content of variable 1 (6) by 2.
6 / 2, or 3, is stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 6 Assign 6 to variable 2.
LET 3 2 Assign 2 to variable 3.
DIV *1 *3 Divide the variable that corresponds to the content
of variable 1, or 2, by the content of variable 3, or 2.
6 / 2, or 3, is stored in variable 2.

265
  MOD (Remainder)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional MOD Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Assign, to the variable specified in 1, the remainder obtained by dividing the
content of the variable specified in operand 1 by the value specified in operand 2.
The output will turn ON when the operation result becomes 0.

(Note) A MOD command is used with integer variables.

[Example 1] LET 1 7 Assign 7 to variable 1.

MOD 1 3 Obtain the remainder of dividing the content of
variable 1 (7) by 3.
The remainder of 7 / 3 = 2, or 1, is assigned to
variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 7 Assign 7 to variable 2.
LET 3 3 Assign 3 to variable 3.
MOD *1 *3 Obtain the remainder of dividing the variable that
corresponds to the content of variable 1, or 2, by
the content of variable 3, or 3.
The remainder of 7 / 3 = 2, or 1, is assigned to
variable 2.

266
[3] Function Operation

 SIN (Sine operation)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional SIN Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Assign the sine of the data specified in operand 2 to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.

(Note 1) Radian = Angle   / 180

[Example 1] SIN 100 0.523599 Assign the sine of 0.523599 (0.5) to variable
100.

[Example 2] LET 1 100 Assign 100 to variable 1.

LET 101 30 30   / 180 (radian)
MULT 101 3.141592 (30 is converted to radian and the result is
DIV 101 180 assigned to variable 101.)
SIN *1 *101 Assign the sine of the content of variable 101,
or 0.5, to the variable that corresponds to the
content of variable 1, or 100.

267
  ASIN (Inverse-sine (Arc sine) operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ASIN Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.10 or later)
5. SEL Commands

[Function] Assign the inverse sine (arc sine) of the data specified in operand 2 to the
variable specified in operand 1.
A number indicated in operand 2 should be in the range from -1 to 1. An error will
occur if the number in operand 2 is smaller than -1 or bigger than 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.
The unit of inverse sine is radian. The range should be from -/2 to /2.

[Example] ASIN 100 1 Assign the inverse sine of 1 to variable 100.

268
 COS (Cosine operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional COS Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Assign the cosine of the data specified in operand 2 to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.

(Note 1) Radian = Angle   / 180

[Example 1] COS 100 1.047197 Assign the cosine of 1.047197 (0.5) to variable
100.

[Example 2] LET 1 100 Assign 100 to variable 1.

LET 101 60 60   / 180 (radian)
MULT 101 3.141592 (60 is converted to radian and the result is
DIV 101 180 assigned to variable 101.)
COS *1 *101 Assign the sine of the content of variable 101,
or 0.5, to the variable that corresponds to the
content of variable 1, or 100.

269
  ACOS (Inverse-cosine (Arc cosine) operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ACOS Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.10 or later)
5. SEL Commands

[Function] Assign the inverse cosine (arc cosine) of the data specified in operand 2 to the
variable specified in operand 1.
A number indicated in operand 2 should be in the range from -1 to 1. An error will
occur if the number in operand 2 is smaller than -1 or bigger than 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.
The unit of inverse cosine is radian. The range should be from 0 to .

[Example] ACOS 100 1 Assign the inverse cosine of 1 to variable 100.

270
 TAN (Tangent operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional TAN Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Assign the tangent of the data specified in operand 2 to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.

(Note 1) Radian = Angle   / 180

[Example 1] TAN 100 0.785398 Assign the tangent of 0.785398 (1) to variable
100.

[Example 2] LET 1 100 Assign 100 to variable 1.

LET 101 45 45   / 180 (radian)
MULT 101 3.141592 (45 is converted to radian and the result is
DIV 101 180 assigned to variable 101.)
TAN *1 *101 Assign the sine of the content of variable 101,
or 1, to the variable that corresponds to the
content of variable 1, or 100.

271
  ATN (Inverse-tangent operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ATN Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Assign the inverse tangent of the data specified in operand 2 to the variable
specified in operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.
The unit of inverse tangent is radian.

(Note 1) Radian = Angle   / 180

[Example 1] ATN 100 1 Assign the inverse tangent of 1 (0.785398) to

variable 100.

[Example 2] LET 1 100 Assign 100 to variable 1.

LET 101 1 Assign 1 to variable 101.
ATN *1 *101 Assign the inverse arc tangent of the content of
variable 101, or 0.785398, to the variable that
corresponds to the content of variable 1, or 100.

272
 SQR (Root operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional SQR Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Assign the root of the data specified in operand 2 to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] SQR 1 4 Assign the root of 4 (2) to variable 1.

[Example 2] LET 1 10 Assign 10 to variable 1.

LET 2 4 Assign 4 to variable 2.
SQR *1 *2 Assign the square root of the content of variable 2,
or 4, to the variable that corresponds to the content
of variable 1, or 10.

273
  DTOR (Angle conversion (Degrees to Radians))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional DTOR Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.10 or later)
5. SEL Commands

[Function] The angle (unit: degrees) in operand 2 of the variable in operand 1 gets
converted into radians.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.

[Example] DTOR 100 90 A number converted into radians from 90 degrees

of an angle gets substituted to the variable 100.

 RTOD (Angle conversion (Radians to Degrees))

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional RTOD Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.10 or later)

[Function] The angle (unit: radians) in operand 2 of the variable in operand 1 gets converted
into degrees.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to
1199, 300 to 399 or 1300 to 1399.

[Example] RTOD 100 1.57079 A number converted into degrees from 1.57079
radians of an angle gets substituted to the variable
100.

274
 ABS (Absolute value calculation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ABS Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.10 or later)

5. SEL Commands
[Function] An absolute value in the data in operand 2 gets substituted to operand 1.

[Example] ABS 1 -3 The absolute value of -3 gets substituted to the

variable 1.

 SGN (Get signs)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional SGN Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.10 or later)

[Function] Sign in operand 2 data gets searched and substituted in the variable in operand
1.
The values substituted in the variable in operand 1 are as follows.
Value Substituted in
Operand 2 Data
Operand 1 Variable
1 Positive Value
0 0
-1 Negative Value

[Example] SGN 1 -3 The sign of -3 gets substituted in the variable 1.

275
 [4] Logical Operation

 AND (Logical AND)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional AND Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Assign the logical AND operation result of the content of the variable specified in
operand 1 and the value specified in operand 2, to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 204 Assign 204 to variable 1.

AND 1 170 Assign the logical AND operation result (136) of the
content of variable 1 (204) and 170, to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 204 Assign 204 to variable 2.
LET 3 170 Assign 170 to variable 3.
AND *1 *3 Assign the logical product 136 of the content 204 of
the variable that corresponds to the content of
variable 1, or 2, and the content of variable 3, or
170, to the variable that corresponds to the content
of variable 1, or 2.

Decimal Binary

204 11001100
AND 170 AND 10101010
136 10001000

276
 OR (Logical OR)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional OR Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Assign the logical OR operation result of the content of the variable specified in
operand 1 and the value specified in operand 2, to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 204 Assign 204 to variable 1.

OR 1 170 Assign the logical OR operation result (238) of the
content of variable 1 (204) and 170, to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 204 Assign 204 to variable 2.
LET 3 170 Assign 170 to variable 3.
OR *1 *3 Assign the logical sum 238 of the content 204 of
the variable that corresponds to the content of
variable 1, or 2, and the content of variable 3, or
170, to the variable that corresponds to the content
of variable 1, or 2.

Decimal Binary

204 11001100
OR 170 OR 10101010
238 11101110

277
  EOR (Logical exclusive-OR)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional EOR Data ZR
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Assign the logical exclusive-OR operation result of the content of the variable
specified in operand 1 and the value specified in operand 2, to the variable
specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 204 Assign 204 to variable 1.

EOR 1 170 Assign the logical exclusive-OR operation result
(102) of the content of variable 1 (204) and 170, to
variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 204 Assign 204 to variable 2.
LET 3 170 Assign 170 to variable 3.
EOR *1 *3 Assign the exclusive logical sum 102 of the content
204 of the variable that corresponds to the content
of variable 1, or 2, and the content of variable 3, or
170, to the variable that corresponds to the content
of variable 1, or 2.

Decimal Binary

204 11001100
EOR 170 EOR 10101010
102 01100110

278
z NOT (Deny)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Variable
Optional Optional NOT Data ZR
number

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.12 or later)

[Function] The variable number in Operation 1 should be substituted by one’s complement

(reversed of each bit) in the data in Operation 2.

5. SEL Commands
The output turns on when the arithmetic result gets to 0.

[Example] NOT 1 1 1 (decimal number) of one’s complement should be

substituted to Variable 1

1 ･･･0x00000001 (hexadecimal number)

Each bit reversed

Variable 1(decimal number)

―2 ･･･0xFFFFFFFE (hexadecimal number)

279
 z LSFT (Logic Shifted to Left)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Variable Number of
Optional Optional LSFT ZR
number shifted bits

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.12 or later)

[Function] Variable number in Operation 1 is to be shifted to left for the number of bits in
Operation 2, and substituted to the variable in Operation 1.
5. SEL Commands

The number of shifted bits is available to indicate from 0 to 31. 0 should be set to
the low-order bit for the amount of shift.

[Example] LET 1 1 1 (decimal number) substituted to Variable 1

LSFT 1 2 Variable 1 shifted to left for two bits substituted to
Variable 1

Variable 1(decimal number)

1 ･･･00000001 (binary number)

Shifted to left for two bits

4 ･･･00000100 (binary number)

280
z RSFT (Logic Shifted to Right)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Variable Number of
Optional Optional RSFT ZR
number shifted bits

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later)
MSEL (Main application V2.12 or later)

[Function] Variable number in Operation 1 is to be shifted to right for the number of bits in
Operation 2, and substituted to the variable in Operation 1.

5. SEL Commands
The number of shifted bits is available to indicate from 0 to 31. 0 should be set to
the high-order bit for the amount of shift.

[Example] LET 1 16 16 (decimal number) substituted to Variable 1

RSFT 1 2 Variable 1 shifted to right for two bits substituted to
Variable 1

Variable 1(decimal number)

16 ･･･00010000 (binary number)

Shifted to right for two bits

4 ･･･00000100 (binary number)

281
 [5] Comparison Operation

 CP (Compare)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
EO NE
Variable
Optional Optional CP Data GT GE
number
LT LE

Applicable models
5. SEL Commands

All models [Refer to Section 5.1 for details of models]



[Function] The output will be turned ON if the comparison result of the content of the
variable specified in operand 1 and the value specified in operand 2 satisfies the
condition.
The value in the variable does not change.
The output will be turned OFF if the condition is not satisfied.

(Note) The output will not be turned OFF when the command is executed.

CP
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

[Example 1] LET 1 10 Assign 10 to variable 1.

CPEQ 1 10 600 Turn ON flag 600 if the content of
variable 1 is 10.
600 ADD 2 1 Add 1 to variable 2 if flag 600 is ON.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 10 Assign 10 to variable 2.
LET 3 10 Assign 10 to variable 3.
CPNE *1 *3 310 Turn ON output 310 if the variable that
corresponds to the content of variable 1,
or 2, is not equal to the content of
variable 3.

282
[6] Timer

 TIMW (Timer)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional TIMW Time Prohibited TU

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Stop the program and wait for the time specified in operand 1.
The setting range is 0.01 to 99, and the unit is second.
The output will turn ON when the specified time has elapsed and the program
proceeds to the next step.

[Example 1] TIMW 1.5 Wait for 1.5sec.

[Example 2] LET 1 10 Assign 10 to variable 1.

TIMW *1 Wait for the content of variable 1 (10sec).

283
  TIMC (Cancel timer)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Program
Optional Optional TIMC Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Cancel a timer in other program running in parallel.

(Note) Timers in TIMW, WTON, WTOF and READ commands can be cancelled. In the
case of WTON, WTOF and READ commands, even if timeout is not specified it is
assumed that an unlimited timer has been specified and the wait time will be
cancelled.

[Example 1] TIMC 10 Cancel the wait time in program 10.

[Example 2] LET 1 10 Assign 10 to variable 1.

TIMC *1 Cancel the wait time in the content of variable 1
(program 10).

[Example 3] Program 1 Program 10

: :
: WTON 8 20 Program 10 waits for input 8 for 20
: (Wait for input 8) seconds.
TIMC 10 (Wait for input 8) Cancel the wait time in program 10.
: :

(Note) The steps shown in the above example represent those executed simultaneously
in different programs.

284
 GTTM (Get time)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional GTTM Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Read system time to the variable specified in operand 1. The time is specified in
units of 10msec.
The time obtained here has no base number. Therefore, this command is called
twice and the difference will be used to calculate the elapsed time.

(Note) The system time is the time counted by 32 bits with the controller startup timing
as 0. Therefore, the time passed can be defined by the time difference acquired
while in the continuous operation for approximately 248 days (21474836.47
seconds) after a controller startup.

[Example 1] LET 1 5 Assign 5 to variable 1.

GTTM *1 Store the current system time in the content of
variable 1 (variable 5).

285
 [7] I/O, Flag Operation

 BT (Output port, flag operation)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional BT Output, flag (Output, flag) CP

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Reverse the ON/OFF status of the output ports or flags from the one specified in
operand 1 through the other specified in operand 2.

(Note) Dedicated outputs (system outputs) other than general-purpose outputs cannot
be specified for operands 1 and 2.

BT
ON ··············· Switch the status to ON.
OF ··············· Switch the status to OFF.
NT ··············· Reverse the status.

[Example 1] BTON 300 Turn ON output port 300.

[Example 2] BTOF 300 307 Turn OFF output ports 300 through 307.

[Example 3] LET 1 600 Assign 600 to variable 1.

BTNT *1 Reverse the content of variable 1 (flag 600).

[Example 4] LET 1 600 Assign 600 to variable 1.

LET 2 607 Assign 607 to variable 2.
BTON *1 *2 Turn ON the flags from the content of variable 1
(flag 600) through the content of variable 2 (flag
607).

286
 BTPN (Output ON pulse)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Output port, Timer
Optional Optional BTPN CP
flag setting

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Turn ON the specified output port or flag for the specified time.
When this command is executed, the output port or flag specified in operand 1
will be turned ON and then the program will proceed to the next step. The output
port or flag will be turned OFF automatically upon elapse of the timer setting
specified in operand 2.
The timer is set in a range from 0.01 to 99.00sec (including up to two decimal
places).
Timer setting (sec)
タイマ時間（秒）

The output
ここで ON( port
オン or flag turns ON here, after which
) 後次ステップへ進みます。
the program will proceed to the next step.
(Note 1) If this command is executed with respect to an output port or flag already ON, the
output port or flag will be turned OFF upon elapse of the timer setting.

(Note 2) If the program ends after the command has been executed but before the timer is
up, the output port or flag will not be turned OFF.

(Note 3) This command will not be cancelled by a TIMC command.

(Note 4) A maximum of 16 timers, including BTPN and BTPF, can be operated

simultaneously in a single program.
(There is no limitation as to how many times these timers can be used in a single
program.)

(Note 5) Dedicated outputs (system outputs) other than general-purpose outputs cannot
be specified for operand 1.

(Note 6) If other task interrupts after a port is turned ON until it is subsequently turned
OFF, an error will generate in pulse output time, in which case pulse output
cannot be used for a specified period.

[Example] BTPN 300 1 Turn ON output port 300 for 1sec.

BTPN 600 10 Turn ON flag 600 for 10sec.

287
  BTPF (Output OFF pulse)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Output port, Timer
Optional Optional BTPF CP
flag setting

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Turn OFF the specified output port or flag for the specified time.
When this command is executed, the output port or flag specified in operand 1
will be turned OFF and then the program will proceed to the next step. The output
port or flag will be turned ON automatically upon elapse of the timer setting
specified in operand 2.
The timer is set in a range from 0.01 to 99.00sec (including up to two decimal
places).
Timer setting (sec)
タイマ時間（秒）

The output
ここで OFF(port
オフor)flag turns OFF here, after which
後次ステップへ進みます。
the program will proceed to the next step.
(Note 1) If this command is executed with respect to an output port or flag already OFF,
the output port or flag will be turned ON upon elapse of the timer setting.

(Note 2) If the program ends after the command has been executed but before the timer is
up, the output port or flag will not be turned ON.

(Note 3) This command will not be cancelled by a TIMC command.

(Note 4) A maximum of 16 timers, including BTPN and BTPF, can be operated

simultaneously in a single program.
(There is no limitation as to how many times these timers can be used in a single
program.)

(Note 5) Dedicated outputs (system outputs) other than general-purpose outputs cannot
be specified for operand 1.

(Note 6) If other task interrupts after a port is turned ON until it is subsequently turned
OFF, an error will generate in pulse output time, in which case pulse output
cannot be used for a specified period.

[Example] BTPF 300 1 Turn OFF output port 300 for 1sec.
BTPF 600 10 Turn OFF flag 600 for 10sec.

288
 WT (Wait for I/O port, flag)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WT I/O, flag (Time) TU

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Wait for the I/O port or flag specified in operand 1 to turn ON/OFF.
The program can be aborted after the specified time by setting the time in
operand 2.
The setting range is 0.01 to 99sec.
The output will turn ON upon elapse of the specified time (only when operand 2 is
specified).

(Note) A local flag cannot be entered in operand 1.

WT
ON ··············· Wait for the applicable I/O port or flag to turn ON.
OF ··············· Wait for the applicable I/O port or flag to turn OFF.

[Example 1] WTON 15 Wait for input port 15 to turn ON.

[Example 2] WTOF 308 10 Wait for 10sec for output port 308 to turn OFF.

[Example 3] LET 1 600 Assign 600 to variable 1.

WTON *1 Wait for the content of variable 1 (flag 600) to turn
ON.

[Example 4] LET 1 8 Assign 8 to variable 1.

LET 2 5 Assign 5 to variable 2.
WTOF *1 *2 Wait for the content of variable 2 (5sec) for the
content of variable 1 (input port 8) to turn OFF.

289
  IN (Read I/O, flag as binary)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional IN I/O, flag I/O, flag CC

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Read the I/O ports or flags from the one specified in operand 1 through the other
5. SEL Commands

specified in operand 2, to variable 99 as a binary.

Binary
Input port number

Binary

Variable 99

(Note 1) A maximum of 32 bits can be input.

(Note 2) When 32 bits have been input and the most significant bit is ON, the value read to
variable 99 will be treated as a negative value.

(Note 3) The read data format can be changed using a FMIO command (refer to the
section on FMIO command).

[Example 1] IN 8 15 Read input ports 8 through 15, to variable 99 as a

binary.

[Example 2] LET 1 8 Assign 8 to variable 1.

LET 2 15 Assign 15 to variable 2.
IN *1 *2 Read the input ports from the content of variable 1
(input port 8) through the content of variable 2
(input port 15), to variable 99 as a binary.

290
 INB (Read I/O, flag as BCD)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional INB I/O, flag BCD digits CC

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Read the I/O ports or flags from the one specified in operand 1 for the number of
digits specified in operand 2, to variable 99 as a BCD.

Upper digit Lower digit

Input port number

Variable 99

(Note 1) A maximum of eight digits (32 bits) can be input.

(Note 2) The number of I/O ports and flags that can be used is 4  n (digits).

(Note 3) The read data format can be changed using a FMIO command (refer to the
section on FMIO command).

[Example 1] INB 8 2 Read input ports 8 through 15, to variable 99 as a

BCD.

[Example 2] LET 1 8 Assign 8 to variable 1.

LET 2 2 Assign 2 to variable 2.
INB *1 *2 Read the input ports from the content of variable 1
(input port 8) for the content of variable 2 (two
digits) (until input port 15), to variable 99 as a BCD.

291
  OUT (Write output, flag as binary)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OUT Output, flag Output, flag CC

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Write the value in variable 99 to the output ports or flags from the one specified in
5. SEL Commands

operand 1 through the other specified in operand 2.

Variable 99

Upper Lower
Binary

Output port number

(Note 1) A maximum of 32 bits can be output.

(Note 2) The write data format can be changed using a FMIO command (refer to the
section on FMIO command).

[Example 1] OUT 300 307 Write the value in variable 99 to output ports 300
through 307 as a binary.

[Example 2] LET 1 300 Assign 300 to variable 1.

LET 2 307 Assign 307 to variable 2.
OUT *1 *2 Write the value in variable 99 to the output ports
from the content of variable 1 (output port 300)
through the content of variable 2 (output port 307)
as a binary.

292
 OUTB (Write output, flag as BCD)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OUTB Output, flag BCD digits CC

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Write the value in variable 99 to the output ports or flags from the one specified in
operand 1 for the number of digits specified in operand 2 as a BCD.

Variable 99

Output port number

(Note 1) A maximum of eight digits (32 bits) can be output.

(Note 2) The number of output ports and flags that can be used is 4  n (digits).

(Note 3) The write data format can be changed using a FMIO command (refer to the
section on FMIO command).

[Example 1] OUTB 300 2 Write the value in variable 99 to the output ports
from 300 for two digits (until output port 307) as a
BCD.

[Example 2] LET 1 300 Assign 300 to variable 1.

LET 2 2 Assign 2 to variable 2.
OUTB *1 *2 Write the value in variable 99 to the output ports
from the content of variable 1 (output port 300) for
the content of variable 2 (two digits) (until output
port 307) as a BCD.

293
  FMIO (Set IN, INB, OUT, OUTB, OTPS command format)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional FMIO Format type Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Set the data format for reading or writing I/O ports and flags with an IN, INB, OUT
5. SEL Commands

OUTB or OTPS command.

Details of data in each format type are shown for the IN, INB, OUT and OUTB
commands. Data details of the OTPS command are the same as those of the
OUT command, where the only difference is that variable 99 in the OUT
command is replaced with current position data in the OTPS command.

1) Operand 1 = 0 (Default status when a FMIO command has not been executed)
Data is read or written without being reversed.

(I/O, flag number upper) (I/O, flag number lower)

Variable 99 Temporary data I/O port, flag status (0 = OFF, 1 = ON)

OUT(B) command

IN(B) command

2) Operand 1 = 1
Data is read or written after its upper 8 bits and lower 8 bits are reversed every
16 bits.
(I/O, flag number upper) (I/O, flag number lower)

Variable 99 I/O port, flag status (0 = OFF, 1 = ON)

Temporary data
OUT(B) command

IN(B) command

294
 3) Operand 1 = 2
Data is read or written after its upper 16 bits and lower 16 bits are reversed
every 32 bits.

(I/O, flag number upper) (I/O, flag number lower)

Variable 99 I/O port, flag status (0 = OFF, 1 = ON)

Temporary data
OUT(B) command

5. SEL Commands
IN(B) command

4) Operand 1 = 3
Data is read or written after its upper 16 bits and lower 16 bits are reversed
every 32 bits and its upper 8 bits and lower 8 bits are reversed every 16 bits.
(I/O, flag number upper) (I/O, flag number lower)

Variable 99 I/O port, flag status (0 = OFF, 1 = ON)

Temporary data

OUT(B) command

IN(B) command

(Note) The FMIO command is supported by: Main application Ver.0.56 or later
PC software Ver.2.0.45 or later
Teaching pendant :
IA-T-X (D) Ver.1.13 or later
SEL-T (D) First edition or later
TB-01 (D) First edition or later
TB-02 (D) First edition or later

295
 [Example 1] Variable 99 = 00123456h (Decimal: 1193046, BCD: 123456)

OUT(B)
command
Variable 99 1193046 (IN/OUT command)
IN(B)
command 123456 (INB/OUTB command)
OUT(B) command IN(B) command
(I/O, flag number upper) (I/O, flag number lower)
5. SEL Commands

OUT(B) I/O port, flag status (0 = OFF, 1 = ON)

Temporary data command

IN(B)
command

[Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234)

OUT(B)
command
Variable 99 4660 (IN/OUT command)
IN(B)
command 1234 (INB/OUTB command)
OUT(B) command IN(B) command

(I/O, flag number upper) (I/O, flag number lower)

OUT(B) I/O port, flag status (0 = OFF, 1 = ON)

Temporary data command

IN(B)
command

296
[Example 3] Variable 99 = 00000012h (Decimal: 18, BCD: 12)

OUT(B)
command
Variable 99 18 (IN/OUT command)
IN(B)
command 12 (INB/OUTB command)
OUT(B) command IN(B) command
(I/O, flag number upper) (I/O, flag number lower)

5. SEL Commands
Temporary data OUT(B)
I/O port, flag status (0 = OFF, 1 = ON)
command

IN(B)
command

297
  OTPS (Output current position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Output port Axis
Optional Optional OTPS CC
number number
* This command is supported by SSEL controller main application Ver.0.22 or later.

Applicable models
SSEL 
Other than SSEL ×
5. SEL Commands

[Function]
 Output current position data to an output port.
 The current position data corresponding to the axis number specified in operand 2 is output
to 32 bits of ports starting from the output port specified in operand 1.
 If the command is executed with 0 specified in operand 1, the command will become invalid
and refreshing of current position data at the specified output will stop.
 When this command is executed, current position data will be refreshed continuously at the
specified output port until the program in which this command was input is stopped or
otherwise the command becomes invalid.
 32 bits binary data (extended by sign) is output. The minimum unit is 0.001mm.
(Note)
 Only output ports of No. 300 or higher port numbers (multiples of 8) can be specified in
operand 1.
 Only network output ports are supported.
 Even if this command is executed, output data remains indeterminable if home return is not
yet completed.
 The output data format can be changed using the FMIO command (refer to the section on
“FMIO command”). Note, however, that data is output in the FMIO-specified format when
this command is called.
[Example 1]
When OTPS 300 1 is executed:
If the current position is -0.012mm, it is expressed as -12 (decimal) or FFFFFFF4 (binary) in
units of 0.001mm.
Accordingly, FFFFFFF4 is output to output port No. 300 onward.
If the current position is 125.305mm, it is expressed as 125305 (decimal) or 0001E979
(binary) in units of 0.001mm.
Accordingly, 0001E979 is output to output port No. 300 onward.
The statuses of output ports are shown below.
307 306 305 304 303 302 301 300
OFF ON ON ON ON OFF OFF ON
315 314 313 312 311 310 309 308
ON ON ON OFF ON OFF OFF ON
323 322 321 320 319 318 317 316
OFF OFF OFF OFF OFF OFF OFF ON
331 330 329 328 327 326 325 324
OFF OFF OFF OFF OFF OFF OFF OFf

298
[8] Program Control

 GOTO (Jump)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional GOTO Tag number Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Jump to the position of the tag number specified in operand 1.

(Note 1) A GOTO command is valid only within the same program.

(Note 2) Do not create a program that contains an infinite series of continuous movement
commands using TAG-GOTO statements. Doing so will cause coordinate
conversion errors to accumulate.

[Example 1] TAG 1 Set a tag.

:
:
:
GOTO 1 Jump to tag 1.

Using a GOTO command to branch out of or into any of the syntaxes listed below is
prohibited.
Since the maximum number of nests is defined for each conditional branching command or
subroutine call, a nest will be infinitely repeated if an ED is not passed, and a nest
(repetition) overflow error will generate. In the case of palletizing setting, an error will generate
if the second BGPA is declared after the first BGPA declaration without passing an EDPA.

(1) IF or IS and EDIF syntax

(2) DWXX and EDDO syntax
(3) SLCT and EDSL syntax
(4) BGSR and EDSR syntax
(5) BGPA and EDPA syntax

299
  TAG (Declare tag)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited TAG Tag number Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Set the tag number specified in operand 1.

5. SEL Commands

[Example 1] Refer to the section on GOTO command.

300
 EXSR (Execute subroutine)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Subroutine
Optional Optional EXSR Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Execute the subroutine specified in operand 1.
A maximum of 15 nested subroutine calls are supported.

(Note) This command is valid only for subroutines within the same program.

[Example 1] EXSR 1 Execute subroutine 1.

:
:
EXIT
BGSR 1 Start subroutine 1.
:
:
:
EDSR End subroutine 1.

[Example 2] LET 1 10 Assign 10 to variable 1.

EXSR *1 Execute the content of variable 1 (subroutine 10).

301
  BGSR (Start subroutine)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Subroutine
Prohibited Prohibited BGSR Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Declare the start of the subroutine specified in operand 1.

[Example 1] Refer to the section on EXSR command.

(Note) Using a GOTO command to branch out of or into a BGSR-EDSR syntax is

prohibited.

302
 EDSR (End subroutine)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited EDSR Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Declare the end of a subroutine.
This command is always required at the end of a subroutine.
Thereafter, the program will proceed to the step next to the EXSR that has been
called.

[Example 1] Refer to the section on EXSR command.

303
 [9] Task Management

 EXIT (End program)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional EXIT Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] End the program.

If the last step has been reached without encountering any EXIT command, the
program will return to the beginning.

(Note) Status at program end  Output ports ················Retained

 Local flags···················Cleared
 Local variables············Cleared
 Current values ············Retained
 Global flags·················Retained
 Global variables ··········Retained

304
 EXPG (Start other program)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Program (Program
Optional Optional EXPG CC
number number)

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Start the programs from the one specified in operand 1 through the other
specified in operand 2, and run them in parallel. Specification in operand 1 only is
allowed.

[Example 1] EXPG 10 12 Start program No. 10, 11 and 12.

Error-generation/output-operation conditions
When one EXPG program is specified (only operand 1 is specified)
Status of No program number error *1
Program number
the specified Program already registered Program not yet error *1
program Program running Program not running registered
C03
A57 C2C
“Non-registered
Error “Multiple program None “Program number
program
start error” error”
specification error”
Output operation ON ON OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1… Program number error indicates specification of a number smaller than 1 or exceeding 64.

When multiple EXPG programs are specified (both operands 1 and 2 are specified)
No program number error *2
Registered program exists inside
Status of
the specified
the specified range *3 None of programs Program number
Running program None of programs inside the specified error *1
program
exists inside the inside the specified range are registered
specified range range are running
C03
A57 C2C
“Non-registered
Error “Multiple program None “Program number
program
start error” error”
specification error”
Output operation ON ON OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 2… Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 3… In this case, non-registered programs inside the specified range are not treated as a target of operation. This will
not affect error generation or output operation.

305
  ABPG (Abort other program)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Program (Program
Optional Optional ABPG CC
number number)

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Abort other program.

(Note 1) If an ABPG command is issued while a movement command is being executed,

the axes will immediately decelerate and stop.
(Note 2) Not only the operation but also the execution of the step itself will be terminated.

[Example 1] ABPG 10 12 End program No. 10, 11 and 12.

Error-generation/output-operation conditions
When one ABPG program is specified (only operand 1 is specified)
Status of No program number error *1
Program number
the specified Program already registered Program not yet error *1
program Program running Program not running registered
C2C
Error None None None “Program number
error”
Output operation ON (OFF *2) ON OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1… Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 2… If an own task (own program) is specified in an ABPG command, the own task will be terminated and then deleted.
The output will turn OFF.

When multiple ABPG programs are specified (both operands 1 and 2 are specified)
No program number error *3
Registered program exists inside
Status of None of programs Program number
the specified range *4
the specified inside the
Running program None of programs error *1
program specified range
exists inside the inside the specified are registered
specified range range are running
C2C
Error None None None “Program number
error”
Output operation ON (OFF *5) ON OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 3… Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 4… In this case, non-registered programs inside the specified range are not treated as a target of operation. This will
not affect error generation or output operation.
* 5… If an own task (own program) is included in the specified range, the own task will be terminated, upon which the
processing of the ABPG command will end. Since the own task will be deleted, the result of ending the processing
of specified programs will become indeterminable. Exercise caution. The output will always turn OFF regardless of
the result.

306
 SSPG (Pause program)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Program (Program
Optional Optional SSPG CC
number number)

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Pause the program from the one specified in operand 1 through the other specified
in operand 2, at the current step. Specification in operand 1 only is allowed.
(Note 1) Pausing a program will also pause the operation the program has been executing.
(Note 2) Not only the operation but also the execution of the step itself will be paused.
[Example 1] SSPG 10 12 Pause program No. 10, 11 and 12 at the current step.
Program No. 10 Program No. 11 Program No. 12

Currently executed step

Currently executed step

Currently executed step

Error-generation/output-operation conditions
When one SSPG program is specified (only operand 1 is specified)
Status of No program number error *1
Program number
the specified Program already registered Program not yet error *1
program Program running Program not running registered
C03
C2C
“Non-registered
Error None None “Program number
program
error”
specification error”
Output operation ON OFF OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1… Program number error indicates specification of a number smaller than 1 or exceeding 64.
When multiple SSPG programs are specified (both operands 1 and 2 are specified)
No program number error *2
Status of Registered program exists inside the specified range *3 None of programs
Program number
the specified Running program None of programs inside the specified error *1
program exists inside the inside the specified range are
specified range *4 range are running registered
C03
C2C
“Non-registered
Error None None “Program number
program
error”
specification error”
Output operation ON OFF OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 2… Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 3… In this case, non-registered programs inside the specified range are not treated as a target of operation with
EXPG, ABPG, SSPG and RSPG commands. This will not affect error generation or output operation.
* 4… In this case, programs not running (but already registered) inside the specified range are not treated as a target of
operation with SSPG and RSPG commands. This will not affect error generation or output operation.

307
  RSPG (Resume program)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Program (Program
Optional Optional RSPG CC
number number)

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Resume the programs from the one specified in operand 1 through the other
specified in operand 2. Specification in operand 1 only is allowed.
(Note 1) Resuming a program will also resume the operation the program had been
executing before the pause.
[Example 1] RSPG 10 12 Resume program No. 10, 11 and 12 from the paused step.
Program No. 10 Program No. 11 Program No. 12

Currently paused step

Currently paused step
Currently paused step

Error-generation/output-operation conditions
When one RSPG program is specified (only operand 1 is specified)
Status of No program number error *1
Program number
the specified Program already registered Program not yet error *1
program Program running Program not running registered
C03
C2C
“Non-registered
Error None None “Program number
program
error”
specification error”
Output operation ON OFF OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1… Program number error indicates specification of a number smaller than 1 or exceeding 64.
When multiple RSPG programs are specified (both operands 1 and 2 are specified)
No program number error *2
Status of Registered program exists inside the specified range *3 None of programs
Program number
the specified Running program None of programs inside the specified error *1
program exists inside the inside the specified range are
specified range *4 range are running registered
C03
C2C
“Non-registered
Error None None “Program number
program
error”
specification error”
Output operation ON OFF OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 2… Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 3… In this case, non-registered programs inside the specified range are not treated as a target of operation. This will
not affect error generation or output operation.
* 4… In this case, programs not running (but already registered) inside the specified range are not treated as a target of
operation with SSPG and RSPG commands. This will not affect error generation or output operation.

308
[10] Position Operation

 PGET (Read position data)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis Position
Optional Optional PGET CC
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Read to variable 199 the data of the axis number specified in operand 1 in the
position data specified in operand 2.
If the position data table contains no data to be loaded (= the position data
display on the teaching pendant shows X.XXX, blank (for each model) or position
data display fields in the PC software are blank) when the PGET command is
executed, no data will placed in variable 199 (= the PGET command will not be
executed).

[Example 1] PGET 2 3 Read to variable 199 the data of Y-axis (axis 2) at

position 3.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
PGET *1 *2 Read to variable 199 the data of the content Y-axis
(axis 2) of variable 1 at the content 3 of variable 2
at the position number.

309
  PPUT (Write position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis Position
Optional Optional PPUT CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Write the value in variable 199 to the axis number specified in operand 1 in the
position data specified in operand 2.

[Example 1] LET 199 150 Assign 150 to variable 199.

PPUT 2 3 Write the content 150 of variable 199 to Y-axis
(axis 2) at position 3.

[Example 2] LET 199 150 Assign 150 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2
PPUT *1 *2 Write the content 150 of variable 199 to the content
Y-axis (axis 2) of variable 1 at the content 3 of
variable 2 at the position number.

310
 PCLR (Clear position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position Position
Optional Optional PCLR CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Clear the position data from the one specified in operand 1 through the other
specified in operand 2.
When data is cleared, the field no longer contains data, which is different from the
value of 0.000. The position data display on the teaching pendant changes to
. or blank (for each model) while position data fields in the PC software
become blank.

(Note 1) The comment on each position data are also subject to delete. If the position data
with a comment is deleted by PCLR Command and software reset is conducted
or the power is turned OFF without flash ROM writing being conducted, 22B
“Position Data Comment Lost Error” will occur.

[Example 1] PCLR 10 20 Clear the data from position No. 10 through 20.

[Example 2] LET 1 10 Assign 10 to variable 1.

LET 2 20 Assign 20 to variable 2.
PCLR *1 *2 Clear the data of the content of variable 1 (position
10) through the content of variable 2 (position 20).

311
  PCPY (Copy position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position Position
Optional Optional PCPY CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Copy the position data specified in operand 2 to the position number specified in
operand 1.

(Note 1) The comment on each position data are also subject to copy. If a change is made
to the position data comment of the area to recover at by PCPY Command and
software reset is conducted or the power is turned OFF without flash ROM writing
being conducted, 22B “Position Data Comment Lost Error” will occur.

[Example 1] PCPY 20 10 Copy the data of position No. 10 to position No. 20.

[Example 2] LET 1 20 Assign 20 to variable 1.

LET 2 10 Assign 10 to variable 2.
PCPY *1 *2 Copy the data of the content of variable 2 (position
10) to the content of variable 1 (position 20).

312
 PRED (Read current position)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional PRED Axis pattern CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Read the current position of the axis specified in operand 1 to the position
specified in operand 2.

[Example 1] PRED 11 10 Read the current positions of X and Y-axis to

position No. 10.

[Example 2] The axis pattern can be specified indirectly using a variable. When the
command in [Example 1] is rephrased based on indirect specification using a
variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
PRED *1 10

[Example 3] LET 1 10 Assign 10 to variable 1.

PRED 11 *1 Read the current positions of X and Y-axis to the
content of variable 1 (position 10).

313
  PRDQ (Read current axis position (single-axis direct))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis Variable
Optional Optional PRDQ CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Read the current position of the axis number specified in operand 1 to the
variable specified in operand 2.

[Example] PRDQ 2 100 Read the current position of Y-axis (axis) 2 to

variable 100.

314
 PTAM (Substitution of target arm system data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable No.
(Two Position
Optional Optional PTAM CP
variables number
used in a row)

Applicable models
XSEL-RX/SX/RXD/SXD 
XSEL-RAX/SAX/RAXD/SAXD 

5. SEL Commands
MSEL-PCX/PGX 
Other than above ×

[Function] It writes the two types of arm system indications in a row from the variable
number indicated in Operand 1 into the position data indicated in Operand 2.

Arm System Indication Type Operand 1 Variable Setting

Right Arm System Substitution 1
Left Arm System Substitution -1
Arm System Data Clear 0

Variation No. n in Operand 1 is the target arm system indication of the 1st to 4th
axes or 1st to 3rd axes, and variable No. n+1 is that of the 5th to 8th axes. For
the type to connect one unit of SCARA, make sure to set 0 to the indicated
variable No. n+1.

Setting Range
Variable
Description 1 unit of SCARA 2 units of SCARA
No.
connected connected
1st to 4th axes (1st to 3rd axes)
n -1, 0, 1 -1, 0, 1
SCARA target arm system
5th to 8th axes SCARA target 0
n+1 (Reserved by the -1, 0, 1
arm system system)

[Example] LET 20 1 Set right arm system to 1st to 4th axes (1st to 3rd
axes)
LET 21 0 Set 0 to 5th to 8th axes (system reservation as it is
not connected)
PTAM 20 10 Write the arm system data stored in Variable No. 20
and 21 to Position No. 10.

Variable No.20 1 : Right arm system indicated

in 1st to 4th axes (1st to 3rd
axes)
Variable No.21 0 : System reserved (not
connected) in 5th to 8th axes

315
  PTST (Check position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional PTST Axis pattern CC
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Check if valid data is contained in the axis pattern specified in operand 1 at the
position number specified in operand 2.
The output turns ON when the data specified by the axis pattern is not entirely
available (= the position data display on the teaching pendant is ., blank (for
each model) or position data fields in the PC software are blank).
0 is treated as valid data.

[Example 1] PTST 11 10 300 Turn ON output 300 if there are no valid

values of X and Y-axis at position 10.
Output 300 will turn OFF if the position data is
given as follows:

[Example 2] The axis pattern can be specified indirectly using a variable. When the
command in [Example 1] is rephrased based on indirect specification using a
variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
PTST *1 10 300

[Example 3] LET 1 11 Assign 11 to variable 1.

PTST 1011 *1 600 Turn ON flag 600 if there are no valid values
in the data of X, Y and R-axis at the content of
variable 1 (position 11).
Flag 600 will turn ON if the position data is
given as follows:

316
 PVEL (Assign speed data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional PVEL Speed CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Write the CP operation speed/linear axis speed specified in operand 1 to the
position number specified in operand 2. The unit of operand 1 is [mm/sec].

(Note 1) If a negative value is written in PVEL Command, an alarm will be generated when
this position is indicated in a movement.
(Note 2) If 0 is set in Operation 1, the speed setting in the indicated position number is
deleted.

[Example 1] PVEL 100 10 Write speed 100mm/s to position No. 10.

[Example 2] LET 1 100 Assign 100 to variable 1.

LET 2 10 Assign 10 to variable 2.
PVEL *1 *2 Write the content of variable 1 (speed 100mm/s) to
the content of variable 2 (position 10).

317
  PACC (Assign acceleration data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional PACC Acceleration CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Write the acceleration in CP operation/acceleration in linear axis operation

specified in operand 1 to the position number specified in operand 2. The unit of
operand 1 is [G] and the entered value is valid to the second decimal point.

[Example 1] PACC 0.3 10 Write acceleration 0.3G to position No. 10.

[Example 2] LET 100 0.3 Assign 0.3 to variable 100.

LET 2 10 Assign 10 to variable 2.
PACC *100 *2 Write the content of variable 100 (acceleration
0.3G) to the content of variable 2 (position 10).

(Note 1) Range check is not performed for a PACC command.

(Note 2) If Operation 1 is set to 0, the acceleration setting on the indicated position number
gets deleted.

318
 PDCL (Assign deceleration data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional PDCL Deceleration CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Write the CP operation deceleration/linear axis deceleration specified in operand
1, into the position number specified in operand 2.
The unit of operand 1 is [G], and the set value is effective to two decimal points.

[Example 1] PDCL 0.3 3 Assign 0.3 to the deceleration data at position No. 3.

(Note 1) If Operation 1 is set to 0, the deceleration setting on the indicated position number
gets deleted.

319
  PAXS (Read axis pattern)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Position
Optional Optional PAXS CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Store the axis pattern at the position specified in operand 2 to the variable
specified in operand 1.

[Example 1] PAXS 1 98 Read the axis pattern at position 98 to variable 1.

If the position is given as follows, “3” (binary 0011)
will be read to variable 1.

[Example 2] LET 1 3 Assign 3 to variable 1.

LET 2 101 Assign 101 to variable 2.
PAXS *1 *2 Read the axis pattern at the content of variable 2
(position 101) to the content of variable 1 (variable 3).
If the point is given as follows, “8” (binary 1000) will
be stored in variable 3.

The table below shows different positions and corresponding values stored in a variable.

320
 PSIZ (Check position data size)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional PSIZ Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Set an appropriate value in the variable specified in operand 1 in accordance with
the parameter setting.

 When “Other parameter No. 23, PSIZ function type” = 0

The maximum number of position data that can be stored in the controller will
be set.
(Regardless of whether the data are used or not.)
 When “Other parameter No. 23, PSIZ function type” = 1
The number of position data used will be set.

[Example] PSIZ 1
When “Other parameter No. 23, PSIZ function type” = 0
The maximum number of position data that can be stored in variable 1 will be
set.
When “Other parameter No. 23, PSIZ function type” = 1
The number of position data currently used will be set in variable 1.

321
  GTAM (Acquirement of target arm system data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable No.
(Two Position
Optional Optional GTAM CP
variables number
used in a row)

Applicable models
XSEL-RX/SX/RXD/SXD 
XSEL-RAX/SAX/RAXD/SAXD 
5. SEL Commands

MSEL-PCX/PGX 
Other than above ×

[Function] Acquire the target arm system indication from the position data indicated in
Operand 2, and set it in the two variables in a row indicated in Operand 1.

Arm System Indication Type Operand 1 Variable Setting

Right Arm System Substitution 1
Left Arm System Substitution -1
Not to be indicated 0

Variation No. n in Operand 1 is the target arm system indication of the 1st to 4th
axes or 1st to 3rd axes, and variable No. n+1 is that of the 5th to 8th axes. For
the type to connect one unit of SCARA, make sure to set 0 to the indicated
variable No. n+1.

Output Range
Variable No. Description 1 unit of SCARA 2 units of SCARA
connected connected
1st to 4th axes (1st to
n 3rd axes) SCARA target -1, 0, 1 -1, 0, 1
arm system
5th to 8th axes SCARA
n+1 Indefinite -1, 0, 1
target arm system

[Example] GTAM 20 10 Set the arm system data in Position No. 10 to

Variable No. 20.

Variable No.20 1 : 1st to 4th axes (1st to 3rd

axes) arm system
Variable No.21 0 : 5th to 8th axes arm system
(not connected)

322
 GVEL (Get speed data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Position
Optional Optional GVEL CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Obtain speed data from the speed item in the position data specified in operand 2,
and set the value in the variable specified in operand 1.

[Example] GVEL 100 10 Set the speed data at position No. 10 in variable
100.

If the position data is set as above when the command is executed, 100 will be set in variable
100.

323
  GACC (Get acceleration data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Position
Optional Optional GACC CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Obtain acceleration data from the acceleration item in the position data specified
in operand 2, and set the value in the variable specified in operand 1.

[Example] GACC 100 10 Set the acceleration data at position No. 10 in

variable 100.

If the position data is set as above when the command is executed, 0.8 will be set in variable
100.

324
 GDCL (Get deceleration data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Position
Optional Optional GDCL CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Obtain deceleration data from the deceleration item in the position data specified
in operand 2, and set the value in the variable specified in operand 1.

[Example] GDCL 100 10 Set the deceleration data at position No. 10 in

variable 100.

If the position data is set as above when the command is executed, 0.8 will be set in variable
100.

325
 [11] Actuator Control Declaration

 VEL (Set speed)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional VEL Speed Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Set the actuator travel speed in the value specified in operand 1.
In the case of a SCARA, set the operating speed for CP operation.
The unit is [mm/sec].
The maximum speed will vary depending on the model of the actuator connected.
Set a speed not exceeding the applicable maximum speed.

(Note 1) Decimal places cannot be used. An error will generate

(Note 2) The minimum speed is 1mm/sec.

[Example 1] VEL 100 Set the speed to 100mm/sec.

MOVL 1 Move to point 1 at 100mm/sec.

[Example 2] VEL 500 Set the speed to 500mm/sec.

MOVL 2 Move to point 2 at 500mm/sec.

326
 VELS (Dedicated SCARA command/Set speed ratio)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional VELS Ratio Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

5. SEL Commands

× × × ×     × × (PCX/
PGX only)

[Function] Set in operand 1 the moving speed for SCARA PTP operation command (angular
speed for all axes other than Z) as a ratio of the maximum PTP speed. Operand 1
must be set with an integer (unit: %).

(Note 1) If a RIGH or LEFT command is used, the speed must be set with VELS even
when a SCARA PTP operation command is not used.

[Example 1] VELS 50 Set the moving speed for PTP operation command
to 50% of the maximum value.
MOVP 1 Move to position No. 1 via PTP at 50% of the
maximum speed.

327
  OVRD (Override)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OVRD Speed ratio (OVRD type) CP

Applicable models
All models [Refer to Section 5.1 for details of models]
However, (OVRD Type) in Operand 2 is available to set only for XSEL-RA/SA, MSEL Controllers
(PC, PG only) and TTA

[Function] Change the speed in accordance with the ratio specified in operand 1 (speed
5. SEL Commands

coefficient setting). The speed ratio is set in a range from 1 to 100%.

However, XSEL-RA/SA, MSEL Controller, and TTA is 1 to 150%.
A speed command specifying a speed below 1mm/sec can be generated using
OVRD.
Speed-command smoothing limit speed : 1pulse/msec
Speed-command generation limit speed : 1pulse/256msec
(Smoothing in actual operation is not guaranteed. It must be confirmed with the
actual equipment.)
1pulse: Lead [mm]/16384 … Standard model with 1 : 1 gear ratio
(The speed set by a PAPR command (push-motion approach speed) is clamped
at the lower-limit speed 1mm/sec.)
Operand 2: OVRD type
● Operand 2 = 0 or No indication
Track concentration invalid (No adjustment Acceleration/Decceleration)
● Operand 2 = 1
Acceleration and deceleration get adjusted automatically in response to the
velocity ratio in the continuous operation system interpolation command in
order to minimize the variance from the command track at 100% of
overriding.

(Note 1) OVRD Type in Operand 2 (Operand 2) is available to set only for XSEL-RA/SA, MSEL
Controllers and TTA.
(Note 2) The continuous operation system interpolation commands that the track concentration
is valid are as shown below;
PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS
(Note 3) The command track may vary due to the following causes when the track concentration
is valid.
● Influence of the servo system parameter setting (such as gain)
● When values above the actuator specification are set in the acceleration and
deceleration settings
It may cause generation of an error, malfunction or shorten product life as well as
variance in command track.
● When command velocity was changed by CHVL (velocity change) command
● When command velocity has varied by safety velocity valid / invalid

● Operation 1 (1 to 150%) and Operation 2 (OVRD Type) in MSEL-PC/PG and TTA are available
for input to PC software of Ver. 12.03.00.00 and later and teaching pendant TB-02(D) : first
edition or later, TB-01(D) of Ver. 1.50 and later. (Not applicable for SEL-T (D) and IA-T-X (D))
● It is applicable for Operation 1 (1 to 150%) and Operation 2 (OVED) of XSEL-RA/SA in the
following versions and later.
PC software 13.00.00.00, TB-02 1.30, TB-01 1.60
Not applicable for SEL-T (D) and IA-T-X (D).

328
[Example 1] VEL 100 Set the speed to 100mm/s.
OVRD 50 Reduce the speed to 50%.
As a result, the actual speed will become 50mm/s.
[Example 2: SCARA robot]
VEL 150 Set the SCARA CP operation speed / linear axis
speed to 150mm/sec.
VELS 90 Set the SCARA PTP operation speed ratio to 90%.
OVRD 50 Lower the speed to 50%.
The SCARA CP operation speed/linear axis speed
becomes 75mm/sec, while the SCARA PTP
operation speed ratio becomes 45%.
Command limit speed for smooth operation:
Travel distance per encoder pulse [mm/pulse] / time [msec]
Command limit speed that can be generated:

5. SEL Commands
Travel distance per encoder pulse [mm/pulse] / time [msec]
(Smoothness of actual operation cannot be guaranteed. Movement must be checked on the
actual machine.)
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001mm]  Gear ratio numerator)
/ (Encoder resolution [pulses/rev]  Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001m/pulse)  1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution: Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead: Axis-specific parameter No. 47
Gear ratio numerator: Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51

Example for setting of OVRD type available for setting only in XSEL-RA/SA, MSEL Controllers
and TTA is shown in [Example 3].
[Example 3]
VEL 200 Set the velocity to 200mm/s.
OVRD 80 1 Set the velocity ratio to 80% (velocity should be 160mm/s)
(track concentration).
PATH 10 12 Move Potion No. 10 to 12 continuously…(1)
:
OVRD 110 1 Set the velocity ratio to 110% (velocity should be
220mm/s) (track concentration).
PATH 10 12 Move Potion No. 10 to 12 continuously…(2)
:
VEL 150 Set the velocity to 150mm/s.
OVRD 100 1 Set the velocity ratio to 100% (velocity should be
150mm/s) (track concentration).
PATH 10 12 Move Potion No. 10 to 12 continuously…(3)

It should be the equivalent directive tracks for (1) and (2) (as the standard velocity is the
same 200mm/s).
It should be different directive tracks for (1) and (3) (as the standard velocity is different as
200mm/s for (1) while 150mm/s for (3)).

329
  ACC (Set acceleration)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ACC Acceleration Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Set the acceleration for actuator operation in operand 1.

5. SEL Commands

For SCARA robot, the setting is the operational acceleration speed for CP
operation.
The unit of operand 1 is [G], and the set value is effective to two decimal points.

(Note) [Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD/RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX]
If no acceleration is set in the position data or by an ACC command when the
actuator moves, the actuator uses the default value registered in all-axis
parameter No. 11, “Default acceleration”.
[XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD/RAX/SAX/RAXD/SAXD and
MSEL-PCX/PGX]
If no acceleration is set in the position data or by an ACC command during CP
operation, a SCARA robot uses the default value registered in all-axis parameter
No. 11, “Default CP acceleration for SCARA axis”, while a linear axis uses the
default value registered in all-axis parameter No. 200, “Default acceleration for
linear axis”.

[Example 1] ACC 0.3 Set the acceleration to 0.3G.

(Note) Setting an acceleration exceeding the specified range for the actuator may
generate an error. It may also result in a failure or shorter product life.

330
 ACCS (Dedicated SCARA command/Set acceleration ratio)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ACCS Ratio Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

5. SEL Commands

× × × ×     × × (PCX/
PGX only)

[Function] Set in operand 1 the acceleration for movement by SCARA PTP operation
command (angular acceleration for all axes other than Z) as a ratio of the
maximum PTP acceleration. Operand 1 must be set with an integer (unit: %).

(Note 1) For the acceleration ratio setting, make sure to refer to “Caution for Use” in
Vertical Articulated Robot IX Series Instruction Manual provided separately.

[Example] ACCS 50 Set the acceleration for movement by PTP

operation command to 50% of the maximum value.

331
  DCL (Set deceleration)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional DCL Deceleration Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Set the deceleration for actuator operation in operand 1.

5. SEL Commands

For SCARA robot, the setting is the operational deceleration speed for CP
operation.
The unit of operand 1 is [G], and the set value is effective to two decimal points.

(Note) [Other than XSEL- JX/KX/PX/QX/RX/SX/RXD/SXD/RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX]
If the position data contains no deceleration AND deceleration is not set by a DCL
command, the actuator will move based on the default value set in “All-axis
parameter No. 12, Default deceleration”.
A DCL command cannot be used with CIR and ARC commands.
[XSEL- JX/KX/PX/QX/RX/SX/RXD/SXD/RAX/SAX/RAXD/SAXD and
MSEL-PCX/PGX]
If no deceleration is set in the position data or by a DCL command during CP
operation, a SCARA robot uses the default value registered in all-axis parameter
No. 12, “Default CP deceleration for SCARA”, while a linear axis uses the default
value registered in all-axis parameter No. 201, “Default acceleration for linear
axis”.
DCL is invalid with respect to a CIR or ARC command.

[Example] DCL 0.3 Set the deceleration to 0.3G.

(Note) Setting a deceleration exceeding the specified range for the actuator may
generate an error. It may also result in a failure or shorter product life.

332
 DCLS (Dedicated SCARA command/Set deceleration ratio)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional DCLS Ratio Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

5. SEL Commands

× × × ×     × × (PCX/
PGX only)

[Function] Set in operand 1 the deceleration for movement by SCARA PTP operation
command (angular deceleration for all axes other than Z) as a ratio of the
maximum PTP deceleration. Operand 1 must be set with an integer (unit: %).

(Note 1) For the deceleration ratio setting, make sure to refer to “Caution for Use” in
Vertical Articulated Robot IX Series Instruction Manual provided separately.

[Example] DCLS 50 Set the acceleration for movement by PTP

operation command to 50% of the maximum value.

333
  SCRV (Set sigmoid motion ratio) • • • 1/3
Extension Command,declaration
Input condition Output
Condition Command,
(I/O flag) Operand1 Operand2 (Output,flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional SCRV Ratio Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
5. SEL Commands

TT:,
 × × ×  ×    TTA:× ×

[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in
operand1.
The ratio is set as integer in a range from 0 to 50(%)

If the ratio is not set using this command or 0% is set,a trapezoid motion will be
implemented.
A SCRV command can be used with the following commands：
MOVP, MOVL, MVPI, MVLI, JBWF, JBWN, JFWF, JFWN, TMPI, TMLI, RIGH,
LEFT

[Example] SCRV 30 Set the sigmoid motion ratio to 30%

334
  SCRV (Set sigmoid motion ratio) • • • 2/3
Extension Command,declaration
Input condition Output
Condition Command,
(I/O flag) Operand1 Operand2 (Output,flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand1 Operand2 Pst
(S-motion
Optional Optional SCRV Ratio CP
type)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL

5. SEL Commands
QCT SXD
SAXD
TT: ×,
× ×  × ×   × × TTA: 


[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in
operand1.
The ratio is set as integer in a range from 0 to 50(%)
If the ratio is not set using this command or 0% is set, a trapezoid motion will be
implemented.
A SCRV command can be used with the following commands：
MOVP, MOVL, MVPI, MVLI, JBWF, JBWN, JFWF, JFWN, TMPI, TMLI, RIGH,
LEFT

Value set in operand2 Description

0 or no specification S-motionA
1 S-motionB (Recommended)

 S-motion A (Operand 2 = Not specified or 0)

b
a

Time
時間

 S-motion B (Operand 2 = 1)
If S-motionB is selected,the speed pattern becomes smoother(than the equivalent S-motion
control ratio based on S-motionA).(The divergence peak relative to trapezoid motion becase
smaller).

[Example] SCRV 30 Set the sigmoid motion ratio to 30%

335
  SCRV (Set sigmoid motion ratio) • • • 3/3
Extension Command,declaration
Input condition Output
Condition Command,
(I/O flag) Operand1 Operand2 (Output,flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand1 Operand2 Pst
(S-motion
Optional Optional SCRV Ratio CP
type)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
×  ×  × × ×  × × ×

[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in
operand1.
The ratio is set as integer in a range from 0 to 50(%)
If the ratio is not set using this command or 0% is set,a trapezoid motion will be
implemented.
XSEL-P/Q/PCT/QCT are available to select operand2.(S-shaped type).
(XSEL-P/Q/PCT/QCT Main application Ver.1.25 and later)
Operand 2 can be inputted from IA-T-X(D):Ver.1.52 or subsequent ones later
teaching box TB-02(D): first edition or later, TB-01(D): first edition later ,
SEL-T(D):Ver.1.12 later PC software:Ver.7.7.12.0 later.

S-shaped Motion
Model Setting in Operand 2 S-shaped Motion Effective Command
Name (S-shaped Type) Class Group
(See the table below)
XSEL Not set, 0 A 1)
-P/Q 1 B 1)
XSEL-RA/ 2 A 2) (Note 2)
SA/RAX/
SAX/RAXD 3 B 2) (Note 2)
/SAXD
Not set, 0 1)
XSEL 1 (Note 1) 1)
B
-PCT/QCT 2 2) (Note 2)
3 2) (Note 2)

Note 1 The class of S-shaped motion is compulsorily B.

Note 2 S-shaped Motion is effective also at the speed change point (position joint point)
during PATH Command. If S-shaped Motion is activated, constant velocity or
track could be lost. Use the unit with S-shaped Motion ineffective in such
processes as applying paint or glue, in which the constant velocity and track are
important.

Effective Command Group SCRV Effective Command

MOVP, MOVL, MVPI, MVLI, JBWF, JBWN,
1)
JFWF, JFWN
MOVP, MOVL, MVPI, MVLI, JBWF, JBWN,
2)
JFWF, JFWN, PATH, ARCH, PACH

336
 S-motion A

5. SEL Commands
b
a

時間

 S-motion B
In this class, operates with a speed pattern smoother than the control of S-shaped Motion Class
A. (Estrangement peak with Trapezoid Motion becomes small.)

[Example] SCRV 30 1 Set S-shaped motion ratio 30% and S-shaped

motion class A.

337
  OFST (Set offset)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OFST Axis pattern Offset value CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Add the offset in operand 2 to the target value for the axis pattern specified in
5. SEL Commands

operand 1 when the actuator moves, to reset the target value and operate the
actuator accordingly.
The offset is set in mm, and the effective resolution is 0.001mm.
A negative offset may be specified as long as the operation range is not
exceeded.

(Note) An OFST command cannot be used outside the applicable program. To use
OFST in multiple programs, the command must be executed in each program.
An OFST command cannot be used with MVPI, MVTI, TMLI and TMPI
commands.

[Example 1] OFST 110 50 Add 50mm to the specified positions of Y-axis and
Z-axis.

[Example 2] The axis pattern can be specified indirectly using a variable. When the command
in [Example 1] is rephrased based on indirect specification using a variable:
110 (binary)  6 (decimal)
LET 1 6 Assign 6 to variable 1.
OFST *1 50

[Example 3] LET 1 30 Assign 30 to variable 1.

OFST 1000 *1 Add the content of variable 1, or 30, to the
specified position of R-axis.

338
 DEG (Set arc angle)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional DEG Angle Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Set a division angle for the interpolation implemented by a CIR (move along
circle) or ARC (move along arc) command.
When CIR or ARC is executed, a circle will be divided by the angle set here to
calculate the passing points.
The angle is set in a range from 0 to 120.
If the angle is set to “0”, an appropriate division angle will be calculated
automatically so that the actuator will operate at the set speed (maximum 180).
The angle is set in degrees and may include up to one decimal place.

(Note) If a CIR or ARC command is executed without setting an angle with this
command, the default value registered in “All-axis parameter No. 30, Default
division angle” will be used.

[Example 1] DEG 10 Set the division angle to 10.

339
  BASE (Specify axis base)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Datum axis
Optional Optional BASE Prohibited CP
number

Applicable models
XSEL-JX/KX ×
Other than XSEL-JX/KX 
5. SEL Commands

[Function] Count the axes sequentially based on the axis number specified in operand 1
being the first axis.
BASE Command is available in PRED, PRDQ, AXST, actuator control commands,
ARCH, PACH, PMVP, PMVL, zone commands, actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL, PTPE, PTPD, RIGH,
LEFT and the system information acquirement command GARM. Note that each
zone range is assigned to the actuator via parameter.

(Note 1) For XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD Commands are

available in the actuator control declaration commands SLTL, SLWK, WGHT,
WGT2, PTPR, PTPL, PTPE, PTPD, RIGH, LEFT and the system information
acquirement command GARM. Refer to the caution note for GRP and BASE
Commands.

[Example 1] BASE 5 Axis 5 is considered the first axis.

HOME 1 Axis 5 returns to the home.
HOME 10 Axis 6 returns to the home.

[Example 2] LET 1 5 Assign 5 to variable 1.

BASE *1 The content of variable 1 (axis 5) will be considered
as the first axis.

Thereafter, axes 5 and 6 move according to the specifications for axes 1 and 2.

340
 GRP (Set group axes)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional GRP Axis pattern Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Allow only the position data of the axis pattern specified in operand 1 to become
valid.
The program assumes that there are no data for other axes not specified.
When multiple programs are run simultaneously, assigning axes will allow the
same position data to be used effectively among the programs.
GRP Command is available in the operand axis pattern indication SEL
commands except for OFST, DFTL, DFWK, DFIF, GTTL, GTWK and GTIF or the
servo operation commands to use the position data, actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL, PTPE, PTPD, RIGH and
LEFT, and the system information acquirement command GARM.
GRP Command activates in the condition before the axis number changed due to
BASE Command.

(Note 1) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD Command are

available also in the actuator control declaration commands SLTL, SLWK, WGHT,
WGT2, PTPR, PTPL, PTPE, PTPD, RIGH, LEFT and the system information
acquirement command GARM. Establish the setting to have all the SCARA axes
valid. Error No. C30 “Axis Pattern Error” will occur if even one axis is set invalid
by GRP and BASE Commands.

[Example] Express what axis is to be used by using either “1” or “0”.

(Superior) (Inferior)

Axis No. 8-axis 7-axis 6-axis 5-axis 4-axis 3-axis 2-axis 1-axis
Use 1 1 0 1 1 1 1 1
Unused 0 0 1 0 0 0 0 0

● When using 1st and 2nd axes;

2-axis
↓
000011… (0 in front are not necessary. Remove 0 and make it 11.)
↑
1-axis

● When using 1st and 4nd axes;

4-axis
↓
1001… (In this case, 0 are necessary to express the position of the 4th axis.)
↑
1-axis

341
  HOLD (Hold: Declare axis port to pause)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Input port, (HOLD
Optional Optional HOLD CP
global flag) type)

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Declare an input port or global flag to pause while a servo command is being
executed.
When operation is performed on the input port or global flag specified in operand 1,
the current servo processing will pause. (If the axes are moving, they will decelerate
to a stop.)
If nothing is specified in operand 1, the current pause declaration will become invalid.

[HOLD type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
2 = Contact b (Deceleration stop  Servo OFF (The drive source will not be cut off))
The HOLD type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current HOLD type will be used.
Using other task to issue a servo ON command to any axis currently stopped via
a HOLD servo OFF will generate an “Error No. C66, Axis duplication error”. If the
servo of that axis was ON prior to the HOLD stop, the system will automatically
turn on the servo when the HOLD is cancelled. Therefore, do not issue a servo
ON command to any axis currently stopped via a HOLD servo OFF.
If any axis currently stopped via a HOLD servo OFF is moved by external force,
etc., from the stopped position, and when the servo of that axis was ON prior to
the HOLD stop, the axis will move to the original stopped position when the
HOLD is cancelled before resuming operation.
(Note 1) The input port or global flag specified by a HOLD declaration will only pause the
axes used in the task (program) in which the HOLD is declared. The declaration
will not be valid on axes used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other
than a SVOF command. (A deceleration stop will also be triggered in JW and
PATH operations.)
[Example] HOLD 15 0 The axes will decelerate to a stop when input port
15 turns ON.

Input port 15 ON Movement is complete.

Remaining operation

Input port 15 OFF

342
 CANC (Cancel: Declare axis port to abort)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Input port, (CANC
Optional Optional CANC CP
global flag) type)

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Declare an input port or global flag to abort while a servo command is being
executed.
When operation is performed on the input port or global flag specified in operand
1, the current servo processing will be aborted. (If the axes are moving, they will
decelerate to a stop before the processing is aborted.)
If nothing is specified in operand 1, the current abort declaration will become
invalid.

[CANC type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
The CANC type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current CANC type will be used.

(Note 1) The input port or global flag specified by a CANC command will only abort the
axes used in the task (program) in which the CANC is declared. The declaration
will not be valid on axes used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other
than a SVOF command. (A deceleration stop will also be triggered in JXWX and
PATH operations.)

[Example] CANC 14 0 The axes will decelerate to a stop when input port
14 turns ON.

Input port 14 ON

Not executed.

Remaining operation

Movement is complete.

343
  ACMX (Indicate ACMX acceleration) (Dedicated linear axis command)
Extension Command, declaration Output operation
Input condition
condition Command, type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
ACMX
Optional Optional ACMX Acceleration Prohibited CP
No.

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
5. SEL Commands

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

RAXD/ SSEL
QCT SXD
SAXD

×    × ×   (SSEL × ×
only

[Function] Set the movement acceleration and deceleration of the actuator to the ACMX
acceleration of the number indicated in Operand 1. Once ACMX Command is
executed, the parameters registered in ACMX Acceleration No. 1 to 4 (Each Axis
Parameters No. 2 to 5 and 194 to 197) are set as the movement acceleration and
deceleration. It is necessary to set the parameters of ACMX acceleration in
advance considering the conditions how to use the actuator (transportation
weight, installation condition, etc.).

ACMX
Moving
Acceleration Acceleration Deceleration
Direction
No.
Each Axis Parameter No.2 Each Axis Parameter No.3
Positive Setting of “ACMX + Setting of “ACMX -
Acceleration 1” Acceleration 1”
1
Each Axis Parameter No.3 Each Axis Parameter No.2
Negative Setting of “ACMX - Setting of “ACMX +
Acceleration 1” Acceleration 1”
Each Axis Parameter No.4 Each Axis Parameter No.5
Positive Setting of “ACMX + Setting of “ACMX -
Acceleration 2” Acceleration 2”
2
Each Axis Parameter No.5 Each Axis Parameter No.4
Negative Setting of “ACMX - Setting of “ACMX +
Acceleration 1” Acceleration 2”
Each Axis Parameter No.194 Each Axis Parameter No.195
Positive Setting of “ACMX + Setting of “ACMX -
Acceleration 3” Acceleration 3”
3
Each Axis Parameter No.195 Each Axis Parameter No.194
Negative Setting of “ACMX - Setting of “ACMX +
Acceleration 3” Acceleration 3”
Each Axis Parameter No.196 Each Axis Parameter No.197
Positive Setting of “ACMX + Setting of “ACMX -
Acceleration 4” Acceleration 4”
4
Each Axis Parameter No.197 Each Axis Parameter No.196
Negative Setting of “ACMX - Setting of “ACMX +
Acceleration 4” Acceleration 4”

(Note 1) It may generate an error is the acceleration or deceleration is set above the
actuator specifications. Also, it cause a malfunction or drop of the production life.
(Note 2) The priority is put to the setting of acceleration and deceleration in the position
data indicated with a movement command if there is any.

344
 (Note 3) An operation is made within the range of the maximum acceleration and
deceleration that would not exceed the ACMX acceleration/deceleration of each
movement axis during the CP operation such as MOVL Command. In case
constancy is required in the target acceleration/deceleration, indicate the
acceleration and deceleration in ACC, DCL Command and the position data.
(Note 4) Do not attempt to indicate the ACMX acceleration/deceleration to the continuous
movement related commands (PATH, PSPL, etc.).
It may cause a big speed drop depending on the direction of the movement
position. Indicate the acceleration and deceleration in ACC, DCL Command and
the position data.
(Note 5) Do not attempt to indicate the ACMX acceleration/deceleration to the extended
motion control board axis movement commands. It would cause Error No. C89
“Acceleration/Deceleration Indication Error”. Indicate the acceleration and
deceleration in ACC, DCL Command and the position data.

5. SEL Commands
(Note 6) ACMX Command is a command dedicated for the linear drive axes.

[Example 1] For arch motion movement (vertical axis to move up/down)

VLMX Set the speed setting in VLMX Speed.

ACMX 1 Set the ACMX acceleration/deceleration of No. 1.
ACHZ 3 Indicate the 3rd axis to Z-axis for arch motion.
ATRG 13 11
ARCH 10 12 With Position No. 12 as the peak point, move with
the arch motion to Position No. 10.

 Setting for Example 1

ACMX Each Axis Example for Setting
Parameter Name st
Acceleration No. Parameter No. 1 Axis 3rd Axis
2 ACMX + Acceleration 1 300 (3.0G) 50 (0.5G)
1
3 ACMX - Acceleration 1 300 (3.0G) 60 (0.6G)

 Operation of Example 1 (Acceleration/Deceleration in Arch Motion Movement)

Positive Direction of
3rd Axis Coordinates 1st Axis 1st Axis
Acceleration 3.0G Deceleration 3.0G

3rd Axis Horizontal Movement

Deceleration 3rd Axis
0.6G Uprising Deceleration 0.6G
Falling
Peak Point
Movement Movement
(Position No.13)
Start Arch Trigger End Arch Trigger
(Position No.13) (Position No.11)

3rd Axis
Acceleration 3rd Axis
0.5G Deceleration 0.5G
Start Point End Point (Position No.10)
Positive Direction of
1st Axis Coordinates

345
 [Example 2] When the transported weight differs for going forward and backward

VLMX Set the speed setting in VLMX Speed.

ACMX 1 Set the ACMX acceleration/deceleration of No. 1.
MOVP 10 PTP movement is made to Position No. 10.
ACMX 2 Set the ACMX acceleration/deceleration of No. 2.
MOVP 11 PTP movement is made to Position No. 11.

 Setting for Example 2

ACMX Each Axis Example for Setting
Parameter Name
Acceleration No. Parameter No. 1st Axis
2 ACMX + Acceleration 1 30 (0.3G)
1
3 ACMX - Acceleration 1 30 (0.3G)
5. SEL Commands

4 ACMX + Acceleration 2 100 (1.0G)

2
5 ACMX - Acceleration 2 100 (1.0G)

 Operation of Example 2

Acceleration 0.3G Deceleration 0.3G

(Big Transported Weight)

Position No.10
Positive Direction of
1st Axis Coordinates
Position No.11
(Small Transported Weight)

Deceleration 1.0G Acceleration 1.0G

346
 VLMX (Dedicated linear axis command/Specify VLMX speed)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional VLMX Prohibited Prohibited CP

Applicable models
XSEL-JX/KX ×
Other than XSEL-JX/KX 

5. SEL Commands
[Function] Set the moving speed of a linear axis to the VLMX speed (normally maximum
speed).
Executing a VLMX command will set the value registered in “Axis-specific
parameter No. 29, VLMX speed” as the travel speed.

(Note 1) If the VLMX speed is specified for a continuous position movement command
(PATH, PSPL), the target speed to each position becomes a composite speed
based on the VLMX speed to the extent that each axis does not exceed the value
set in axis-specific parameter No. 28, “Maximum PTP speed (SCARA axis)/
axis-specific maximum operating speed (linear axis)”. To keep the target speed
constant, you must expressly specify the speed using a VEL command.

(Note 2) Error No. C88 “Velocity Specification Error” will occur if VLMX speed is indicated
in case of CP operation held on the liner axes and SCARA axes at the same time.
Indicate the speed with VEL Command.

[Example] VEL 1000

MOVP 1 The speed becomes 1000mm/sec in this section.
MOVP 2
VLMX
MOVP 3 The speed becomes VLMXmm/sec in this section.
MOVP 4

347
  DIS (Set division distance at spline movement)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional DIS Distance Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Set a division distance for the interpolation implemented by a PSPL (move along
5. SEL Commands

spline) command.
When a PSPL command is executed, a passing point will be calculated at each
distance set here and the calculated passing points will be used as interpolation
points.
If the distance is set to “0”, an appropriate division distance will be calculated
automatically so that the actuator will operate at the set speed.
The distance is input in mm.

Interpolation points

Division distance

(Note) If a PSPL command is executed without setting a distance with a DIS command, the
default value registered in “All-axis parameter No. 31, Default division distance” will
be used.

[Example] DIS 10 Set the division distance to 10mm.

348
  POTP (Set PATH output type)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional POTP 0 or 1 Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Set the output type in the output field to be used when a PATH and PSPL
command is executed.
When a PATH and PSPL command is executed, the output will operate as follows
in accordance with the setting of the POTP command.

1) POTP [Operand 1] = 0 (ON upon completion of operation)

The output port or flag will turn ON upon completion of operation.
2) POTP [Operand 1] = 1 (Increment and output on approaching each position;
ON upon completion of operation for the last position)
During PATH or PSPL operation, the output port number or flag
number specified in the output field will be incremented and turned ON
when each specified position approaches.
At the last position, however, the output will turn ON upon completion
of operation. This setting provides a rough guide for output in
sequence control.

(Note 1) The default value of POTP, before it is set, is “0”.

(Note 2) If POTP = 1 and there is no valid data at the specified position, the output number
will be incremented but the output will not turn ON. (The output number will be
incremented regardless of the size of position numbers specified in operands 1
and 2 in a PATH or PSPL command.)

[Example] POTP 1
PATH 1 5 300 Turn ON output port No. 300 through 304
sequentially each time a specified position
approaches during a pass movement from
position No. 1 through 5, starting from the
first position.

Position No. 1
Turn ON output port 302.
Turn ON output port 300.

Turn ON output port 304.

Position origin
Turn ON output port 303.
Turn ON output port 301.

349
  PAPR (Set push-motion approach distance, speed)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PAPR Distance Speed CP

Applicable models
All models [Refer to Section 5.1 for details of models]


[Function] Set the operation to be performed when a PUSH command is executed.

5. SEL Commands

Set the distance (push-motion approach distance) over which push-motion

approach operation (torque-limiting operation) will be performed in operand 1
(in mm), and set the speed (push-motion approach speed) at which push-motion
approach operation (torque-limiting operation) will be performed in operand 2
(in mm/sec).
The push-motion approach distance specified in operand 1 may contain up to
three decimal places, while the speed specified in operand 2 cannot contain any
decimal place.

Position origin

Start position of push-motion

approach operation
(torque-limiting operation)

Push-motion approach distance

[Example] PAPR 100 30 Set the push-motion approach distance in a PUSH

MOVP 10 command to 100mm and the push-motion
PUSH 11 approach speed to 30mm/sec.

(Note) The push-motion approach speed in an OVRD command will be clamped by the
minimum speed of 1mm/sec. (Correct push-motion operation is not guaranteed at
the minimum speed. Operation at slow push-motion approach must be checked
on the actual machine by considering the effects of mechanical characteristics,
etc.)

350
 QRTN (Set quick-return mode)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional QRTN 0 or 1 Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

5. SEL Commands
 
    × × × (V1.10   (PC/PG
or later.) only)

[Function] Set and cancel the quick-return mode.

1) QRTN [Operand 1] = 0 (Normal mode)
Positioning is deemed complete when all command pulses have been output
and the current position is inside the positioning width.
* If a deceleration command is currently executed in the quick-return
mode, the system will wait for all command pulses to be output.
2) QRTN [Operand 1] = 1 (Quick-return mode)
Positioning is deemed complete when “a normal deceleration command is
currently executed (excluding deceleration due to a stop command, etc.) or all
command pulses have been output” and “the current position is inside the
positioning width”. This setting is used to perform other processing during
deceleration, in conjunction with a PBND command.

In the quick-return mode,

Feedback pulses the set positioning width is
Command valid through this area.

(Note 1) The quick-return mode will be cancelled when the program ends. (The positioning
width set by a PBND command will not be cancelled.)
(Note 2) If a given axis is used even once in the quick-return mode, the program will not
release the right to use the axis until the QRTN is set to “0” (normal mode) or the
program ends. Any attempt to use the axis from other program will generate an
“Error No. C66, Axis duplication error”.
(Note 3) Following a return from a normal deceleration command in the quick-return mode,
the next positioning will start after all command pulses for the previous positioning
have been output. Therefore, in the quick-return mode a simple reciprocating
operation will require a longer tact time because of the extra completion check. In
this sense, this setting should be used only if you wish to reduce the overall tact
time by performing other processing during deceleration.

351
 (Note 4) The quick-return mode represents very irregular processing. Therefore, be sure
to revert to the normal mode when the overlay processing is completed in the
necessary section.
(Note 5) The quick-return mode cannot be used with a push-motion travel command or arc
interpolation command.
(Note 6) It will be invalid if a SCARA axis is included in the operation axes to be operated
with a CP operation command.
5. SEL Commands

352
 3) Quick return mode 2 (closeness-detection return target position addition mode)
* XSEL-J/K only
 When a MOVP, MOVL or PATH command (specifying the final moving
position) is executed, closeness to the target position is detected when the
close distance set by a NBND command is reached (or all command pulses
are sent AND the positioning width is reached) while all used axes are
positioning in steady state according to the applicable command, after which
the command will be reset (quick return) and the SEL command in the next
step will be executed.
Set this mode if you want to perform other processing during positioning by
using NBND and PEND commands together, or add a target position to
operate the actuator continuously.
 If a MOVP, MOVL or PATH command is executed again while the actuator is
moving in quick return mode 2, a target position will be added and the

5. SEL Commands
actuator will operate continuously.

[Example] :
QRTN 2 Set quick return mode to 2
NBND 11 50 Set close position for axes 1 and 2 to 50mm
MOVL 1 600 Move to position 1 (axes 1/2)
(Proceed to the next step when each axis reaches
approx. 50mm before the position.)
WTON 610 Wait for permission of movement to position 2 (610)
MOVL 2 601 Move to position 2 (axis 3)
PEND 602 Wait for all used axes to end operation
QRTN 0 Set quick return mode to 0
:
Detect closing in on each axis approx.
50mm before the axis  Next step
Position origin Position No. 1
Path drawn when global flag 610
turns ON after the actuator arrives
at position 1

Output 600: Turns ON Output 601: Turns ON

near the target position near the target position

Path drawn when global flag 610 Output 602: Turns ON upon
turns ON before the actuator arrives successful completion of positioning
at position 1
Position No.2

* This mode is invalid with respect to commands other than MOVP, MOVL
and PATH.
(With CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC, PSPL, MVPI
and MVLI commands, “Error No. B24: Quick return mode error” occurs
(= the command cannot be executed) because an unexpected path may be
followed and a dangerous situation may result unless the start point is
accurately understood.
* The close distance set by a NBND command must consider an allowance
for the processing time in the next step onward following the quick return
upon closeness detection (the specific processing time varies depending on
the types of commands, number of steps, etc.) (this distance is not intended
for use in precise processing).

353
 * Behavior at the connection of movement commands when a new target
position is added (when processing under the new movement command can
be performed in time)
If either the previous movement command (quick return) or new movement
command is MOVP, the actuator starts moving to the target position under
the new movement command simultaneously as the slowest axis starts
decelerating under the previous movement command.
If neither of the commands is MOVP (such as when MOVL and PATH
commands are combined), the connection of operations is equivalent to
what happens between normal PATH commands.
* During quick return mode 2, the output of a MOVP, MOVL or PATH
command turns ON near the target position (regardless of the value set by
the NBND command) (the operation is not yet complete). Use the output of
a PEND command to check if the operation has completed (positioning has
been successful).
5. SEL Commands

* During quick return mode 2, the following tasks apply to all used axes for
any operation with a MOVP command (they apply to all used axes even
when specified for an individual axis):
All stop processing including one by a STOP command
Speed change by a CHVL command
* An attempt to switch from quick return mode 2 directly to quick return mode
1 generates “Error No. B24: Quick return mode error”.
* Software versions supporting quick return mode
Controller main application: Ver.1.04 or later
(excluding flash ROM 8Mbit versions)
PC software: Ver.7.2.3.0 or later
Teaching pendant:
IA-T-X (D): Ver.1.44 or later
SEL-T (D): Ver.1.02 or later
TB-01 (D): First edition or later
TB-02 (D): First edition or later

354
 4) Quick return mode 3 (closeness-detection return target position addition mode)
* XSEL-J/K only
 When a MOVP, MOVL or PATH command (specifying the final moving
position) is executed, closeness to the target position is detected when the
close distance set by a NBND command is reached (or all command pulses
are sent and the positioning width is reached) while all used axes are
positioning in steady state according to the applicable command, after which
the command will be reset (quick return) and the SEL command in the next
step will be executed.
Set this mode if you want to perform other processing during positioning by
also using a NBND/PEND command or change the target position without
stopping.
 If the MOVP, MOVL or PATH command is executed again while the actuator
is still moving as part of quick return in quick return mode 3, the actuator

5. SEL Commands
changes the target position (by decelerating to stop at the previous target
position to cancel the position and then starting to move to the new target
position) without stopping.

[Example] :
QRTN 3 Set quick return mode to 3
NBND 11 80 Set close position for axes 1 and 2 to 80mm
MOVL 1 600 Move to position 1 (axes 1/2)
(Proceed to the next step when each axis reaches
approx. 80mm before the position.)
WTON 610 Wait for permission of movement to position 2 (610)
MOVL 2 601 Move to position 2 (axis 3)
PEND 602 Wait for all used axes to end operation
QRTN 0 Set quick return mode to 0
:
Detect closing in on each axis approx.
50mm before the axis  Next step

Position origin Position No. 1

Path drawn when global flag 610 turns

ON after the actuator arrives at position 1
Output 600: ON near the target position

Output 601: Turns ON

Path drawn when global flag 610 turns ON
near the target position
before the actuator arrives at position 1
Output 600: OFF

Output 602: Turns ON upon

Position No. 2 successful completion of positioning

* This mode is invalid with respect to commands other than MOVP, MOVL
and PATH.
(With CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC, PSPL, MVPI
and MVLI commands, “Error No. B24: Quick return mode error” occurs
(= the command cannot be executed) because an unexpected path may be
followed and a dangerous situation may result unless the start point is
accurately understood.
* The close distance set by a NBND command must consider an allowance
for the processing time in the next step onward following the quick return
upon closeness detection (the specific processing time varies depending on
the types of commands, number of steps, etc.) (this distance is not intended
for use in precise processing).

355
 * Transition between movement commands upon target position change
The actuator starts moving to the target position under the new movement
command roughly at the same time it starts cancelling the previous
movement command via forced deceleration to a stop (there is a delay
corresponding to the processing time to recalculate the target position).
* During quick return mode 3, the output of a MOVP, MOVL or PATH
command turns ON near the target position (regardless of the value set by
the NBND command) (the operation is not yet complete). Use the output of
a PEND command to check if the operation has completed (positioning has
been successful).
However, the output is invalid if the target position was changed (cancelled
via forced deceleration to a stop) before the start of normal deceleration
(during acceleration or constant-speed operation), and so is the S-motion
mode during forced deceleration after the target position has been changed.
* During quick return mode 3, the following tasks apply to all used axes for
5. SEL Commands

any operation with a MOVP command (they apply to all used axes even
when specified for an individual axis):
All stop processing including one by a STOP command
Speed change by a CHVL command
* An attempt to switch from quick return mode 3 directly to quick return mode
1 generates “Error No. B24: Quick return mode error”.
* Software versions supporting quick return mode 3
Controller main application: Ver.1.04 or later
(excluding flash ROM 8Mbit versions)
PC software: Ver.7.2.3.0 or later
Teaching pendant:
IA-T-X (D): Ver.1.44 or later
SEL-T (D): Ver.1.02 or later
TB-01 (D): First edition or later
TB-02 (D): First edition or later

(Note 1) Following a quick return from a SEL movement command, the right to use the
applicable axis is not released in the program even after the command has been
reset. Accordingly, an attempt to use that axis from other program generates
“Error No. C66: Multiple axis use error”. To release the right to use the applicable
axis, set quick return mode 0 (Normal mode = Quick return mode cancelled).
(Note 2) Quick return modes 1 to 3 are cancelled when the program ends (the close
distance set by the NBND command and positioning width set by the PBND
command are not cancelled).
(Note 3) At the end of combined processing requiring a quick return, be sure to reset the
quick return mode to 0 (Normal mode = Quick return mode cancelled).
(Note 4) Always refer to the pages explaining the NBND and PEND commands.

356
 DFTL (Define tool coordinate system)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and
No. 56. (MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Tool
coordinate Position
Optional Optional DFTL CP
system number
number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Set the position data in operand 2 as the tool coordinate system offset data
specified in operand 1.
The position data for all the SCARA axes go into the tool coordinate system offset
data, however, 0 will be set for an axis that the position data is invalid. In
XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD if all the position data for
the SCARA axes in one unit are invalid, data cannot be established in the tool
coordinate system offset, and the data before executing DFTL Command is
saved.
In MSEL-PCX/PGX, position data for four axes needs to be set in the tool
coordinate system offset data no mater of the number of axes on SCARA Robot.
It is recommended that the position that the tool coordinate system data is set
from is used as the dedicated data for the tool coordinate set, not to be shared
with the movement target position.
In case there is an additional linear axis is connected on Axis 4 on 3-axis type
SCARA Robot, Axis 4 in the position data set to the tool coordinate system in
DFTL is not a target position for the additional linear axis.
In MSEL-PC/PG and TTA, tool coordinate system offset X, Y, Z and R is set in the
work coordinate system offset on Coordinate System Definition 1 Constructing
Axes Setting Value in order from Axis 1 data (All Axes Parameter No. 56).
(Note 1) The tool/work coordinate systems are functions available for SCARA Robot.
Also, this is a feature for the axes of the coordinate system definition unit of
MSEL-PC/PG and TTA set in Coordinate System Definition 1 Constructing Axes
Setting (All Axes Parameter No. 56).
(Note 2) Since tool coordinate system No. 0 is reserved by the system as a condition
specifying no tool offset, selecting this number generates “Error No. B71:
Coordinate system number error”.
(Note 3) The GRP command is invalid with respect to this command.
(Note 4) “Error No. B71 Coordinate System Number Error” will occur if this command is
executed when Coordinate System Definition 1 Control (All Axes Parameter No.
55) is set to 0 invalid in MSEL-PC/PG or TTA.
MSEL-PC/PG and TTA are available for input to PC software of Ver. 12.03.00.00
and later and teaching pendant TB-02 (D) of first edition later, TB-01 (D) of Ver
1.50 and later. (Not applicable for SEL-T (D) and IA-T-X (D))

357
 (Note 5) Ordinary when using the PC software in MSEL-PC/PG or TTA and opened the position
edit window, only the axis data set valid in All Axes Parameter No. 1 “Valid Axis
Pattern” will be displayed.
However, it is possible that the position data for all the four axes can always be
displayed and available for editing by setting in the environment setting window in
the PC software.
[Refer to the instruction manuals of XSEL PC software Instruction Manual for
details]
By conducting the setting above in the environment setting window, referring to
and editing the position data in the position edit window become available for the
th
4 axis applicable to R-axis offset.
(Also, it becomes always available to refer to and edit data for all the four axes for
the operation of position data by PPUT Command and PGET Command
regardless of the parameter settings or the setting in the PC software.)
5. SEL Commands

[XSEL-JX/KX/PX/QX/RX/SX/RAX/SAX: 1 unit of SCARA connected]

[Example] DFTL 1 150

358
[XSEL-RXD/SXD/RAXD/SAXD: 2 unit of SCARA connected]
[Example 1] DFTL 1 150
In case that the command shown above is executed with the position data as shown below,
the data is set to Axis 1 to 4 in Tool Coordinate System No. 1 as the position data in Axis 1 to 4
for the SCARA axes (1st to 4th axes) are set effective. There will be no change to Axis 5 to 8 in
Tool Coordinate System No. 1 as the position data in Axis 5 to 8 for the SCARA axes (5th to
8th axes) are all set ineffective.

5. SEL Commands
[Example 2] DFTL 2 152
In case that the command shown above is executed with the position data as shown below,
the data is set to Axis 1 to 8 in Tool Coordinate System No. 2 as the position data in either of
Axis 1 to 4 or Axis 5 to 8 for the SCARA axes (1st to 4th axes) or SCARA axes (5th to 8th
axes) is set effective.
However, 0 will be set to Axis 1 to 2 and 7 to 8 that the position data is the invalid axes.

359
  SLTL (Select tool coordinate system)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and
No. 56. (MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Tool
coordinate
Optional Optional SLTL Prohibited CP
system
number

Applicable models
5. SEL Commands

XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Set the tool coordinate system selection number in operand 1.

(Note 1) The tool/work coordinate systems are functions available for SCARA Robot.
Also, this is a feature for the axes of the coordinate system definition unit of
MSEL-PC/PG and TTA set in Coordinate System Definition 1 Constructing Axes
Setting (All Axes Parameter No. 56).
(Note 2) The selected number last declared in the system becomes effective.
The selected tool coordinate system number will remain effective even after the
program ends, and also after the power is reconnected if the system-memory
backup battery is installed (Note 6).
(Note 3) Only one tool coordinate system selection number is present within the system.
(Note 4) Expressly declare SLTL in the program to prevent unwanted problems resulting
from forgetting to reset the coordinate system selection number after changing it
in the PC software or on the teaching pendant.
(Execute SLTL 0, if the tool coordinate system is not used.)
(Note 5) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP
and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).
(Note 6) XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD, MSEL controller or TTA
save the tool coordinate system numbers without using a battery.
(Note 7) “Error No. B71 Coordinate System Number Error” will occur if this command is
executed when Coordinate System Definition 1 Control (All Axes Parameter No.
55) is set to 0 invalid in MSEL-PC/PG or TTA.

360
[Example 1] GRP 1111 It makes the 1st to 4th axes effective.
SLTL 1 Selected tool coordinate system of the SCARA
axes (1st to 4th axes) is changed to No. 1.
[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.
SLTL 2 Selected tool coordinate system of the SCARA
axes (1st to 4th axes) and the SCARA axes (5th to
8th axes) is changed to No. 2.
MSEL-PC/PG and TTA are available for input to PC software of Ver. 12.03.00.00 and later and
teaching pendant TB-02 (D) of first edition later, TB-01 (D) of Ver 1.50 and later. (Not
applicable for SEL-T (D) and IA-T-X (D))

5. SEL Commands

361
  GTTL (Get tool coordinate system definition data)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and
No. 56. (MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Tool
coordinate Position
Optional Optional GTTL CP
system number
number

Applicable models
5. SEL Commands

XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Set the tool coordinate system offset data specified in operand 1 for the position
data specified in operand 2. Tool coordinate system offset data for all SCARA
axes is set for the position data.
In MSEL-PCX/PGX, tool coordinate system offset data for four axes is set in the
position data no mater of the number of axes on SCARA Robot.
It is recommended that the position that the tool coordinate system is acquired
from is used as the dedicated data for the tool coordinate acquirement, not to be
shared with the movement target position.
In case there is an additional linear axis is connected on Axis 4 on 3-axis type
SCARA Robot, the tool coordinate system R-axis offset in the position data is
written by execution of GTTL Command.
In MSEL-PC/PG and TTA, tool coordinate system offset X, Y, Z and R is set in the
work coordinate system offset on Coordinate System Definition 1 Constructing
Axes Setting Value in order from Axis 1 data (All Axes Parameter No. 56).
(Note 1) The tool/work coordinate systems are functions available for SCARA Robot.
Also, this is a feature for the axes of the coordinate system definition unit of
MSEL-PC/PG and TTA set in Coordinate System Definition 1 Constructing Axes
Setting (All Axes Parameter No. 56).
(Note 2) The position data for the liner axes (5th to 8th axes) are cleared when the
command is executed.
(Note 3) Since tool coordinate system No. 0 is reserved by the system as a condition
specifying no tool offset, selecting this number generates “Error No. B71:
Coordinate system number error”.
(Note 4) The GRP command is invalid with respect to this command.
(Note 5) “Error No. B71 Coordinate System Number Error” will occur if this command is
executed when Coordinate System Definition 1 Control (All Axes Parameter No.
55) is set to 0 invalid in MSEL-PC/PG or TTA.
(Note 6) Ordinary when using the PC software in MSEL-PC/PG or TTA and opened the
position edit window, only the axis data set valid in All Axes Parameter No. 1
“Valid Axis Pattern” will be displayed.
However, it is possible that the position data for all the four axes can always be
displayed and available for editing by setting in the environment setting window in
the PC software.
[Refer to the instruction manuals of XSEL PC software Instruction Manual for
details]

362
By conducting the setting above in the environment setting window, referring to and editing the
position data in the position edit window become available for the 4th axis applicable to R-axis
offset.
(Also, it becomes always available to refer to and edit data for all the four axes for the operation
of position data by PPUT Command and PGET Command regardless of the parameter settings
or the setting in the PC software.)
MSEL-PC/PG and TTA are available for input to PC software of Ver. 12.03.00.00 and later and
teaching pendant TB-02 (D) of first edition later, TB-01 (D) of Ver 1.50 and later. (Not applicable
for SEL-T (D) and IA-T-X (D))

[XSEL-JX/KX/PX/QX/RX/SX/RAX/SAX: 1 unit of SCARA connected]

[Example] GTTL 1 150
After the command shown above is executed, the position data for the liner axes (5th to 8th

5. SEL Commands
axes) are cleared.

The data before GTTL Command was executed gets cleared.

[XSEL-RXD/SXD/RAXD/SAXD: 2 unit of SCARA connected]

[Example] GTTL 1 150

363
  DFWK (Define work coordinate system)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and
No. 56. (MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Work
coordinate Position
Optional Optional DFWK CP
system number
number

Applicable models
5. SEL Commands

XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Set the position data in operand 2 for the work coordinate system offset data
specified in operand 1. The position data for all the axes go into the work coordinate
system offset data, however, 0 will be set for an axis that the position data is invalid.
In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD, if all the position data for
the SCARA axes in one unit are invalid, data cannot be established in the tool
coordinate system offset, and the data before executing DFWK Command is saved
In MSEL-PCX/PGX, position data for four axes is set in the work coordinate system
offset data no mater of the number of axes on SCARA Robot.
It is recommended that the position that the work coordinate system data is set from
is used as the dedicated data for the work coordinate set, not to be shared with the
movement target position.
In case there is an additional linear axis is connected on Axis 4 on 3-axis type SCARA
Robot, Axis 4 in the position data set to the tool coordinate system in DFWK is not a
target position for the additional linear axis.
In MSEL-PC/PG and TTA, tool coordinate system offset X, Y, Z and R is set in the
work coordinate system offset on Coordinate System Definition 1 Constructing Axes
Setting Value in order from Axis 1 data (All Axes Parameter No. 56).
(Note 1) The tool/work coordinate systems are functions available for SCARA Robot.
Also, this is a feature for the axes of the coordinate system definition unit of
MSEL-PC/PG and TTA set in Coordinate System Definition 1 Constructing Axes
Setting (All Axes Parameter No. 56).
(Note 2) Since work coordinate system No. 0 is reserved by the system as the base
coordinate system, selecting this number generates “Error No. B71: Coordinate
system number error”.
(Note 3) The GRP command is invalid with respect to this command.
(Note 4) “Error No. B71 Coordinate System Number Error” will occur if this command is
executed when Coordinate System Definition 1 Control (All Axes Parameter No.
55) is set to 0 invalid in MSEL-PC/PG or TTA.

MSEL-PC/PG and TTA are available for input to PC software of Ver. 12.03.00.00 and later and
teaching pendant TB-02 (D) of first edition later, TB-01 (D) of Ver 1.50 and later. (Not
applicable for SEL-T (D) and IA-T-X (D))

364
(Note 5) Ordinary when using the PC software in MSEL-PC/PG or TTA and opened the
position edit window, only the axis data set valid in All Axes Parameter No. 1
“Valid Axis Pattern” will be displayed.
However, it is possible that the position data for all the four axes can always be
displayed and available for editing by setting in the environment setting window
in the PC software.
[Refer to the instruction manuals of XSEL PC software Instruction Manual for
details]
By conducting the setting above in the environment setting window, referring to
and editing the position data in the position edit window become available for the
th
4 axis applicable to R-axis offset.
(Also, it becomes always available to refer to and edit data for all the four axes
for the operation of position data by PPUT Command and PGET Command
regardless of the parameter settings or the setting in the PC software.)

5. SEL Commands
[XSEL-JX/KX/PX/QX/RX/SX/RAX/SAX: 1 unit of SCARA connected]
[Example] DFWK 1 150

365
 [XSEL-RXD/SXD/RAXD/SAXD: 2 unit of SCARA connected]
[Example 1] DFWK 1 150
In case that the command shown above is executed with the position data as shown below,
the data is set to Axis 1 to 4 in Work Coordinate System No. 1 as the position data in Axis 1 to
4 for the SCARA axes (1st to 4th axes) are set effective. There will be no change to Axis 5 to 8
in Work Coordinate System No. 1 as the position data in Axis 5 to 8 for the SCARA axes (5th
to 8th axes) are all set ineffective.
5. SEL Commands

[Example 2] DFWK 2 152

In case that the command shown above is executed with the position data as shown below,
the data is set to Axis 1 to 8 in Work Coordinate System No. 2 as the position data in either of
Axis 1 to 4 or Axis 5 to 8 for the SCARA axes (1st to 4th axes) or SCARA axes (5th to 8th
axes) is set effective.
However, 0 will be set to Axis 1 to 2 and 7 to 8 that the position data is the invalid axes.

366
 SLWK (Select work coordinate system)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and
No. 56. (MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Work
coordinate
Optional Optional SLWK Prohibited CP
system
number

Applicable models

5. SEL Commands
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Set the work coordinate system selection number in operand 1.

(Note 1) The tool/work coordinate systems are functions available for SCARA Robot.
Also, this is a feature for the axes of the coordinate system definition unit of
MSEL-PC/PG and TTA set in Coordinate System Definition 1 Constructing Axes
Setting (All Axes Parameter No. 56).

(Note 2) The selected number last declared in the system becomes effective.
The selected work coordinate system number will remain effective even after the
program ends, and also after the power is reconnected if the system-memory
backup battery is installed (Note 6).
(Note 3) Only one work coordinate system selection number is present within the system.
(Note 4) Expressly declare SLWK in the program to prevent unwanted problems resulting
from forgetting to reset the coordinate system selection number after changing it
in the PC software or on the teaching pendant.
(Execute SLWK 0, if the work coordinate system is not used.)
(Note 5) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP
and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).
(Note 6) XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD, MSEL Controller or TTA
save the tool coordinate system numbers without using a battery.
(Note 7) “Error No. B71 Coordinate System Number Error” will occur if this command is
executed when Coordinate System Definition 1 Control (All Axes Parameter No.
55) is set to 0 invalid in MSEL-PC/PG or TTA.

367
 [Example 1] GRP 1111 It makes the 1st to 4th axes effective.
SLWK 1 Selected work coordinate system of the SCARA
axes (1st to 4th axes) is changed to No. 1.
[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.
SLWK 2 Selected work coordinate system of the SCARA
axes (1st to 4th axes) and the SCARA axes (5th to
8th axes) is changed to No. 1.

MSEL-PC/PG and TTA are available for input to PC software of Ver. 12.03.00.00 and later and
teaching pendant TB-02 (D) of first edition later, TB-01 (D) of Ver 1.50 and later. (Not
applicable for SEL-T (D) and IA-T-X (D)) (Not applicable for SEL-T (D) and IA-T-X (D))
5. SEL Commands

368
 GTWK (Get work coordinate system definition number)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and
No. 56. (MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Work
coordinate Position
Optional Optional GTWK CP
system number
number

Applicable models

5. SEL Commands
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Set the work coordinate system offset data specified in operand 1 for the position
data specified in operand 2. Work coordinate system offset data for all axes is set
for the position data.
In MSEL-PCX/PGX, work coordinate system offset data for four axes is set in the
position data no mater of the number of axes on SCARA Robot.
It is recommended that the position that the work coordinate system is acquired
from is used as the dedicated data for the work coordinate acquirement, not to be
shared with the movement target position.
In case there is an additional linear axis is connected on Axis 4 on 3-axis type
SCARA Robot, the work coordinate system R-axis offset in the position data is
written by execution of GTWK Command.
In MSEL-PC/PG and TTA, tool coordinate system offset X, Y, Z and R is set in the
work coordinate system offset on Coordinate System Definition 1 Constructing Axes
Setting Value in order from Axis 1 data (All Axes Parameter No. 56).
(Note 1) The tool/work coordinate systems are functions available for SCARA Robot.
Also, this is a feature for the axes of the coordinate system definition unit of
MSEL-PC/PG and TTA set in Coordinate System Definition 1 Constructing Axes
Setting (All Axes Parameter No. 56).
(Note 2) The position data for the liner axes (5th to 8th axes) are cleared when the
command is executed.
(Note 3) Since work coordinate system No. 0 is reserved by the system as the base
coordinate system, selecting this number generates “Error No. B71: Coordinate
system number error”.
(Note 4) The GRP command is invalid with respect to this command.
(Note 5) “Error No. B71 Coordinate System Number Error” will occur if this command is
executed when Coordinate System Definition 1 Control (All Axes Parameter No.
55) is set to 0 invalid in MSEL-PC/PG or TTA.

369
 (Note 6) Ordinary when using the PC software in MSEL-PC/PG or TTA and opened the
position edit window, only the axis data set valid in All Axes Parameter No. 1
“Valid Axis Pattern” will be displayed.
However, it is possible that the position data for all the four axes can always be
displayed and available for editing by setting in the environment setting window in
the PC software.
[Refer to the instruction manuals of XSEL PC software Instruction Manual for
details]
By conducting the setting above in the environment setting window, referring to
and editing the position data in the position edit window become available for
th
the 4 axis applicable to R-axis offset.
(Also, it becomes always available to refer to and edit data for all the four axes
for the operation of position data by PPUT Command and PGET Command
regardless of the parameter settings or the setting in the PC software.)
5. SEL Commands

MSEL-PC/PG and TTA are available for input to PC software of Ver. 12.03.00.00 and later and
teaching pendant TB-02 (D) of first edition later, TB-01 (D) of Ver 1.50 and later. (Not
applicable for SEL-T (D) and IA-T-X (D)) (Not applicable for SEL-T (D) and IA-T-X (D))

[XSEL-JX/KX/PX/QX/RX/SX/RAX/SAX: 1 unit of SCARA connected]

[Example] GTWK 1 150

The data before GTWK Command was executed gets cleared.

370
[XSEL-RXD/SXD/RAXD/SAXD: 2 unit of SCARA connected]
[Example] GTWK 1 150

5. SEL Commands

371
  RIGH (Dedicated SCARA command/Change current arm system to right
arm (arm 2 operation involved if current arm system is opposite))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RIGH Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Change the current SCARA arm system to the right arm system. If the current
arm system is the left arm system, arm 2 is moved to change it to the right arm
system. After the operation, arms 1 and 2 form a straight line. No arm operation is
performed if the current arm system is the right arm system.

(Note 1) To use a RIGH or LEFT command, the speed must be set with VELS even when
a SCARA PTP operation command is not used.

(Note 2) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

RIGH The current arm system of the SCARA axes (1st to
4th axes) is changed to the right arm system.

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

RIGH The current arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
changed to the right arm system.

372
 LEFT (Dedicated SCARA command/Change current arm system to left
arm (arm 2 operation involved if current arm system is opposite))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional LEFT Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Change the current SCARA arm system to the left arm system. If the current arm
system is the right arm system, arm 2 is moved to change it to the left arm
system. After the operation, arms 1 and 2 form a straight line. No arm operation is
performed if the current arm system is the left arm system.

(Note 1) To use a RIGH or LEFT command, the speed must be set with VELS even when
a SCARA PTP operation command is not used.

(Note 2) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective

LEFT The current arm system of the SCARA axes (1st to
4th axes) is changed to the right arm system.

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

LEFT The current arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
changed to the left arm system.

373
  PTPR (Dedicated SCARA command/Specify PTP target arm system to
right arm (Movement of opposite arm system prohibited (no operation is
performed) if target unachievable)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTPR Prohibited Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Specify the target arm system for SCARA PTP operation commands to the right
arm system. After the PTPR command is executed, the target arm system for
SCARA PTP operation commands becomes the right arm system and an error
occurs if the target value cannot be achieved by operating on the right arm
system. Executing this command does not initiate any arm operation.

(Note 1) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

PTPR PTP target arm system of the SCARA axes (1st to
4th axes) is indicated to the right arm system.
MOVP 1 Move to Position No. 1 to become the right arm
system.

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

PTPR PTP target arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
indicated to the right arm system.
MOVP 2 Move to Position No. 2 to become the right arm
system.

374
 PTPL (Dedicated SCARA command/Specify PTP target arm system to
left arm (Movement of opposite arm system prohibited (no operation is
performed) if target unachievable)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTPL Prohibited Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL

5. SEL Commands
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Specify the target arm system for SCARA PTP operation commands to the left
arm system. After the PTPL command is executed, the target arm system for
SCARA PTP operation commands becomes the left arm system and an error
occurs if the target value cannot be achieved by operating on the left arm system.
Executing this command does not initiate any arm operation.

(Note 1) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

PTPL PTP target arm system of the SCARA axes (1st to
4th axes) is indicated to the left arm system.
MOVP 1 Move to Position No. 1 to become the left arm
system.

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

PTPL PTP target arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
indicated to the left arm system.
MOVP 2 Move to Position No. 2 to become the left arm
system.

375
  PTPD (Dedicated SCARA command/Specify PTP target arm system to
current arm (Movement of opposite arm system permitted (no operation
is performed) if target unachievable)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTPD Prohibited Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Specify the target arm system for SCARA PTP operation commands to the
current arm system. After the PTPD command is executed, the target arm system
for SCARA PTP operation commands becomes the current arm system and an
error occurs if the target value cannot be achieved by operating on this arm
system. Executing this command does not initiate any arm operation.

(Note 1) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

PTPD PTP target arm system of the SCARA axes (1st to
4th axes) is indicated to the reversed arm system
move prohibited when it is not possible.
MOVP 1 Movement is made to Position No. 1 with the
current arm system.
(“C73: Target Track Software Limit Excess Error”
will occur when positioning cannot be performed
without changing to the reversed arm system.)

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

PTPR PTP target arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
indicated to the reversed arm system move
prohibited when it is not possible.
MOVP 2 Movement is made to Position No. 2 with the
current arm system.
(“C73: Target Track Software Limit Excess Error”
will occur when positioning cannot be performed
without changing to the reversed arm system.)

376
 PTPE (Dedicated SCARA command/Specify PTP target arm system to
current arm (Movement of opposite arm system prohibited (no operation
is performed) if target unachievable)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTPE Prohibited Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL

5. SEL Commands
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Specify the target arm system for SCARA PTP operation commands to the
current arm system. After the PTPE command is executed, the target arm system
for SCARA PTP operation commands becomes the current arm system and if the
target value cannot be achieved by operating on this arm system, the target arm
system is changed to the one opposite the current arm system. An error occurs if
the target value cannot be achieved by operating on either the right arm system
or left arm system. Executing this command does not initiate any arm operation.

(Note 1) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT
and the system information acquirement command GARM. Establish the setting
to have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

PTPE PTP target arm system of the SCARA axes (1st to
4th axes) is indicated to the reversed arm system
move permitted when it is not possible.
MOVP 1 Movement is made to Position No. 1 with the
current arm system.
(Positioning is performed with the reversed arm
system when positioning cannot be performed
without changing to the reversed arm system.)

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

PTPE PTP target arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
indicated to the reversed arm system move
permitted when it is not possible.
MOVP 2 Movement is made to Position No. 2 with the
current arm system.
(Positioning is performed with the reversed arm
system when positioning cannot be performed
without changing to the reversed arm system.)

377
  DFIF (Dedicated SCARA command/Define simple contact check zone
coordinate)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Contact Position number
Optional Optional DFIF check zone (2 successive CP
number positions are used)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
5. SEL Commands

XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Set the data of two successive positions starting from the position number
specified in operand 2, for the simple contact check zone definition coordinate data
in operand 1.
The position data specified in operand 2 is set for simple contact check zone
definition coordinate 1, while the data of the next position is set for definition
coordinate 2. If the axis pattern does not match between the data of the two
successive positions, “Error No. C30: Axis pattern error” occurs.
In MSEL-PCX/PGX, position data for four axes is set in the simple contact check
zone coordinate data no mater of the number of axes on SCARA Robot.
It is recommended that the position that the simple contact check zone coordinate
data is set from is used as the dedicated data for the simple contact check zone
coordinate set, not to be shared with the movement target position.
In case there is an additional linear axis is connected on Axis 4 on 3-axis type
SCARA Robot, Axis 4 in the position data set to the simple contact check zone
coordinate in DFIF is not a target position for the additional linear axis.
(Note 1) Simple contact check zone definition coordinates are always recognized as data
on the base coordinate system (work coordinate system selection No. 0). If you
are setting aside position data for use as effective definition coordinates for the
DFIF command, you must set the data on the base coordinate system.
(Note 2) When the simple contact check zone definition coordinates are changed, it takes
5msec for the check result based on the new settings to be reflected.
(Note 3) The GRP command is invalid with respect to this command.
(Note 4) Indicate the position data effective either on SCARA axes (1st to 4th axes) or
SCARA axes (5th to 8th axes) for the valid axes of the position data. “Error No.
C30: Axis Pattern Error” will be issued when both of SCARA axes (1st to 4th
axes) and SCARA axes (5th to 8th axes) are set effective for the valid axes of the
position data.

378
[Example] DFIF 1 170

5. SEL Commands

379
  SOIF (Dedicated SCARA command/Specify output for simple contact
check zone)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Contact Output/
Optional Optional SOIF check zone global flag CP
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
5. SEL Commands

XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Set the output number/global flag number in operand 2 as the output specification
to be applied upon entry into the simple contact check zone specified in operand
1.

(Note 1) The simple contact check zone is a function available for SCARA.

(Note 2) If duplicate physical output port numbers/global flag numbers are specified,
chattering occurs and operation results become indeterminable.

[Example] SOIF 1 315

380
 SEIF (Dedicated SCARA command/Specify type of simple contact check
zone)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Contact
0 or 1 or 2
Optional Optional SEIF check zone CP
(error type)
number

Applicable models
XSEL
XSEL XSEL

5. SEL Commands
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Specify the error type in operand 2 (see below) as the error type to be applied
upon entry into the simple contact check zone specified in operand 1.

Error types applicable upon entry into simple contact check zone
0: No error
1: Message level error
2: Operation-cancellation level error

(Note 1) The simple contact check zone is a function available for SCARA.

[Example] SEIF 1 2

381
  GTIF (Dedicated SCARA command/Get simple contact check zone
definition coordinate)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Contact Position number
Optional Optional GTIF check zone (2 successive CP
number positions are used)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
5. SEL Commands

XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Set the simple contact check zone definition coordinate data in operand 1 for the
data of two successive positions starting from the position number specified in
operand 2.
Simple contact check zone definition coordinate 1 is set for the position data
specified in operand 2, while definition coordinate 2 is set for the data of the next
position. At this time, coordinate data in the position data becomes invalid for all
axes, and then the simple contact check zone definition coordinate data is set.
In MSEL-PCX/PGX, simple contact check zone coordinate data for four axes is
set in the position data no mater of the number of axes on SCARA Robot.
It is recommended that the position that the simple contact check zone coordinate
is acquired from is used as the dedicated data for the simple contact check zone
coordinate acquirement, not to be shared with the movement target position.
In case there is an additional linear axis is connected on Axis 4 on 3-axis type
SCARA Robot, the simple contact check zone coordinate R-axis offset in the
position data is written by execution of GTIF Command.

(Note 1) The position data of the invalid SCARA axes in the liner axes or the simple
interference check zone definition coordinate data is cleared when the command
is executed.

(Note 2) Simple contact check zone definition coordinate is always recognized as data on
the base coordinate system (work coordinate system selection No. 0).
Accordingly, the position data set by a GTIF command must be handled on the
base coordinate system.

(Note 3) The GRP command is invalid with respect to this command.

382
 WGHT (Dedicated SCARA command/Set tip load mass, inertial moment)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Inertial
Optional Optional WGHT Mass CP
moment)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL

5. SEL Commands
QCT SXD
SAXD

          (PCX/PG
X only)

This command is supported by XSEL-PX/QX controller main application Ver.0.45 or later.

It is supported by PC software of Ver.7.5.0.0 or later and teaching pendants TB-02 (D): first
edition or later, TB-01 (D): first edition or later SEL-T (D), of Ver.1.11 or later.
(Not applicable for IA-T-X(0))
(Note) Conventional models such as IX-NNN5020 cannot use this command. (A “D8A:
Internal parameter error of acceleration/deceleration optimization or horizontal
movement Z-position optimization function” occurs.)

[Function] Set the mass and inertial moment of the tip load (tool + work).
Set the mass in operand 1, and inertial moment in operand 2. The unit of operand
2
1 is [g], while the unit of operand 2 is [kg•mm ].
The tip load mass/inertial moment set by a WGHT command will be retained until
a new WGHT command is set again (= the set values will be retained even after
the program ends). However, they are cleared when the power is turned OFF or a
software reset is performed, after which you must set the applicable values again
expressly in the program.
(Note 1) For the inertial moment in operand 2, set a composite inertial moment covering
the tool and work relating to the center of rotation of the R-axis.
(Note 2) Although entry of inertial moment in operand 2 is optional, if no inertial moment is
set the maximum allowable inertial moment of the robot is set automatically.
(Note 3) If the tip load mass exceeds the maximum loading capacity of the robot, a “B44:
Load mass setting error” occurs.
(Note 4) Executing a WGHT command updates the information of both the tip load mass
and inertial moment. You cannot change only the mass or only the inertial
moment.
(Note 5) Although both the tip load mass and inertial moment can be approximate values,
set values slightly larger than necessary. Before setting the values, round them
up to the nearest multiple of 1g or 1kg•mm2, respectively.
(Note 6) If a WGHT command has not yet been executed, the load mass and inertial
moment have been initialized to the maximum loading capacity and maximum
allowable inertial moment of the robot. Set an appropriate load mass and inertial
moment according to the use conditions.
(Note 7) The load mass and inertial moment set by a WGHT command are used in the
SCARA PTP acceleration/deceleration optimization function, SCARA horizontal
movement Z-position optimization function, etc.

383
 (Note 8) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD Command are
available also in the actuator control declaration commands SLTL, SLWK, WGHT,
PTPR, PTPL PTPE, PTPD, RIGH, LEFT and the system information acquirement
command GARM. Establish the setting to have all the SCARA axes valid. Error
No. C30 “Axis Pattern Error” will occur if even one axis is set invalid by GRP and
BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

WGHT 2000 5000 Set a tip load with 2000g of weight and
5000kgmm2 of the moment of inertia to the
SCARA axes (1st to 4th axes).
5. SEL Commands

[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.

WGHT 1000 30000 Set SCARA axes (1st to 4th axes9 and
SCARA axes (5th to 8th axes) so the
movement is made to Position No. 2 to make it
become the right arm system.

384
 WGT2 (Dedicated SCARA command/Tip load condition setting)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WGT2 Mass (Variable No.) CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

5. SEL Commands
          

[Function] Set the weight [gr] of the load on the tip (tool + work piece) in Operation 1, and
the center of gravity in the load, inertia around the center of gravity and other
related parameters to the six variables in a row from the indicated variable in
Operation 2.
The tip load mass/inertial moment set by a WGT2 command will be retained until
a new WGT2 command is set again. However, they are cleared when the power
is turned OFF or a software reset is performed, after which you must set the
applicable values again expressly in the program.

• Indicated Variable in Operation 2

Variable No. Contents of Setting Remarks
Gravity Center X for Tip Load
n Input the position at Tool Coordinate No. 0.
[1/1000mm unit]
Gravity Center Y for Tip Load
n+1
[1/1000mm unit]
Inertia around Center of Gravity in
n+2
Top Load [kgmm2]
n+3 Set to 0 Reservation (Possibility of use in future)
n+4 Set to 0 Reservation (Possibility of use in future)
n+5 Set to 0 Reservation (Possibility of use in future)

•Load Weight
Yb •Inertia Around Center of Gravity in Load
Y t0

Center of Gravity
Y in Load
X t0

Center of Gravity
X in Load

Xb

385
 (Note 1) Inputting in Operation 2 is optional. When the setting in Operation 2 is not
established, the parameters are the center of gravity in tip load X-Y = 0 and the
maximum allowable moment of inertia.
(Note 2) An error will be issued when the tip load weight exceeds the maximum
transportable weight of the robot.
(Note 3) When WGT2 Command is executed, the information for both the tip load weight
and the moment of inertia is updated.
A change to individuals such as the weight only or center of gravity in tip load and
inertia around the center of gravity only is not available.
(Note 4) Inappropriate setting of the robot tip load condition may cause vibration
(abnormal noise) or error, and also may give an impact that shortens the
mechanical life.
Establish the setting that reflects the actual mounted load.
5. SEL Commands

(Note 5) For XSEL-RX/SX/RXD/SDX, XSEL-RAX/SAX/RAXD/SAXD Commands become

effective even in WGT2 Command. Establish the setting to have all the SCARA
axes valid. Error No. C30 “Axis Pattern Error” will occur if even one axis is set
invalid by GRP and BASE Commands. When GRP and BASE Commands are
undeclared, all the axes are effective (equivalent to GRP 11111111).

[Example 1] GRP 1111 Indicates SCARA of 1st to 4th axes

LET 1001 50000 Indicates Center of gravity X in tip load =
50.000mm
LET 1002 0 Indicates Center of gravity Y in tip load =
0.000mm
LET 1003 2000 Indicates inertia around center of gravity in
load = 2000kg•mm2
WGT2 1000 1001 For SCARA of 1st to 4th axes sets weight of
1000g and conditions of the tip load for
Variable No. 1001 to 1003

[Example 2] GRP 11110000 Indicates SCARA of 5th to 8th axes

LET 1001 20000 Indicates Center of gravity X in tip load =
20.000mm
LET 1002 20000 Indicates Center of gravity Y in tip load =
20.000mm
LET 1003 500 Indicates inertia around center of gravity in
load = 500kg•mm2
WGT2 500 1001 SCARA of 5th to 8th axes sets weight of 500g
and conditions of the tip load for Variable No.
1001 to 1003

386
 NBND (Dedicated linear axis command/Set close distance)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Close
Optional Optional NBND Axis pattern CP
distance

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL

5. SEL Commands
QCT SXD
SAXD
          

[Function] Set in operand 2 the close distance (mm) from the target position based on the
axis pattern specified in operand 1.
This command is valid only with respect to MOVP, MOVL and PATH commands
in quick return mode 2 (closeness-detection return target position addition mode)
or quick return mode 3 (closeness-detection return target position change mode).
A different value can be set for each axis.
(Note 1) The default value of 0 is applied if the close distance is not set with a NBND
command.
(Note 2) In the case of PATH commands involving successive movements to multiple
positions, the close distance becomes effective after the movement to the last
position in the last movement is started and also after the processing of the
previous position movement is completed. Accordingly, a dead width is created
between (= at the overlap of) the movement to the last position in the PATH
commands and the movement to the position immediately before it.
(Note 3) The close distance set here will remain effective even after the program ends.
When building a system using NBND commands, therefore, specify the close
distance expressly with a NBND command in all programs before any operation
is started in each program. If you assume that the close distance will be reset
after the end of operation in other programs, an unexpected close distance may
be applied should the program abort due to an error, etc., in which case
unforeseen problems may result.
(Note 4) Be sure to also refer to the pages that explain the QRTN command and PEND
command.
(Note 5) Software versions supporting NBND
XSEL-J/K Controller main application: Ver.1.04 or later
(excluding flash ROM 8Mbit versions)
PC software: Ver.7.2.3.0 or later
Teaching pendant:
IA-T-X (D): Ver.1.44 or later
SEL-T (D): Ver.1.02 or later
TB-01 (D): First edition or later
TB-02 (D): First edition or later

387
 [Example 1] NBND 11 50 Set the close distance for axes 1 and 2 to 50mm
after this command.
[Example 2] The axis pattern can be specified indirectly using a variable. [Example 1] can
be rephrased using indirect specification by variable as follows:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
NBND *1 50 Set the close distance for axes 1 and 2 to 50mm
after this command.
5. SEL Commands

388
[12] Actuator Control Command

 SV (Turn ON/OFF servo)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional SV Axis pattern Prohibited PE

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Turn ON/OFF the servos of the axes specified by the axis pattern in operand 1.

SV
ON ·························· Turn ON the servo.
OF ·························· Turn OFF the servo.

(Other than SCARA robot)

[Example 1] SVON 11 Turn ON the servos of axes 1 and 2. Nothing will
occur if the axis servos are already ON.

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
SVON *1

(SCARA robots)
The arm system of SCARA axes (1st to 4th axes or 1st to 3rd axes) is set to Local
Variable No. 99 when complete in normal condition.
Right arm system =1
Left arm system = -1
Indeterminable =0
The angle of arm 2 is used to make judgment.
The arm system effective immediately after the servo ON is set. The arm system
is not monitored continuously.

(Note) The arm system data set in Local Variable No. 99 is the arm system for SCARA
axes (1st to 4th axes or 1st to 3rd axes). To acquire the arm system data for
SCARA axes (5th to 8th axes), use GARM Command.

389
  HOME (Dedicated linear axis command/Home return)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional HOME Axis pattern Prohibited PE

Applicable models
XSEL-JX/KX 
Other than XSEL-JX/KX 
5. SEL Commands

[Function] Perform home return of the axes specified by the axis pattern in operand 1.
The servo of each home-return axis will turn ON automatically.
The output will turn OFF at the start of home return, and turn ON when the home
return is completed.

(Note 1) This is a dedicated command for linear axes. If a SCARA axis (except for IXP
Type Incremental specification) is specified, “Error No. B80:
Specification-prohibited axis error” or “Error No. 421: SCARA/linear-axis
simultaneous specification error” occurs.

(Note 2) Following a pause of home return, the operation will resume from the beginning
of the home-return sequence.

(Note 3) Home-return operation for the axis using an ABS encoder makes a movement to
the multi-rotation data reset position, thus it does not always make a movement
to the home preset coordinate (including 0).
Use a MOVP command, instead of a HOME command, if you want to turn ON
output 304 when I/O parameter No. 50, “Output function selection 304” is set to 1
(Output when all effective linear axes are home (= 0)) or 3 (Output when all
effective linear axes are at home preset coordinate).

(Note 4) If an operation pause or cancel is performed during the HOME Command is

executed for the axis using an ABS encoder other than the absolute reset mode
provided by the PC software or teaching pendant, it may cause the
“actual-position soft limit error” due to the position.
It is not recommended to perform home return other than for the purpose of
adjusting an absolute-encoder axis.

[Example 1] HOME 11 Axes 1 and 2 return to the home.

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
HOME *1

390
 MOVP (Move PTP by specifying position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional MOVP Prohibited PE
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move the actuator to the position corresponding to the position number specified
in operand 1, without interpolation (PTP stands for “Point-to-Point”).
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.

(Note) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.

(Other than SCARA robots)

[Example 1] VEL 100 Set the speed to 100mm/s.
MOVP 1 Move the axes to the position corresponding to
position No. 1 (200, 100).

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 1 2 Assign 2 to variable 1.
MOVP *1 Move the axes to the position corresponding to the
content of variable 1 (position No. 2, or (100,
100)).

Position Data Display in PC Software

Axis 1 Axis 2
No. Vel Acc Dcl
(X-axis) (Y-axis)
1 200.000 100.000
2 100.000 100.000
(Note) If acceleration and deceleration are not specified by position data or ACC (DCL) commands, the actuator
operates at the default values set in all-axis parameter No. 11, “Default acceleration” and all-axis parameter No.
12, “Default deceleration”.

Travel path from the home to the position corresponding to position No. 1 (200, 100)
Y-axis

Only the Y-axis Each axis moves at 100mm/s.

completes movement.
100mm

X-axis
Home 0 100mm 200mm

391
 (SCARA robots)
[Example 1] MOVP 2 Move the axes to the positions set under position
No. 2 (200, 225, 150, 30).

(Note) In the case of a SCARA axis, the axis operates according to all-axis parameter
No. 47, “Default PTP acceleration for SCARA axis” or all-axis parameter No. 48,
5. SEL Commands

“Default PTP deceleration for SCARA axis” if the acceleration/deceleration is not

specified using an ACCS (DCLS) command. In the case of a linear axis, the axis
operates according to all-axis parameter No. 200, “Default acceleration for linear
axis” or all-axis parameter No. 201, “Default deceleration for linear axis” if the
acceleration/deceleration is not specified in the position data table or using an
ACC (DCL) command.

Path of moving from position No. 1 to position No. 2

With a SCARA axis, the center of the tool

mounting surface or tool tip moves via PTP
(not along a straight line). The moving path
varies depending on the start position of
operation, completion position of operation,
Position No. 2 arm system, etc.
(Shown to the left are positions on the base
coordinate system.)

Position No. 1 Position No. 2

R-axis position R-axis position
(View from above) (View from above)

392
 MOVL (Move by specifying position data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional MOVL Prohibited PE
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move the actuator to the position corresponding to the position number specified in
operand 1, with interpolation.
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.

(Note) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.

(Other than SCARA robots)

[Example 1] VEL 100 Set the speed to 100mm/s.
MOVL 1 Move the axes to the position corresponding to
position No. 1 (200, 100), with interpolation.

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 1 2 Assign 2 to variable 1.
MOVL *1 Move the axes to the position corresponding to the
content of variable 1 (position No. 2, or (100, 100)),
with interpolation.

Position Data Display in PC Software

Axis 1 Axis 2
No. Vel Acc Dcl
(X-axis) (Y-axis)
1 200.000 100.000
2 100.000 100.000
(Note) If acceleration and deceleration are not specified by position data or ACC (DCL) commands, the actuator
operates at the default values set in all-axis parameter No. 11, “Default acceleration” and all-axis parameter No.
12, “Default deceleration”.

Travel path from the home to the position corresponding to position No. 1 (200, 100)

Y-axis

The tip of each axis moves at 100mm/s.

The X and Y-axes complete
movement simultaneously.

X-axis
Home 0
393
 (SCARA robots)
[Example 1] MOVL 2 Move the axes to the positions set under position
No. 2 (200, 225, 150, 30) via interpolation.

Path of moving from position No. 1 to position No. 2

(Note) In the case of a SCARA axis, the axis operates according to all-axis parameter
5. SEL Commands

No. 11, “Default CP acceleration for SCARA axis” or all-axis parameter No. 12,
“Default CP deceleration for SCARA axis” if the acceleration/deceleration is not
specified in the position data table or using an ACC (DCL) command.
In the case of a linear axis, the axis operates according to all-axis parameter
No. 200, “Default acceleration for linear axis” or all-axis parameter No. 201,
“Default deceleration for linear axis” if the acceleration/deceleration is not
specified in the position data table or using an ACC (DCL) command.

With a SCARA axis, the center of the tool

mounting surface or tool tip moves along a
straight line.
(Shown to the left are positions on the
Position No. 2 base coordinate system.)

Position No. 1 Position No. 2

R-axis position R-axis position
(View from above) (View from above)

394
 MVPI (Move via incremental PTP)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional MVPI Prohibited PE
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move the actuator, without interpolation, from the current position by the travel
distance corresponding to the position number specified in operand 1.
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.

(Note) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.

(Other than SCARA robots)

[Example 1] VEL 100 Set the speed to 100mm/s.
MVPI 1 If the current position is (50, 50) and position No. 1
is set to (150, 100), the axes will move 150 in the X
direction and 100 in the Y direction (200, 150) from
the current position.

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 1 2 Assign 2 to variable 1.
MVPI *1 Move from the current position by the travel distance
corresponding to the content of variable 1 (position
No. 2, or (100, 100)).

Position Data Display in PC Software

Axis 1 Axis 2
No. Vel Acc Dcl
(X-axis) (Y-axis)
1 150.000 100.000
2 100.000 100.000
(Note) If acceleration and deceleration are not specified by position data or ACC (DCL) commands, the actuator
operates at the default values set in all-axis parameter No. 11, “Default acceleration” and all-axis parameter No.
12, “Default deceleration”.

Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
Y-axis Only the Y-axis
completes movement.

Each axis moves at 100mm/s.

X-axis
Home 0
395
 (Note) If the specified travel distance is equal to or less than the travel distance per
encoder pulse [mm/pulse], the axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse]
= (Screw lead [0.001mm] × Gear ratio numerator)
/ (Encoder resolution [pulses/rev] × Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse]
= Encoder resolution (0.001m/pulse) × 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above
calculation formulas:
5. SEL Commands

Encoder resolution : Axis-specific parameter No. 42

Encoder division ratio : Axis-specific parameter No. 43
Screw lead : Axis-specific parameter No. 47
Gear ratio numerator : Axis-specific parameter No. 50
Gear ratio denominator : Axis-specific parameter No. 51

(SCARA robots)
(Note 1) If an incremental movement command (MVPI, MVLI, TMPI or TMLI) is used
repeatedly, coordinate conversion rounding errors, etc., will accumulate. To
eliminate these errors, etc., execute an absolute movement command (MOVP,
MOVL, etc.) once.

[Example 1] MVPI 6 Move from the current position by the travel

according to position No. 6.
If the current positions of the axes are specified by
position No. 5 (200, 150, 50, 45) and travels are
specified by position No. 6 (15, 30, 20, 30), the
axes move to the positions (215, 180, 70, 75).

(Note) In the case of a SCARA axis, the axis operates according to all-axis
parameter No. 47, “Default PTP acceleration for SCARA axis” or all-axis
parameter No. 48, “Default PTP deceleration for SCARA axis” if the
acceleration/deceleration is not specified using an ACCS (DCLS) command.
In the case of a linear axis, the axis operates according to all-axis parameter
No. 200, “Default acceleration for linear axis” or all-axis parameter No. 201,
“Default deceleration for linear axis” if the acceleration/deceleration is not
specified in the position data table or using an ACC (DCL) command.

Caution
A margin of error could accumulate between each pitch if the incremental (relative position
indication) movement commands are repeated continuously.
To avoid accumulation of errors, utilize the movement command to indicate the absolute
position (MOVP Command).

396
 MVLI (Move via incremental interpolation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional MVLI Prohibited PE
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move the actuator, with interpolation, from the current position by the travel
distance corresponding to the position number specified in operand 1.
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.

(Note) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.

(Other than SCARA robots)

[Example 1] VEL 100 Set the speed to 100mm/s.
MVLI 1 If the current position is (50, 50) and position No. 1
is set to (150, 100), the axes will move 150 in the X
direction and 100 in the Y direction (200, 150) from
the current position, with interpolation.

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 1 2 Assign 2 to variable 1.
MVLI *1 Move from the current position by the travel distance
corresponding to the content of variable 1 (position
No. 2, or (100, 100)).

Position Data Display in PC Software

Axis 1 Axis 2
No. Vel Acc Dcl
(X-axis) (Y-axis)
1 150.000 100.000
2 100.000 100.000
(Note) If acceleration and deceleration are not specified by position data or ACC (DCL) commands, the actuator
operates at the default values set in all-axis parameter No. 11, “Default acceleration” and all-axis parameter No.
12, “Default deceleration”.

Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
Y-axis The X and Y-axes complete
movement simultaneously.

The tip of each axis moves at 100mm/s.

X-axis
Home 0

397
 (Note) If the specified travel distance is equal to or less than the travel distance per
encoder pulse [mm/pulse], the axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse]
= (Screw lead [0.001mm] × Gear ratio numerator)
/ (Encoder resolution [pulses/rev] × Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse]
= Encoder resolution [0.001m/pulse] × 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation
formulas:
5. SEL Commands

Encoder resolution : Axis-specific parameter No. 42

Encoder division ratio : Axis-specific parameter No. 43
Screw lead : Axis-specific parameter No. 47
Gear ratio numerator : Axis-specific parameter No. 50
Gear ratio denominator : Axis-specific parameter No. 51

(SCARA robots)
(Note 1) If an incremental movement command (MVPI, MVLI, TMPI or TMLI) is used
repeatedly, coordinate conversion rounding errors, etc., will accumulate. To
eliminate these errors, etc., execute an absolute movement command (MOVP,
MOVL, etc.) once.

[Example 1] MVLI 6 Move from the current position by the travel

according to position No. 6.
If the current positions of the axes are specified by
position No. 5 (200, 150, 50, 45) and travels are
specified by position No. 6 (15, 30, 20, 30), the axes
move to the positions (215, 180, 70, 75).

(Note) In the case of a SCARA axis, the axis operates according to all-axis parameter
No. 11, “Default CP acceleration for SCARA axis” or all-axis parameter No. 12,
“Default CP deceleration for SCARA axis” if the acceleration/deceleration is not
specified in the position data or using an ACC (DCL) command.
In the case of a linear axis, the axis operates according to all-axis parameter No.
200, “Default acceleration for linear axis” or all-axis parameter No. 201, “Default
deceleration for linear axis” if the acceleration/deceleration is not specified in the
position data or using an ACC (DCL) command.

Caution
A margin of error could accumulate between each pitch if the incremental (relative position
indication) movement commands are repeated continuously.
To avoid accumulation of errors, utilize the movement command to indicate the absolute
position (MOVL Command).

398
 MOVD (Move via direct value specification)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Target
Optional Optional MOVD (Axis pattern) PE
position

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD

          (PC/PG
only)

[Function] Move the axis specified by the axis pattern in operand 2, to the target position
corresponding to the value specified in operand 1. If operand 2 is not specified, all
axes will be moved.
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.
The target position is set in mm, and the set value is valid to the third decimal
place.

[Example 1] MOVD 100 10 Move axis 2 to position 100.

[Example 2] LET 1 100 Assign 100 to variable 1.

MOVD *1 11 Move all axes to the content of variable 1 (100).

399
  MVDI (Move relatively via direct value specification)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Travel
Optional Optional MVDI (Axis pattern) PE
distance

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD

          (PC/PG
only)

[Function] Move the axis specified by the axis pattern in operand 2 from its current position
by the travel distance corresponding to the value specified in operand 1. If
operand 2 is not specified, all axes will be moved.
The output will turn OFF at the start of axis movement, and turn ON when the
movement is complete.
The travel distance is set in mm, and the set value is valid to the third decimal
place.

(Note) If the specified travel distance is equal to or less than the travel distance per
encoder pulse [mm/pulse], the axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse]
= (Screw lead [0.001mm] × Gear ratio numerator)
/ (Encoder resolution [pulses/rev] × Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse]
= Encoder resolution [0.001m/pulse] × 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation
formulas:
Encoder resolution : Axis-specific parameter No. 42
Encoder division ratio : Axis-specific parameter No. 43
Screw lead : Axis-specific parameter No. 47
Gear ratio numerator : Axis-specific parameter No. 50
Gear ratio denominator : Axis-specific parameter No. 51

[Example 1] MVDI 30 11 Move all axes from the current position by 30mm in
the positive direction.

[Example 2] LET 1 -100 Assign -100 to variable 1.

MVDI *1 1 Move axis 1 from the current position in accordance
with the content of variable 1 (-100), or by 100mm in
the negative direction.

400
 PATH (Move along path via CP operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Start position End position
Optional Optional PATH number number PE

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move continuously from the position specified in operand 1 to the position specified in
operand 2.
The output type in the output field can be set using an actuator-declaration command POTP.
Increasing the acceleration will make the passing points closer to the specified positions.
If invalid data is set for any position number between the start and end position numbers,
that position number will be skipped during continuous movement.
Start position

Position origin
End position
(Note 1) Multi-dimensional movement can be performed using a PATH command.
In this case, input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will trigger
movement to the same point during continuous movement, thereby causing the speed to
drop.)

(Note 2) It is possible to move through discontinuous positions or move continuously by passing the
same position.
As shown in the example, specify the number corresponding to the discontinuous position
for both the start position number and end position number in the PATH command. In the
example, this position is No. 6.
[Example] The actuator moves continuously in the sequence of position No. 1  2
 3  4  6  9  10.
PATH 1 4
PATH 6 6 (discontinuous position)
PATH 9 10

(Note 3) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.

[Example 1] PATH 100 120 Move continuously from position No. 100 to 120.

401
 z CNTP (PTP Continuous Operation Mode Setting)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Other
Optional Optional CNTP numbers
Prohibited CP

Applicable models
XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later.)

[Function] It is the command to set PTP Continuous Operation Mode. By having PTP
Continuous Operation Mode activated, the next PTP operation command can be
5. SEL Commands

started during deceleration of PTP operation command, which is expected to

contribute to shorten time for movement. However, different from normal
operation, continuous operation performs movement to pass through the vicinity
of the target point. Also, the setting by this command would not give an impact to
the continuous operation of CP movement command (Refer to [5.4.1 Continuous
Movement Commands]).

Continuous operation mode should be indicated by the value in Operation 1.

The action of the case when PTP operation command is input to the continuous
program steps should vary depending on the indicated mode.
Operation
Mode Name Summary
1
• PTP Continuous Operation: Inactivated
0 Normal mode • Initial mode when CNTP Command not
executed
• PTP Continuous Operation: Activated
PTP Continuous • Continuous operation while checking
1
Operation Mode 1 arrival to vicinity of target point (with
positioning band width check)
• PTP Continuous Operation: Activated
PTP Continuous
2 • Time saving highly expected (with no
Operation Mode 2
positioning band width check)

The types of PTP operation command subject to continuous operation should be as

shown below.
MOVP･MVPI･TMPI･PMVP･ARCH(*)･PACH(*)
(*: Arch Motion Command should be subject only when SCARA axes are operated.)

402
[0] Nomal mode (PTP Continuous Operation Inactivated) (Operation 1 = “0”)
PTP movement command would not perform continuous movement in a normal mode. The
next PTP operation command should be output only after Condition (1) and (2) below are
satisfied.
1) Command outputs to all the operation axes are complete
2) All the operation axes have got into the position band
Also, when this command is not executed in a program, the mode will be set to this mode
automatically.

Example of When MOVP Command Continues in Normal Mode

V
: Command pulse
: Feedback pulse
: Next Command Start Timing

5. SEL Commands
Next movement command
starts after (1) and (2) satisfied

(1) Command Output Complete (2) Reached Positioning Band

V
When Positioning Band Expanded by PBND Command

Next movement command

should start after (1) even if
(2) timing gets earlier

[1] PTP Continuous Operation Mode 1 (Operation 1 = “1”)

[2] PTP Continuous Operation Mode 2 (Operation 1 = “2”)
If PTP Continuous Operation Mode is indicated, the PTP operation command that is subject to
should perform continuous operation.
The start condition of the next PTP operation command should differ depending on the mode
that was indicated.

In Mode 1, the next movement command starts after all the axes are confirmed in the
positioning band.
By changing the positioning band width by using PBND Command together, it is available to
check if reached near the target position at the same time as attempting to save time. Also,
even if having the positioning band width wide, the expectation of time shortening efficiency
should not be as high as Mode 2. It is a mode suitable for time saving of such operations as a
rough positioning operation, which requires a certain level of accuracy for positioning.

In Mode 2, the movement command in action and the next movement command get compared,
and the next operation command should be started once it gets ready to start. Commands are
added on top based on the information of movement commands, thus higher efficiency in time
saving can be expected than Mode 1. However, there is a concern that the actuator may not
reach the vicinity of the target point for each operation in some cases. It is a mode suitable for
time saving in such operations as interference prevention that does not require accurate
positioning.

403
 Example of When MOVP Command Continues in PTP Continuous Operation Mode 1
V
: Command pulse
: Feedback pulse
: Next Command Start Timing

T
5. SEL Commands

V
When Positioning Band Expanded by PBND Command

Next movement command

starts during deceleration of
previous movement command

Example of When MOVP Command Continues in PTP Continuous Operation Mode 2

V
: Command pulse
: Next Command Start Timing

Timing available for Next movement command

next command to start starts at the timing that the
next command gets ready to start

(Note 1) PTP continuous operation mode indicated in this command is valid only in the
program that the command was executed.
Also, the setting of the PTP continuous operation mode will be cancelled when the
program ends.

(Note 2) When PTP continuous operation mode gets activated, the motion path should get
different from that in a normal mode.

(Note 3) In case a command which is not subject to PTP continuous operation such as CP
operation command (eg. PATH Command), output operation command (eg. BTON
Command) and palletizing position number calculation command (eg. PINC
Command) during a command subject to PTP continuous operation, PTP
continuous operation will not be performed while this command is executed.

404
(Note 4) If PBND Command is to be used together, be aware that PBND Command setting
will still be valid after the program finishes.
It is recommended basically that the value of the positioning band that has been
changed is set back after the PTP continuous operation mode is finished when
building a program. Also, for the positioning band of SCARA Robot J1/J2/R axes,
the setting should be established in joint angles ([deg]). (For details, refer to the
explanation for PBND Command.)

(Note 5) There is a tendency that high efficiency in time saving by continuous operation
cannot be expected in such motions as stated below.
‰ Duration of acceleration and deceleration is short
- Acceleration and deceleration are high considering velocity
- An axis that operates only for a short distance is included in the operation axes
‰ An axis with a large deviation in operation is included in the operation axes

5. SEL Commands
(Note 6) For a controller for SCARA Robot, it is not available to execute an arch motion
command (ARCH/PACH) to a linear axis while PTP continuous operation mode
activated. Error No. B80 “Indication Prohibited Axis Error” will be issued if
attempted to execute. In the case above, it is necessary to get the setting back to
the normal mode in order to execute an arch motion command.

(Note 7) Check also in the sections in “5.4.1 Continuous Movement Commands” for the
details of the specifications related to the continuous operation.

[Example 1] CNTP 2 Indicate PTP Continuous Operation Mode 2.

MOVP 1 Perform PTP operation to position of Position No. 1.
MOVP 2 Perform PTP operation to position of Position No. 2. PTP Continuous
Operation
MOVP 3 Perform PTP operation to position of Position No. 3.
CNTP 0 Put the setting back to normal mode.
MOVP 4 Perform PTP operation to position of Position No. 4.
MOVP 5 Perform PTP operation to position of Position No. 5.

[Example 2] CNTP 2 Indicate PTP Continuous Operation Mode 2.

MOVP 1 Perform PTP operation to position of Position No. 1.
CIR2 10 11 CP arc motion going through Position No. 10 and 11
should be performed.
MOVP 2 Perform PTP operation to position of Position No. 2. PTP Continuous
MOVP 3 Perform PTP operation to position of Position No. 3. Operation
CNTP 0 Put the setting back to normal mode.

[Example 3] PBND 11 5 Set the width of the positioning band for 1st and 2nd
axes to 5 [mm].
CNTP 1 Indicate PTP Continuous Operation Mode 1.
MOVP 1 Perform PTP operation to position of Position No. 1.
MOVP 2 Perform PTP operation to position of Position No. 2. PTP Continuous
Operation
MOVP 3 Perform PTP operation to position of Position No. 3.
* The next command will start after it is confirmed
that the axis gets into the range within 5 [mm]
from the target position.
CNTP 0 Put the setting back to normal mode.
PBND 11 0.1 Set the width of the positioning band for 1st and 2nd
axes to 0.1 [mm].

405
  JW (Jog)
(Note) When this command is to be used in MSEL-PC/PG or TTA, whether All Axes Parameter No.
55 (Coordinate System Definition 1 Control) and No. 56 (Coordinate System Definition 1
Construction Axis Setting) are set or not makes the operation different.
◎With No Setting
The operation will be the same as the existing linear axis specifications.
• There is no restriction to the number of indicated axes
• JOG operation is made on each axis system
• Execution is available with the home-return operation incomplete
◎With Setting Done
• Only one axis is available to be indicated.
• JOG operation is made on the work coordinate system.
• Execution is not available unless the home-return operation is completed.
5. SEL Commands

Extension Command, declaration

Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Input/output/
Optional Optional J□W□ Axis pattern PE
flag number

Applicable models
XSEL-JX/KX 
Other than XSEL-JX/KX 

[Function] The axes in the axis pattern specified in operand 1 will move forward or backward
while the input or output port or flag specified in operand 2 is ON or OFF.
JBWF .......... Move backward while the specified port is OFF.
JBWN.......... Move backward while the specified port is ON.
JFWF .......... Move forward while the specified port is OFF.
JFWN .......... Move forward while the specified port is ON.
With SCARA axes, coordinate system definition unit axis (refer to 1.4.6) only one axis (X, Y, Z
or R-axis) can be specified.
If a SCARA axes, coordinate system definition unit axis is specified, operation (CP operation)
based on the currently selected work coordinate system is applied. With linear axis, multiple
axes can be specified.

(Note 1) In main application XSEL-PX/QX Ver.0.33 or older, “Error No. B80:

Specification-prohibited axis error” or “Error No. 421: SCARA/linear-axis
simultaneous specification error” occurs if a SCARA axis is specified.

(Note 2) With linear axes, this command is also effective on axes that have not yet
performed home return. In this case, however, the maximum speed is limited to
all-axis parameter No. 15, “Maximum jog speed before coordinate
confirmation/home return”. Since the coordinate values have no meaning in this
condition, pay due attention to prevent contact with the stroke end. With SCARA
axes, operation by this command is disabled only before the confirmation of ABS
coordinates.

(Note 3) The jog speed of a SCARA axis is limited by all-axis parameter No. 37, “Maximum
SCARA-axis speed under JW command” (default: 250mm/sec). This
parameter can be edited using PC software Ver.7.0.11.0 or later, teaching pendant
TB-02 (D): first edition or later, TB-01 (D): first edition or later, SEL-T (D): Ver.1.01,
IA-T-X (D): Ver.1.44 or later. (Although the value set in the above parameter can
also be changed using an older PC software or teaching pendant version, the
parameter name is not displayed and the set value is indicated in hexadecimal
notation.)

406
(Note 4) Axes other than the SCARA axes, coordinate system definition unit axis (refer to
1.4.6) Z-axis cannot be operated from other tasks while the X, Y or R-axis is jogging.

(Note 5) If the start position of operation of a SCARA axis is near the point at which arms 1
and 2 form a straight line (singular point), operation is performed at low
acceleration to prevent sudden movement.

(Note 6) If the start position of operation of a SCARA axis is outside the work envelope
(within the soft limit overt points of each axis, CP operation limit band,
tool-reference-point entry prohibition circle (if tool offset is enabled) or back entry
prohibition area), select an appropriate axis and direction and move the axis to
inside the work envelope. Jogging out of the work envelope is not permitted.

(Note 7) If the R-axis generates “Error No. C74: Actual-position soft limit over error” due to a

5. SEL Commands
posture control component, etc., during SCARA-axis jog operation, take an
appropriate action, such as bringing the R-axis position closer to the center of the
R-axis stroke, using the jog function for each axis in the PC software or on the
teaching pendant.

(Note 8) The R-axis JOG operation will be the rotational operation of the tool tip when it is
set to tool offset valid (tool coordinate system select number ≠ 0) for SCARA axes,
coordinate system definition unit axis (refer to 1.4.6).
Therefore, Arm 1 and 2 for SCARA axes and X and Y-axes for coordinate system
definition unit axis will operate. Pay attention to this difference.

(Note 9) If the axis that moves according to JW is a linear axis, and also if axis-specific
parameter No. 1, “Axis operation type” is set to 0 (Linear movement axis) while
axis-specific parameter No. 68, “Linear-axis linear movement mode selection” is
set to 1 (Infinite stroke mode*), infinite stroke operation is performed.
During infinite stroke operation, the current position circulates within a range of
approx. -10m to 10m.
Any positioning command to a position outside a coordinate range of approx.
-9999 to +9990 generates “Error No. CBE: Target-value data boundary over error”.
If a positioning command not meeting the above condition is executed outside a
coordinate range of approx. -9990 to +9990, “Error No. CC5: Positioning boundary
breakout error” occurs.
(These errors are generated intentionally because the user cannot recognize the
operating direction precisely around the boundary. If any of these errors occurs,
axis-specific parameter No. 10, “ABS reset position movement/home return method”
must be set to 1 (Current position 0 home) and, if necessary, the current value may
also have to be reset with a HOME command.)
During infinite stroke operation, be sure to implement a timeout check using other
task or external system.

The infinite-stroke mode can be specified only when an incremental encoder is used.
If you wish to use the infinite-stroke mode, contact IAI’s Sales Engineering.

(Note 10) JOG operation in positive direction when the current position is approximately in
the range from 9990 to 9999 and JOG operation in negative direction when the
current position is approximately in the range from -9999 to -9990.
Move the actuator once to the opposite direction with JOG operation and get it out
of the ranges described above, and then perform the JOG operation again.

(Note 11) JOG operation by this command cannot be performed for coordinate system
definition unit axis (refer to 1.4.6) while in home-return incomplete condition. Also,
number of axes available for operation indication is only one.

407
 [Example 1] VEL 100 Set the speed to 100mm/s.
JBWF 10000 10 Move axis 5 backward while input 10 is OFF.

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
10000 (binary)  16 (decimal)
VEL 100 Set the speed to 100mm/s.
LET 1 16 Assign 12 to variable 1.
JBWF *1 10

[Example 3] VEL 100 Set the speed to 100mm/s.

LET 5 20 Assign 20 to variable 5.
JFWN 10000 *5 Move axis 5 forward while the content of variable 5
(input 20), is ON.
5. SEL Commands

408
 STOP (Stop movement)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional STOP Axis pattern Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Decelerate and stop the axes specified by the axis pattern in operand 1.

(Note 1) A STOP command can be used with all active servo commands other than a
SVOF command.

(Note 2) With a SCARA robots, all axes are decelerated to a stop regardless of the axis
pattern.

(Note 3) The STOP command only issues a deceleration stop (operation cancellation)
command and the program does not wait for completion of stopping. If other
servo command is issued while the axes are stopping, the command becomes
invalid or an “axis multiple-use” or other error occurs.
Set a timer, etc., in the program so that the next servo command will be issued
after a sufficient deceleration-stop processing time elapses.
Even when a STOP command is to be issued to an axis currently stopped,
provide a minimum interval of 0.1sec before the next servo command is issued.

(Other than SCARA robots)

[Example 1] STOP 11 Decelerate and stop axes 1 and 2.

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
STOP *1

(SCARA robot)
[Example 1] STOP 1 Decelerate the SCARA axes to a stop.

409
  PSPL (Move along spline via CP operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Start position End position
Optional Optional PSPL PE
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Continuously move from the specified start position to end position via
interpolation along a spline-interpolation curve.
The output type in the output field can be set using an actuator-declaration
command POTP.
If invalid data is set for any position number between the start and end position
numbers, that position number will be skipped during continuous movement.
Start position

Position origin
End position
(The diagram above is an image.)

(Note 1) If the acceleration and deceleration are different between points, the speeds will
not be connected smoothly.

In this case, input in operand 1 the point number of the next target, instead of the
predicted current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will
trigger movement to the same point during continuous movement, thereby
causing the speed to drop.)

(Note 2) In XSEL-PX/QX, a movement to a position that indicates the target for SCARA
axis and linear drive axis at the same time cannot be made. (421 “SCARA/Linear
Drive Axes Double Indication Error”)
Use GRP Command, or operate the position data of SCARA axis and linear drive
axis separately.

[Example] PSPL 100 120 Continuously move from position Nos. 100 to 120
along a spline-interpolation curve.

410
 PUSH (Move by push motion)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Target position
Optional Optional PUSH Prohibited PE
number

Applicable models
MSEL-PCX/PGX  (Axes other than the power Con SCARA, such as the gripper is excluded.)
Other than above 

5. SEL Commands
[Function] Perform push-motion operation until the target position specified in operand 1 is
reached.
The axes move in a normal mode from the position origin to the push-motion
approach start position as determined by a PAPR command, after which
push-motion approach operation (toque-limiting operation) will be performed. The
speed of push-motion approach operation (toque-limiting operation) is determined
by the push-motion approach speed specified by a PAPR command. If the output
field is specified, the output will turn ON when a contact is confirmed, and turn
OFF when a missed contact is detected.
Movement from the position origin to start position of push-motion approach
conforms to the speed and acceleration/deceleration specified by VEL/ACC/DCL
commands or in the position data table.

Position origin
Start position of push-motion approach operation (torque-limited operation)

Push-motion approach distance

Target position

The pressing force can be adjusted in Driver Card Parameter No. 38 Limitation
for pressing torque in positioning process (default value = 70%) or PTRQ
Command for models other than XSEL-J/K, MSEL and TTA.
For XSEL-J/K, MSEL and TTA, the pressing force can be adjusted in Driver Card
Parameter No. 33 Limitation for Pressing Torque in Positioning Process (default
value = 70%).
For MSEL and TTA, it can also be adjusted with PTRQ Command.

(Note 1) A PUSH command only moves a single axis. PUSH Command moves only the
Z-axis for SCARA Coordinates. PUSH Command is not available for IXP
PowerCON SCARA. If multiple axes are specified, an “Error No. C91, Multiple
push-axes specification error” will generate.
Even though indication of Z-axis is available for coordinate system definition unit
axis (refer to 1.4.6), “Error No. C91 Indication of 2 or More Pressing Axes Error”
could occur and operation could not be made depending on the offset of the
selected coordinate system in X, Y and R-axes.
Indication is available only when R-axis offset of the selected work coordinate
system for X and Y-axes is 0 for coordinate system definition unit axis (refer to
1.4.5). Also, indication is available only when both of X-axis offset and Y-axis
offset in the selected tool coordinate system for R-axis is 0 for coordinate system
definition unit axis.

411
 (Note 2) A push-motion approach speed exceeding the maximum speed permitted by the
system will be clamped at the maximum speed.
(The maximum system speed is not the maximum practical speed. Determine a
practical speed by considering the impact upon contact, etc.)

(Note 3) When the pressing approaching distance is longer than the distance from the
position start point to the target position, the pressing operation starts from the
start at the position start point.
[Example] PAPR 100 20
MOVP 2
PUSH 10

Set the push-motion approach distance to 100mm and push-motion approach

speed to 20mm/sec.
5. SEL Commands

Move from the current position to position No. 2.

Perform push-motion movement from position No. 2 to 10.

The diagram below describes a push-motion movement based on the position data
shown in the table below:

Position Data Display in PC Software

Position No. Axis 1 Axis 2 Vel Acc Dcl
1
2 50.000 100.000




10 200.000 200 0.30 0.30


Move at 200mm/sec.

Axis 2 Perform push-motion approach operation

(speed: 20mm/sec).

Position No. 10
Position No. 2

Axis 1

412
 PTRQ (Change push torque limit parameter)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTRQ Axis pattern Ratio CC

Applicable models
XSEL-J/K 
Other than XSEL-J/K 

5. SEL Commands
[Function] Change the push torque limit parameter of the axis pattern specified in operand 1
to the value in operand 2. Operand 2 is set as an integer (unit: %).
A PTRQ command temporarily rewrites “Driver parameter No. 38: Push torque
limit at positioning”.

(Note 1) If the pressing torque limit is not set by PTRQ Command, the value set in “Driver
Card “Parameter No. 38 Limitation for Pressing Torque in Positioning Process” will
be used for models other than XSEL-PC/PG ad TTA.
For XSEL-PC/PG and TTA, the value should be that in “Driver Card Parameter No.
33 Limitation for Pressing Torque in Positioning Process”.

(Note 2) The new push torque limit will remain effective even after the program ends.
Therefore, when building a system using the PTRQ command, in every program
explicitly specify a push torque limit using a PTRQ command before each
push-motion operation. Assuming that the push torque limit will be reset to the
original value when push-motion operation ends in one program can cause an
unexpected problem in another program, because a different push torque limit will
be used if the program is aborted due to an error, etc.

(Note 3) The new value set by a PTRQ command will become ineffective after a power ON
reset or software reset.

(Note 4) A PTRQ command does not rewrite “Driver parameter No. 38: Push torque limit at
positioning” (main CPU flash memory (non-volatile memory)).

[Example] PTRQ 1 50 Change the push torque limit parameter for axis 1 to
50%.
PAPR 100 20 Set the push-motion approach distance to 100mm
and the push-motion approach speed to 20mm/sec.
MOVP 2 Move to position No. 2.
PUSH 10 Move by push motion from position No. 2 to position
No. 10.

413
  CIR2 (Move along circle via CP operation 2 (Arc interpolation))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Passing position Passing position
Optional Optional CIR2 PE
1 number 2 number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Move along a circle originating from the current position and passing positions 1
and 2, via arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing
positions 1 and 2 will change the direction of movement to CCW (counterclockwise).

(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position Setting value in the position data specified in
1
data specified in operand 1 operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.

(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and MSEL-PCX/PGX)

The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position Setting value in the position data specified in
1
data specified in operand 1 operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
SCARA axis”)
3
All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
Passing position 1
Axis 2

Position Passing position 2

origin

Axis 1
414
(Note 1) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a CIR2 command is executed
based on the position data of axes 2 and 3.

(Note 2) SCARA axes are available only on XY plane.

(Note 3) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other

5. SEL Commands
appropriate correction.

(Note 4) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a

movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 5) The coordinate system definition unit axes set in ALL Individual Parameter No. 56
(Coordinate System Definition 1 Constructing Axes Setting) in TTA are valid on
XY plane.
When Z-axis is indicated (XZ plane and YZ plane), “Error No. B80 Indication of
Forbidden Axis Error” will occur unless the R-axis offset in the selected work
coordinate system is 0.

(Note 6) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error” will
occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

[Example] VEL 100 Set the speed to 100mm/s.

CIR2 100 101 Move along a circle (circular interpolation) passing
position No. 100 and 101.

Axis 2 Position No. 100

Position origin Position No. 101

Axis 1

415
  ARC2 (Move along circle via CP operation 2 (Arc interpolation))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Passing position End position
Optional Optional ARC2 PE
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Move along an arc originating from the current position, passing the specified
position and terminating at the end position, via arc interpolation.

(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position Setting value in the position data specified in
1
data specified in operand 1 operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)

(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and MSEL-PCX/PGX)

The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position Setting value in the position data specified in
1
data specified in operand 1 operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
SCARA axis”)
3
All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.

Axis 2 Passing position

Position origin End position

Axis 1

416
(Note 1) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a ARC2 command is executed
based on the position data of axes 2 and 3.

(Note 2) SCARA axes are available only on XY plane.

(Note 3) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other

5. SEL Commands
appropriate correction.

(Note 4) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a

movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 5) The coordinate system definition unit axes set in ALL Individual Parameter No. 56
(Coordinate System Definition 1 Constructing Axes Setting) in TTA are valid on
XY plane.
When Z-axis is indicated (XZ plane and YZ plane), “Error No. B80 Indication of
Forbidden Axis Error” will occur unless the R-axis offset in the selected work
coordinate system is 0.

(Note 6) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error” will
occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

[Example] VEL 100 Set the speed to 100mm/s.

ARC2 100 101 Move along an arc (circular interpolation) from the
current position to position No. 101 by passing
position No. 100.

Position No. 100

Axis 2

Position No. 101

Position origin

Axis 1

417
  CIRS (Move along circle three-dimensionally via CP operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Passing position Passing position
Optional Optional CIRS PE
1 number 2 number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Move along a circle by passing the passing positions 1 and 2 in this order, starting
from the current position being the origin (three-dimensional movement). The
direction in which to go around the circle is determined by the position data given.
In the figure below, the rotating direction is reversed if passing positions 1 and 2
are swapped.
Axis 3

Passing position 2
Passing position 1
Axis 2

Position origin

Axis 1

(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration Deceleration
Setting value in the position Setting value in the position Same as the effective
1
data specified in operand 1 data specified in operand 1 value of acceleration
2 Setting value by VEL command Setting value by ACC command
Default acceleration in
3
all-axis parameter No. 11

418
(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position
1 Setting value in the position data specified in operand 1
data specified in operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
SCARA axis”)
3 All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)

5. SEL Commands
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.

(Note 1) This command is valid on any planes in three-dimensional space. If four or more
axes are set in the position data, three axes are selected automatically from the
axes that have been set, starting from the axis of the youngest number.
If position data is set for axes 2 to 5, for example, a CIRS command is executed
based on the position data of axes 2 to 4.

(Note 2) The path tends to shift inward as the speed rises. Minor correction such as setting
the position data slightly outward may be required.

(Note 3) If the diameter of the circle is smaller relative to the set speed, the speed may be
limited.
(Although the extent to which the speed is limited can be reduced by raising the
acceleration/acceleration, make sure the acceleration and deceleration do not
exceed the range permitted by the actuator.)

(Note 4) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other
appropriate correction.

(Note 5) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a

movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 6) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error” will
occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

419
  ARCS (Move along arc three-dimensionally via CP operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Passing position End position
Optional Optional ARCS PE
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Move to the end position along an arc by passing the passing position, starting
from the current position being the origin (three-dimensional movement).
Axis 3

End position
Passing position
Axis 2

Position origin

Axis 1
(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and
MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration Deceleration
Setting value in the position Setting value in the position Same as the effective
1
data specified in operand 1 data specified in operand 1 value of acceleration
2 Setting value by VEL command Setting value by ACC command
Default acceleration in
3
all-axis parameter No. 11

(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and MSEL-PCX/PGX)

The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position
1 Setting value in the position data specified in operand 1
data specified in operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
SCARA axis”)
3
All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.

420
(Note 1) This command is valid on any planes in three-dimensional space. If four or more
axes are set in the position data, three axes are selected automatically from the
axes that have been set, starting from the axis of the youngest number.
If position data is set for axes 2 to 5, for example, a ARCS command is executed
based on the position data of axes 2 to 4.

(Note 2) The path tends to shift inward as the speed rises. Minor correction such as setting
the position data slightly outward may be required.

(Note 3) If the diameter of the circle is smaller relative to the set speed, the speed may be
limited.
(Although the extent to which the speed is limited can be reduced by raising the
acceleration/acceleration, make sure the acceleration and deceleration do not
exceed the range permitted by the actuator.)

5. SEL Commands
(Note 4) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other
appropriate correction.

(Note 5) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a

movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 6) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error”
will occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

421
  CHVL (Dedicated command for linear axis: Change speed)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional CHVL Axis pattern Speed CP

Applicable models
XSEL-JX/KX 
Other than XSEL-JX/KX 

[Function] Change the speed of the axes operating in other task.

5. SEL Commands

When a CHVL command is executed, the speed of the axes specified in operand 1 will
change to the value specified in operand 2.

(Note 1) This command is not valid on an axis operated by a CIR, ARC, PSPL, PUSH, or ARCH
command.

(Note 2) Executing a CHVL command for an axis operating in sigmoid motion (SCRV command)
will generate an “Error No. CC1, Speed-change condition error”.

(Note 3) This is a temporary speed-change command issued from other task to the active
packet (point). It is not affected by the data declared by VEL.

Program 1 Program 2 If CHVL is executed in program 1 while MOVP

VEL 300 2 is executed in program 2, the travel speed of


MOVP 2 will become 100mm/sec.
MOVP 1 The speeds of other move commands will
CHVL 11 100 MOVP 2 remain 300mm/sec.
MOVP 3



The axis pattern can be specified indirectly using a variable.

When program 1 is rephrased based on indirect specification using a variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
CHVL *1 100

(Note 4) Since this command is valid only for the packet that is active at the time of execution of
the command for an axis subject to continuous motion in a PATH command, etc.,
caution must be exercised against the timing shift. The packet handling will be put on
hold during speed-change processing, so caution must also be exercised against the
locus shift.

Program 1 Program 2
 VEL 300
 
  No. 1 No. 3 No. 5
CHVL 11 100 PATH 1 5


 VEL 100
No. 2 No. 4

If CHVL is executed in program 1 while PATH is executed in program 2, or specifically

during the PATH movement from point No. 2 to point No. 3, the speed specified by
CHVL (100mm/sec in the above example) will become valid only during the PATH
movement to point No. 3. Other travel speeds will remain at the speed specified by
VEL (300mm/sec in the above example).

422
(Note 5) Override of the CHVL call task will be applied, so caution must be exercised.

(Note 6) The maximum speed of the specified axis completing home return will be clamped
by the minimum value set in “Axis-specific parameter No. 28, Maximum operating
speed of each axis” or “Axis-specific parameter No. 27, Maximum speed limited by
maximum motor speed” with respect to the specified axis and related interpolation
axes currently operating. To prevent the maximum speed from being limited due to
the effect of other axis whose maximum speed is lower than the speed specified in
the CHVL command, issue a CHVL command in multiple steps corresponding to
the respective axes having different maximum speeds. In particular, specification
of a CHVL command in a separate step is recommended for a rotating axis.

(Note 7) This command is dedicated for the liner axes only. “Error No. 80 Indication
Prohibited Axis Error” will be issued if the SCARA axes are indicated, or SCARA

5. SEL Commands
axes and the liner axes are indicated at the same time.

(Note 8) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, and satisfies the following
conditions, the upper limit of the change velocity will be clamped at the velocity at
the operation start.
 The subjected axis of the coordinate system definition unit is in CP operation
together with R-axis and the tool offset of the coordinate system definition unit
is valid.

[Example] CHVL 11 500  CHVL 1 500

CHVL 10 500

423
  ARCD (Move along arc via CP operation by specifying end position and
center angle (Arc interpolation))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
End position Center
Optional Optional ARCD PE
number angle

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Move along a circle originating from the current position and passing positions 1
and 2, via arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing
positions 1 and 2 will change the direction of movement to CCW (counterclockwise).
The setting unit of the center angle is degree and the set value is effective to three
decimal points.

(Note) The rotating direction of the actual operation locus may vary from the specified
direction depending on how each axis is installed, how the two axes are
combined, and so on. Perform test operation to check the rotating direction.
The setting unit of the center angle is degree and the set value is effective to three
decimal points.

(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1 Setting value in the position Setting value in the position data specified in
data specified in operand 1 operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
3 Default acceleration in all-axis parameter No. 11
(Default deceleration in all-axis parameter No. 12)

(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and MSEL-PCX/PGX)

The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1 Setting value in the position Setting value in the position data specified in
data specified in operand 1 operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
3 SCARA axis”)
All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.

End position Position origin

Center angle
424
(Note 1) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a ARCD command is executed
based on the position data of axes 2 and 3.

(Note 2) SCARA axes are available only on XY plane.

(Note 3) If the center angle is small and the path is near a soft limit, “Error No. C73:
Target-path soft limit over error” may occur.
In this case, move the path slightly inward from the soft limit boundary or make
other appropriate correction. Also note that the larger the center angle, the
smaller the path error becomes.

5. SEL Commands
(Note 4) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a
movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 5) The coordinate system definition unit axes set in ALL Individual Parameter No. 56
(Coordinate System Definition 1 Constructing Axes Setting) in TTA are valid on
XY plane.
When Z-axis is indicated (XZ plane and YZ plane), “Error No. B80 Indication of
Forbidden Axis Error” will occur unless the R-axis offset in the selected work
coordinate system is 0.

(Note 6) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error” will
occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

[Example] VEL 100 Set the speed to 100mm/s.

ARCD 100 120 Move along an arc from the position origin to position
No. 100 for a center angle of 120 (CCW direction).

425
  ARCC (Move along arc via CP operation by specifying center position
and center angle (Arc interpolation))
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Center position Center
Optional Optional ARCC PE
number angle

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Move along an arc originating from the current position by keeping a specified radius
from the center position, via arc interpolation.
Specify the center position in operand 1, and the center angle formed by the position
origin and end position in operand 2. The center angle is set in a range from -3600 to
3600 (±10 revolutions). A positive value indicates CCW (counterclockwise-direction)
movement, while a negative value indicates CW (clockwise-direction) movement
(setting unit: (degree)).
The setting unit of the center angle is degree and the set value is effective to three
decimal points.

(Note) The rotating direction of the actual operation locus may vary from the specified
direction depending on how each axis is installed, how the two axes are combined,
and so on. Perform test operation to check the rotating direction.
The setting unit of the center angle is degree and the set value is effective to three
decimal points.

(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and

MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position
1 Setting value in the position data specified in operand 1
data specified in operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)

(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD and MSEL-PCX/PGX)

The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting value in the position
1 Setting value in the position data specified in operand 1
data specified in operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
SCARA axis”)
3
All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error” will
generate.
Position origin

Center position Center angle

426
(Note 1) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a ARCC command is executed
based on the position data of axes 2 and 3.

(Note 2) SCARA axes are available only on XY plane.

(Note 3) If the center angle is small and the path is near a soft limit, “Error No. C73:
Target-path soft limit over error” may occur.
In this case, move the path slightly inward from the soft limit boundary or make
other appropriate correction. Also note that the larger the center angle, the
smaller the path error becomes.

5. SEL Commands
(Note 4) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a
movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 5) The coordinate system definition unit axes set in ALL Individual Parameter No. 56
(Coordinate System Definition 1 Constructing Axes Setting) in TTA are valid on
XY plane.
When Z-axis is indicated (XZ plane and YZ plane), “Error No. B80 Indication of
Forbidden Axis Error” will occur unless the R-axis offset in the selected work
coordinate system is 0.

(Note 6) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error” will
occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

[Example] VEL 100 Set the speed to 100mm/s.

ARCC 100 120 Move along an arc from the position origin for a
center angle of 120 around position No. 100 being
the center (CCW direction).

427
  PBND (Set positioning width)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PBND Axis pattern Distance CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Set the positioning complete width for the axes that correspond to the axis pattern
specified in operand 2. The unit of operand 2 is as follows.

Unit of operand 2
SCARA X, Y, R: deg / Z: mm
Linear mm / RS: deg
[Function] As a rule, positioning is deemed complete when all command pulses have been sent
and the current position is within the positioning complete width. Accordingly, this
command provides an effective way to shorten the tact time by shortening the settling
time after rough positioning. (Normally a desired effect can be achieved with approx. 3
to 5, but you must check on the actual equipment.)
Feedback pulses
If the set positioning width exceeds this area,
Command the settling time will become “0”.
pulses

Settling time

(Note 1) If positioning width is not set with a PBND command, the value set in “Axis-specific
parameter No. 58, Positioning width” will be used.
(Note 2) If the positioning width is changed, the new setting will remain valid even after the
program ends. Therefore, to build a system using PBND commands, a positioning
band must be expressly specified with a PBND command before operation of each
program. An assumption that the positioning width will be reset to the original value
when the operation ends in other program may lead to an unexpected problem,
because the positioning width will become different from what is anticipated in case the
applicable program is aborted due to error, etc.
(Note 3) The value set in “Axis-specific parameter No. 58, Positioning width” will not be written
by a PBND command.

[Example 1] PBND 11 5 Set the positioning width for X-axis and Y-axis to 5
after this command.

[Example 2] The axis pattern can be specified indirectly using a variable. When the command
in [Example 1] is rephrased based on indirect specification using a variable:
11 (binary)  3 (decimal)
LET 1 3 Assign 3 to variable 1.
PBND *1 5

428
 TMPI (Move incrementally to position on tool coordinate system via PTP
operation)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and No. 56.
(MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional TMPI Prohibited PE
number

Applicable models
XSEL

5. SEL Commands
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Move incrementally on the tool coordinate system without interpolation (= via PTP
operation), by the travel from the current position corresponding to the position data in
operand 1.
(Note 1) The tool/work coordinate systems are functions available for SCARA Robot. Also, this is a
feature for the axes of the coordinate system definition unit of MSEL-PC/PG and TTA set in
Coordinate System Definition 1 Constructing Axes Setting (All Axes Parameter No. 56).
Indicating other axes will cause “Error No. B80 Indication of Forbidden Axis Error”.
(Note 2) If an incremental movement command is used repeatedly, coordinate conversion rounding
errors, etc., will accumulate.
[Example] TMPI 120

Position data

Tool coordinate home

after movement

Tool coordinate home

before movement

MSEL-PC/PG and TTA are available for input

to PC software of Ver. 12.03.00.00 and later
and teaching pendant TB-01 of Ver. 1.50 and
later. (Not applicable for SEL-T (D) and IA-T-X
(D))

429
  TMLI (Move incrementally to position on tool coordinate system via CP
operation)
(Note) When using this command in MSEL-PC/PG or TTA, set All Axes Parameter No. 55 and No. 56.
(MSEL-PC/PG or TTA main application V2.00 or later)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional TMLI Prohibited PE
number

Applicable models
XSEL
5. SEL Commands

XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

         (TTA only)


[Function] Move incrementally on the tool coordinate system without interpolation (= via CP operation),
by the travel from the current position corresponding to the position data in operand 1.
(Note 1) The tool/work coordinate systems are functions available for SCARA Robot. Also, this is a
feature for the axes of the coordinate system definition unit of MSEL-PC/PG and TTA set in
Coordinate System Definition 1 Constructing Axes Setting (All Axes Parameter No. 56).
Indicating other axes will cause “Error No. B80 Indication of Forbidden Axis Error”.
(Note 2) If an incremental movement command is used repeatedly, coordinate conversion rounding
errors, etc., will accumulate.
[Example] TMLI 120

Position data

Tool coordinate home

after movement

Tool coordinate home

before movement

MSEL-PC/PG and TTA are available for input

to PC software of Ver. 12.03.00.00 and later
and teaching pendant TB-01 of Ver. 1.50 and
later. (Not applicable for SEL-T (D) and IA-T-X
(D))

430
 CIR (Move along circle via CP operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Passing position Passing position
Optional Optional CIR PE
1 number 2 number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move along a circle originating from the current position and passing the positions
specified in operands 1 and 2.
Therefore, reversing the settings of operands 1 and 2 will implement a circular
movement in the reverse direction.
The output will turn OFF at the start of circular movement, and turn ON when the
movement is complete.
Difference from CIR2:
CIR processing resembles moving along a polygon with a PATH command,
while CIR2 actually performs arc interpolation.
Select an applicable command by considering the characteristics of each
command. (Normally CIR2 is used.)

(Note 1) If the division angle is set to “0” with a DEG command (division angle is calculated
automatically based on priority speed setting), the speed set in the data at passing
position 1 or speed set by a VEL command will be used (former is given priority).
The speed set in the data at passing position 2 will have no meaning.

(Note 2) If the division angle is set to a value other than “0” with a DEG command (normal
division angle), the speed specified in the target position data will be used. (The
speed set by a VEL command will become valid if position data is not specified.)
In the case of circular movement, the axes will return from passing position 2 to
the start position at the speed declared by a VEL command.
Therefore, a VEL command must always be used with a CIR command.

(Note 3) The acceleration is selected in the order of the acceleration in the data at passing
position 1, followed by the value in “All-axis parameter No. 11, Default
acceleration”.
The deceleration will become the same value as the valid acceleration selected
above. Therefore, the deceleration in the data at passing position 1 and the
acceleration/deceleration in the data at passing position 2 will not have any
meaning.

(Note 4) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a CIR command is executed
based on the position data of axes 2 and 3.

431
 (Note 5) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other
appropriate correction.

(Note 6) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a

movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.
5. SEL Commands

(Note 7) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set to
1 valid, and constructing axes (coordinate system definition unit axes) is selected
in All Individual Parameter No. 56 (Coordinate System Definition 1 Constructed
Axes Setting) in MSEL-PC/PG and TTA, such an operation is not available as to
draw an arc by indicating axes other than the coordinate system definition unit
axes at the same time. (B80 “Indication of Forbidden Axis Error” will occur.)
Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

[Example 1] VEL 100 Set the speed to 100mm/s.

CIR 100 101 Move along a circle from the current position by
passing positions 100 and 101 sequentially.

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 1 5 Assign 5 to variable 1.
LET 2 6 Assign 6 to variable 2.
CIR *1 *2 Move along a circle from the current position by
passing the contents of variables 1 and 2 (positions
5 and 6) sequentially.

432
 ARC (Move along arc via CP operation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Passing position End position
Optional Optional ARC PE
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Move along an arc from the current position to the position specified in operand 2,
by passing the position specified in operand 1.
The output will turn OFF at the start of arc movement, and turn ON when the
movement is complete.
Difference from ARC2:
ARC processing resembles moving along a polygon with a PATH command,
while ARC2 actually performs arc interpolation.
Select an applicable command by considering the characteristics of each
command. (Normally ARC2 is used.)

(Note 1) If the division angle is set to “0” with a DEG command (division angle is calculated
automatically based on priority speed setting), the speed set in the data at passing
position 1 or speed set by a VEL command will be used (former is given priority).
The speed set in the data at passing position 2 will have no meaning.

(Note 2) If the division angle is set to a value other than “0” with a DEG command (normal
division angle), the speed specified in the target position data will be used. (The
speed set by a VEL command will become valid if position data is not specified.)

(Note 3) The acceleration is selected in the order of passing position 1 data, ACC
command, and all-axis parameter No. 11, “Default acceleration for SCARA axis” or
all-axis parameter No. 200, “Default acceleration for linear axis”.
The deceleration will become the same value as the valid acceleration selected
above. Therefore, the deceleration in the data at passing position 1 and the
acceleration/deceleration in the data at passing position 2 will not have any
meaning.

(Note 4) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a ARC command is executed
based on the position data of axes 2 and 3.

(Note 5) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other
appropriate correction.

433
 (Note 6) XSEL-PX/QX/RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD cannot make a
movement to draw an arch using the SCARA axes and liner axes, or using the
SCARA axes (axes 1 to 4) and SCARA axes (axes 5 to 8). Either B80 “Indication
Prohibited Axes Error” or 421 “SCARA/Linear Drive Axes Double Indication Error”
will occur. Use GRP Command, or operate the position data of SCARA axis and
linear drive axis separately.

(Note 7) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, such an operation is not
available as to draw an arc by indicating axes other than the coordinate system
definition unit axes at the same time. (B80 “Indication of Forbidden Axis Error” will
occur.)
5. SEL Commands

Either get rid of the axes other than the coordinate system definition unit axes by
using GRP Command, or separate the position data for the coordinate system
definition unit axes and other axes in order to make operation.

[Example 1] VEL 100 Set the speed to 100mm/s.

ARC 100 101 Move along an arc from the current position to
position 101 by passing position 100.

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 1 5 Assign 5 to variable 1.
LET 2 6 Assign 6 to variable 2.
ARC *1 *2 Move along an arc from the current position to the
content of variable 2 (position 6) by passing the
content of variable 1 (position 5).

434
 PEND (Wait for end of operation by axes currently used by program)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PEND Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD

5. SEL Commands
SAXD
          

[Function] When a PEND command is executed, the program waits for the end of operation
by the axes it is currently using. The output turns ON only when a MOVP, MOVL
or PATH command has been successfully executed (positioning has been
successful) in quick return mode 2 (closeness-detection return target position
addition mode) or quick return mode 3 (closeness-detection return target position
change mode) (the output does not turn ON if any other servo command is
executed).

(Note 1) To check if the operation has been successful (positioning has been successful),
execute a PEND command before the quick return mode is cancelled.

(Note 2) Be sure to also refer to the pages that explain the QRTN command and NBND
command.

(Note 3) Software versions supporting PEND

XSEL-J/K controller main application: Ver.1.04 or later
(excluding flash ROM 8Mbit versions)

PC software: Ver.7.2.3.0 or later

Teaching pendant:
IA-T-X (D): Ver.1.44 or later
SEL-T (D): Ver.1.02 or later
TB-01 (D): First edition or later
TB-02 (D): First edition or later

435
 [13] IF structure

 IF (Structural IF)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional IF□□ number
Data CP

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the
corresponding ELSE command, if any, or to the step next to the corresponding EDIF
command.
If the input condition is not satisfied and the IF command is not executed, the program
will proceed to the step next to the corresponding EDIF.
A maximum of 15 nests are supported when IS and DW are combined.

IF
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

[Example 1] SVON 1111 Set the current arm system in variable 99.
PRDQ 1 100 Read the current X coordinate value into
variable 100.
CPNE 99 0 600 Turn OFF flag 600 if the arm system is
indeterminable.
600 IFEQ 99 1 Determine the arm system. The
processing ends if the arm system is
indeterminable.
IFGE 100 0 Move to position No. 1 via PTP if the X
MOVP 1 coordinate value is 0 or greater.
ELSE
MOVP 2 Move to position No. 2 via PTP.
EDIF
ELSE
IFGE 100 0 Move to position No. 3 via PTP if the X
MOVP 3 coordinate value is 0 or greater.
ELSE
MOVP 4 Move to position No. 4 via PTP.
EDIF
EDIF
EXIT

If the current arm system is the right arm and X coordinate is 0 or greater, the axis moves
to position No. 1. If the X coordinate is smaller than 0, it moves to position No. 2. If the left
arm system is currently used and X coordinate is 0 or greater, the axis moves to position
No. 3. If the X coordinate is smaller than 0, it moves to position No. 4.

(Note) Using a GOTO command to branch out of or into an IF-EDIF syntax is prohibited.

436
 IS (Compare strings)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column Column number,
Optional Optional IS□□ CP
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Compare the character strings in the columns specified in operands 1 and 2, and
proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the
corresponding ELSE command, if any, or to the step next to the corresponding EDIF
command.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for the
entire length of the literal.
If the input condition is not satisfied and the IS command is not executed, the
program will proceed to the step next to the EDIF.
A maximum of 15 nests are supported when IF and DW are combined.

IS
EQ Operand 1 = Operand 2
NE Operand 1  Operand 2

[Example 1] SCPY 10 ‘GOFD’

(Move forward)
SCPY 14 ‘GOBK’
(Move backward)
SLEN 4 Set the number of comparing
characters to 4.
600 ISEQ 1 ‘XAXS’ (X-axis) Select an axis.
ISEQ 5 10 Select a moving direction.
MOVL 1 Move to position 1 via CP.
ELSE
MOVL 2 Move to position 2 via CP.
EDIF
ELSE
ISNE 5 14 Select a moving direction.
MOVL 3 Move to position 3 via CP.
ELSE
MOVL 4 Move to position 4 via CP.
EDIF
EDIF

CP operation is performed based on position No. 1 and 2 selected in

columns 1 to 4, or position No. 3 and 4 selected in columns 5 to 8.
Nothing will happen if flag 600 is OFF, in which case the program will
proceed to the step next to the last EDIF.
If the following data is stored in columns 1 to 8, CP movement to position
No. 1 occurs.

12 34 56 78
XA XS GO FD

437
  ELSE (Declare execution destination when IF command condition is not
satisfied)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited ELSE Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] An ELSE command is used arbitrarily in conjunction with an IF or IS

command to declare the command part to be executed when the condition is not
satisfied.

[Example 1] Refer to the sections on IF and IS.

438
 EDIF (End IF)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited EDIF Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Declare the end of an IF or IS command.

[Example 1] Refer to the sections on IF and IS.

439
 [14] Structural DO

 DW (DO WHILE)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional DW□□ Data CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Compare the content of the variable specified in operand 1 with the value
specified in operand 2, and execute the subsequent commands up to EDDO
while the condition is satisfied.
The program will proceed to the step next to the corresponding EDDO if the
condition is no longer satisfied.
A LEAV command can be used to forcibly end a loop.
If the input condition is not satisfied and the DW command is not executed,
the program will proceed to the step next to the corresponding EDDO.
A maximum of 15 nests are supported when IF and IS are combined.

DW
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

[Example 1] 008 DWEQ 1 0 Repeat the command up to an EDDO

: command while variable 1 contains “0”.
:
EDDO

If DW is specified at the start and input 8 is OFF, nothing will occur and
the program will proceed to the step next to EDDO.

(Note) Using a GOTO command to branch out of or into a DW-EDDO syntax is

prohibited.

440
 LEAV (Pull out of DO WHILE)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional LEAV Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Pull out of a DO loop and proceed to the step next to EDDO.

[Example 1] DWEQ 1 0 Repeat the commands up to an

EDDO command while variable 1
:
contains “0”.
600 LEAV Forcibly end the loop if flag 600 is ON
and proceed to the step next to an
:
EDDO command.
EDDO

441
  ITER (Repeat)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ITER Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Forcibly switch the control to EDDO while in a DO loop.

[Example 1] DWEQ 1 0 Repeat the commands up to an

EDDO command while variable 1
:
contains “0”.
600 ITER Forcibly switch the control to an
EDDO command and perform end
:
judgment, if flag 600 is ON.
EDDO

442
 EDDO (End DO WHILE)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited EDDO Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Declare the end of a loop that began with DW.
If the DW condition is not satisfied, the program will proceed to the step next
to this command.

[Example 1] Refer to the section on DW.

443
 [15] Multi-Branching

 SLCT (Start selected group)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional SLCT Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Branch to the step next to any WH or WS command that exists before an
EDSL command and whose condition is satisfied, or to the step next to an OTHE
command if none of the conditions are satisfied.
A SLCT command must be followed by a WH, WS or EDSL command.
A maximum of 15 nests are supported.

(Note) Using a GOTO command to branch out of or into a SLCT-EDSL syntax is

prohibited.

[Example 1] SCPY 1 ‘Right’ Assign ‘right’ to columns 1 and 2.

:
600 SLCT Jump to a W whose condition is
satisfied.
WSEQ 1 ‘Right’ If ‘right’ is stored in columns 1 and 2, this
: command will be executed.
WSEQ 1 ‘Left’ If ‘left’ is stored, this command will be
executed.
:
OTHE If the content of columns 1 and 2 is
neither of the above, this command will
:
be executed.
EDSL If flag 600 is OFF, the processing will
move here upon execution of any of the
conditions.

444
 WH (Select if true; variable)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Prohibited Prohibited WH□□ Data CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] This command is used between SLCT and EDSL commands to execute the
subsequent commands up to the next W command or an OTHE or EDSL
command when the comparison result of the content of the variable specified in
operand 1 with the value specified in operand 2 satisfies the condition.

DW
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

[Example 1] LET 1 20 Assign 20 to variable 1.

LET 2 10 Assign 10 to variable 2.
:
SLCT Execute multi-branching.
WHEQ 1 10 (1) will be executed if the content of variable 1 is
: 10. Since variable 1 contains 20, however, the next
condition will be referenced.
(1)
:
WHGT 1 *2 This command will be executed if the content of
: variable 1 is greater than the content of variable 2.
(2) Since variable 1 (= 20) > variable 2 (=10), (2) will
be executed.
:
OTHE This command will be executed if none of the
: conditions are satisfied. In this example, since (2)
(3) was executed, (3) will not be executed.
:
EDSL The processing will move here if any of the
: conditions were satisfied and the applicable
(4) command executed. In this example, (2) and (4)
will be executed.
:

* If multiple conditions are likely to be satisfied, remember that the first W will become
valid and any subsequent commands will not be executed. Therefore, state from the
command with the most difficult condition or highest priority.

445
  WS (Select if true; character)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column Column number,
Prohibited Prohibited WS□□ CP
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] This command is used between SLCT and EDSL commands to execute the
subsequent commands up to the next W command or an OTHE or EDSL
command when the comparison result of the character strings in the columns
specified in operands 1 and 2 satisfies the condition.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for
the entire length of the literal.

WS
EQ ............ Operand 1 = Operand 2
NE ............ Operand 1  Operand 2

[Example 1] SLEN 3 Set the number of comparing characters to 3.

SCPY 1 ‘ABC’ Assign ‘ABC’ to column 1.
LET 1 2 Assign 2 to variable 1.
:
SLCT Execute multi-branching.
WSEQ 1 ‘XYZ’ (1) will be executed if columns 1 to 3 contain ‘XYZ’.
: Since columns 1 to 3 contain ‘ABC’, however, this
(1) command will not be executed.
:
WSEQ 2 *1 (2) will be executed if the content of the number of
: characters specified by SLEN after column 2 is the
same as the content of the column specified in
(2)
variable 1.
:
OTHE This command will be executed if none of the
: conditions are satisfied. In this example, since (2)
(3) was executed, (3) will not be executed.
:
EDSL The processing will move here if any of the
: conditions were satisfied and the applicable
command executed. In this example, (2) and (4)
(4)
will be executed.
:

* If multiple conditions are likely to be satisfied, remember that the first W will become
valid and any subsequent commands will not be executed. Therefore, state from the
command with the most difficult condition or highest priority.

446
 OTHE (Select other)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited OTHE Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] This command is used between SLCT and EDSL commands to declare the
command to be executed when none of the conditions are satisfied.

[Example 1] Refer to the sections on SLCT, WH and WS.

447
  EDSL (End selected group)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited EDSL Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Declare the end of a SLCT command.

[Example 1] Refer to the sections on SLCT, WH and WS.

448
[16] System Information Acquisition

 AXST (Get axis status)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Axis
Optional Optional AXST CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Store in the variable specified in operand 1 the status (axis error number) of the
axis specified in operand 2.

(Note 1) If the obtained result is “0”, it means no axis error is present.

(Note 2) Since the error lists are written in hexadecimals, they must be converted to
decimals.

[Example] AXST 1 2 Read the error number for axis 2 to variable 1.

If 3188 (decimal) is stored in variable 1 after the execution of this command:

3188 / 16 = 199 …4
199 / 16 = 12 (= C) …7

3188 = 12 (= C) × 162 + 7 × 162 + 4

= C74 (HEX) (Hexadecimal number)

Therefore, an “Error No. C74, Actual-position soft limit over error” is present.

449
  PGST (Get program status)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Program
Optional Optional PGST CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Store in the variable specified in operand 1 the status (program error number) of
the program specified in operand 2.

(Note 1) If the obtained result is “0”, it means no program error is present.

(Note 2) Although the error lists are written in hexadecimals, the status to be stored
(program error number) is a decimal.
Therefore, the decimal program error numbers must be converted to
hexadecimals.

[Example] PGST 1 2 Read the error number for program No. 2 to

variable 1.

450
 SYST (Get system status)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional SYST Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Store the system status (top-priority system error number) in the variable specified
in operand 1.

(Note 1) If the obtained result is “0”, it means no system error is present.

(Note 2) Since the error lists are written in hexadecimals, they must be converted to
decimals.
(Note 3) Relationship of error statuses

System errors Program errors

Axis errors

Other errors

* An axis error that generates during operation with a program command will be
registered both as a program error and an axis error.

[Example] SYST 1 Read the system error number to variable 1.

451
  GARM (Dedicated SCARA command/Get current arm system)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional GARM Prohibited CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD

          (PCX/PG
X only)

[Function] Acquire the current arm system and set one of the following values corresponding
to this arm system in the variable specified in operand 1:
Arm system indeterminable = 0
Right arm system = 1
Left arm system = -1

(Note 1) The arm system effective immediately after the command execution is set. It is
not that the arm system is always monitored.

(Note 2) In XSEL-RX/SX/RXD/SXD, XSEL-RAX/SAX/RAXD/SAXD 8-axes Series, GRP

and BASE Command are available also in the actuator control declaration
commands SLTL, SLWK, WGHT, PTPR, PTPL PTPE, PTPD, RIGH, LEFT and
the system information acquirement command GARM. Establish the setting to
have all the SCARA axes valid. Error No. C30 “Axis Pattern Error” will occur if
even one axis is set invalid by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).

(Note 3) When GRP Command is undeclared, or GRP 11111111 (1st to 8th axes effective)
is declared, the current arm system of the SCARA axes (1st to 4th axes) is set.
When an acquirement of the current arm system for the SCARA axes (5th to 8th
axes) is required, make only the 5th to 8th axes valid in GRP Command and
execute GARM Command.

[Example 1] GRP 1111 It makes the 1st to 4th axes effective.

GARM 200 Acquire the current arm system of the SCARA
axes (1st to 4th axes) to Variable No. 200.

[Example 2] GRP 11110000 It makes the 5th to 8th axes effective.

GARM 200 Acquire the current arm system of the SCARA
axes (5th to 8th axes) to Variable No. 200.

452
[17] Zone

 WZNA (Dedicated linear axis command/Wait for zone ON based on AND

gate)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WZNA Zone number Axis pattern CP

Applicable models
XSEL-JX/KX ×

5. SEL Commands
Other than XSEL-JX/KX 

[Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand
2 to become ON (inside zone) with respect to the zone specified in operand 1.

(Note 1) The zone status of axes not yet completing home return will remain OFF (outside
zone).
(Note 2) A maximum of four areas can be set as zones for each axis (“Axis-specific
parameter No. 86 to 97”).
(Note 3) Zone output can be specified using “Axis-specific parameter No. 88, 91, 94 and
97” irrespective of this command.
(Note 4) The zone signal is a dedicated command for linear axes. If a SCARA axis is
specified for this command, “Error No. B80: Specification-prohibited axis error”
occurs.

[Example 1] WZNA 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 and 2
becomes ON (inside the shaded area shown in the
diagram below).

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 5 3 Assign 3 to variable 5.
WZNA 1 *5

Axis 1 Axis 2
“Axis-specific parameter No. 86, Zone 1 max.” 300000 200000
(Value is set in units of 0.001mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000 100000
(Value is set in units of 0.001mm)
Axis 2 The program will proceed to the next step if both axes
1 and 2 are inside the shaded area.

Axis 1

453
  WZNO (Dedicated linear axis command/Wait for zone ON based on OR
gate)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WZNO Zone number Axis pattern CP

Applicable models
XSEL-JX/KX ×
Other than XSEL-JX/KX 
5. SEL Commands

[Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in
operand 2 to become ON (inside zone) with respect to the zone specified in
operand 1.

(Note 1) The zone status of axes not yet completing home return will remain OFF (outside
zone).
(Note 2) A maximum of four areas can be set as zones for each axis (“Axis-specific
parameter No. 86 to 97”).
(Note 3) Zone output can be specified using “Axis-specific parameter No. 88, 91, 94 and
97” irrespective of this command.
(Note 4) The zone signal is a dedicated command for linear axes. If a SCARA axis is
specified for this command, “Error No. B80: Specification-prohibited axis error”
occurs.

[Example 1] WZNO 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 or 2
becomes ON (inside the shaded area shown in the
diagram below).

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 5 3 Assign 3 to variable 5.
WZNO 1 *5

Axis 1 Axis 2
“Axis-specific parameter No. 86, Zone 1 max.” 300000 200000
(Value is set in units of 0.001mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000 100000
(Value is set in units of 0.001mm)
Axis 2
The program will proceed to the next step if both axes
1 and 2 are inside the shaded area.

Axis 1

454
 WZFA (Dedicated linear axis command/Wait for zone OFF based on
AND gate)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WZFA Zone number Axis pattern CP

Applicable models
XSEL-JX/KX ×
Other than XSEL-JX/KX 

5. SEL Commands
[Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand
2 to become OFF (outside zone) with respect to the zone specified in operand 1.

(Note 1) The zone status of axes not yet completing home return will remain OFF (outside
zone).
(Note 2) A maximum of four areas can be set as zones for each axis (“Axis-specific
parameter No. 86 to 97”).
(Note 3) Zone output can be specified using “Axis-specific parameter No. 88, 91, 94 and
97” irrespective of this command.
(Note 4) The zone signal is a dedicated command for linear axes. If a SCARA axis is
specified for this command, “Error No. B80: Specification-prohibited axis error”
occurs.

[Example 1] WZFA 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 and 2
becomes OFF (inside the shaded area shown in
the diagram below)

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 5 3 Assign 3 to variable 5.
WZFA 1 *5

Axis 1 Axis 2
“Axis-specific parameter No. 86, Zone 1 max.” 300000 200000
(Value is set in units of 0.001mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000 100000
(Value is set in units of 0.001mm)

The program will proceed to the next step if

Axis 2 both axes 1 and 2 are inside the shaded

Axis 1

455
  WZFO (Dedicated linear axis command/Wait for zone OFF based on OR
gate)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WZFO Zone number Axis pattern CP

Applicable models
XSEL-JX/KX ×
Other than XSEL-JX/KX 
5. SEL Commands

[Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in
operand 2 to become OFF (outside zone) with respect to the zone specified in
operand 1.

(Note 1) The zone status of axes not yet completing home return will remain OFF (outside
zone).
(Note 2) A maximum of four areas can be set as zones for each axis (“Axis-specific
parameter No. 86 to 97”).
(Note 3) Zone output can be specified using “Axis-specific parameter No. 88, 91, 94 and
97” irrespective of this command.
(Note 4) The zone signal is a dedicated command for linear axes. If a SCARA axis is
specified for this command, “Error No. B80: Specification-prohibited axis error”
occurs.

[Example 1] WZFO 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 or 2
becomes OFF (inside the shaded area shown in
the diagram below).

[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)  3 (decimal)
LET 5 3 Assign 3 to variable 5.
WZFO 1 *5

Axis 1 Axis 2
“Axis-specific parameter No. 86, Zone 1 max.” 300000 200000
(Value is set in units of 0.001mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000 100000
(Value is set in units of 0.001mm)
The program will proceed to the next step if
Axis 2 both axes 1 and 2 are inside the shaded

Axis 1

456
[18] Communication

 OPEN (Open channel)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Channel
Optional Optional OPEN Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


[Function] Open the channel specified in operand 1.

The specified channel will be enabled to send/receive hereafter.
Prior to executing this command, a SCHA command must be used to set an end
character.

[Example 1] SCHA 10
OPEN 1
Specify 10 (= LF) as the end character.
Open channel 1.

Note: The following controller if “Open 1” is executed the teaching pendant

connector (D-sub25pin) is cut off. (This is because channel 0 is used by
both the teaching pendant and PC software.)
XSEL-P/Q/PCT/QCT/PX/QX/R/S/RX/SX/RXD/SXD/RA/SA/RAX/SAX/
RAXD/SAXD, ASEL/PSEL/SSEL

The following controller if “Open 0” is executed the teaching pendant

connector (D-sub25pin) is cut off. (This is because channel 1 is used by
both the teaching pendant and PC software.)
XSEL-J/JK, TT, TTA, MSEL,
XSEL-K/KE/KT/KET/KX/KETX

457
  CLOS (Close channel)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Channel
Optional Optional CLOS Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Close the channel specified in operand 1.

The specified channel will be disabled to send/receive hereafter.

[Example 1] CLOS 1
Close channel 1.

LET 1 2
CLOS *1
Assign 2 to variable 1.
Close the content of variable 1 (channel 2).

458
 READ (Read)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Channel Column
Optional Optional READ number number
CC

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Read a character string from the channel specified in operand 1 to the column specified in
operand 2.
Read will end when the character specified by a SCHA command is received.
Either a local or global column may be specified.
A return code will be stored in a local variable (variable 99 under the factory setting)
immediately after this command is executed.
Whether or not the command has been executed successfully can be checked based on
this return code. Define appropriate processing to handle situations where the command
execution failed due to an error.
Setting “0” in operand 2 will specify a dummy read (receive buffer cleared and receive
disabled) (the return code will indicate that the command was successfully executed). The
versions of tools in which 0 can be entered in operand 2 are specified below. With tools of
these versions, 0 can be specified indirectly if it cannot be entered directly from the tool:
 PC software Ver.1.1.1.0 or later
 Teaching pendant TB-02 (D): First edition or later, TB-01 (D): First edition or later,
SEL-T (D): First edition or later, IA-T-X (D): Ver.1.06 or later

[Example 1] SCHA 10 Set LF (= 10) as the end character.

OPEN 1 Open channel 1.
READ 1 2 Read a character string from channel 1 to column 2 until
LF is received.
TRAN 1 99 Assign the return code (variable 99) to variable 1.
CLOS 1 Close the channel 1.

SLCT The processing flow branches out in accordance with

each return code.
(Note) Using a GOTO command to branch out of an
SLCT-EDSL syntax or to other branch processing
within the syntax is prohibited.
WHEQ 1 0 If the content of variable 1 is “0” (Completed successfully),
: (1) will be executed. In (1), define the processing that
(1) should take place upon successful command execution.
:
WHEQ 1 1 If the content of variable 1 is “1” (Timeout), (2) will be
: executed. In (2), define appropriate processing to handle
(2) this situation, if necessary.
:
WHEQ 1 2 If the content of variable 1 is “2” (Timer cancelled), (3)
: will be executed. In (3), define appropriate processing to
(3) handle this situation, if necessary.
:
OTHE If the content of variable 1 is not “0”, “1” or “2”, (4) will be
: executed. In (4), define appropriate error handling, if
(4) necessary.
:
EDSL Once one of the specified conditions was met and the
corresponding command has been executed, the
processing will move here.

459
 (Note 1) A READ command must be executed before the other side sends the end
character.
(Note 2) Dummy read (operand 2: 0) cannot be specified for channel No. 31 to 34
(Ethernet option).

SCHA 10
OPEN 1
READ 1 2
Other side
CLOS 1

 Return code of the READ command

The return code is stored in a local variable. The variable number can be set by “Other
parameter No. 24”. The default variable number is 99.
5. SEL Commands

0 : READ completed successfully (Receive complete)

1 : READ timeout (the timeout value is set by a TMRD command) (Continue to
receive)
2 : READ timer cancelled (the wait status is cancelled by a TIMC command)
(Continue to receive)
3 : READ SCIF overrun error (Receive disabled)
4 : READ SCIF receive error (framing error or parity error)
(Receive disabled)
5 : READ factor error (program abort error) (Receive disabled)
(Cannot be recognized by SEL commands)
6 : READ task ended (program end request, etc.) (Receive disabled)
(Cannot be recognized by SEL commands)
7 : READ SCIF receive error due to other factor (Receive disabled)
8 : READ expansion SIO overrun error (Receive disabled)
9 : READ expansion SIO parity error (Receive disabled)
10 : READ expansion SIO framing error (Receive disabled)
11 : READ expansion SIO buffer overflow error (Receive disabled)
12 : READ expansion SIO receive error due to other factor (Receive disabled)
13 to 20 : Used only in Ethernet (optional)
21 : READ SIO receive temporary queue overflow error (Receive disabled)
22 : READ SIO slave receive queue overflow error (Receive disabled)

460
 TMRD (Set READ timeout value)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional TMRD Timer period Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD

5. SEL Commands
SAXD
TT:,
         TTA: 

[Function] Set the timeout to be applied to a READ command.

The timer setting specified in operand 1 will set the maximum time the program
will wait for the character string read to end when a READ command is executed.
If the end character could not be read before the timer is up during the execution
of the READ command, a timeout will occur and the program will move to the
next step.
(You can check if a timeout has occurred by checking the return code which is
stored in a local variable (factory setting: variable 99) immediately after the READ
command has been executed. If necessary, program an appropriate processing
to be performed when a timeout occurs.)
Setting the timer to “0” will allow the READ command to wait infinitely, without
timeout, until the end character is read.
The timer setting is input in seconds (setting range: 0 to 99.00sec) including up to
two decimal places.

(Note) TMRD is set to “0” in the default condition before TMRD setting is performed.

461
 [Example] SCHA 10 Set LF (=10) as the end character.
TMRD 30 Set the READ timeout value to 30sec.
OPEN 1 Open channel 1.
READ 1 2 Read the character string from channel 1 to
column 2 until LF is read.
TRAN 1 99 Assign the return code to variable 1.
CLOS 1 Close the channel.
SLCT The processing flow branches out in accordance
with each return code.
(Note) Using a GOTO command to branch out of
an SLCT-EDSL syntax or to other branch
processing within the syntax is prohibited.
WHEQ 1 0 If the content of variable 1 is “0” (Completed
: successfully), (1) will be executed. In (1), define
5. SEL Commands

(1) the processing that should take place upon

: successful command execution.
WHEQ 1 1 If the content of variable 1 is “1” (Timeout), (2) will
: be executed. In (2), define appropriate processing
(2) to handle this situation, if necessary.
:
WHEQ 1 2 If the content of variable 1 is “2” (Timer cancelled),
: (3) will be executed. In (3), define appropriate
(3) processing to handle this situation, if necessary.
:
OTHE If the content of variable 1 is not “0”, “1” or “2”, (4)
: will be executed. In (4), define appropriate error
(4) handling, if necessary.
:
EDSL Once one of the specified conditions was met and
the corresponding command has been executed,
the processing will move here.

Read completes successfully within 30sec  Variable No. 1 = 0

Timeout occurs  Variable No. 1 = 1
* The return code of READ command may not be limited to 0 or 1. The
variable to store the return code can be set in “Other parameter No. 24”.
(Main application Ver.0.21 or later) For details, refer to the explanation of
the READ command.

462
 TMRW (Set READ/WRIT timeout value)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Read timer (Write timer
Optional Optional TMRW CP
setting setting)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
TT:,
         TTA:


[Function] Set the timeout to be applied to a READ/WRIT command.

The timer setting specified in operand 1 will set the maximum time the program will
wait for the character string read to end when a READ command is executed.
If the end character could not be read before the timer is up during the execution of
the READ command, a timeout will occur and the program will move to the next step.
(You can check if a timeout has occurred by checking the return code which is stored
in a local variable (factory setting: variable 99) immediately after the READ command
has been executed.)
If the timer period is set to 0, the READ command causes the program to wait
infinitely until the end characters are read, by assuming that there is no timeout.
The timer setting is input in seconds (setting range: 0 to 99.00sec) including up to two
decimal places.
A variable can be specified indirectly in operand 1.
(Note) TMRW is set to “0” in the default condition before TMRW setting is performed.

463
 [Example] SCHA 10 Set LF (=10) as the end character.
TMRW 30 Set the READ timeout value to 30sec.
OPEN 1 Open channel 1.
READ 1 2 Read the character string from channel 1 to
column 2 until LF is read.
TRAN 1 99 Assign the return code to variable 1.
CLOS 1 Close the channel.
Read completes successfully within 30sec  Variable No. 1 = 0
Timeout occurs  Variable No. 1 = 1
* The return code of READ command may not be limited to 0 or 1. The variable to
store the return code can be set in “Other parameter No. 24”. Refer to the
explanation of READ command for details.
For the time period specified in operand 2, set the timeout value to be applied
when a WRIT command is executed (maximum wait time for completion of send).
(Maximum wait time for end based on flow control)
5. SEL Commands

The write timer period is valid only for standard SIO (channels 1 and 2 supporting
flow control).
For the time period specified in operand 2, set the timeout value to be applied
when a WRIT command is executed (maximum wait time for completion of send).
(Maximum wait time for end based on flow control) (Arbitrary)
The write timer setting is available only on standard SIO (flow control support
channels 1 and 2).
This command is recognized as a TMRD on XSEL-JX/KX controllers, and as
TMRW on XSEL-PX/QX controllers. If a program created for an XSEL-JX/KX
controller is transferred to an XSEL-PX/QX controller, the PC software
automatically converts “TMRD” to “TMRW” before the file is transferred. This
command is recognized as a TMRD on XSEL-JX/KX controllers, and as TMRW on
XSEL-PX/QX controllers. If a program created for an XSEL-JX/KX controller is
transferred to an XSEL-PX/QX controller, the PC software automatically converts
“TMRD” to “TMRW” before the file is transferred.

464
 WRIT (Write)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD,A,O,AB,OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Channel Column
Optional Optional WRIT CC(Note 1)
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Write the character string in the column specified in operand 2 to the channel
specified in operand 1.
The operation will end when the character specified by a SCHA command is
written.
Either a local or global column can be specified.

[Example] SCHA 10 Set LF (= 10) as the end character.

OPEN 1 Open channel 1.
WRIT 1 2 Write the character string in column 2 to channel
1 until LF is written.
CLOS 1 Close the channel.

With a standard SIO (channel 1 or 2), WRIT is supported by (can be sent in)
a task other than the one that opened the channel, as long as the channel is
currently open. Accordingly, by sending WRIT in other task after executing
READ in a task that opened the channel, a response can be received from
the other side without delay after sending from XSEL.

(Note 1) CP is performed if the channel is other than 1 and 2.

Return code of WRIT command (channels 1 and 2 only)

The return code is stored in a local variable. The variable number can be set by “Other
parameter No. 24”. The default variable number is 99.
0 : WRIT completed successfully
1 : WRIT timeout (the timeout value is set by a TMRW command)
2 : WRIT timer cancelled (the wait status is cancelled by a TIMC command)
3 to 4 : Reserved by the system
5 : WRIT factor error (program abort error) (Cannot be recognized by SEL commands)
6 : WRIT task ended (program end request, etc.) (Cannot be recognized by SEL
commands)

465
  SCHA (Set end character)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Character
Optional Optional SCHA Prohibited CP
code

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Set the end character to be used by a READ or WRIT command.

Any character from 0 to 255 (character code used in BASIC, etc.) can be
specified.

[Example] Refer to the sections on READ and WRIT commands.

466
z IPCN (Connected Destination IP address / Port Number Setting) [Ethrnet]
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
Integer
Channel
Optional Optional IPCN variable CP
number
number

Applicable models
All models [Refer to Section 5.1 for details of models]
{

5. SEL Commands
[Function] It is a command used in the non-procedure communication in Ethernet.
The storage area for the connected destination IP address and port number in the
free-for-user TCP/IP channel should be set established. The connected
destination information stored in the five integer variables in a row starting from
an integer variable number indicated in Operation 2 should be set as the
connected destination of the free-for-user TCP/IP channel number indicated in
Operation 1.
Make sure that this command is executed before OPEN Command.

Variable Number Indicated in Operation 2

variable
number
n ····Connected Destination IP Address (H) Stored Variable Number
n+1 ····Connected Destination IP Address (MH) Stored Variable Number
n+2 ····Connected Destination IP Address (ML) Stored Variable Number
n+3 ····Connected Destination IP Address (L) Stored Variable Number
n+4 ····Connected Destination Port Number Stored Variable Number

(Note 1) The channel numbers available to indicate in Operation 1 in the Ethernet option
should be from 31 to 34.

(Note 2) If this command gets executed during open, it should be set as the command for
the next open.

[Example] LET 90 192 Connected Destination IP Address (H) = 192

LET 91 168 Connected Destination IP Address (MH) = 168
LET 92 72 Connected Destination IP Address (ML) = 72
LET 93 101 Connected Destination IP Address (L) = 101
LET 94 64514 Connected Destination Port Number = 64514
IPCN 31 90 Declares Channel 21 connected destination IP
address / port number stored area = Local integer
variables from 90 to 94.

In this example, IP address 192. 168. 72. 101 and

port number 64514 are set as the connected
destination for Free-for-User TCP/IP Channel No.
31.

467
 [19] String Operation

 SCPY (Copy character string)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column Column number,
Optional Optional SCPY CC
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Copy the character string in the column specified in operand 2 to the column
specified in operand 1.
Copy will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, copy will be performed for the entire
length of the literal.

[Example 1] SCPY 1 ‘ABC’ Copy ‘ABC’ to column 1.

SLEN 10 Set the copying length to 10 bytes.

SCPY 100 200 Copy 10 bytes from column 200 to column 100.

468
 SCMP (Compare character strings)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column Column number,
Optional Optional SCMP EQ
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Compare the column specified in operand 1 with the column specified in operand
2.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for
the entire length of the literal.

[Example 1] SCMP 1 ‘ABC’ 600 Flag 600 will turn ON if columns 1 to 3

contain ‘ABC’.
SLEN 5 Set the comparing length to 5 bytes.
SCMP 10 30 999 Turn ON flag 999 if five bytes from
columns 30 and 10 match.

469
  SGET (Get character)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Column number,
Optional Optional SGET CP
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Assign one character from the column specified in operand 2 to the variable
specified in operand 1.
If a character-string literal is specified in operand 2, the first character will be
assigned.

[Example 1] SGET 1 100

Assign one byte from column 100 to variable 1.

LET 1 3 Assign 3 to variable 1.

LET 2 1 Assign 1 to variable 2.
SCPY 1 ‘A’ Copy ‘A’ to column 1.
SGET *1 *2 Assign ‘A’ from the content of variable 2 (column 1)
to the content of variable 1 (variable 3).

470
 SPUT (Set character)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column
Optional Optional SPUT Data CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Set the data specified in operand 2 in the column specified in operand 1.

[Example 1] SPUT 5 10 Set 10 (LF) in column 5.

LET 1 100 Assign 100 to variable 1.

LET 2 50 Assign 50 to variable 2.
SPUT *1 *2 Set the content of variable 2 (50 (‘2’)) in the
content of variable 1 (column 100).

471
  STR (Convert character string; decimal)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column
Optional Optional STR Data CC
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Copy to the column specified in operand 1 a decimal character string converted
from the data specified in operand 2.
The data will be adjusted to the length set by a SLEN command.
If the data exceeds the specified length, it will be cut off at the length set by a
SLEN command.
If the entire data has been converted within the length set by a SLEN command,
the output will turn ON.

(Note) If the data specified in operand 2 is a 10 digit integer including eight or more valid
digits, conversion of the values in the eighth and subsequent digits will not be
guaranteed (the values through the seventh digits will be converted properly.)

[Example] SLEN 5.3 Set a length consisting of five integer digits and
three decimal digits.
STR 1 123 The following values will be set in columns 1 to 9:

1 2 3 4 5 6 7 8 9
1 2 3 . 0 0 0

LET 1 10 Assign 10 to variable 1.

LET 102 987.6543 Assign 987.6543 to variable 102.
SLEN 2.3 Set a length consisting of two integer digits and
three decimal digits.
STR *1 *102 The following values will be set in columns 10 to
15:

10 11 12 13 14 15
8 7 . 6 5 4

Since the data exceeds the specified length, 87

without 9 in the 100s place is set in the integer
part, while 654 with 3 in the fourth decimal place
rounded is set in the fraction part.

472
 STRH (Convert character string; hexadecimal)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Column
Optional Optional STRH Data CC
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Copy to the column specified in operand 1 a hexadecimal character string
converted from the data specified in operand 2.
Only the integer part will be adjusted to the length set by a SLEN command.
If the data exceeds the specified length, it will be cut off at the length set by a
SLEN command.
If the entire data has been converted within the length set by a SLEN command,
the output will turn ON.

(Note) If the data specified in operand 2 is a negative value, 8 columns will be required
to covert the entire data.

[Example] SLEN 5 Set a format consisting of 5 integer digits.

STRH 1 255 The following values will be set in columns 1 to 5:

1 2 3 4 5
F F

LET 1 10 Assign 10 to variable 1.

LET 102 987.6543 Assign 987.6543 to variable 102.
SLEN 2.3 Set a length consisting of 2 integer digits and 3
decimal digits.
STRH *1 *102 The following values will be set in columns 10 and
11:

10 11
D B

“.3” in the SLEN command and “.6543” in variable

102, which are the decimal part, will be ignored.
The integer part is expressed as ‘3DB’ in
hexadecimal. Since the length is two digits,
however, “3” in the third digit will be cut off.

473
  VAL (Convert character string data; decimal)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Column number,
Optional Optional VAL CC
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Convert the decimal data in the column specified in operand 2 to a binary and
assign the result to the variable specified in operand 1.
Conversion will be performed for the length set by a SLEN command.
If a character-string literal is specified in operand 2, conversion will be performed
for the entire length of the literal.

(Note) Keep the converting length to 18 characters or less.

[Example] SCPY 10 ‘1234’ Set ‘1234’ in column 10.

SLEN 4 Set the converting length to 4 bytes.
VAL 1 10 Assign 1234, which is a binary converted from
‘1234’ in column 10, to variable 1.

LET 1 100 Assign 100 to variable 1.

LET 2 20 Assign 20 to variable 2.
SCPY 20 ‘1234’ Copy ‘1234’ to column 20.
SCPY 24 ‘.567’ Copy ‘.567’ to column 24.
SLEN 8 Set the converting length to 8 bytes.
VAL *1 *2 Assign 1234.567, which is a binary converted from
‘1234.567’ in the content of variable 2 (column 20)
to the content of variable 1 (variable 100).

474
 VALH (Convert character string data; hexadecimal)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable Column number,
Optional Optional VALH CC
number character literal

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Convert the hexadecimal data in the column specified in operand 2 to a binary
and assign the result to the variable specified in operand 1.
Conversion will be performed for the length set by a SLEN command.
Only the integer part will be converted, with the decimal part being ignored.
If a character-string literal is specified in operand 2, conversion will be performed
for the entire length of the literal.

(Note) Keep the converting length to 8 characters or less.

[Example] SCPY 10 ‘1234’ Set ‘1234’ in column 10.

SLEN 4 Set the converting length to 4 bytes.
VALH 1 10 Assign 4660, which is a binary converted from
hexadecimal ‘1234’ in column 10, to variable 1.

LET 1 100 Assign 100 to variable 1.

LET 2 20 Assign 20 to variable 2.
SCPY 20 ‘ABCD’ Copy ‘ABCD’ to column 20.
SLEN 4 Set the converting length to 4 bytes.
VALH *1 *2 Assign 43981, which is a binary converted from
hexadecimal ‘ABCD’ in the content of variable 2
(column 20) to the content of variable 1 (variable
100).

475
  SLEN (Set length)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Character
Optional Optional SLEN Prohibited CP
string length

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Set the length to be processed by a string command.

This must always be set before using the following commands:

SCMP ............... Decimal part is invalid.

SCPY ............... Decimal part is invalid.
IS ............... Decimal part is invalid.
WS ............... Decimal part is invalid.
STRH ............... Decimal part is invalid.
VAL, VALH ............... Decimal part is invalid.
STR ............... Decimal part is valid.

[Example] Refer to the examples of the above commands:

476
[20] Arch-Motion

 ARCH (Arch motion)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position Position
Optional Optional ARCH PE
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


Perform arch motion from the current point and move to the specified points.
 Move to the points specified in operand 1, via arch motion.
 Movements in directions other than the arch-motion Z-axis direction will begin after rising
from the current point to the start-point arch trigger. After the Z point specified in operand 2
(as the highest point) is passed and movements in directions other than the arch-motion
Z-axis direction are complete, the axes will come down to the end-point arch trigger and
reach the specified point.
 Palletizing arch triggers must be set using an ATRG command.

(Note 1) If the arch motion setting that SCARA axis and linear drive axis exist together is
established, 421 “SCARA/Linear Drive Axes Double Indication Error” will occur.
Also, if the arch motion setting that SCARA axes for two units exist together is
established, B80 “Indication Prohibited Axis Error” will occur.
Establish the arch motion setting with a consideration to have the operation axes
all the same SCARA axes or all linear drive axes.

(Note 2) The arch motion operation of SCARA axis is PTP operation and the linear drive
axis is CP operation.
Highest point of arch motion
* Position No. 12 *

Start-point arch trigger End-point arch trigger

Position No. 13 * * Position No. 11

Start point End point

ACHZ 3 Position No. 10
ATRG 13 11



ARCH 10 12

477
 * When the operation is resumed after a pause, depending on the position where the
operation is resumed the locus may follow the lines (dotted lines) indicated by asterisks in
the diagram for the composite section from ascent to horizontal movement or from
horizontal movement to descent. Be careful not to cause interference.
 The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis
component of the point data specified in operand 1, if any, plus the arch-motion Z-axis
offset. If there is no arch-motion Z component, the arch-motion Z-axis coordinate of the end
point will become the arch-motion Z-axis coordinate of the start point plus the arch-motion
Z-axis offset. (Normally the offset is added to all arch-motion positions, such as the arch
triggers and Z point.)
 An error will generate if the start-point arch trigger is set below the start point or the
end-point arch trigger is set below the end point. (Note: Up/down has nothing to do with +/-
on the coordinate system.)
 The arch-motion Z-axis up direction refers to the direction toward the Z point from the start
5. SEL Commands

point (the down direction refers to the opposite direction), and has nothing to do with the
size of coordinate value. Therefore, be sure to confirm the actual operating direction when
using this command.
 The arch-motion Z-axis will come down after a rise-process command value is output.
Therefore, one of the following operations will be performed depending on how the
arch-trigger point and Z point are set.
If the resulting operation is undesirable, change the arch trigger and/or Z point to improve
the efficiency of movement.

Z point

Palletizing start point

Arch trigger point

Palletizing start point

Arch trigger point

Start point End point Start point End point

 As for the arch-trigger end position data, movement also starts/ends above the applicable
arch trigger for any effective axis, other than the arch motion Z-axis, if data of such axis is
included in the position data.
 If the end position data includes R-axis data, movement of the R-axis starts/ends above the
applicable arch trigger.
 If a composite arch trigger motion is set, a given effective axis, other than the arch motion
Z-axis, also moves if data of such axis is included in the end point data. In this case,
movement of the axis also starts/ends above the applicable arch trigger.

478
 ACHZ (Declare arch-motion Z-axis)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis
Optional Optional ACHZ Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Specify the axis number representing the arch-motion Z direction.
The axis number specified in operand 1 will be set as the axis number representing the
arch-motion Z direction.
If the output field is specified, the output will turn ON after this command is executed.

[Example] ACHZ 3

(Note 1) The arch motion Z-axis is available for indication only on the work coordinate
system Z-axis (Axis No. 3 or Axis No. 7).

(Note 2) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, R-axis of the coordinate
system definition unit cannot be indicated for the arch motion Z-axis. Also, X and
Y-axes of the coordinate system definition unit can be indicated only when the
offset of R-axis of the work coordinate system is set to 0.

479
  ATRG (Set arch triggers)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position Position
Optional Optional ATRG CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Set the arch triggers used for arch motion.

(This setting becomes valid when an ARCH command is executed.)

Set the arch-motion Z-axis position data in the point data specified in operand 1 as the
start-point arch trigger, and set the arch-motion Z-axis position data in the point data specified
in operand 2 as the end-point arch trigger.

Start-point arch trigger End-point arch trigger

Position No. 13 Position No. 11

Start point End point

ATRG 13 11

(Refer to “Palletizing Setting” – “Arch triggers” under “How to Use”.)

For an arch-motion operation, set it so that a horizontal movement will begin when the
start-point arch trigger is reached during ascent from the start point, and that the end-point
arch trigger will be reached after a horizontal movement is completed during descent.
If the output field is specified, the output will turn ON after this command is executed.

480
 AEXT (Set composite arch motion)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Position
Optional Optional AEXT Prohibited CP
number)

Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL 

5. SEL Commands
Set a composite arch motion. Set coordinate values other than the arch motion Z-axis at the
end position of arch motion.
Use the position number specified in operand 1 for setting composite motion.
With SCARA robots, the R-axis becomes a composite arch motion axis.
When the arch motion is executed, the end coordinate of the composite axis corresponds to
effective axis data, other than that of the arch motion Z-axis, included in the arch-motion end
point data.
If nothing is specified in operand 1, the position number already declared for setting composite
motion becomes invalid. If the output is specified, it turns ON after this command has been
executed.

(Note 1) Setting of the arch motion composition axes cannot be established for linear drive
axes in PX/QX.

481
  OFAZ (Set arch-motion Z-axis offset)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OFAZ Offset value Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Set the offset in the arch-motion Z-axis direction.

The value specified in operand 1 will be set as the offset in the arch-motion Z-axis direction.
The offset amount is set in mm and the effective resolution is 0.001mm.
A negative value can also be specified as the offset, as long as the operation range will not be
exceeded.
This offset is valid only at the end point of ARCH (arch motion) operation.
If the output field is specified, the output will turn ON after this command is executed.

482
[21] Palletizing Definition

 BGPA (Declare start of palletizing setting)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing
Optional Optional BGPA Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands


Declare the start of a palletizing setting.

Once this command is executed, palletizing setting for the palletizing number specified in
operand 1 will be enabled.
(In the case of an ACHZ, AEXT, OFAZ or ATRG command, setting is enabled without
declaring BGPA.)
The input range of palletizing number is from 1 to 10. XSEL-RA/SA/RAX/SAX/RAXD/SAXD is
1 or more 32 or less.
When the palletizing setting is complete, execute EDPA.
Nested BGPAs are not supported. To declare start of another palletizing setting, execute an
EDPA command and then execute a BGPA command again.
If the output field is specified, the output will turn ON after this command is executed.

(Note) Using a GOTO command to branch out of or into a BGPA-EDPA syntax is

prohibited.

483
  EDPA (Declare end of palletizing setting)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited EDPA Prohibited Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Declare the end of a palletizing setting.

If a palletizing-setting command (excluding BGPA, ACHZ, ATRG, AEXT and OFAZ) is executed
before another BGPA is declared following an execution of this command (= while palletizing
setting is not enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.

484
 PAPI (Set palletizing counts)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PAPI Count Count CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Set counts in the palletizing-axis directions.
The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while
the count specified in operand 2 will apply to the PY-axis direction.
If this command is executed before BGPA is declared (= while palletizing setting is not
enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.

485
  PAPN (Set palletizing pattern)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Pattern
Optional Optional PAPN Prohibited CP
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Set a palletizing pattern.

The palletizing pattern specified in operand 1 will be set (1 = Pattern 1, 2 = Pattern 2).
If this command is not declared, pattern 1 will be used.
If this command is executed before BGPA is declared (= while palletizing setting is not
enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.

Pattern 1 Pattern 2

Priority axis Priority axis

(PX-axis) Start (PX-axis) Start
point (PY-axis) point (PY-axis)

486
 PASE (Declare palletizing axes)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis Axis
Optional Optional PASE CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Set the two axes to be used in palletizing (PX and PY-axes).
The axis specified in operand 1 will be set as the preferential axis (PX-axis).
The axis specified in operand 2 will be set as the PY-axis.
This command is used in conjunction with PAPT and PAST.
It cannot be used together with a 3-point teaching (PAPS) command. Whichever is set later will
be given priority.

3-point teaching (PAPS) is recommended for palletizing that requires precision.

If this command is executed before BGPA is declared (= while palletizing setting is not
enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.

If the arch motion setting that SCARA axis and linear drive axis exist together is established,
421 “SCARA/Linear Drive Axes Double Indication Error” will occur.
Also, if the arch motion setting that SCARA axes for two units exist together is established,
B80 “Indication Prohibited Axis Error” will occur.
Establish the arch motion setting with a consideration to have the operation axes all the same
SCARA axes or all linear drive axes.

487
  PAPT (Set palletizing pitches)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PAPT Pitch Pitch CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Set palletizing pitches.

The value specified in operand 1 will be set as the pitch for the preferential axis (PX-axis),
while the value specified in operand 2 will be set as the pitch for the PY-axis.
This command is used in conjunction with PASE and PAST.
If this command is executed before BGPA is declared (= while palletizing setting is not
enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.

488
 PAST (Set palletizing reference point)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Position
Optional Optional PAST Prohibited CP
number)

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Set the reference point for PX-axis (priority axis), PY-axis and PZ-axis (when palletizing
Z-axis declaration is effective) to be used in palletizing calculation.
If a value is set in operand 1, that position number specified in operand 1 will be used to store
the reference point data.
If no value is set in operand 1, the position-number setting for storing reference point data will
become invalid.
This command is used in conjunction with PASE and PAPT.
If this command is not set, the reference point is defined as X = 0, Y = 0.
Palletizing positions are calculated as points on the palletizing plane constituted by the
reference point, PX-axis and PY-axis.
Accordingly, position data of the reference point must include valid coordinate components for
PX-axis, PY-axis and PZ-axis (when palletizing Z-axis declaration is effective). If these
coordinate components are invalid, an error occurs during palletizing position coordinate
calculation for PAPG (Get palletizing calculation data) or other palletizing movement
command. Coordinate components of other axes are ignored during palletizing position
coordinate calculation.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting is
not permitted).
If the output is specified, it turns ON after this command has been executed.

If the arch motion setting that SCARA axis and linear drive axis exist together is established,
421 “SCARA/Linear Drive Axes Double Indication Error” will occur.
Also, if the arch motion setting that SCARA axes for two units exist together is established,
B80 “Indication Prohibited Axis Error” will occur.
Establish the arch motion setting with a consideration to have the operation axes all the same
SCARA axes or all linear drive axes.
(Note 1) In the case of SCARA robots, executing a palletizing movement command while
the work coordinate system selection number is set to 0 (base coordinate
system) and this command is not yet set generates an error because the
palletizing start position is (0, 0) and thus movement is disabled.

(Note 2) In the case of SCARA robots, the R-axis should be excluded from the effective
axes, if already set in the position data, with a GRP command.
(This is not required if the R-axis field is blank.)
Set the R-axis data at the palletizing position using a PEXT command.

489
  PAPS (Set palletizing points) For 3-point or 4-point teaching
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Palletizing
Position
Optional Optional PAPS position CP
number setting type)

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Set palletizing positions in 3-point teaching.

It can also be used to set palletizing positions in 4-point teaching, in which case the pallet plane can be
set to any quadrilateral other than a square, rectangle or parallelogram.
In operand 1, set the position number of the start point needed to set palletizing positions in 3-point
teaching. If “n” is set as the position number for the start point, position data for the end point in the
PX-axis direction will be stored in position No. n+1, while position data for the end point in the PY-axis
direction will be stored in position No. n+2.
In the case of 4-point teaching, position data for the end point should be stored in position No. n+3.

(Note 1) If the arch motion setting that SCARA axis and linear drive axis exist together is
established, 421 “SCARA/Linear Drive Axes Double Indication Error” will occur.
Also, if the arch motion setting that SCARA axes for two units exist together is
established, B80 “Indication Prohibited Axis Error” will occur.
Establish the arch motion setting with a consideration to have the operation axes
all the same SCARA axes or all linear drive axes.
In operand 2, specify the applicable palletizing position setting type.
[Palletizing position setting type]
If operand 2 is “0” or blank, 3-point teaching will be specified.
As shown in Fig. 1 (a), palletizing positions will be set on the quadrilateral pallet plane determined
by the three points including the start point, end point in the PX-axis direction and end point in the
PY-axis direction.
If operand 2 is “2,” 4-point teaching will be specified.
As shown in Fig. 1 (b), palletizing positions will be set on the quadrilateral pallet plane determined
by the four points including the start point, end point in the PX-axis direction, end point in the
PY-axis direction, and end point. Note, however, that whether the shape is planar or not varies
depending on the end point data.
Fig. 1 shows two different arrangements of palletizing positions.
End point

End point in PX-axis direction End point in PX-axis direction

Preferential axis Preferential axis

(PX-axis) (PX-axis)

Start point Start point

PY-axis End point in PY-axis

PY-axis direction
End point in PY-axis
direction
(a) 3-point teaching (b) 4-point teaching
Fig. 1 Layout of Palletizing Positions

490
 (Note) Since ASEL, PSEL and SSEL controllers are 2-axis controllers, setting 2 in
operand 2 results in the planar type, just like 1 is set.

If palletizing positions are set by 4-point teaching, it is recommended that the non-planar type
be specified as long as all four points are known to be on the plane and the palletizing requires
precision.

If operand 2 is set to 1, 4-point teaching (planar type) is set.

Fig. 2-(a)
The plane is determined by three points including the start point, end point in PX-axis
direction and end point in PY-axis direction. The end point is moved in parallel in PZ
direction (vertical direction) and the point of intersection with the aforementioned plane is
defined as the end point for this type of palletizing.

5. SEL Commands
Palletizing positions are placed on the quadrilateral pallet surface determined by these
four points.

i+2 axis
End point

Move in parallel in PZ-axis direction.

End point in PX-axis direction

End point when the planar type is

i+1 axis specified

If the planar type is specified,

palletizing positions are placed
on the plane determined by the
three points excluding the end point.

End point in PX-axis direction

Start point

i-axis

Fig. 2-(a)

Take note, however, that the moving direction of the end point varies if the three points other
than the end point meet the conditions specified in Table 1. This is when the plane
determined by the three points other than the end point is vertical to the ground. In this case,
moving the end points in parallel with PZ direction (vertical direction) does not find a point of
intersection with this plane.

Table 1 Moving Direction of End Point Based on Planar Type Specification

Condition Moving direction of end point

Point data other than i-axis component matches
among the three points other than the end point. (Refer Move in parallel in i-axis direction.
to Fig. 2-(b))
Point data other than PZ-axis component matches
between the start point and end point in PX-axis
direction. (Refer to Fig. 2-(c))
Point data other than PY-axis component matches Move in parallel in the direction of one of
between the start point and end point in PX-axis the two axes other than the PZ-axis,
direction. (Refer to Fig. 2-(c)) whichever has the smaller axis number.
Point data other than PZ-axis component matches
between the end point in PX-direction and end point in
PY-axis direction. (Refer to Fig. 2-(c))
* i indicates the axis number of one of the two axes other than the PZ-axis.

491
 End point Move in parallel
i+2 axis in i-axis direction.

End point in PX-axis direction End point when the planar type is specified

i+1 axis

End point in PX-axis direction

The end point moves in parallel in the i-axis direction

and palletizing positions are placed on the plane
determined by the three points excluding the end point.
Start point

i-axis
5. SEL Commands

Fig. 2-(b)
The point data for i-axis component matches among the three points other than the end point:

End point Move in parallel

i+2 axis in i-axis direction.

End point when the planar type is specified

End point in PX-axis direction

i+1 axis

End point in PX-axis direction

If the PZ-axis component is i+2 axis, then the remaining two axes are the
Start point i-axis and i+1 axis, of which the i-axis has the smaller axis number.
Accordingly, the end point moves in parallel in the i-axis direction
and palletizing positions are placed on the plane determined by the
three points excluding the end point.
i-axis

Fig. 2-(c)
The point data other than PZ-axis component matches between two of the three points other than
the end point:
(In the figure above, the point data other than PZ-axis component matches between the start point
and end point in PY-axis direction.)

 If the valid axis pattern does not match the point data for 3-point teaching or 4-point
teaching, an error “CB0, Mismatched valid axes for palletizing 3-point teaching data” will
generate. If a PAPS command is executed after specifying the applicable axes using a GRP
command, only the point data corresponding to the specified axes, among all axes whose
point data is valid, will be used as palletizing point data. Executing a GRP command
thereafter with a different setting will have no effect.
 If the PZ-axis has been declared, there must be two effective axes other than the PZ-axis. If
the PZ-axis is not yet declared, there must be two or three effective axes. If there are not
enough effective axes, a “CAE: Insufficient effective axes for palletizing point data by 3-point
teaching” occurs. If there are too many effective axes, on the other hand, a “CAF: Excessive
effective axes for palletizing point data by 3-point teaching” occurs. If the planar type is
specified and PZ-axis is not yet declared, set two effective axes. If the number of effective
axes is other than 2, a “CB4: Arch motion Z-axis non-declaration error” occurs.
 This command cannot be used with a PASE (set palletizing axes) command. Whichever was
set later will be given priority. (A single PAPS command can substitute a set of PASE, PAPT
and PAST commands.)
 If this command is executed before BGPA is declared (= while palletizing setting is not
enabled), an error, “CB5, BGPA not declared at palletizing setting” will generate.
 If the output field is specified, the output will turn ON after this command is executed.

492
 PSLI (Set zigzag)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Offset
Optional Optional PSLI (Count) CP
amount

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Set a zigzag palletizing.
The value specified in operand 1 will be set as the offset amount for even-numbered rows.
The count specified in operand 2 will be set as the count for even-numbered rows.

[Refer to 3.6.5 Palletizing Function]

If operand 2 is not specified, the count for even-numbered rows will become the same as the
count for odd-numbered rows.
If palletizing is set with PAPS (Set palletizing points) based on 3-point teaching, the PX and
PY-axes need not be parallel with the corresponding axes on the work coordinate system. In
this case, the offset direction is parallel with the PX-axis. If the offset value is positive, the
measure in the direction of the PX-axis end point defines the offset. If the offset value is
negative, the measure in the direction of the reference point defines the offset.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting
is not permitted).
If the output is specified, it turns ON after this command has been executed

493
  PCHZ (Declare palletizing Z-axis): Only when there are 3 or more axes
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Axis
Optional Optional PCHZ Prohibited CP
number)

Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL 
5. SEL Commands

Specify the axis number in palletizing Z direction.

Specify the axis number specified in operand 1 as the axis number in palletizing Z direction.
If operand 1 is not specified, the palletizing Z-axis which is specified and already declared
becomes invalid.
An error occurs if this command is executed when BGPA is not yet declared (palletizing
setting is not permitted).
If the output is specified, it turns ON after this command has been executed

(Note 1) Only Z-axis (either Axis No. 3 or Axis No. 7) in the work coordinate system is
available to indicate for the palletizing Z-axis of the SCARA axes. Setting of the
palletize Z-axis cannot be established for linear drive axes in PX/QX.
(Note 2) When Coordinate System Definition 1 Control (All Axes Parameter No. 55) is set
to 1 valid, and constructing axes (coordinate system definition unit axes) is
selected in All Individual Parameter No. 56 (Coordinate System Definition 1
Constructed Axes Setting) in MSEL-PC/PG and TTA, R-axis of the coordinate
system definition unit cannot be indicated for the arch motion Z-axis. Also, X and
Y-axes of the coordinate system definition unit can be indicated only when the
offset of R-axis of the work coordinate system is set to 0.

[Example] PCHZ 3

494
  PTRG (Set palletizing arch triggers)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position Position
Optional Optional PTRG CP
number number

Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL 

5. SEL Commands
Set arch triggers for arch motion to a palletizing point.
(This command is valid when a PACH command is executed.)
Set as the palletizing start-point arch trigger the palletizing Z-axis (PZ-axis) position data
corresponding to the point data specified in operand 1, and set as the palletizing end-point
arch trigger the PZ-axis position data corresponding to the point data specified in operand 2.

Palletizing start-point arch trigger Palletizing end-point arch trigger

Position No. 11 Position No. 13

Start point End point

PTRG 11 13

[Refer to 3.6.5 Palletizing Function]

Among the point data, data of the PZ-axis specified by a PCHZ command must be effective.
Set the arch motion operation through palletizing points in such a way that when the axis rises
from the start point, it starts parallel movement after reaching the start-point arch trigger,
whereas, when descending, the axis completes parallel movement and then reaches the
end-point arch trigger.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting is
not permitted).
If the output is specified, it turns ON after this command has been executed.

(Note 1) Setting of the palletize arch trigger cannot be established for linear drive axes in
PX/QX.

495
  PEXT (Set composite palletizing)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
(Position
Optional Optional PEXT Prohibited CP
number)

Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL 
5. SEL Commands

Set composite palletizing.

Set the position number specified in operand 1 for setting composite palletizing.
When a palletizing movement command is executed, effective axis data other than data of the
PX and PY (and PZ) axes among the specified point data defines the end coordinate of the
composite axis.
With SCARA robots, the R-axis becomes a composite palletizing axis.
If nothing is specified in operand 1, the position number already declared for setting composite
palletizing becomes invalid.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting is
not permitted).
If the output is specified, it turns ON after this command has been executed.

(Note 1) The palletizing composition axes setting cannot be made to the linear drive axis
for PX/QX.

496
 OFPZ (Set palletizing Z-axis offset)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OFPZ Offset value Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Set the offset in palletizing Z-axis direction.
Set the value specified in operand 1 as the offset in PZ-axis/palletizing Z-axis direction.
The setting unit of offset is mm. The effective resolution of the set value is 0.001mm.
A negative value can also be set for the offset within the range of operation.
This offset is effective only on the end point of PACH (Arch motion to palletizing point)
operation.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting is
not permitted).
If the output is specified, it turns ON after this command has been executed.

(Note) Setting of the palletize Z-axis offset cannot be established for linear drive axes in
PX/QX.

497
 [22] Palletizing Calculation

 PTNG (Get palletizing position number)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD,A,O,AB,OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing Variable
Optional Optional PTNG CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

Assign the palletizing position number for the palletizing number specified in operand 1 to the
variable specified in operand 2.
If the output field is specified, the output will turn ON after this command is executed.

498
 PINC (Increment palletizing position number by 1)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing
Optional Optional PINC Prohibited CC
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Increment by 1 the palletizing position number for the palletizing number specified in operand 1.
If the incremented value is considered normal as a palletizing position number calculated
under the current palletizing setting, the value will be updated. If not, the value will not be
updated.
If the output field is specified, the output will turn ON when the value was successfully
incremented, and turn OFF if the increment failed.

499
  PDEC (Decrement palletizing position number by 1)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing
Optional Optional PDEC Prohibited CC
number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Decrement by 1 the palletizing position number for the palletizing number specified in operand 1.
If the decremented value is considered normal as a palletizing position calculated under the
current palletizing setting, the value will be updated. If not, the value will not be updated.
If the output field is specified, the output will turn ON when the value was successfully
decremented, and turn OFF if the decrement failed.

500
 PSET (Set palletizing position number directly)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing
Optional Optional PSET Data CC
number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Set the value specified in operand 2 as the palletizing position number for the palletizing
number specified in operand 1.
If the specified value is considered normal as a palletizing position calculated under the
current palletizing setting, the value will be set. If not, the value will not be set.
If the output field is specified, the output will turn ON when the palletizing position number was
successfully updated, and turn OFF if the update failed.

501
  PARG (Get palletizing angle)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing Axis
Optional Optional PARG CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

Obtain the palletizing angle.

Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the
palletizing number specified in operand 1, and store the result in variable 199.

This command need not be executed, if not necessary.

If this command is executed following PAPS (Set palletizing by 3-point teaching), the angle
formed by the priority axis and specified axis on the work coordinate system is calculated
automatically. An error occurs if this command is executed when PAPS is not yet executed or
after PASE has been executed following PAPS.
The axis to be used with a GRP command can be specified before PAPS is executed (refer to
the detailed explanation of PAPS). If the effective axis pattern for 3-point teaching data does
not match, an “CB0: Mismatched effective axes for palletizing point data by 3-point teaching”
error occurs.
If the number of effective point data axes (number of effective axes excluding the PZ-axis
(palletizing Z-axis) if the PZ-axis is declared) is less than two, a “CAE: Insufficient effective
axes for palletizing point data by 3-point teaching” error occurs. If the number of effective point
data axes is greater than two, a “CB9: PX/PY-axis indeterminable error at acquisition of
palletizing angle” occurs.
If the axis corresponding to the axis number in operand 2 does not specify one of the two valid
axes associated with the point data, an error “CBA, Reference-axis/PX/PY-axis mismatch error
at palletizing angle acquisition” will generate.
If the data other than PZ-axis component is identical between the reference point and PX-axis
end point in 3-point teaching, a “Reference point/PX-axis end point identical error at acquisition
of palletizing angle” occurs and angle calculation is disabled.
If the output field is specified, the output will turn ON after this command is executed.

Definitions related to the angle direction (sign) can be changed in Other Parameter No. 47
“Other Setting Bit Pattern 2” setting for MSEL-PC/PG and TTA.
(MSEL-PC/PG, TTA main application V2.00 or later)
[Refer to the instruction manuals of MSEL-PC/PG and TTA Instruction Manual for details]

502
 PAPG (Get palletizing calculation data)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing Position
Optional Optional PARG CP
number number

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
Store the position coordinate data of the palletizing point corresponding to the palletizing number
specified in operand 1, under the position number specified in operand 2.

503
 [23] Palletizing Movement

 PMVP (Move to palletizing points via PTP)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing (Position
Optional Optional PMVP PE
number number)

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

Move to the calculated palletizing points via PTP.

The axes will move to the palletizing points specified in operand 1, via PTP.
Executing this command will not increment the palletizing position number by 1.

On controllers other than ASEL, PSEL and SSEL, movement does not occur in directions
other than PX/PY-axis directions if the PX/PY-axis coordinates of palletizing points alone are
effective (such as when the PZ-axis (palletizing Z axis) is not specified). If the PZ-axis
coordinates of palletizing points are also effective, movement occurs in PZ-axis direction.
If a position number is specified in operand 2, however, the palletizing calculation result of
Z-direction position is ignored and the axis moves to the height corresponding to the specified
position number.
If data of any axis other than the Z-axis specified by palletizing is set under the position
number specified in operand 2, such data is ignored. An error handling occurs if no PZ-axis
data is available.
If composite palletizing is set, any axis whose data is available, other than the PX-axis and
PY-axis (and PZ-axis), also operates.
If operand 2 is specified, the palletizing Z-axis must be declared (PCHZ) in the palletizing
setting.
An error occurs if the palletizing Z-axis is not declared.

504
 PMVL (Move to palletizing points via interpolation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing (Position
Optional Optional PMVL PE
number number)

Applicable models
XSEL-JX/KX and MSEL-PCX/PGX ×
Other than XSEL-JX/KX and MSEL-PCX/PGX 

5. SEL Commands
Move to the calculated palletizing points via interpolation.
The axes will move to the palletizing points specified in operand 1, via interpolation.
Executing this command will not increment the palletizing position number by 1.

(Note 1) “Error No. B80 Indication Prohibited Axis Error” will be issued if the palletizing
setting to operate the SCARA axes is indicated.
For the palletizing setting at PMVL movement, establish the setting to make the
all of the operating axes the liner axes.

If a position number is specified in operand 2, however, the palletizing calculation result of

Z-direction position is ignored and the axis moves to the height corresponding to the specified
position number.
If data of any axis other than the Z-axis specified by palletizing is set under the position
number specified in operand 2, such data is ignored. An error handling occurs if no PZ-axis
data is available.
If composite palletizing is set, any axis whose data is available, other than the PX-axis and
PY-axis (and PZ-axis), also operates.
Executing this command does not increment the palletizing position by 1.
If operand 2 is specified, the palletizing Z-axis must be declared (PCHZ) in the palletizing
setting.
An error occurs if the palletizing Z-axis is not declared.

505
  PACH (Arch motion to palletizing point)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Palletizing Position
Optional Optional PACH PE
number number

Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL 
5. SEL Commands

Perform arch motion from the current point to move to the palletizing points.
 Move via arch motion to the palletizing point specified in operand 1.
 Rise from the current point to palletizing start-point arch trigger and then start moving in
PX/PY-axis directions. Pass the top point which is the Z point specified in operand 2,
complete the movement in PX/PY-axis directions, and then reach the calculated palletizing
point by passing near the palletizing end-point arch trigger.
 Palletizing arch triggers must be set for the PTRG command.

Top point of palletizing arch motion

* Position No. 12 *

Palletizing end-point arch trigger

Palletizing start-point arch trigger
Position No. 13
Position No. 11 * *

Start point End point

PCHZ 3 Palletizing No. 1
PTRG 11 13
-
-
-
PACH 1 12

* When the operation is paused and then resumed, the rise operation → horizontal operation
composite part and horizontal operation → rise operation composite part follow the paths
denoted by * (dotted lines) in the figure depending on the position of resumption. Exercise
caution to prevent contact.

(Note 1) When a palletizing setting with the SCARA axes and the liner axes existing
together is indicated, “Error No. 421 SCARA and Liner Axes Simultaneous
Indication Error” will occur. Also, when a palletizing setting with two units of
SCARA axes existing together is indicated, “Error No. B80 Indication Prohibited
Axis Error” will occur. Establish the setting to make all the operating axes the
same SCARA axes or the linear axes for the palletizing setting at the palletizing
point arch motion movement.

(Note 2) The palletize point arch motion operation of SCARA axis is PTP operation and the
linear drive axis is CP operation.

506
 (Note 3) The palletize point arch motion operation cannot be performed for linear drive
axes in PX/QX.

 The PZ-axis coordinate of the end point corresponds to the PZ-axis component of the
position coordinate of the palletizing point, if any, plus the palletizing Z-axis offset. If the PZ
component is not available, then the PZ-axis coordinate of the start point, plus the palletizing
Z-axis offset, is used. (Normally the offset is added to all applicable positions such as arch
trigger and Z points.)
 An error occurs if the palletizing start-point arch trigger is set below the start point, or
palletizing end-point arch trigger is set below the end point. (Note: “Above” and “below” have
nothing to do with the positive and negative directions of coordinates.)
 The PZ-axis up direction refers to the direction of moving from the start point to Z point (or
opposite direction in the case of down direction) and has nothing to do with the magnitude
correlation of coordinate values. Accordingly, always check the actual operating directions

5. SEL Commands
when this command is used.
 PZ-axis down operation is performed after an up process command value has been output.
Accordingly, the following operations may take place depending on how the palletizing arch
trigger and Z points are set.

Z point

Palletizing start point

Arch trigger point

Palletizing start point

Arch trigger point

Start point End point Start point End point

In these cases, change the palletizing arch triggers and PZ point to increase the efficiency of
operation.
 If composite palletizing is set (PEXT), any axis whose data is available, other than the PX,
PY and PZ-axes, also operates. However, the composite axis starts/ends its operation at a
position above the applicable arch trigger. If the R-axis is set with a PEXT command, the
R-axis starts/ends its operation above the applicable arch trigger.
 Executing this command does not increment the palletizing position by 1.

507
 [24] Building of Pseudo-Ladder Task

 CHPR (Change task level)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional CHPR 0 or 1 Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]
5. SEL Commands

[Function] Specify “1” (User HIGH) if you wish the target task to be processed before other
tasks.
This command can also be used with non-ladder tasks.
Task level change (0: User NORMAL, 1: User HIGH) is not a required component,
but specifying User HIGH will require a TSLP command explained below.
(Without TSLP, tasks of the User NORMAL level will not be processed.)

508
 TPCD (Specify processing to be performed when input condition is not
specified)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited TPCD 0 or 1 Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]


5. SEL Commands
[Function] Specify the processing to be performed when input condition is not specified.
(0: Execute, 1: Follow the input condition in the last executed step)
In a ladder task, always input “1” (Follow the input condition in the last executed
step) in operand 1.
In a non-ladder task, always input “0” (Execute). (The default value is “0”.)

509
  TSLP (Task sleep)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Prohibited Prohibited TCLP Time Prohibited CP

Applicable models
All models [Refer to Section 5.1 for details of models]

5. SEL Commands

[Function] Set the time during which the applicable task will sleep, in order to distribute the
processing time to other tasks.
If the task level is set to User HIGH, this command must always be specified.
The applicable task will sleep during the set time.
The time in operand 1 is set in msec.
An appropriate time setting must be examined on the actual system. (Normally
approx. 1 to 3 is set.)
(If the ladder statement becomes long, state this command multiple times
between steps, as necessary.)
This command can also be used with non-ladder tasks.

510
[25] Extended Command

z ECMD1 (Get motor current value (as percentage of rated current))

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ECMD 1 Axis number CC

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
{
{
(TTA only
× { { { × { { { { (V1.18
V1.22
or later)
or later)

[Function] Store the motor current value (percentage of the rated current) corresponding to
the “axis number” specified in operand 2, in variable 99.

Note: • When comparing with “Constant (Non-Pressing) Torque Limit (Upper)” set in
Extension Command Code 250, have 5% or more of a margin.

[Example] ECMD 1 2 Extended command 1

Store the motor current value (percentage of the
rated current) of axis 2, in variable 99.

511
  ECMD2 (Get home sensor status)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ECMD 2 Axis number CC

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
5. SEL Commands

SAXD
          

[Function] Reflect in the output the status of the home sensor corresponding to the “axis
number” specified in operand 2.

Note:  The acquired home sensor status is not the electrical level of H/L, but the
operating/non-operating status determined by taking into consideration the
setting of axis-specific parameter No. 14, “Home sensor input polarity”.
If 0 (Not used) is set in axis-specific parameter No. 14, “Home sensor input
polarity”, the sensor status (output) is deemed indeterminable and use of the
sensor is prohibited.
The specified output port/flag is operated only when this command has been
executed. Accordingly, this command must be executed repeatedly if you want
to constantly reflect the sensor status in the output port/flag.

[Example] ECMD 2 3 315 Output the home sensor status of axis 1

in output port No. 315.

512
 ECMD3 (Get overrun sensor status)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ECMD 3 Axis number CC

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD

5. SEL Commands
SAXD
          

[Function] Reflect in the output the status of the overrun sensor corresponding to the “axis
number” specified in operand 2.

Note:  The acquired overrun sensor status is not the electrical level of H/L, but the
operating/non-operating status determined by taking into consideration the
setting of axis-specific parameter No. 15, “Overrun sensor input polarity”.
If 0 (Not used) is set in axis-specific parameter No. 15, “Overrun sensor input
polarity”, the sensor status (output) is deemed indeterminable and use of the
sensor is prohibited.
The specified output port/flag is operated only when this command has been
executed. Accordingly, this command must be executed repeatedly if you want
to constantly reflect the sensor status in the output port/flag.

[Example] ECMD 3 1 890 Output the overrun sensor status of axis

1 in global No. 890.

513
  ECMD4 (Get creep sensor status)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ECMD 4 Axis number CC

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
5. SEL Commands

          

[Function] Reflect in the output the status of the creep sensor corresponding to the “axis
number” specified in operand 2.

Note:  The acquired creep sensor status is not the electrical level of H/L, but the
operating/non-operating status determined by taking into consideration the
setting of axis-specific parameter No. 16, “Creep sensor input polarity”.
If 0 (Not used) is set in axis-specific parameter No. 16, “Creep sensor input
polarity”, the sensor status (output) is deemed indeterminable and use of the
sensor is prohibited.
The specified output port/flag is operated only when this command has been
executed. Accordingly, this command must be executed repeatedly if you want
to constantly reflect the sensor status in the output port/flag.

[Example] ECMD 4 2 315 Output the creep sensor status of axis 2

in output port No. 315.

514
 ECMD5 (Get axis operation status)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ECMD 5 Axis number CC

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD

5. SEL Commands
SAXD
          

[Function] Store the status of the axis specified in operand 2, in variable 99.
The axis status is indicated by the ON/OFF level of each bit, as shown below.
Accordingly, the obtained value must be converted to a binary value for
interpretation.

Variable 99
7 6 5 4 3 2 1 0

Servo axis in use (0 = Not in use, 1 = In use)

Home return (00 = Not yet complete, 01 = In progress, 10 =
Complete)
Servo ON/OFF (0 = OFF, 1 = ON)
Successful execution of movement command (0 = Not yet complete,
1 = Successful)
Detection of missed work during push-motion operation (0 = Not
detected, 1 = Detected)

(Note) If an invalid axis number is specified in operand 2, “CC4, SEL data error” will
generate.

[Example] ECMD 5 2 Store the status of axis 2 in variable 99. If 28

(decimal value) was stored in variable 99 after
the command was executed, the status of axis 2
is interpreted as follows.
Variable 99
28

Binary notation

Variable 99
0 0 0 1 1 1 0 0

Servo axis not in use

Home return complete
Servo ON
Movement command successful Status of axis 2
Missed work not detected during
push-motion operation

515
  ECMD6 (Current position acquirement on each axis system (1 axis
direct)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Integer
Optional Optional ECMD 6 Variable CC
number

Applicable models
XSEL
XSEL XSEL
5. SEL Commands

-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
 
      (V1.20 or   (TTA only)

later)

[Function] By using data stored in the four integer variables in a row from the integer
variable number indicated in Operation 2, the current position expressed in each
axis coordinate system of the indicated axis numbers gets read out to the variable
indicated in the current position storage variable number.

 When Operand 2 = Variable number

Variable
Description of setting I/O
No.
n Axis Number
Current Position Storage Variable
n+1
Number
n+2 0 Reserved (to be fixed to 0)
n+3 0 Reserved (to be fixed to 0)

(Note 1) Input an integer variable number in Operation 2.

Local area : 1 to 96，1001 to 1096
Global area : 200 to 296, 1200 to 1296
(Note) For XSEL-P/Q and some others, there are global domains 20000 to
2796.
[Refer to 4.1 Each Type of Data Available to Handle on the Program and
its Range]

(Note 2) The units in the result of the readout of the current position for each axis system
are as shown below.
SCARA 1st, 2nd and 4th Axes (5th, 6th, 8th axis) : deg. (degrees)
SCARA 3rd Axis (7th axis) : mm

[Example] LET 200 4 Set the 4th axis (R-axis) to Variable No. 200
LET 201 300 Set Current Position Storage Variable No. (300) to
Variable No. 201
LET 202 0 Set 0 to Variable No. 202
LET 203 0 Set 0 to Variable No. 203
ECMD 6 200 The current position of each coordinate system on
R-axis is read out to Variable No. 300.

516
 ECMD7 (Get total movement count)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis
Optional Optional ECMD 7 CC
number

Applicable models
TTA (Main application V2.08 or later)
MSEL (Main application V2.08 or later)

5. SEL Commands
[Function] The total movement count (times) of “Axis number” indicated in operand 2 gets
stored in the variable 99.
The total movement count available to obtain by this command is from 0 to
2147483647 times.
What can be obtained by this command is the total movement count in the
maintenance information.

[Example] ECMD 7 1 The total movement count of the first axis gets
stored in the variable 99.

In the case shown in the figure below, 592 will be stored in the variable 99.

Variable 99 592

517
  ECMD8 (Get total mileage)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis
Optional Optional ECMD 8 CC
number

Applicable models
TTA (Main application V2.08 or later)
MSEL (Main application V2.08 or later)
5. SEL Commands

[Function] The total mileage (unit in m if linear drive and in 1000deg if rotary drive) of “Axis
number” indicated in operand 2 gets stored in the variable 99.
What can be obtained by this command is the total mileage in the maintenance
information.
The total mileage available to obtain by this command is from 0 to
2147483647m.

[Example] ECMD 8 1 The total mileage of the first axis gets stored in the
variable 99.

In the case shown in the figure below, 215 will be stored in the variable 99.

Variable 99 215

518
 ECMD9 (Get position deviation)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis
Optional Optional ECMD 9 CC
number

Applicable models
TTA (Main application V2.10 or later)
MSEL (Main application V2.10 or later)

5. SEL Commands
[Function] The position deviation (encoder pulse unit) of “Axis number” indicated in operand
2 gets stored in the variable 99.

[Example] ECMD 9 1 The position deviation of the first axis gets stored in
the variable 99.

519
 z ECMD10 (Acquirement of Overload Level)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Axis
Optional Optional ECMD 10 CC
number

Applicable models

XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later.)

[Function] The overload level (unit in %) of “Axis Number” indicated in Operation 2 should
5. SEL Commands

be stored in Variable 99.

“D0A: Driver Overload Error” will be generated if the overload level exceeds
100%. In order to reduce the overload level, it is effective to decrease the
acceleration setting or increase the rate of pause.

[Example] ECMD 10 1 Overload level of 1st axis should be stored in

Variable 99

520
z ECMD11 (Acquirement of Encoder Overheated Level)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Axis
Optional Optional ECMD 11 CC
number

Applicable models

XSEL-RA/SA/RAX/SAX/RAXD/SAXD (Main application V1.10 or later.)

[Function] The encoder overheated level (unit in %) of “Axis Number” indicated in Operation

5. SEL Commands
2 should be stored in Variable 99.
“5C7: Encoder Overheated Error” will be generated if the encoder overheated
level exceeds 100%. In order to reduce the encoder overheated level, it is
effective to decrease the acceleration setting or increase the rate of pause.

(Note) If this command gets executed to an axis with an encoder not equipped with a
thermo sensor, 0 should be stored to Variable 99.

[Example] ECMD 11 1 Encoder overheated level of 1st axis should be

stored in Variable 99

521
  ECMD20 (Get parameter value)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ECMD 20 CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] Store the value of the specified parameter in variable 99, using the data stored in
the three consecutive variables starting from the one corresponding to the
variable number specified in operand 2.
The contents and ranges for the variable data settings are as shown below. Setting
outside the specified range will generate “CC4 SEL data error”.

 When Operand 2 = n
Setting value and range for each variable
Variable Description of
No. setting Common to
I/O Axis-specific Driver Encoder I/O device Other
all axes
Parameter
n 0 1 2 3 4 5 7
type
1 to 8* 1 to 8* 1 to 8*
Device (up to (up to (up to
n+1 number/axis 0 0 number of number of number of 0 to 9 0
number connected connected connected
axes) axes) axes)
Parameter
n+2 1 to 999 1 to 400 1 to 250 1 to 112 1 to 30 1 to 112 1 to 200
number

Specify an integer variable in operand 2 (At this time, make sure that three
variables can be ensured.). If a variable of non-integer type is specified, “C3C,
Variable number error” will generate.

(Note) Setting of Parameter Type = 10 enables to acquire parameters for the pulse I/O
board. [See the next page.]

[Example] LET 1250 0 Variable No. 1250 = Parameter type (I/O)

LET 1251 0 Variable No. 1251 = Device number (0, in the case
of I/O parameter)
LET 1252 30 Variable No. 1252 = Parameter number (No. 30)
ECMD 20 1250 Extended command 20 (Use variable No. 1250
through 1252)
Store the value of I/O parameter No. 30, “Input
function selection 000”, in variable 99.

522
 ECMD20 (Get parameter value (Extension Motion Control Board
Parameters)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional ECMD 20 CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Store the value of the specified parameter in variable 99, using the data stored in
the five consecutive variables starting from the one corresponding to the variable
number specified in Operand 2.
The contents and ranges for the variable data settings are as shown below. Setting
outside the specified range will generate “C44 SEL data error”.
When Parameter Type = 10 (Pulse I/O board: Feature dedicated for XSEL ,
(XSEL-RA/SA excluded) is selected, Parameter Detail Type (n + 3) and Channel
Number (n + 4) are required of following.
 When Operand 2 =n
Variable
Description of setting Setting value and range for each variable
No.
n Parameter type 10: Pulse I/O board
n+1 Device number 0 to 1
n+2 Parameter number 1 to 100
0 : Common
n+3 Parameter detail type 1 : Input Channel
2 : Output Channel

The range may differ depending on parameter detail type (n+3).

Parameter detail type (n+3) Range for channel number (n+4)
n+4 Channel number 0 (Common) Reserved (to be fixed to 0)
1 (Input channel) 0 to 1
2 (Output channel) 0 to 7

Specify an integer variable in operand 2. At this time, make sure to secure five
(for XSEL) consecutive variables. C3C will be generated when a variable other
than integer variables is indicated.
[Example] LET 1250 10 Variable No. 1250 = Parameter type (Pulse I/O board)
LET 1251 1 Variable No. 1251 = Device number
LET 1252 2 Variable No. 1252 = Parameter number (No. 2)
LET 1253 2 Variable No. 1252 = Parameter Detail Type (Output
Channel)
LET 1253 5 Variable No. 1252 = Channel number (Output
channel 5)
ECMD 20 1250 Extended command 20 (Use variable No. 1250
through 1252)
Data for the value set in No. 2 (Pulse output mode)
in the pulse I/O board parameter output channel 5 is
stored to Variable 99.

523
 z ECMD250 (Set torque limit/torque limit over detection time)
Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ECMD 250 Axis pattern CC

Applicable models
XSEL XSEL ASEL
XSEL XSEL XSEL XSEL
-P/Q/ -RX/SX/ PSEL TT/TTA MSEL
-J/K -R/S -JX/KX -PX/QX
PCT/QCT RXD/SXD SSEL
×
SSEL {
5. SEL Commands

× { { × { { × Δ(Note1)
(V0.52
or later)
Note 1 Appliance to High-Resolution
Applicable if main application V2.08 or later and driver V1.0 or later
[Function] Set the steady-state (non-push) torque limit (upper limit)/steady-state (non-push)
torque limit over detection time. Use the data stored in three successive integer
variables, starting from the integer variable number specified in operand 2, to
temporarily change the applicable parameters (including internal parameters).
Operand 2 = n
Variable No. n ----- Target axis pattern (decimal entry)
* Example of decimal entry: 1 = Axis 1 only
2 = Axis 2 only
3 = Axes 1 and 2
7 = Axes 1, 2 and 3
15 = Axes 1, 2, 3 and 4
Variable No. n+1 = Set value of steady-state (non-push) torque limit (upper limit)
(1% or more of the rating to the value set in driver card
parameter No. 40, “Maximum torque limit (%) Except, individual
upper limit for each axis for MSEL”)
* If the set value is greater than the upper limit specific to each
axis, the upper limit specific to the axis is set.
Variable No. n+2 = Set value of steady-state (non-push) torque limit over detection
time
(0 to 20000msec)
* Set 1 or greater if you want to use this command to “detect a
contact/heavy load” or move an axis.
* If 0 is set, the detection time becomes invalid (infinite). This
setting is used mainly to “limit the torque of the supporting
axis (horizontal only) in fitting application”. If 0 (infinite) is set,
the “steady-state (non-push) torque limit (upper limit)” is
limited to a maximum of 70% to prevent overheating.
Variable No. n+3 = 0 is set. (Reserved. * May be made accessible in the future.)
Variable No. n+4 = 0 is set. (Reserved. * May be made accessible in the future.)
If a command specifying the “steady-state (non-push) torque
limit (upper limit)” has remained effective for the “steady-state
(non-push) torque limit over detection time” or longer in steady
state (not pushing), appropriate processing is performed based
on the parameter below. Note that processing based on the
following parameter is not performed if the “steady-state
(non-push) torque limit over detection time” is set to 0 (infinite):
All-axis parameter No. 19, “Type of processing upon
steady-state (non-push) torque limit over (priority on overload
and other driver errors)”
0: Operation-cancellation level error (Recommended)
(Error No. 420: Steady-state (non-push) torque limit over error)
1: Operation cancellation (SEL command output = OFF)

524
[Example 1] LET 290 3 Set the target axis pattern (axes 1 and 2) in integer
variable 290.
LET 291 80 Set the steady-state torque limit in integer variable
291.
LET 292 1000 Set the steady-state torque limit over detection time
in integer variable 292.
ECMD 250 290 Read the values of three successive variables,
starting from variable 290.
Set axes 1 and 2.
Steady-state torque limit = 80%, steady-state
torque limit over detection time = 10000msec
MOVP 2 Move to position No. 2 under the condition set by
ECMD250.
* To return to a normal state:
[Example 2] LET 290 3 Set the target axis pattern (axes 1 and 2) in integer

5. SEL Commands
variable 290.
LET 291 1000 Set the steady-state torque limit in integer variable
291 (specification of the upper limit specific to each
axis).
LET 292 20000 Clear the steady-state torque limit over detection
time in integer variable 292. (Clear 20000.)
STOP *290 Clear the low-torque axis deviation counter.
ECMD 250 290 Read the values of three successive variables,
starting from variable 290.
Steady-state torque limit = Upper limit specific to
each axis (maximum torque return)
Steady-state torque limit over detection time
(20000msec)
MOVP 2 Move to position 2 at the steady-state torque.
(Note 1) If the torque is set low, dropping (vertical axis, etc.) and overshooting occurs. If
the torque is lowered during high-speed operation, overshooting occurs due to
insufficient torque.
(Note 2) If the torque is lowered during high-speed operation, normal deceleration cannot
be performed due to insufficient torque and overshooting occurs as a result,
creating a dangerous situation.

(Note 3) If positioning operation is performed at low torque, the axis may remain stopped
near the positioning target due to insufficient torque.
When moving an axis, be sure to set the “steady-state (non-push) torque limit
over detection time” to 1msec or longer to detect a steady-state (non-push)
torque limit over event (timeout).
* If the “steady-state (non-push) torque limit over detection time” is set to 0 to
“limit the torque of the supporting axis (horizontal only) in fitting application”,
positioning operation to the coordinate of the torque-limited axis is performed
when returning after the fitting operation, if the position data for return operation
after the fitting operation (via a PUSH command, etc.) includes the coordinate of
the supporting axis (torque-limited axis) in fitting application.
As a result, the axis may remain stopped near the target position due to
insufficient torque. For the position data used in the return operation after the
fitting operation, set only the coordinate of the fitting operation axis (axis used
by a PUSH command, etc.).
(Note 4) If the torque is set extremely low, servo ON axes may move at very slow speed
due to an analog offset error, etc.
(Note 5) Even when the load is normal, the torque becomes slightly higher during
acceleration/deceleration. Determine appropriate settings (steady-state torque
limit and steady-state torque limit over detection time) to prevent false detection
of steady-state torque limit over events.

525
 (Note 6) “Error No. C6B: Deviation overflow error” or “Error No. CA5: Stop deviation
overflow error” may be detected before “Error No. 420: Steady-state (non-push)
torque limit over error”. This is normal.

(Note 7) If the torque is changed to a high level from a low level at which axis movement
can no longer be guaranteed, be sure to issue a STOP command to low-torque
axes and clear the deviation counter before increasing the torque (from a low
level). If the torque setting is changed from low to high when deviations are still
accumulated, the axes may move without their speed being limited and thus a
dangerous situation may occur.

(Note 8) To return to the normal condition (maximum torque), expressly specify 1000% for
the “steady-state (non-push) torque limit (upper limit)” and 20000msec for the
“steady-state (non-push) torque limit over detection time”.
* If a value greater than the upper limit specific to each axis is set for the
5. SEL Commands

“steady-state (non-push) torque limit (upper limit)” of that axis, the upper limit
specific to the axis (approx. 100 to 400%) is set.

(Note 9) The following values are used upon power ON reset, software reset and start of
home return:
Steady-state (non-push) torque limit (upper limit) = Driver card parameter No. 40,
“Maximum toque limit (%) Except, individual upper limit for each axis for MSEL”
Steady-state (non-push) torque limit over detection time = 20000msec

(Note 10) If the “steady-state (non-push) torque limit (upper limit)” and “steady-state
(non-push) torque limit over detection time” are changed, the new settings will
remain effective even after the SEL program ends.
When building a system using this extended command, therefore, expressly set
the “steady-state (non-push) torque limit (upper limit)” and “steady-state
(non-push) torque limit over detection time” in all SEL programs, before any
operation is started in each program, using this extended command.
If you assume that the “steady-state (non-push) torque limit (upper limit)” and
“steady-state (non-push) torque limit over detection time” will be reset after the
end of operation in other programs, unexpected settings of “steady-state
(non-push) torque limit (upper limit)” and “steady-state (non-push) torque limit
over detection time” may be applied should the program abort due to an error,
etc., in which case unforeseen problems may result.

(Note 11) This extended command does not rewrite the value of driver card parameter No.
40, “maximum torque limit” (except, individual upper limit for each axis for MSEL)
itself (main CPU flash memory) (in non-volatile memory).

(Note 12) The motion taken when the controller is not applicable is as stated below.
Conditon Action
When main application part is in a “B16: SEL Operand Indication Error”
version not applicable should occur
When built-in PC board is not “C7A: Servo Unsupported Feature
applicable Error” should occur
When driver is in a version not “B25: Driver Unsupported Feature
applicable Error” should occur

526
  ECMD280/290 (Conversion from each axis coordinates to work
coordinates in wrist unit equipped robot)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Integer
Optional Optional ECMD 280/290 variable CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/ TT/

5. SEL Commands
SAX/ PSEL MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/ TTA
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] The position in each axis coordinate system in a robot equipped with a wrist unit
should be converted into the position in the work coordinate system.

■ Operand 2: Contents in Integer Variable No. n

Variable
Data Contents
No.
Indicate the position number that the each axis
Top position data number for storage
n coordinate system position data to be converted was
of data before conversion
stored. (*1)
Top position data number for storage Indicate the position number that the converted work
n+1
of data after conversion coordinate system position data is to be stored. (*1)
Top position data number for storage Indicate the position number that the work
n+2
of work coordinate offset coordinate offset was stored. (*1)
Top position data number for storage Indicate the position number that the tool coordinate
n+3
of tool coordinate offset offset was stored. (*1)
Refer to “5.3.6. Settings in Common for Coordinate
n+4 Robot combination type
Conversion Commands”.
n+5 Wrist unit type 0: S type 1: M type
Indicate the top axis number of the position that the
data was stored.
n+6 Top axis number
* Only ECMD 290 is effective. -1 should always be
indicated for ECMD 280.
* 1 The top position number should be indicated for the standard motion control position.

* Work Coordinate Offset

For TTA and MSEL, set the work coordinate offset amount in the work coordinate system number
and execute SLWK Command, and the position will be at the point that is offset by the amount
set in the work coordinate system number.
In the same manner, if the offset amount is set in the position of the work coordinate offset
storage top position data number and the work coordinate offset storage top position data
number is indicated, the position after offset will be figured out.
[Refer to 1.4.5 (2) Positioning on Work Coordinate System]

* Tool Coordinate Offset

For TTA and MSEL, set the tool coordinate offset amount in the tool coordinate system number
and execute SLTL Command, and the position will be at the point that is offset by the amount set
in the tool coordinate system number.
In the same manner, if the offset amount is set in the position of the tool coordinate offset storage
top position data number and the tool coordinate offset storage top position data number is
indicated, the position after offset will be figured out.
[Refer to 1.4.5 (2) Positioning using Tool Coordinate System Offset]

527
  ECMD281/291 (Conversion from work coordinates to each axis
coordinates in wrist unit equipped robot)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Integer
Optional Optional ECMD 281/291 variable CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/ TT/
SAX/ PSEL MSEL
5. SEL Commands

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/ TTA

RAXD/ SSEL
QCT SXD
SAXD
          

[Function] The position in work coordinate system in a robot equipped with a wrist unit
should be converted into the position in the each axis coordinate system.

■ Operand 2: Contents in Integer Variable No. n

Variable
Data Contents
No.
Indicate the position number that the position data to
be converted was stored. (* 1) The work coordinate
Top position data number for storage
n system position data to be converted and the each
of data before conversion
axis coordinate system current position data will be
stored in the positions in a row.
Indicate the robot form to be converted.
0: Flip 4: Non Flip 8: Form Automatic Select *
n+1 Form to be converted
* Form to have R-axis angle (absolute value)
minimum selected.
Indicate the position number that the converted each
Top position data number for storage
n+2 axis coordinate system position data is to be stored.
of data after conversion
(* 1)
Top position data number for storage Indicate the position number that the work
n+3
of work coordinate offset coordinate offset was stored. (* 1)
Top position data number for storage Indicate the position number that the tool coordinate
n+4
of tool coordinate offset offset was stored. (* 1)
Refer to “5.3.6. Settings in Common for Coordinate
n+5 Robot combination type
Conversion Commands”.
n+6 Wrist unit type 0: S type 1: M type
Indicate the top axis number of the position that the
data was stored.
n+7 Top axis number
* Only ECMD 291 is effective. -1 should always be
indicated for ECMD 281.
*1 The top position number should be indicated for the standard motion control position.

(Note 1) Indicate the form automatic select when it is not necessary to specify the form for
the form to be converted. In this, the form to have the R-axis angle (absolute value)
minimum will be selected, which enables to have the movement time short.

(Note 2) When the form automatic select is indicated, and if the R-axis is an absolute value at
the same angle, NON FLIP will be selected.

528
* Work Coordinate Offset
For TTA and MSEL, set the work coordinate offset amount in the work coordinate system number
and execute SLWK Command, and the position will be at the point that is offset by the amount
set in the work coordinate system number.
In the same manner, if the offset amount is set in the position of the work coordinate offset
storage top position data number and the work coordinate offset storage top position data
number is indicated, the position after offset will be figured out.
[Refer to 1.4.5 (2) Positioning on Work Coordinate System]

* Tool Coordinate Offset

For TTA and MSEL, set the tool coordinate offset amount in the tool coordinate system number
and execute SLTL Command, and the position will be at the point that is offset by the amount set
in the tool coordinate system number.
In the same manner, if the offset amount is set in the position of the tool coordinate offset storage

5. SEL Commands
top position data number and the tool coordinate offset storage top position data number is
indicated, the position after offset will be figured out.
[Refer to 1.4.5 (2) Positioning using Tool Coordinate System Offset]

529
  ECMD282/292 (Conversion from tool coordinates to work coordinates in
wrist unit equipped robot)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Integer
Optional Optional ECMD 282/292 variable CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/ TT/
SAX/ PSEL MSEL
5. SEL Commands

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/ TTA

RAXD/ SSEL
QCT SXD
SAXD
          

[Function] The position in the tool coordinate system on a robot equipped with a wrist unit
(relative position from the tool tip) should be converted into the position in the
work coordinate system.

■ Operand 2: Contents in Integer Variable No. n

Variable
Data Contents
No.
Indicate the position number that the position
data to be converted was stored. (* 1) The tool
Top position data number for storage
n coordinate system position data to be converted
of data before conversion
and the work coordinate system current position
data will be stored in the positions in a row.
Indicate the position number that the converted
Top position data number for storage
n+1 work coordinate system position data is to be
of data after conversion
stored. (* 1)
Top position data number for storage Indicate the position number that the work
n+2
of work coordinate offset coordinate offset was stored. (* 1)
Top position data number for storage Indicate the position number that the tool
n+3
of tool coordinate ffset coordinate offset was stored. (* 1)
Refer to “5.3.6. Settings in Common for
n+4 Robot combination type
Coordinate Conversion Commands”.
n+5 Wrist unit type 0: S type 1: M type
Indicate the top axis number of the position that
the data was stored.
n+6 Top axis number.
* Only ECMD 292 is effective. -1 should always
be indicated for ECMD 282.
*1 The top position number should be indicated for the standard motion control position.

* Work Coordinate Offset

For TTA and MSEL, set the work coordinate offset amount in the work coordinate system number
and execute SLWK Command, and the position will be at the point that is offset by the amount
set in the work coordinate system number.
In the same manner, if the offset amount is set in the position of the work coordinate offset
storage top position data number and the work coordinate offset storage top position data
number is indicated, the position after offset will be figured out.
[Refer to 1.4.5 (2) Positioning on Work Coordinate System]

530
* Tool Coordinate Offset
For TTA and MSEL, set the tool coordinate offset amount in the tool coordinate system number
and execute SLTL Command, and the position will be at the point that is offset by the amount set
in the tool coordinate system number.
In the same manner, if the offset amount is set in the position of the tool coordinate offset storage
top position data number and the tool coordinate offset storage top position data number is
indicated, the position after offset will be figured out.
[Refer to 1.4.5 (2) Positioning using Tool Coordinate System Offset]

5. SEL Commands

531
  ECMD300 (User system error output)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Integer
Optional Optional ECMD 300 variable CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/ TT/
SAX/ PSEL MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/ TTA
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] If a system error (such as communication error to another controller and timeout)
is detected, a user system error (Error No. A00 (message level) or No. C00
(operation cancel level)) can be caused by executing this command. Also, in
case that program stop is required by detecting a system error, the program can
be stopped by executing this command.
Set the error information to the integral numbers from No. n+1 to No. n+4 set in
operand 2 and execute this command, and the information can be displayed in
Info. 1 to Info. 4 in the error list. The output part should turn ON if executed in
normal condition when Output Error Level = 0 (message level) and be alway OFF
when Output Error Level = 1 (operation cancel level).

■ Operand 2: Contents in Integer Variable No. n

Variable
Data Contents
No.
Indicate the error level to output.
0: message level (* 1)
n Output error level (Error No. A00 “User System Error” occurred.)
1: operation cancel level
(Error No. C00 “User System Error” occurred.)
n+1 Error detail information 1 Set value should be displayed in Info. 1 in the error list.
n+2 Error detail information 2 Set value should be displayed in Info. 2 in the error list.
n+3 Error detail information 3 Set value should be displayed in Info. 3 in the error list.
n+4 Error detail information 4 Set value should be displayed in Info. 4 in the error list.
* 1 Even if an occurred error is message level, it will be registered in the error list.

532
[26] RC gateway function commands

 RPGT (Read RC-axis position data)

*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPGT CC

5. SEL Commands
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read the RC-axis position into variable 199.

[Example 1] RPGT 1 2 Read the position corresponding to RC position No. 2

of axis 1 into variable 199.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 0 0.10

200.00 is stored in variable 199.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
RPGT *1 *2 Read into variable 199 the RC position
corresponding to the content of variable 2, or 3, of
the axis corresponding to the content of variable 1,
or 2.

533
  RPPT (Write RC-axis position data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPPT CP
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Write the value of variable 199 to the position corresponding to the specified
position data [mm].

[Example 1] LET 199 150 Assign 150 to variable 199.

RPPT 1 2 Write the content of variable 199, or 150, to RC
position No. 2 of axis 1.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 150.00 300 0.3 0 0.10

Variable 199 150

[Example 2] LET 199 15 Assign 150 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
RPPT *1 *2 Write the content of variable 199, or 150, to the RC
position corresponding to the content of variable 2,
or 3, of the axis corresponding to the content of
variable 1, or 2.

534
 RPCR (Clear RC-axis position data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Variable
Optional Optional RPCR CP
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Clear position data in the range specified by variable No. n and variable No. n+1.
After the data is cleared, the fields become blank.

Variable Description of setting

n b Clear start position number
n+1 Clear end position number

[Example 1] LET 200 0 Assign 0 to variable 200.

LET 201 1 Assign 1 to variable 201.
RPCR 1 200 Clear 1 from position No. 0 of axis 1.

Position data of axis 1

No. Pos Vel Acc Push Inp
0
Cleared.
1
2 200.00 300 0.3 0 0.10

535
  RPCP (Copy RC-axis position data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Variable
Optional Optional RPCP CP
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Copy the position data specified by variable No. n and variable No. n+1.

Variable Description of setting

n b Position number to copy data to
n+1 Position number to copy data from

[Example 1] LET 200 2 Assign 2 to variable 200.

LET 201 0 Assign 0 to variable 201.
RPCP 1 200 Copy the data of position No. 0 of axis 1 specified
by the variable, to position No. 2.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 100 0.2 0 0.20
1 380.00 300 0.3 0 0.10 Copy
2 5.00 100 0.2 0 0.20

536
 RPRD (Read current RC-axis position)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional RPRD Prohibited CP
number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read into a position number the current position of each axis specified by an
RAXS command.

Important note: Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.

[Example 1] RAXS 0 11 Set an axis pattern consisting of axes 0, 1 and 2.

RPRD 100 Read the current positions of axes 0 to 2 into RC
position No. 100.
Position data of axis 1
No. Pos Vel Acc Push Inp
100 5.00 300 0.3 0 0.10

The current position of axis 1

Position data of axis 2

No. Pos Vel Acc Push Inp
100 500.00 200 0.3 0 0.10

The current position of axis 2

Position data of axis 3

No. Pos Vel Acc Push Inp
100 100.00 300 0.3 0 0.10

The current position of axis 3

[Example 2] RAXS 0 111 Set an axis pattern consisting of axes 0, 1 and 2.
LET 1 100 Set 100 in variable 1.
RPRD *1 Read the current positions of axes 0 to 2 into the
RC position corresponding to the content of
variable 1, or 100.

537
  RPRQ (Read current RC-axis position (single-axis direct))

RC position-data XSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Variable
Optional Optional RPDQ CP
number number

Applicable models
5. SEL Commands

XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read the current position of the RC-axis into the variable specified in operand 2.
The current position can be acquired faster than when a RPRD command is
used.

[Example] RPRQ 2 100 Read the current position of axis 2 into variable No.
100.

538
 RPVL (Write RC-axis speed data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPVL CP
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Write the value of variable 199 to the speed [mm/s] corresponding to the position
data specified in operand 2.

[Example 1] LET 199 100 Assign 100 to variable 199.

RPVL 1 2 Write the speed in variable 199, or 100mm/s, to RC
position No. 2 of axis 1.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 100 0.3 0 0.10

Variable 199 100

[Example 2] LET 199 100 Assign 100 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
RPVL *1 *2 Write the speed in variable 199, or 100mm/s, to the
RC position number corresponding to the content of
variable 2, or 3, of the axis corresponding to the
content of variable 1, or 2.

539
  RPAD (Write RC-axis acceleration/deceleration data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPAD CP
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Write the value of variable 199 to the acceleration/specification [G] corresponding
to the position data specified in operand 2.

[Example 1] LET 199 0.1 Assign 0.1 to variable 199.

RPAD 1 2 Write the acceleration/specification in variable 199,
or 0.1G, to RC position No. 2 of axis 1.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.1 0 0.10

Variable 199 0.1

[Example 2] LET 199 0.3 Assign 0.3 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
RPAD *1 *2 Write the speed in variable 199, or 0.3G, to the RC
position number corresponding to the content of
variable 2, or 3, of the axis corresponding to the
content of variable 1, or 2.

540
 RPIP (Write RC-axis in-position width data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPIP CP
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Write the value of variable 199 to the in-position width [mm] corresponding to the
position data specified in operand 2.

[Example 1] LET 199 0.2 Assign 0.2 to variable 199.

RPIP 1 2 Write the in-position band in variable 199, or 0.2mm,
to RC position No. 2 of axis 1.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 0 0.20

Variable 199 0.2

[Example 2] LET 199 0.2 Assign 0.2 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
RPIP *1 *2 Write the in-position width in variable 199, or 0.2mm,
to the RC position number corresponding to the
content of variable 2, or 3, of the axis corresponding
to the content of variable 1, or 2.

541
  RPTQ (Write RC-axis current-limiting value data for push-motion
operation)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPTQ CP
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Write the value of variable 199 to the current-limiting value for push-motion
operation [%] corresponding to the position data specified in operand 2.

[Example 1] LET 199 50 Assign 50 to variable 199.

RPTQ 1 2 Write the current-limiting value in variable 199, or
50%, to RC position No. 2 of axis 1.

Position data of axis 1

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 50 0.10

Variable 199 50

[Example 2] LET 199 50 Assign 50 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
RPTQ *1 *2 Write the current-limiting value in variable 199, or
50%, to the RC position number corresponding to
the content of variable 2, or 3, of the axis
corresponding to the content of variable 1, or 2.

542
 RGVL (Read RC-axis speed data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RGVL CP
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read into variable 199 the speed [mm/s] corresponding to the position data
specified in operand 2.

[Example] RGVL 2 1 Read into variable 199 the speed specified under
RC position No. 1 of axis 2.

Position data of axis 2

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 200 0.3 0 0.10

Variable 199 200

543
  RGAD (Read RC-axis acceleration/deceleration data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RGAD CP
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read into variable 199 the acceleration/deceleration [G] corresponding to the
position data specified in operand 2.

[Example 1] RGAD 2 1 Read into variable 199 the

acceleration/deceleration specified under RC
position No. 1 of axis 2.

Position data of axis 2

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 0 0.10

Variable 199 0.2

544
 RGIP (Read RC-axis in-position width data)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RGIP CP
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read into variable 199 the in-position width [mm] corresponding to the position
data specified in operand 2.

[Example] RGIP 2 1 Read into variable 199 the in-position width

specified under RC position No. 1 of axis 2.

Position data of axis 2

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 0 0.10

Variable 199 0.10

545
  RGTQ (Read RC-axis current-limiting value data for push-motion
operation)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RGTQ CP
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read into variable 199 the current-limiting value for push-motion operation [%]
corresponding to the position data specified in operand 2.

[Example] RGTQ 2 1 Read into variable 199 the current-limiting value

specified under RC position No. 1 of axis 2.

Position data of axis 2

No. Pos Vel Acc Push Inp
0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 30 0.10

Variable 199 30

546
 RAXS (Set RC-axis pattern)

RC position-dataXSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis pattern, Axis pattern,
Optional Optional RAXS CP
upper lower

Applicable models

5. SEL Commands
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Set an axis pattern covering axes 8 to 15 in operand 1, and axis pattern covering
axes 0 to 7 in operand 2.
The axes set by the axis pattern are operated simultaneously.

Operand 1 Operand 2

Axis 8 Axis 0
・ ・
・ ・
・ ・
Axis 15 Axis 7

Always set an axis pattern if the commands listed below are used.
(Set 1 for the axis numbers used, and 0 for the axis number not used.)
If an axis pattern is not set, a “(43B) RC-axis pattern not-set error” occurs:
 RPRD : Read current RC-axis position
 RSON : Turn ON RC-axis servo
 RSOF : Turn OFF RC-axis servo
 RHOM : Return RC-axis to home
 RMVP : Move RC-axis by position specification
 RMPI : Move RC-axis incrementally by position specification
 RSTP : Decelerate RC-axis to stop

[Example] RAXS 1010101 10101010 Set an axis pattern consisting of axes 1, 3, 5,

7, 8, 10, 12 and 14.
RSON Turn ON the servos of the specified axes.
RMVP 20 Move the specified axes to the positions
corresponding to position No. 20.

547
  RSON (Turn ON RC-axis servo)

RC position-data XSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RSON Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
5. SEL Commands

-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Turn ON the servo of each RC-axis specified by an RAXS command.

Important note: Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.

[Example] RAXS 0 1100 Set an axis pattern that uses axes 2 and 3.

RSON Turn ON the servos of the specified axes.

548
 RSOF (Turn OFF RC-axis servo)

RC position-data XSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RSOF Prohibited Prohibited PE

Applicable models
XSEL

5. SEL Commands
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Turn OFF the servo of each RC-axis specified by an RAXS command.

Important note: Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.

[Example] RAXS 0 1100 Set an axis pattern consisting of axes 2 and 3.

RSOF Turn OFF the servos of the specified axes.

549
  RHOM (Return RC-axis to home)

RC position-data XSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RHOM Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
5. SEL Commands

-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Return each RC-axis specified by an RAXS command to its home.

The servo of the axis to be returned home turns ON automatically.

[Example] RAXS 0 1100 Set an axis pattern consisting of axes 2 and 3.

RHOM Return the specified axes to their home.

550
 RMVP (Move RC-axis by position specification)

RC position-dataXSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional RMVP Prohibited PE
number

Applicable models

5. SEL Commands
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Move each RC-axis specified by an RAXS command to the position number in operand 1.
The output turns OFF when the axis movement is started, and turns ON when completed.

Caution: The specific operation varies between the XSEL position-data use mode and RC
position-data use mode.
1) XSEL position-data use mode
 Move via PTP to the position corresponding to the position number in operand 1.
2) RC position-data use mode
 The specific operation varies depending on the position data in the RC
controller.
Position data item in RC
No.
Push-motion Incremental Description of operation
Move via PTP to the position corresponding to the
1 0 0
position number in operand 1.
Move incrementally (via PTP) by the travel
2 0 1
corresponding to the position number in operand 1.
Move to the position corresponding to the position
number in operand 1 and then perform push-motion
3 Other than 0 0 operation.
The output turns OFF if any one axis has been
pushed missed the load.
Move to the position corresponding to the position
number in operand 1 and then perform push-motion
4 Other than 0 1 operation.
The output turns OFF if any one axis has been
pushed and missed the load.

Important note: Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.

[Example 1] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.

RMVP 10 Move the specified axes to the positions
corresponding to position No. 10.
[Example 2] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.
LET 1 10 Assign 10 to variable 1.
RMVP *1 Move the specified axes to the positions
corresponding to position No. 10 according to the
content of variable 1, or 10.

551
  RMPI (Move RC-axis incrementally by position specification)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional RMPI Prohibited PE
number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Move each RC-axis specified by an RAXS command by the travel corresponding
to the position data number in operand 1.
The output turns OFF when the axis movement is started, and turns ON when
completed.

Important note: Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.

[Example 1] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.

RHOM 10 Move by the travel corresponding to position No. 10.

[Example 2] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.

LET 1 10 Assign 10 to variable 1.
RMPI *1 Move the specified axes by the travels
corresponding to position No. 10 according to the
content of variable 1, or 10.

(Note 1) 405 RC Gateway Communication Type Error will occur in Fieldbus Type.

552
 RMVD (Move RC-axis absolutely by direct numerical specification of
position)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Variable
Optional Optional RMVD PE
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Perform absolute position movement using the values in variable No. n to
variable No. n+3.
The output turns OFF when the axis movement is started, and turns ON when
completed.

Variable number Description of setting

n Target position
n+1 Speed [mm/s]
n+2 Acceleration/deceleration [G]
n+3 In-position width [mm]

[Operand 1 setting type]

Operand 1 Specification of execution axis

The axis corresponding to the specified RC-axis
0 to 15
number performs absolute position movement.
Each RC-axis specified by an RAXS command
-1
performs absolute position movement.
* Specifying -1 is valid with XSEL_P/Q/PCT/QCT Ver.0.87 or later and
XSEL_PX/QX Ver.0.42 or later.

[Example] LET 300 100 Set the target position to 100mm.

LET 301 200 Set the speed to 200mm/s.
LET 302 0.3 Set the acceleration/deceleration to 0.3G.
LET 303 0.1 Set the in-position width to 0.1mm.
RMVD 1 300 Move RC-axis 1 absolutely to the specified position.

553
  RMDI (Move RC-axis incrementally by direct numerical specification of
position)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Variable
Optional Optional RMDI PE
number number
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Perform incremental position movement using the values in variable No. n to
variable No. n+3.
The output turns OFF when the axis movement is started, and turns ON when
completed.

Variable number Description of setting

n Travel
n+1 Speed [mm/s]
n+2 Acceleration/deceleration [G]
n+3 In-position width [mm]

[Operand 1 setting type]

Operand 1 Specification of execution axis

The axis corresponding to the specified RC-axis
0 to 15
number performs incremental position movement.
Each RC-axis specified by an RAXS command
-1
performs incremental position movement.
* Specifying -1 is valid with XSEL_P/Q/PCT/QCT Ver.0.87 or later and
XSEL_PX/QX Ver.0.42 or later.

[Example] LET 300 50

Set the travel to 50mm.
LET 301 200
Set the speed to 200mm/s.
LET 302 0.3
Set the acceleration/deceleration to 0.3G.
LET 303 0.1
Set the in-position band to 0.1mm.
RMDI 1 300
Move RC-axis 1 incrementally to the specified
position.
(Note 1) 405 RC Gateway Communication Type Error will occur in Fieldbus Type.

554
 RPUS (Move RC-axis via push motion)
*1 439 RC Position Data Use Method Error when
a command was executed
RC position-data XSEL  Can be used
use mode RC  Cannot be used*1
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
RC-axis Position
Optional Optional RPUS PE
number number

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] The axis moves to the target position corresponding to the position number in
operand 2, and then push the load over the in-position width specified by the
position data.
The push force is set by the current-limiting value for push-motion operation
among the position data.
The output turns ON when a push action is confirmed, and turns OFF if a miss is
detected.
[Operand 1 setting type]

Operand 1 Specification of execution axis Output specification

The axis corresponding to the
The output turns ON when pushing of
0 to 15 specified RC-axis number moves via
the command axis is confirmed.
push motion.
Each RC-axis specified by an RAXSThe output turns ON when pushing of all
-1
command moves via push motion. command axes is confirmed.
The output turns ON when pushing of
Each RC-axis specified by an RAXS
-2 any one of all command axes is
command moves via push motion.
confirmed.
* Specifying -1 is valid with XSEL_P/Q/PCT/QCT Ver.0.87 or later and XSEL_PX/QX
Ver.0.42 or later.

Caution:  If a positive sign is appended to positioning width data, the load is pushed in the
direction of increasing coordinates from the start point of the RPUS command
toward the target position.
 If a negative sign is appended, the load is pushed in the direction of decreasing
coordinates. (The operation is different from when a PUSH command is used.)

[Example] PRUS 3 10 Move RC-axis 3 to the position corresponding to

position No. 10 and cause it to push the load.

Positioning width at position 10 (maximum push amount)

Start point End point if missed

Target position under position No. 10

555
  RSTP (Cancel RC-axis movement)

RC position-data XSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RSTP Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
5. SEL Commands

-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Decelerate each RC-axis specified by an RAXS command to a stop.

This command is valid with respect to all RC-axis control commands other than
RSOF.

Notice : Before executing this command, set an axis pattern using an RAXS command.
If not, a “(43B) RC-axis pattern not-set error” occurs.

[Example] RAXS 0 11 Set an axis pattern consisting of axes 0 and 1.

RSTP Decelerate the specified axes to a stop.

556
 RCST (Read RC-axis status)

RC position-data XSEL  Can be used

use mode RC  Can be used
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable RC-axis
Optional Optional RCST CP
number number

Applicable models

5. SEL Commands
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Read the RC-axis status into the variable number in operand 1.
Read the completed position number into variable n+1. (Refer to “Note 2”.)

Notice 1: The specific status varies between the XSEL position-data use mode and RC
position-data use mode.

Variable number Acquired data

n RC-axis status
n+1 Completed position number

557
 RC-axis status bit structure
XSEL position-data use mode RC position-data use mode
Bit
Name Explanation Name Explanation
27-31 – Reserved – Reserved
RC-axis alarm RC-axis alarm
(Error detected by the XSEL) (Error detected by the XSEL)
* When ALM turns ON, ALMX * When ALM turns ON, ALMX
26 ALMX also turns ON. However, ALM ALMX also turns ON. However, ALM
may not turn ON even if ALMS may not turn ON even if ALMS
turns ON depending on the turns ON depending on the
error. error.
25 USE RC-axis in use USE RC-axis in use
24 LNK RC-axis linked LNK RC-axis linked
5. SEL Commands

16-23 – Reserved – Reserved

15 RMDS Operation Mode RMDS Operation Mode
14 ALML Light Error Alarm ALML Light Error Alarm
13 ZON2 Zone 2 ZON2 Zone 2
12 ZON1 Zone 1 ZON1 Zone 1
11 – Reserved PZON Position zone
10 – Reserved MODS Teaching mode status
9 SFTY Safety speed enabled SFTY Safety speed enabled
8 BALM Battery voltage low BALM Battery voltage low
7 EMG Emergency stop EMG Emergency stop
6 PSFL Load not pushed PSFL Load not pushed
5 CRDY Controller ready CRDY Controller ready
4 SON Servo ON SON Servo ON
3 MOVE Moving MOVE Moving
2 HEND Home return complete HEND Home return complete
1 PEND Positioning complete PEND Positioning complete
Operation-disabling alarm Operation-disabling alarm
0 ALM ALM
(Error detected by the RC-axis) (Error detected by the RC-axis)

Notice 2: Completed position numbers are set only in the RC position-data use mode.
In the XSEL position-data use mode, this bit is always set to 0.

[Example] RCST 200 10 Acquire the status of RC-axis 10 into variable 200.

558
[27] Extension Motion Control Function

 XCRP (Clear input counter record for extension motion control)

Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Pulse input
Optional Optional XCRP Prohibited CP
channel number

Applicable models
XSEL
XSEL XSEL

5. SEL Commands
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] This clears the specified pulse input channel counter to 0.

Caution
The counter clear cannot be performed when the pulse I/O board axis is in synchronizing
operation with the specified channel used as the master axis.

[Example 1] XCRP 0 It clears the counter for the pulse input channel
No. 0.

559
  XGTP (Acquire the current value for extension motion control pulse input
counter)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Pulse input
Optional Optional XGTP Prohibited CP
channel number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the current value for the pulse input channel counter specified in
Operand 1 into Variable 99.

[Example 1] XGTP 0 It acquires the pulse input channel No. 0 counter in

Variable 99.

Caution
The pulse I/O board input channel is a signed 32-bit counter.

560
 XPGT (Read extension motion control axis position data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XPGT Axis number CC
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the position data location [mm] specified in Operand 2 on the Extension
motion control axis specified in Operand 1 into Variable 199 (minimum effective
digit number = 3).

[Example 1] XPGT 2 3 It reads the position set in Position No. 3 of the 2nd
axis into Variable 199.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
XPGT *1 *2 It reads the position set in Position No. 3 (content of
Variable 2) of the 2nd axis (content of Variable 1)
into Variable 199.

Caution
If ineffective position data is specified in Operand 2, Variable 199 becomes non-operated and the
output section is turned OFF.

561
  XPPT (Write extension motion control axis position data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XPPT Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It reads the position data location [mm] specified in Operand 2 on the Extension
motion control axis specified in Operand 1 into Variable 199 (minimum effective
digit number = 3).

[Example 1] LET 199 150 Assign 150 to variable 199.

XPPT 2 3 It writes Content 150 in Variable 199 in Position No.
3 of the 2nd axis.

[Example 2] LET 199 150 Assign 150 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
XPPT *1 *2 It writes Content 150 in Variable 199 in the position
set in Position No. 3 (content of Variable 2) of the 2nd
axis (content of Variable 1).

562
 XPCR (Erase extension motion control axis position data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional XPCR Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It erases the Extension motion control axis position data specified in Operand 1
by using the two variables in a row from Variable No. n specified in Operand 2.
The erased data becomes a blank.

Variable No. Description of setting

n Start position number
n+1 End position number

[Example 1] LET 200 10 Assign 10 to variable 200.

LET 201 20 Assign 20 to variable 201.
XPCR 1 200 It erases Positions No. 10 to 20 in the 1st axis.

563
  XPCP (Copy extension motion control axis position data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional XPCP Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It copies the Extension motion control axis position data specified in Operand 1
by using the two variables in a row from Variable No. n specified in Operand 2.

Variable No. Description of setting

n Position number to copy data to
n+1 Position number to copy data from

[Example 1] LET 200 20 Assign 20 to variable 200.

LET 201 10 Assign 10 to variable 201.
XPCP 1 200 It copies Position No. 10 data in the 1st axis to
Position No. 20.

564
 XPRD (Read extension motion control axis current command position)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XPRD Positio number Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the current order position of the Extension motion control axis specified
by XAXS Command into the position number specified in Operand 1.

Caution
 Make sure to set the axis pattern by XAXS or XA16 Command before executing this command.
If the setting is not established, Error No. 445 “Extension motion control board axis pattern not
set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3 “Extension motion control axis pattern not set
error” (XSEL-RA/SA/RAX/SAX/RAXD/SAXD).
 he position acquired in this command is the current order position from the pulse I/O board.
Make sure to perform a home-return operation before executing this command.
(XSEL-P/Q/PCT/QCT/R/S)

[Example 1] XAXS 0 111 Set an pattern that uses axes 0,1 and 2.
XPRD 100 It reads the current order position of 0 to 2 axes into
Position No. 100.

[Example 2] XAXS 0 111 Set an pattern that uses axes 0,1 and 2.
LET 1 100 Assign 100 to variable 1.
XPRD *1 It reads the current order position of 0 to 2 axes
into the position in Content No. 100 of Variable 1.

565
  XPRQ (Read extension motion control axis current command position
(single-axis direct))
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional XPRQ Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the current order position of the Extension motion control axis specified
in Operand 1 into variable specified in Operand 2 (minimum effective digit
number = 3). It enables a faster acquirement of the current order position than
using XPRD Command.

Caution
The position acquired in this command is the current order position from the pulse I/O board. Make
sure to perform a home-return operation before executing this command.
(XSEL-P/Q/PCT/QCT/R/S)

[Example] XPRQ 2 100 It reads the current order position of the 2nd axis
into Variable No. 100.

566
 XPVL (Write extension motion control axis speed data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD,A,O,AB,OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XPVL Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It writes the value in Variable 199 to the position data speed [mm/s] specified in
Operand 2 on the Extension motion control axis specified in Operand 1
(minimum effective digit number = 2).

[Example 1] LET 199 100 Assign 100 to variable 199.

XPVL 2 3 It writes the speed 100mm/s in Variable 199 to
Position No. 3 on the 2nd axis.

[Example 2] LET 199 100 Assign 199 to variable 100.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
XPVL *1 *2 It writes the speed 100mm/s in Variable 199 to
Position No. 3 (content in Variable 2) on the 2nd
axis (content in Variable 1).

567
  XPAC (Write extension motion control axis acceleration data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XPAC Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It writes the value in Variable 199 to the position data acceleration [G] specified in
Operand 2 on the Extension motion control axis specified in Operand 1
(minimum effective digit number = 2).

[Example 1] LET 199 0.3 Assign 0.3 to variable 199.

XPAC 2 3 It writes the acceleration 0.3G in Variable 199 to
Position No. 3 on the 2nd axis.

[Example 2] LET 199 0.3 Assign 0.3 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
XPAC *1 *2 It writes the acceleration 0.3G in Variable 199 to
Position No. 3 (content in Variable 2) on the 2nd axis
(content in Variable 1).

568
 XPDC (Write extension motion control axis deceleration data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XPDC Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It writes the value in Variable 199 to the position data deceleration [G] specified
in Operand 2 on the Extension motion control axis specified in Operand 1
(minimum effective digit number = 2).

[Example 1] LET 199 0.3 Assign 0.3 to variable 199.

XPDC 2 3 It writes the deceleration 0.3G in Variable 199 to
Position No. 3 on the 2nd axis.

[Example 2] LET 199 0.3 Assign 0.3 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
XPDC *1 *2 It writes the deceleration 0.3G in Variable 199 to
Position No. 3 (content in Variable 2) on the 2nd
axis (content in Variable 1).

569
  XPIP (Write extension motion control axis positioning complete width
data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XPIP Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It writes the value in Variable 199 to the position data positioning complete width
[mm] specified in Operand 2 on the Extension motion control axis specified in
Operand 1 (minimum effective digit number = 3).

[Example 1] LET 199 0.2 Assign 0.2 to variable 199.

XPIP 2 3 It writes the positioning complete width 0.2mm in
Variable 199 to Position No. 3 on the 2nd axis.

[Example 2] LET 199 0.2 Assign 0.2 to variable 199.

LET 1 2 Assign 2 to variable 1.
LET 2 3 Assign 3 to variable 2.
XPIP *1 *2 It writes the positioning complete width 0.2mm in
Variable 199 to Position No. 3 (content in Variable
2) on the 2nd axis (content in Variable 1).

570
 XGVL (Read extension motion control axis speed data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XGVL Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL

5. SEL Commands
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the position data speed [mm/s] specified in Operand 2 on the Extension
motion control axis specified in Operand 1 into Variable 199 (minimum effective
digit number = 2).

[Example] XGVL 2 3 It reads the speed in Position No. 3 on the 2nd axis
into Variable 199.

571
  XGAC (Read extension motion control axis acceleration data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XGAC Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It reads the position data acceleration [G] specified in Operand 2 on the
Extension motion control axis specified in Operand 1 into Variable 199 (minimum
effective digit number = 2).

[Example] XGAC 2 3 It reads the acceleration in Position No. 3 on the 2nd

axis into Variable 199.

572
 XGDC (Read extension motion control axis deceleration data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XGDC Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the position data deceleration [G] specified in Operand 2 on the
Extension motion control axis specified in Operand 1 into Variable 199 (minimum
effective digit number = 2).

[Example] XGDC 2 3 It reads the deceleration in Position No. 3 on the 2nd

axis into Variable 199.

573
  XGIP (Read extension motion control axis positioning complete width
data)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XGIP Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the position data positioning complete width [mm] specified in Operand 2
on the Extension motion control axis specified in Operand 1 into Variable 199
(minimum effective digit number = 3).

[Example] XGIP 2 3 It reads the positioning complete width in Position

No. 3 on the 2nd axis into Variable 199.

574
 XAXS (Extension motion control axis pattern setting (0 to 15 axis))
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis pattern, Axis pattern,
Optional Optional XAXS CP
upper lower

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It performs a setting for the axis patterns of axes 8 to 15 on the Extension motion
control axis in Operand 1 and the axis patterns of axes 0 to 7 in Operand 2.

Operand 1 Operand 2

Axis 8 Axis 0
: :
Axis 15 Axis 7

After the program execution is started, make sure to set the axis patterns using
this command before the following commands are executed.
If the axis pattern setting command XAXS is not conducted, No. 445 “Extension
motion control board axis pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), Error
No. 4B3 “Extension motion control board axis pattern not set error”
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.

XPRD : Read extension motion control board axis current command position
XSON : Servo ON of extension motion control board axis
XSOF : Servo OFF of extension motion control board axis
XHOM : Home return of extension motion control board axis
XMVP : Move extension motion control board axis to indicated position
XMPI : Perform extension motion control board axis position relative movement
XMVL : Move extension motion control board axis for position indicated
interpolation
XMLI : Move extension motion control board axis for position relative
interpolation
XSTP : Cancel operation of extension motion control board axis

[Example] XAXS 1010101 10101010 Set an axis pattern consisting of axes 1, 3, 5, 7,

8, 10, 12 and 14.
XSON It turns the servo ON for axes 1, 3, 5, 7, 8, 10,
12 and 14.
XMVP 20 It moves the axes 1, 3, 5, 7, 8, 10, 12 and 14 to
Position 20.

575
  XA16 (Extension motion control axis pattern setting (16 to 31 axis))
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Axis pattern, Axis pattern,
Optional Optional XA16 CP
upper lower

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It performs a setting for the axis patterns of axes 24 to 31 on the Extension
motion control axis in Operand 1 and the axis patterns of axes 16 to 23 in
Operand 2.

Operand 1 Operand 2

Axis 24 Axis 16
: :
Axis 31 Axis 23

After the program execution is started, make sure to set the axis patterns using
this command before the following commands are executed.
If the axis pattern setting command XAXS, XA16 is not conducted, Error No. 445
“Extension motion control axis pattern not set error” would occur.

XPRD : Read extension motion control axis current command position

XSON : Servo ON of extension motion control axis
XSOF : Servo OFF of extension motion control axis
XHOM : Home return of extension motion control axis
XMVP : Move extension motion control axis to indicated position
XMPI : Perform extension motion control axis position relative movement
XMVL : Move extension motion control axis for position indicated interpolation
XMLI : Move extension motion control axis for position relative interpolation
XSTP : Cancel operation of extension motion control axis

[Example] XA16 1010101 10101010 Set an axis pattern consisting of axes 17, 19,
21, 23, 24, 26, 28 and 30.
XSON It turns the servo ON for axes 17, 19, 21, 23,
24, 26, 28 and 30.
XMVP 20 It moves the axes 17, 19, 21, 23, 24, 26, 28 and
30.

576
 XSON (Extension motion control axis servo ON)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XSON Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It turns the servo ON for the Extension motion control axis specified by XAXS
Command.

Caution
Make sure to set the axis pattern by XAXS Command before this command is executed. If the
setting is not established, Error No. 445 “Extension motion control board axis pattern not set error”
(XSEL-P/Q/PCT/QCT/R/S), No. 4B3 “Extension motion control axis pattern not set error”
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.

[Example] XAXS 01 100 Set an axis pattern that uses axes 2 and 3.
XSON Turn ON the servos of the specified axes.

577
  XSOF (Extension motion control axis servo OFF)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XSOF Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It turns the servo OFF for the Extension motion control axis specified by XAXS
Command.

Caution
Make sure to set the axis pattern by XAXS Command before this command is executed. If the
setting is not established, Error No. 445 “Extension motion control board axis pattern not set error”
(XSEL-P/Q/PCT/QCT/R/S), No. 4B3 “Extension motion control axis pattern not set error”
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.

[Example] XAXS 0 1100 Set an axis pattern that uses axes 2 and 3.
XSOF Turn OFF the servos of the specified axes.

578
 XHOM (Extension motion control axis home return)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XHOM Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It turns the home return for the Extension motion control axis specified by XAXS
Command.
The servo of the axis to be returned home turns ON automatically.

Caution
 Make sure to set the axis pattern by XAXS or XA16 Command before this command is
executed. If the setting is not established, Error No. 445 “Extension motion control board axis
pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3 “Extension motion control axis pattern
not set error” (XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.
 The servo would turn OFF if the operation is either paused or stopped to cancel during the
home-return operation of the pulse I/O axis. When resuming the operation after a pause, confirm
the servo is ON and then make sure to start with a home-return operation.
 When the axis to be object is a slave axis of the absolute encoder, execute this command and
some controllers will conduct the absolute reset.
When it is required to have a move to the home position (when home position confirmation is not
necessary), make a move to the home position using XMVP Command instead of XHOM
Command.

[Example] XAXS 0 1100 Set an axis pattern that uses axes 2 and 3.
XHOM Home Return the servos of the specified axes.

579
  XMVP (Move extension motion control axis to indicated position)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XMVP Prohibited PE
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It moves the Extension motion control axis specified by XAXS or XA16
Command by PTP operation to the position number specified in Operand 1.

Caution
 Make sure to set the axis pattern by XAXS or XA16 Command before this command is
executed. If the setting is not established, Error No. 445 “Extension motion control board axis
pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3 “Extension motion control axis pattern
not set error” (XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.
 In the case of XSEL-P/Q/PCT/QCT/R/S, is able to specify another axis that is connected to a
different extension motion control board at the same time. However, since the system is
controlled by each board, the operation cannot be synchronized.

[Example 1] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

XMVP 10 Move the specified axes to the positions
corresponding to position No. 10.

[Example 2] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

LET 1 10 Assign 10 to variable 1.
XMVP *1 Move the specified axes to the positions
corresponding to position No. 10 according to the
content of variable 1, or 10.

580
 XMPI (Perform extension motion control axis position relative
movement)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XMPI Prohibited PE
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It moves the Extension motion control axis specified by XAXS Command by PTP
operation with the position number in Operand 1 taken as the amount of
movement.

Caution
 Make sure to set the axis pattern by XAXS or XA16 Command before this command is
executed. If the setting is not established, Error No. 445 “Extension motion control board axis
pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3 “Extension motion control axis pattern
not set error” (XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.
 In the case of XSEL-P/Q/PCT/QCT/R/S, is able to specify another axis that is connected to a
different extension motion control board at the same time. However, since the system is
controlled by each board, the operation cannot be synchronized.

[Example 1] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

XMPI 10 Move by the travel corresponding to position No.
10.

[Example 2] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

LET 1 10 Assign 10 to variable 1.
XMPI *1 Move the specified axes by the travels
corresponding to position No. 10 according to the
content of variable 1, or 10.

581
  XMVL (Move extension motion control axis for position indicated
interpolation)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XMVL Prohibited PE
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It moves the Extension motion control axis specified by XAXS Command by
direct interpolation movement to the position number specified in Operand 1.

(Note 1) Make sure to set the axis pattern by XAXS or XA16 Command before this
command is executed. If the setting is not established, Error No. 445 “Extension
motion control board axis pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No.
4B3 “Extension motion control board axis pattern not set error” (XSEL-
RA/SA/RAX/SAX/RAXD/SAXD) would occur.

(Note 2) If another axis connected to a different pulse I/O board is specified, Error No.
C30 “Axis pattern error” would occur. (XSEL-P/Q/PCT/QCT/R/S)

(Note 3) It is necessary to specify the speed, acceleration and deceleration values by

VEL, VLMX, ACC, and DCL Commands before executing this command. If not
specified, an error would occur.

[Example 1] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

XMVL 10 Move the specified axes to the positions
corresponding to position No. 10.

[Example 2] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

LET 1 10 Assign 10 to variable 1.
XMVL *1 Move the specified axes to the positions
corresponding to position No. 10 according to the
content of variable 1, or 10.

582
 XMLI (Move extension motion control axis for position relative
interpolation)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Position
Optional Optional XMLI Prohibited PE
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It moves the Extension motion control axis specified by XAXS Command by
direct interpolation movement with the position number in Operand 1 taken as
the amount of movement.

(Note 1) Make sure to set the axis pattern by XAXS or XA16 Command before this
command is executed. If the setting is not established, Error No. 445 “Extension
motion control board axis pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No.
4B3 “Extension motion control axis pattern not set error”
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.

(Note 2) If another axis connected to a different pulse I/O board is specified, Error No.
C30 “Axis pattern error” would occur. (XSEL-P/Q/PCT/QCT/R/S)

(Note 3) It is necessary to specify the speed, acceleration and deceleration values by

VEL, VLMX, ACC, and DCL Commands before executing this command. If not
specified, an error would occur.

[Example 1] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

XMLI 10 Move by the travel corresponding to position No.
10.

[Example 2] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

LET 1 10 Assign 10 to variable 1.
XMLI *1 Move the specified axes by the travels
corresponding to position No. 10 according to the
content of variable 1, or 10.

583
  XMVD (Move extension motion control axis to directly indicated absolute
position)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional XMVD Axis number PE
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It moves the Extension motion control axis specified in Operand 1 by absolute
position movement to the values specified in the five variables in a row from
Variable No. n in Operand 2.

Variable
Description of setting Effective Digits
No.
n Target position [mm] 3 digits minimum
n+1 Speed [mm/s] 2 digits minimum
n+2 Acceleration [G] 2 digits minimum
n+3 Deceleration [G] 2 digits minimum
n+4 Positioning complete width [mm] 3 digits minimum

(Note 1) VLMX Command is invalid to this command.

[Example] LET 300 100 Set the target position to 100mm.

LET 301 200 Set the speed to 200mm/s.
LET 302 0.3 Set the acceleration/deceleration to 0.3G.
LET 303 0.3 Set the deceleration/deceleration to 0.3G.
LET 304 0.1 Set the in-position width to 0.1mm.
XMVD 1 300 Move RC-axis 1 absolutely to the specified position.

584
 XMDI (Move extension motion control axis to directly indicated relative
position)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional XMDI Axis number PE
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It moves the Extension motion control axis specified in Operand 1 by relative
position movement to the values specified in the five variables in a row from
Variable No. n in Operand 2.

Variable
Description of setting Effective Digits
No.
n Travel [mm] 3 digits minimum
n+1 Speed [mm/s] 2 digits minimum
n+2 Acceleration [G] 2 digits minimum
n+3 Deceleration [G] 2 digits minimum
n+4 Positioning complete width [mm] 3 digits minimum

(Note 1) VLMX Command is invalid to this command.

[Example] LET 300 50 Set the travel to 50mm.

LET 301 200 Set the speed to 200mm/s.
LET 302 0.3 Set the acceleration/deceleration to 0.3G.
LET 303 0.3 Set the deceleration/deceleration to 0.3G.
LET 304 0.1 Set the in-position width to 0.1mm.
XMDI 1 300 Move RC-axis 1 absolutely to the specified position.

585
  XPTH (Extension motion control axis path operation)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Start position End position
Optional Optional XPTH PE
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
5. SEL Commands

          

[Function] Move continuously from the position specified in operand 1 to the position
specified in operand 2 (CP Movement). The output type in the output field can be
set using an actuator-declaration command POTP. If invalid data is set for any
position number between the start and end position numbers, that position
number will be skipped during continuous movement.

Start position

Position origin
End position
(Note 1) Set axis patterns using the XAXS or XA16 command before executing this
command. If the command has not been executed, error No. 4B3 “No extension
motion control board axe pattern setting error” occurs.
(Note 2) This command requires indication of the velocity, acceleration and deceleration in
VAL, VLMX, ACC, DCL commands before execution. If those commands have
not been executed, an error occurs.
(Note 3) Multi-dimensional movement can be performed using this command. In this case,
input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a position number corresponding to the predicted current position will
trigger movement to the same position during continuous movement, thereby
causing the speed to drop.)
(Note 4) Input this command straight after program steps in a row, and the actuator is able
to make a smooth operation without any stop between steps when a program is
executed. However, in case there is any step with an input condition being
indicated, the actuator will pause at the step before that.
(Note 5) When POTP = 0, the operation timing of the output part during the continuous
operation should be when getting close to the final movement position of each
command, and when POTP = 1, it should be when getting close to each position.
As for the final movement position of the continuous movement final command, it
turns ON when the operation is completed. However, in case there is the
positioning complete band established at the final movement position of the
continuous movement final command, it will not turn ON.
(Note 6) Positioning complete band is valid only for the final movement position. Also, it is
valid only for the final movement position of the continuous movement final
command while in continuous operation.

586
(Note 7) It is possible to move through discontinuous positions or move continuously by
passing the same position. As shown in the example, specify the number
corresponding to the discontinuous position for both the start position number
and end position number. In the example, this position is No. 6.

[Example] The actuator moves continuously in the sequence of position No. 1

 2  3  4  6  9  10.
XPTH 1 4
XPTH 6 6 discontinuous position
XPTH 9 10

[Example 1] XPTH 100 120 Move continuously from position No. 100 to 120.

5. SEL Commands

587
  XJ (Perform extension motion control axis jog operation)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Input, output,
Optional Optional XJ□□ Prohibited PE
flag number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It moves the Extension motion control shaft specified by XAXS Command in back
and forth while the flag on the input port or output port specified in Operand 1 is
turning ON and OFF.

XJFN ············It moves forward when the specified port is ON.

XJFF·············It moves forward when the specified port is OFF.
XJBN ············It moves backward when the specified port is ON.
XJBF ············It moves backward when the specified port is ON.

(Note 1) Make sure to set the axis pattern by XAXS Command before this command is
executed. If the setting is not established, Error No. 445 “Extension motion
control board axis pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3
“Extension motion control axis pattern not set error”
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.

(Note 2) It is effective also to the axis that the home-return operation is incomplete.
However, the upper limit for the speed is that set in pulse I/O board command
parameter No. 4 “Maximum JOG speed at home return incomplete”. In such a
condition, exercise precaution not to crash into the work or stroke end since the
coordinate values become meaningless.

(Note 3) In the case of XSEL-P/Q, this command is valid on Main CPU Application
Section Ver.1.02 or later. (It is available from the first for XSEL-R/S,
XSEL-RA/SA/RAX/SAX/RAXD/SAXD.) And a PC software Ver.7.6.5.0 or later
which is applicable for this command is also required.

[Example 1] VEL 100 Set the speed to 100mm/s.

XAXS 0 11 Set an axis pattern that uses axes 0 and 1.
XJBF 10 Move axis 5 backward while input 10 is OFF.

[Example 2] VEL 100 Set the speed to 100mm/s.

LET 5 20 Assign 20 to variable 5.
XAXS 0 11 Set an axis pattern that uses axes 0 and 1.
XJFN *5 Move axis 0 and 1 forward while the content of
variable 5 (input 20), is ON.

588
 XPED (Waiting for extension motion control axis to finish positioning
operation of axis used by self-program)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XPED Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It waits for the positioning operation of the Extension motion control axis used in
the program its own. By this command, it is possible to wait for the completion of
the positioning operation (XMVP, XMPI, XMVL, XMLI, XMVD and XMDI) when
the positioning complete width is valid. The output becomes ON when the
operation is completed in normal condition. The command would not react after
an execution of any operation command other than positioning operation.
(Output section is OFF.)
For an operation that the positioning complete band is valid, recovery from the
operation command is performed once the actuator reaches in front of the
positioning complete band at the current position (or current position command
when the pulse input and output boards are mounted
(XSEL-P/Q/PCT/QCT/R/S)). (Output section is OFF.) It is possible to confirm the
positioning is complete by executing this command after the command recovery.
Also, the driven axis is usually occupied by the executed program after the
operation command recovery. By executing this command, the axis gets
released, thus the axis becomes available for a use by other programs.

[Example] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

XMVP 10 Move the specified axes to the positions
corresponding to position No. 10.
For an operation that the positioning complete band
is valid, recovery from the operation command is
performed once the actuator reaches in front of the
positioning complete band at the current position
(or current position command when the pulse input
and output boards are mounted).
BTON 308 It turns ON Output Port No. 308.
XPED It waits for the positioning operation axis No. 0 and
1 of the program itself to complete.

589
  XSTP (Cancel operation of extension motion control axis)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XSTP Prohibited Prohibited PE

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It decelerates and stops the Extension motion control axis specified by XAXS
Command. It is valid for the Extension motion control axis command other than
XSOF command.

(Note 1) Make sure to set the axis pattern by XAXS Command before this command is
executed. If the setting is not established, Error No. 445 “Extension motion
control board axis pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3
“Extension motion control board axis pattern not set error” (XSEL-
RA/SA/RAX/SAX/RAXD/SAXD) would occur.

[Example] XAXS 0 11 Set an axis pattern that uses axes 0 and 1.

XSTP Decelerate the specified axes to a stop

590
 XWIP (Waiting for extension motion control axis positioning complete
signal to be turned ON)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional XWIP Prohibited Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/

5. SEL Commands
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It waits till the positioning complete signal of the Extension motion control shaft
specified by XAXS Command turns ON. This enables to wait for the completion
of the positioning operation of the slave shaft (= slave shaft positioning complete
signal ON) while in synchronizing process by executing this command to the
synchronizing slave shaft after the synchronizing master shaft operation
command is complete (*). The positioning complete signal for the slave shaft
turns ON when position deviation ≤ positioning complete width. The status would
not become waiting unless the pulse order is output from the master shaft side to
the slave side.

* The pulse order of the slave shaft is completed by the completion of the
master shaft operation command.

(Note 1) Make sure to set the axis pattern by XAXS Command before this command is
executed. If the setting is not established, Error No. 445 “Extension motion
control board axis pattern not set error” (XSEL-P/Q/PCT/QCT/R/S), No. 4B3
“Extension motion control axis pattern not set error”
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.

(Note 2) If the positioning complete signal does not turn ON even after the time set in the
Extension motion control output channel parameter No. 33 “Positioning complete
confirmation time” of the specified axis is passed, Error No. 454 “Extension
motion control board axis positioning complete timeout error”
(XSEL-P/Q/PCT/QCT/R/S), No. 4C3 “Extension motion control axis positioning
complete timeout error” (XSEL-RA/SA/RAX/SAX/RAXD/SAXD) would occur.
In the case of pulse input board (XSEL-P/Q/R/S), please check the positioning
complete signal cable is broken.

(Note 3) In the case of XSEL-P/Q, this command is valid on Main CPU Application
Section Ver.1.02 or later. (It is available from the first for XSEL-R/S,
XSEL-RA/SA/RAX/SAX/RAXD/SAXD.) And a PC software Ver.7.6.5.0 or later
which is applicable for this command is also required.

591
 [Example] XCAS 0 10 It starts to synchronize the electronic cam on axis 0. (*1)
XCAS 1 20 It starts to synchronize the electronic cam on axis 1. (*2)
MOVP 5 It moves the 1st axis of the main CPU control axes to
Position No. 5.
MOVP 6 It moves the 1st axis of the main CPU control axes to
Position No. 6.
XAXS 0 11 Set an axis pattern that uses axes 0 and 1.
XWIP It waits till the positioning complete signal of axes 0 and
1 to turn ON. (Axes 0 and 1 continue the synchronizing
process.)
MOVP 7 It moves the 1st axis of the main CPU control axe to
Position No. 7.

* It is assumed the setting that the 1st axis of the main CPU control axes is
set to Variables No. 10 to 19 as the electronic cam synchronizing process
5. SEL Commands

is established.
* It is assumed the setting that the 1st axis of the main CPU control axes is
set to Variables No. 20 to 29 as the electronic cam synchronizing process
is established.

592
  XCAS ((Start synchronizing extension motion control axis electronic cam
(indicating main axis)) extension motion control) (1/2)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Slave shaft Variable
Optional Optional XCAS PE
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL

5. SEL Commands
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It starts the synchronizing process with the axis specified in Operand 1 as the
slave shaft extension motion control axis the electronic cam table. The
synchronizing electronic cam operation settings such as the master shaft on the
electronic cam table are to be specified in ten variables in a row from Variable
No. n in Operand 2. The output section turns ON when the synchronizing
process is started.

Operand 2 : Synchronizing Electronic Cam Operation Settings

Variable
Data name Description
No.
Synchronizing
n See below
type
Master shaft 0 : Standard motion control axis
n+1
type 1 : Extension motion control axis
Master shaft type
Setting Content
Master shaft (n+1)
n+2
number 0 1 to 8 axis (Standard motion control axis)
1 0 to 31 axis (Extension motion control axis)
Electronic cam
n+3 0 to maximum cam table number
table number
0 : Master shaft stroke length indication
n+4 Stroke type
1 : Master shaft stroke end position indication

593
 Variable
Data name Description
No.
Stroke Master
type shaft type Setting Content
(n+4) (n+1)
Master shaft stroke length storage position number
0 * Indicate the standard motion control master
shaft number (from 0 to Max. position No.)
Master shaft 0 Master shaft stroke length storage position number
stroke length / * Indicate the extension motion control axis
stroke end 1
master shaft number (from 0 to Max. position
n+5 position No.)
(Storage Master shaft stroke end position storage position
position number
5. SEL Commands

number) 0
* Indicate the standard motion control master
shaft number (from 0 to Max. position No.)
1 Master shaft stroke end position storage position
number
1 * Indicate the extension motion control master
shaft position number (from 0 to Max. position
No.)
Slave stroke
Indicate the pulse I/O board control slave shaft position number
n+6 length storage
(from 0 to Max. position No.)
position number
Master shaft Master shaft type
Setting Content
synchronizing (n+1)
start position Master shaft synchronizing start position storage
(Storage position position number
0
number) * Indicate the standard motion control master
* Effective only shaft number (from 0 to Max. position No.)
when “Master Master shaft synchronizing start position storage
n+7
shaft reaches position number
specified 1 * Indicate the extension motion control master
synchronizing shaft position number (from 0 to Max. position
start position” No.)
is selected for
Master shaft synchronizing start position (pulse
synchronizing 2
unit)
type
n+8 Reserved Make sure to set 0
n+9 Reserved Make sure to set 0

594
Synchronizing Type (Variable No.n)
Set Description
value Synchronizing start type Synchronizing process repeat type
0 Immediately Operate for 1 cycle
1 Immediately Repeated operation
Master shaft reaches specified synchronizing
2 Operate for 1 cycle
start position
Master shaft reaches specified synchronizing
3 Repeated operation
start position

When Stroke Type (n+4): 0 When Stroke Type (n+4): 1

Position of Slave Axis Electronic Cam Table No. (n+3) Position of Slave Axis Electronic Cam Table No. (n+3)

5. SEL Commands
Stroke Length Stroke Length
of Slave Axis of Slave Axis
Position of Position of
(n+6) (n+6)
Master Axis Master Axis

Stroke Length of Master Axis (n+5)

Current Position Current Position Stroke End of
or or Master Axis
Master Axis Synchronizing Start Position Master Axis Synchronizing Start Position (n+5)
(n+7) (n+7)

Synchronous movement continues until:

1) The XSYE command is executed (synchronous movement is stopped).
2) The operation of slave axes is stopped (XSTP/CANC commands).
3) The synchronous movement repetition type is single cycle only and the master axis reached
the stroke end.
4) The slave axis movement program that executed the XCAS command is terminated.

 The master axis stroke length/stroke end position and master axis synchronization start position
shall be set to position data of the master axis if the master axis is a position data. The slave
axis stroke length is set in slave axis position data.
 If master axis stroke end position is specified for the stroke type, the master axis stroke length
(single cycle) of electronic CAM tables becomes [master axis stroke end position –
synchronization start master axis position]. The relationship of the master axis position with
electronic CAM table phases is as follows: phase 0 corresponds to synchronization start master
axis position, and the positive phase direction is the direction to move from synchronization start
master axis position toward master axis stroke end position.
 If master axis stroke length is specified for the stroke type, the relationship of the master axis
position with electronic CAM table phases is as follows: phase 0 corresponds to synchronization
start master axis position, and the positive phase direction corresponds to master axis
coordinate positive move direction when the stroke length has a positive coordinate value and
the minus phase direction corresponds to master axis coordinate positive move direction when
the stroke length has a negative coordinate value.

595
 Caution
(1) If there are any errors in synchronous electronic CAM movement settings, which are
specified in variables of operand 2, error No. 4B4 “Extension motion control board
synchronous electronic CAM movement setting error” occurs. Info.2 of the error list
indicates the variable number of the invalid setting (hexadecimal display).

When Error Occurred Variable = “Master Axis No.” Stored Variable (n+2);
 Specified master axis number is invalid or invalid.
 Specified master axis is a synchronized-controlled slave axis or ZR unit axis.
 The specified master axis and slave axis are the same axis.

When Error Occurred Variable = “Stroke Length / Stroke End Position Stored Position
No.” Stored Variable (n+5);
5. SEL Commands

 The specified position No. is invalid or position data is invalid.

(2) If the master axis type of synchronous electronic CAM movement settings is specified to
be main CPU control axis, the BASE command settings become valid for the master axis
number. Moreover, the GRP command settings are invalid for position data storing stroke
length and stroke end position.
(3) If slave axes started synchronization while the master axis is moving, excessive speed
and/or acceleration and deceleration may occur, leading to an error. Lower the speed
and/or acceleration of the master axis when the slave axis synchronization movement is
started.
(4) Excessive speed and/or acceleration/deceleration may occur during movement according
to the electric CAM table, leading to an error. In this case, change the speed,
acceleration/deceleration, and electronic CAM tables of the master axis to set speed and
acceleration/deceleration permitted to the axis.
(5) The right to use slave axes that started synchronization is owned exclusively by the slave
axis movement program that executed the XCAS command until the XSYE command
(stopping synchronous movement) is executed or the program is finished. For this reason,
if the axes are used by other programs, error No. C66 “Duplication error” occurs.
Moreover, error No. C66 occurs even if a movement command is executed on axes that
finished synchronous movement, even in the same program. Execute the XSYE
command in order to perform the next movement after synchronous movement.

596
(6) If the master axis is a controlled to short cut to rotation move axis, the shortcut turn control
valid axis passes the position of 0deg (360deg), the command position (and current
position) will switch between 0deg and 360deg. In case the master axis of the
synchronizing operation makes such operation, it is necessary to set master axis stroke
and the profile of the cam table so the displacement matches at the position of 0deg and
360deg.
Explaining in the example of the figure below, the slave axes will operate with no problem
even when the master axis passes 0deg (360deg) as the displacement matches at 0deg
and 360deg in the case of (1). In the case of (2), the displacement fluctuates suddenly
when the master axis passes the position of 0deg (360deg) as the displacement is not
matched, and Error No. 4B9 “Synchronizing Command Acceleration/Deceleration Excess
Error”, Error No. 4B8 “Synchronizing Command Velocity Excess Error” or sudden move
could be caused.

5. SEL Commands

597
 Program Example
[Example] This program example immediately starts synchronization to the main axis of the
standard motion control axis. It is executed repeatedly until the main axis reaches
the stroke end. A program is required for each slave axis.

LET 200 1 It sets the synchronizing type = 1 (Immediate start, Repeat

operation) to Variable No. 200.
LET 201 0 It sets the master shaft type = 0 (Main CPU control shaft) to
Variable No. 201.
LET 202 1 It sets the master shaft No. = 1 to Variable No. 202.
LET 203 0 It sets the electronic cam table No. = 1 to Variable No. 203.
LET 204 1 It sets the stroke type = 1 (Master stroke end position
specification) to Variable No. 204.
LET 205 2 It sets the master shaft stroke end position storage position
No. = 2 to Variable No. 205.
5. SEL Commands

LET 206 0 It sets the slave stroke length storage position No. = 0 to
Variable No. 206.
LET 207 0 It sets 0 to Variable No. 207 (Unused data)
LET 208 0 It sets 0 to Variable No. 208 (Reserved area)
LET 209 0 It sets 0 to Variable No. 209 (Reserved area)
th
XAXS 0 1 It specifies the pulse I/O board 0 axis.
th
XSON It turns the pulse I/O board 0 axis servo ON.
XHOM It returns the pulse I/O board 0th axis to home return.
XCAS 0 200 It starts the synchronizing electronic cam operation for the
pulse I/O board 0th axis with the synchronizing electronic cam
operation settings specified in Variables No. 200 to 209.
TAG 1
MOVP 2 It moves the XSEL control master axis to Position No. 2.
MOVP 1 It moves the XSEL control master axis to Position No. 1
GOTO 1

598
  XCAS (Start synchronizing extension motion control board axis
electronic cam (indicating main axis) electronic CAM control) (2/2)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Slave shaft Variable
Optional Optional XCAS PE
number number

Applicable models
XSEL

5. SEL Commands
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It starts the synchronizing process with the axis specified in Operand 1 as the
slave shaft following the electronic cam table. The synchronizing electronic cam
operation settings such as the master shaft on the electronic cam table are to be
specified in ten variables in a row from Variable No. n in Operand 2. The output
section turns ON when the synchronizing process is started.

Operand 2 : Synchronizing Electronic Cam Operation Settings

Variable
Data name Description
No.
Synchronizing
n See below
type
0 : Main CPU control shaft
Master shaft
n+1 1 : Pulse I/O board control shaft
type
2 : Pulse input channel
Master shaft type
Master shaft 0 1 to 6 axis (XSEL-P/Q), 1to 8 axis (XSEL-R/S)
n+2
number 1 0 to 15 axis
2 0 to 3 channel
Electronic cam
n+3 *0 to
table number
0 : Master shaft stroke length indication
n+4 Stroke type
1 : Master shaft stroke end position indication

599
 Variable
Data name Description
No.
Stroke Master
type shaft type
Master shaft stroke length storage position number
0 * Indicate the main CPU control master shaft
number (from 0 to Max. position No.)
Master shaft stroke length storage position number
0
* Indicate the pulse I/O board control master
Master shaft 1
shaft position number (from 0 to Max. position
stroke length /
No.)
stroke end
2 Master shaft stroke length (pulse unit)
n+5 position
(Storage Master shaft stroke end position storage position
position number
0
5. SEL Commands

number) * Indicate the main CPU control master shaft

number (from 0 to Max. position No.)
Master shaft stroke end position storage position
1
number
1 * Indicate the pulse I/O board control master
shaft position number (from 0 to Max. position
No.)
2 Master shaft stroke end position indication (pulse unit)
Slave stroke
Indicate the pulse I/O board control slave shaft position number
n+6 length storage
(from 0 to Max. position No.)
position number
Master shaft Master shaft type
synchronizing
Master shaft synchronizing start position storage
start position
position number
(Storage position 0
* Indicate the main CPU control master shaft
number)
number (from 0 to Max. position No.)
* Effective only
Master shaft synchronizing start position storage
when “Master
n+7 position number
shaft reaches
1 * Indicate the pulse I/O board control master
specified
shaft position number (from 0 to Max. position
synchronizing
No.)
start position”
is selected for Master shaft synchronizing start position (pulse
synchronizing 2
unit)
type
n+8 Reserved Make sure to set 0
n+9 Reserved Make sure to set 0

Synchronizing Type (Variable No.n)

Set Description
value Synchronizing start type Synchronizing process repeat type
0 Immediately Operate for 1 cycle
1 Immediately Repeated operation
Master shaft reaches specified synchronizing
2 Operate for 1 cycle
start position
Master shaft reaches specified synchronizing
3 Repeated operation
start position

The synchronizing process continues until:

 XSYE Command (to cancel synchronizing process) is executed,
 an operation cancel is executed to the slave shaft (XSTP Command, CANC Command),
 Synchronizing Process Repeat Type is set to 1 cycle and the master shaft reaches to the
stroke end, or the slave shaft operation program that XCAS Command is executed is over.

600
 If the master axis is a main CPU control axis or pulse I/O board control axis, set the master
stroke length/stroke end position and master shaft synchronizing start position to the master
shaft position data. If the master shaft is the pulse input channel, set it directly to the variable for
operation settings. Set the slave shaft stroke length to the slave shaft position data.
 If Stroke Type = Indicate master stroke end position, the master stroke length (1 cycle) on the
electronic cam table is [Master shaft stroke end position-Synchronizing start master shaft
position]. The relation between the master shaft position and the electronic cam table phase is
that the synchronizing start master shaft position is the phase 0, and the direction from the
synchronizing start master shaft position to the master shaft stroke end position is the phase
positive direction.
 If Stroke Type = Indicate master shaft stroke length, the relation between the master shaft
position and the electronic cam table is that the synchronizing start master shaft position is the
phase 0, and if the stroke length is a positive value, the positive direction on the master axis
coordinate is the phase positive direction and, if the stroke length is a negative value, the

5. SEL Commands
positive direction on the master shaft coordinate is the phase negative direction.

Caution
 If there is a mistake in the synchronizing electronic cam operation settings specified in the
variables in Operand 2, Error No. 455 “Extension motion control board synchronizing electronic
cam operation setting error” would occur. The variable numbers with an error setting will be
shown on the error list in Info. 2 (in hexadecimal numbers).
 Variable with an error occurred: Master axis number (Stored variable)
 The specified master shaft number is inappropriate or invalid
 The specified master shaft is a synchronized slave shaft or ZR unit shaft
(if the master shaft is a main CPU control shaft)
 The specified master shaft is the shaft specified as the slave
(if the master shaft is a pulse I/O board control shaft)
 The specified master shaft is on a different pulse I/O board or channel from that the slave
shaft is on (if the master shaft is a pulse I/O board control shaft or a pulse input channel)
 Variable with an error occurred: stroke length/stroke end position storage position number
 The specified position number is inappropriate or position data is invalid
 If the master shaft type for the synchronizing electronic cam operation settings is the main CPU
control shaft, BASE Command settings would be effective to the master shaft number. Also,
GRP Command settings are invalid to the position data to store the stroke length and stroke
end position.
 If the robot is equipped with multiple pulse I/O board, the electronic cam table which is stored
to the board that the slave shaft is connected to would be used.
 If the slave shaft starts to move for a synchronizing process during the master shaft is in move,
the speed and acceleration/deceleration may get too high and may cause an error. Lower the
settings for the speed and acceleration of the master shaft during the slave synchronizing
movement starts.
 During a movement following the electronic cam table, the speed and acceleration/deceleration
may get too high and may cause an error. Change the settings for the speed,
acceleration/deceleration and electronic cam table so they are set to the allowable speed and
acceleration/deceleration for the shaft.

601
 Caution
 Once the slave shaft starts synchronizing, it will be occupied by the program until XSYE
Command (to cancel synchronizing) is executed or the slave shaft operation program that
XCAS Command is executed is finished.
Therefore Error No. 449 “Extension motion control board shaft duplication use error” would
occur if the shaft is used by another program. Also, even in the same program, Error No. 449
would occur if an operation command is executed to the shaft that the synchronizing process is
already completed. Execute XSYE Command if a next operation is required after the
synchronizing process is finished.
For XSEL-R/S, the number of the main CPU control axes that can be the master axis for the
synchronizing operation of such as the electronic cam is six axes at the maximum.
The axes that can be the master axis can be selected in I/O Parameter No. 529 “Extension
Motion Control Board Synchronizing Main CPU Control Master Select Axis Pattern” (dynamic
5. SEL Commands

change not available). Please refer to the parameter list in XSEL-R/S Instruction Manual for the
details of the parameter.
When indicating an axis that is not selected as the main axis select in I/O Parameter No. 529
as the main axis in XCAS Command, Error No. 455 “Extension Motion Control Board
Synchronizing Electronic Cam Operation Setting Error” will occur.
 If the master shaft is the main CPU control axis with the rotation axis close control, set the
master shaft stroke type in the synchronizing electronic cam operation settings to the stroke
length setting. If the setting is specified to the stroke end position, it may not perform a
synchronizing process that is expected.

[Example] For the synchronizing process in range of master shaft position = 10 to 350
Variance
Slave shaft stroke
(1 cycle)

Master shaft stroke (1 cycke)

Master shaft stroke length = -20

0° Synchronizing start master

350° 10°
shaft position

Master shaft coordinate

If the stroke end position = 350 assuming the master shaft stroke type = stroke end position,
the figure will be as shown below:

0 Synchronizing start master

350 10
0 shaft position

Master shaft stroke

end position
Master shaft
coordinate
Master shaft stroke length = 340

602
Program Example
LET 200 1 It sets the synchronizing type = 1 (Immediate start, Repeat
operation) to Variable No. 200.
LET 201 0 It sets the master shaft type = 0 (Main CPU control shaft) to
Variable No. 201.
LET 202 1 It sets the master shaft No. = 1 to Variable No. 202.
LET 203 0 It sets the electronic cam table No. = 1 to Variable No. 203.
LET 204 1 It sets the stroke type = 1 (Master stroke end position
specification) to Variable No. 204.
LET 205 2 It sets the master shaft stroke end position storage position
No. = 2 to Variable No. 205.
LET 206 0 It sets the slave stroke length storage position No. = 0 to
Variable No. 206.
LET 207 0 It sets 0 to Variable No. 207 (Unused data)

5. SEL Commands
LET 208 0 It sets 0 to Variable No. 208 (Reserved area)
LET 209 0 It sets 0 to Variable No. 209 (Reserved area)
th
XAXS 0 1 It specifies the pulse I/O board 0 axis.
th
XSON It turns the pulse I/O board 0 axis servo ON.
XHOM It returns the pulse I/O board 0th axis to home return.
XCAS 0 200 It starts the synchronizing electronic cam operation for the
pulse I/O board 0th axis with the synchronizing electronic cam
operation settings specified in Variables No. 200 to 209.
TAG 1
MOVP 2 It moves the XSEL control master axis to Position No. 2.
MOVP 1 It moves the XSEL control master axis to Position No. 1
GOTO 1

603
  XCTM (Extension motion control Single Electronic Cam (Time
Specification) Movement)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Slave shaft Variable
Optional Optional XCTM PE
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
5. SEL Commands

SAX/ PSEL TT/TTA MSEL

-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It performs a movement following the electronic cam table having the time axis of
the shaft specified in Operand 1 as the master shaft. Single electronic cam
operation settings such as the movement time and the electronic cam table
number, etc., are to be specified in five variables in a row from Variable No. n in
Operand 2. The output turns OFF at the same time the command is started and
turns ON when the movement is complete.

Operand 2 : Single Electronic Cam Operation Settings

Variable
Data Description
No.
n Electronic cam table number
n+1 Moving time Unit in 0.001sec
* Indicate the pulse I/O board control slave
Slave stroke length storage
n+2 shaft position number (from 0 to Max.
position number
position No.)
n+3 Reserved Set 0
n+4 Reserved Set 0

Set the slave shaft stroke length to the slave shaft position data.
When the slave shaft stroke length is a positive value, the movement is made to
the coordinate positive direction. When the slave shaft stroke length is a negative
value, the movement is made to the coordinate positive direction.

604
 Caution
 If there is a mistake in the single electronic cam operation settings specified in the variables in
Operand 2, Error No. 456 “Extension motion control board single electronic cam operation
settings error” (XSEL-P/Q/PCT/QCT/R/S), Error No. 4B6 “Extension shaft operation settings
error”(XSEL-RA/SA) would occur. The variable numbers with an error setting will be shown on
the error list in Info. 2 (XSEL-P/Q/PCT/QCT/R/S) or Info. 1
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) (in hexadecimal numbers).

 Variable with an error occurred: Slave stroke length storage position number (Stored
variable)
 Specified position number is inappropriate or the position data is inefficient.

 If the robot is equipped with multiple pulse I/O board, the electronic cam table which is stored

5. SEL Commands
to the board that the slave shaft is connected to would be used.

 During a movement following the electronic cam table, the speed and acceleration/deceleration
may get too high and may cause an error. Change the settings for the moving time and
electronic cam table so they are set to the allowable speed and acceleration/deceleration for
the shaft.

Program Example
LET 200 0 It sets the electronic cam table No. = 0 to Variable No. 200.
LET 201 1000 It sets the movement time 1000ms to Variable 201.
LET 202 0 It sets the slave stroke length storage position No. = 0 to
Variable No. 202.

LET 203 0 It sets 0 to Variable No. 203 (Reserved area)

LET 204 0 It sets 0 to Variable No. 204 (Reserved area)

XAXS 0 1 It specifies the pulse I/O board 0th axis.

XSON It turns the pulse I/O board 0th axis servo ON.
XHOM It returns the pulse I/O board 0th axis to home position.

XCTM 0 200 It starts the single electronic cam operation for the pulse I/O
board 0th axis with the single electronic cam operation settings
specified in Variables No. 200 to 204.

605
  XSFS (Extension Motion Montrol control Electronic Shaft Synchronizing Start)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Slave shaft Variable
Optional Optional XSFS PE
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
5. SEL Commands

QCT SXD
SAXD
          

[Function] It starts the synchronizing operation of the shaft specified in Operand 1 as the slave
shaft following the master shaft. The electronic shaft operation settings such as the
master shaft are to be specified in the four variables in a row from Variable No. n in
Operand 2. The output section turns ON with the synchronizing start.
Operand 2 : Single Electronic Shaft Operation Settings
Variable
Data Description
number
Master shaft type 0 : Standard motion control axis
(Main CPU control shaft)
n 1 : Extension motion control axis
2 : Pulse input channel (Applicable of pulse input
channels is, XSEL-P/Q/PCT/QCT/R/S)
Master shaft number * Axes 1 to 6 (XSEL-P/Q), 1 to 8 axis (XSEL-R/S,
XSEL-RA/SA) when standard motion control axis
(Main CPU control shaft), axes 0 to 15 when
n+1
extension motion control axis, channels 0 to 3
when pulse input channel (Applicable of pulse
input channels is, (XSEL-P/Q/PCT/QCT/R/S)
Gear ratio numerator -10000 to -1, 1 to 10000 (XSEL-P/Q/PCT/QCT/R/S)
n+2 -999999 to -1, 1 to 999999 (XSEL-RA/SA),
-99999999 to -1,1 to 99999999
Gear ratio denominator 1 to 10000 (XSEL-P/Q/PCT/QCT/R/S)
n+3
1 to 99999999 (XSEL-RA/SA)
The synchronizing process continues until:
 XSYE Command (to cancel synchronizing process) is executed,
 an operation cancel is executed to the slave shaft
(XSTP Command, CANC Command),
 Synchronizing Process Repeat Type is set to 1 cycle and the master shaft
reaches to the stroke end, or the slave shaft operation program that XSFS
Command is executed is over.

If the gear ratio is set to a negative value, the slave shaft operates in a reverse
direction against the master shaft.

606
 Caution
(1) If there is a mistake in the single electronic cam operation settings specified in the variables
in Operand 2, Error No. 456 “Extension motion control board single electronic cam operation
settings error” (XSEL-P/Q/PCT/QCT/R/S), Error No. 4B6 “Extension shaft operation settings
error”(XSEL-RA/SA) would occur. The variable numbers with an error setting will be shown
on the error list in Info. 2 (XSEL-P/Q/PCT/QCT/R/S) or Info. 1
(XSEL-RA/SA/RAX/SAX/RAXD/SAXD) (in hexadecimal numbers).
 Variable with an error occurred : Master shaft number
 The specified master shaft number is inappropriate or invalid
 The specified master shaft is a synchronized slave shaft or ZR unit shaft (if the master
shaft is a XSEL control shaft)
 The specified master shaft is the shaft specified as the slave (if the master shaft is a
pulse I/O control shaft)

5. SEL Commands
 The specified master shaft is on a different pulse I/O or channel from that the slave
shaft is on (if the master shaft is a pulse I/O control shaft or a pulse input channel)

(2) If the master shaft type in the electronic shaft operation settings is the standard motion control
axis (main CPU control shaft), BASE Command would be effective to the master shaft
number. (XSEL-P/Q/PCT/QCT/R/S)
(3) If the master shaft is the pulse input channel, the slave shaft operates with a condition taking
1 input pulse from the pulse input channel as 0.001mm. (XSEL-P/Q/PCT/QCT/R/S)
(4) If the slave shaft starts to move for a synchronizing process during the master shaft is in
move, the speed and acceleration/deceleration may get too high and may cause an error.
Lower the settings for the speed and acceleration of the master shaft during the slave
synchronizing movement starts.
(5) During a master shaft, the speed and acceleration/deceleration may get too high and may
cause an error. Change the settings for the speed, acceleration/deceleration and gear ratio so
they are set to the allowable speed and acceleration/deceleration for the shaft.
(6) Once the slave shaft starts synchronizing, it will be occupied by the program until XSYE
Command (to cancel synchronizing) is executed or the slave shaft operation program that
XSFS Command is executed is finished.
Therefore Error No. 449 “Extension motion control board shaft duplication use error”
(XSEL-P/Q-PCT/QCT/R/S), Error No. C66 “Shaft duplication use error” (XSEL-RA/SA) would
occur if the shaft is used by another program. Also, even in the same program, Error No. 449
would occur if an operation command is executed to the shaft that the synchronizing process
is already completed. Execute XSYE Command if a next operation is required after the
synchronizing process is finished.
(7) For XSEL-R/S, the number of the main CPU control axes that can be the master axis for the
synchronizing operation of such as the electronic cam is six axes at the maximum.
The axes that can be the master axis can be selected in I/O Parameter No. 529 “Extension
Motion Control Board Synchronizing Main CPU Control Master Select Axis Pattern” (dynamic
change not available). Please refer to the parameter list in XSEL-R/S Instruction Manual for
the details of the parameter.
When indicating an axis that is not selected as the main axis select in I/O Parameter No. 529
as the main axis in XCAS Command, Error No. 457 “Extension Motion Control Board
Electronic Cam Operation Setting Error” will occur.

607
 [Example] LET 200 0 It sets the master shaft type = 0 (Main CPU control
shaft) to Variable No. 200.
LET 201 1 It sets the master shaft No. = 1 to Variable No. 201.
LET 202 1 It sets the gear ratio numerator = 1 to Variable No.
202.
LET 203 50 It sets the gear ratio denominator = 1 to Variable
No. 203.

XSFS 0 200 It starts electronic shaft synchronizing process of

th
the pulse I/O board 0 shaft with the electronic
shaft operation settings specified in Variables No.
200 to 203.

TAG 1
5. SEL Commands

MOVP 2 It moves the main CPU control master axis to

Position No. 2.
MOVP 1 It moves the main CPU control master axis to
Position No. 1.
GOTO 1

608
 XSYE (Extension motion control synchronizing process complete)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Slave shaft (Complete
Optional Optional XSYE PE
number type)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It finishes the synchronizing process of the slave shaft specified in Operand 1. This
command is effective to the slave shaft that is in the synchronizing process with the
synchronizing electronic cam (master shaft specified) started by the same program
or that in electronic shaft synchronizing process (XSFS Command). If another shaft
is specified, Error No. 444 “Extension motion control board axis number error”
(XSEL-P/Q-PCT/QCT/R/S), No. C2F “Axis number error” (XSEL-RA/SA) would
occur.
It is able to specify the complete type in Operand 2. If 0 is select or no selection is
done, the synchronizing process would be cancelled. If 1 is selected, it waits for the
synchronizing process to finish. It is applicable in a case to wait for the slave shaft
to finish its synchronizing process with “Synchronizing type = operate for 1 cycle” in
XCAS Command or to wait till the synchronizing process to be cancelled by XSTP
Command from another program.
The output section turns ON when 1 is selected for the complete type and the slave
shaft finishes 1 cycle of operation with the synchronizing type = “Operate for 1
cycle”.
Operand 2 : Complete Type
= 0 or no selection: Synchronizing process to be cancelled
= 1: Wait for synchronizing process to finish

Caution
 In the case “Synchronizing process to be cancelled” is chosen for the complete type, the
command would only finishes the synchronizing process and would not confirm the slave shaft
positioning completion (Slave Driver positioning complete signal). If waiting for the positioning to
complete is desired, wait till the positioning complete signal input port turns ON directly by
WTON Command after XSYE Command execution.
 By executing this command the occupation of the shaft is released. Thus, the slave shaft being
in the synchronizing process can be used for other programs.

609
 Program Example
LET 200 1 It sets the synchronizing type = 1 (Immediate start, operate for
1 cycle) to Variable No. 200.
LET 201 0 It sets the master shaft type = 0 (Main CPU control shaft) to
Variable No. 201.
LET 202 1 It sets the master shaft No. = 1 to Variable No. 202.
LET 203 0 It sets the electronic cam table No. = 1 to Variable No. 203.
LET 204 1 It sets the stroke type = 1 (Master stroke end position
specification) to Variable No. 24.
LET 205 2 It sets the master shaft stroke end position storage position
No. = 2 to Variable No. 205.
LET 206 0 It sets the slave stroke length storage position No. = 0 to
Variable No. 206.
LET 207 0 It sets 0 to Variable No. 207 (Unused data)
LET 208 0 It sets 0 to Variable No. 208 (Reserved area)
5. SEL Commands

LET 209 0 It sets 0 to Variable No. 209 (Reserved area)

XCAS 0 200 It starts the synchronizing electronic cam operation for the
th
pulse I/O board 0 axis with the synchronizing electronic cam
operation settings specified in Variables No. 200 to 209.
XSYE 0 1 It waits till the pulse I/O board 0th shaft to operate 1 cycle for
the synchronizing electronic cam operation. (Assuming the
master shaft is operated by another program)
XAXS 0 1 It set the pulse I/O board 0th shaft to the axis pattern.
XMVP 10 It moves the specified axis to Position No. 10.

610
  XAST (Acquire extension motion control axis status)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Variable
Optional Optional XAST Axis number CP
number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/

5. SEL Commands
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] It reads the axis status specified in Operand 2 into the variable in Operand 1.

Bit Construction of Axis Status (XSEL-P/Q/PCT/QCT/R/S)

Bit Information
27-31 Reserved
Axis Alarm (error detected by XSEL)
* “Axis Alarm” includes “Continuous Impossible Alarm Occurrence (error detected
26
in slave controller)” as well as the errors related to the extension motion control
board of XSEL.
25 Axis in use
24 Reserved
14-23 Reserved
13 Reserved
12 Reserved
11 Reserved
10 Reserved
9 Safety speed valid status (safety speed is valid for XSEL)
8 Reserved
7 Reserved
6 Reserved
5 Reserved
4 Servo ON status.
3 Reserved
Home return completion
2 * The bit rises when the home-return operation of XSEL controller is finished and
the home-return complete status on the slave driver turns on.
Point position completion
1 * The bit rises when an operation command of XSEL controller is finished and the
positioning complete status on the slave driver turns on.
0 Continuity disabled alarm is generated (an error the slave driver generated)

611
 Bit structure of axis status (XSEL-RA/SA/RAX/SAX/RAXD/SAXD)
Valid (o), Invalid (x)
Bit Description Standard
Slave driver
driver
27-31 Reserved - -
26 Axis alarm (error detected by X-SEL) (* 1) ○ ○
25 Axes being used ○ ○
24 Reserved - -
16-23 Reserved - -
15 Operation Mode Status (0=AUTO/1=MANU) ○ ×
14 Overload Warning ○ ×
13 Zone 2 ○ ×
12 Zone 1 ○ ×
5. SEL Commands

11 Reserved - -
10 Reserved - -
9 Safety speed valid status (X-SEL safety status valid) ○ ○
8 Battery Voltage Drop (* 2) ○ ×
7 Reserved - -
6 Reserved - -
5 Reserved - -
4 Servo On status ○ ○
3 Reserved - -
2 Home return completion ○ ○
1 Position complete (* 3) ○ ○
Operation Unable Alarm Occurred
0 ○ ○
(At slave driver control: error on slave controller)

*1 : “Axis Alarms” includes the state of “Operation Unable Alarm Occurred” (error on slave controller) as well
as those errors detected in the XSEL.
*2 : It depends on the connected slave if this status becomes valid or not. If it is necessary to use, refer to the
MECHATROLINK-III instruction manual of the RC controller to be used, and check if it is supported.
*3 : The bit turns on when the operation command to the XSEL controller is finished and the positioning
complete status on the slave controller has turned on.

612
[Example] XAST 200 10 Acquire the status of Axis No. 10 to Variable 200.

Assuming 8212 (decimal number) was in Variable 200 after this command was executed;

8212 (decimal number) → 10 0000 0001 0100 (binary number)

(Bits) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 1 0 0 0 0 0 0 0 0 1 0 1 0 0

and the status of home-return complete (bit 2), servo-on (bit 4) and zone 2 (bit 13) should
be on.

[Reference] It can be confirmed that the indicated bit is on by using AND Command.

5. SEL Commands
AND 200 16 900 It should be the logical conjunction of Variable 200
and 16 (*decimal number).
Flag 900 will turn ON when the result of logical
conjunction is 0.

16 (decimal number) = 10000 (binary number) By executing the step described above,
• When Bit 4 is ON : Flag 900 turns OFF
• When Bit 4 is OFF : Flag 900 turns ON
against the value of Variable 200.

613
  XACH (Extension motion control axis arch motion)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Position Position
Optional Optional XACH PE
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
5. SEL Commands

          

[Function] Arch Motion gets performed from the current position to the target position.
 Movement will be made with arch motion (CP Movement) to the position
indicated in Operand 1.
 Movements in directions other than the arch-motion Z-axis direction will begin
after rising from the current position to the start-point arch trigger. With Z-axis
position in the position indicated in Operand 2 as the highest point, after all the
movement except for the direction of the arch motion Z-axis is finished, the
actuator passes near the end point arch trigger and reaches the indicated
position.
 The setting of the arch motion Z-axis by XACZ command and the arch trigger
by XATG command are necessary.

(Note 1) Set axis patterns using the XAXS or XA16 command before executing this
command. If the command has not been executed, error No. 4B3 “No extension
motion control board axe pattern setting error” occurs. The arch motion Z-axis
and arch motion composited axes (when arch motion composition is activated)
should be included in the indicated axis patterns. Error No. CB4 “Palletized
Z-Axis Non-Declaration Error” will occur if there is no arch motion Z-axis included
in the axis patterns.
(Note 2) This command requires indication of the velocity, acceleration and deceleration in
VAL, VLMX, ACC, DCL commands before execution. If those commands have
not been executed, an error occurs.
(Note 3) The positioning complete band is valid only for the arch motion Z-axis in the
position indicated in Operand 1. It should be defined as positioning complete
when the actuator goes down along the Z-axis to the target position and reaches
the indicated positioning complete band.
(Note 4) It should be CP operation.

Highest point of arch motion

* Position No. 12 *

Start-point arch trigger End-point arch trigger

Position No. 13 * * Position No. 11

Start point End point

Position No. 10

614
[Example 1] XACZ 3
XATG 13 11



XACH 10 12

* When the operation is resumed after a pause, depending on the position

where the operation is resumed the locus may follow the lines (dotted lines)
indicated by asterisks in the diagram for the composite section from ascent to
horizontal movement or from horizontal movement to descent. Be careful not
to cause interference.
 The arch-motion Z-axis coordinate of the end point will become the
arch-motion Z-axis component of the position data specified in operand 1, if

5. SEL Commands
any, plus the arch-motion Z-axis offset. If there is no arch-motion Z component,
the arch-motion Z-axis coordinate of the end point will become the arch-motion
Z-axis coordinate of the start point plus the arch-motion Z-axis offset.
 An error will generate if the start-point arch trigger is set below the start point
or the end-point arch trigger is set below the end point. (Note: Up/down has
nothing to do with +/- on the coordinate system.)
 The arch-motion Z-axis up direction refers to the direction toward the Z point
from the start point (the down direction refers to the opposite direction), and
has nothing to do with the size of coordinate value. Therefore, be sure to
confirm the actual operating direction when using this command.
 The arch-motion Z-axis will come down after a rise-process command value is
output. Therefore, one of the following operations will be performed depending
on how the arch-trigger point and Z point are set.
If the resulting operation is undesirable, change the arch trigger and/or Z point
to improve the efficiency of movement.
Z point

Start Point of
Arch Trigger

Start Point of
Arch Trigger

Start point End point Start point End point

 As for the end position data, movement also starts/ends above the applicable
arch trigger for any effective axis, other than the arch motion Z-axis, if data of
such axis is included in the position data.
 If there is an arch motion composition setting, and if there is valid axis data
except for the end point data and the arch motion Z-axis, this axis will also
make operation. In this case, movement of the axis also starts/ends above the
applicable arch trigger.

615
  XACZ (Extension motion control axis arch motion Z-axis declaration)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)

Optional Optional XACZ Axis number Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
5. SEL Commands

          

[Function] Indicate the axis number in the arch motion Z-axis when operation is made with
XACH command. The axis number specified in operand 1 will be set as the axis
number representing the arch-motion Z direction. If the output field is specified, the
output will turn ON after this command is executed.

[Example] XACZ 3

 XAEX (Extension motion control axis arch motion composition setting)

Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
(Position
Optional Optional XAEX Prohibited CP
number)

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Establish the arch motion composition setting when operation is made with
XACH command. In this setting, the axis to be moved at the same time as the
horizontal operation should be added. Use the position number specified in
operand 1 for setting composite motion. While the arch motion is executed, valid
axes in the arch motion end position data and the valid axes except for the arch
motion Z-axis in the position data indicated by this command will move as the
composited axes to the end point coordinate indicated in the position data.
If nothing is specified in operand 1, the position number already declared for
setting composite motion becomes invalid.

616
 XATG (Extension motion control axis arch trigger setting)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)
Position Position
Optional Optional XATG CP
number number

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD

5. SEL Commands
          

[Function] Establish the arch trigger setting when operation is made with XACH command.
Set the arch-motion Z-axis position data in the position data specified in operand
1 as the start-point arch trigger, and set the arch-motion Z-axis position data in
the position data specified in operand 2 as the end-point arch trigger.
For an arch-motion operation, set it so that a horizontal movement will begin
when the start-point arch trigger is reached during ascent from the start point,
and that the end-point arch trigger will be reached after a horizontal movement is
completed during descent. If the output field is specified, the output will turn ON
after this command is executed.

Start-point arch trigger End-point arch trigger

Position No. 13 Position No. 11

Start point End point

[Example] XATG 13 11

617
  XOAZ (Extension motion control axis arch motion Z-axis offset setting)
Extension Command, declaration Output
Input condition
condition Command, operation type
(I/O, flag) Operand 1 Operand 2
(LD, A, O, AB, OB) declaration (Output, flag)

Optional Optional XOAZ Offset value Prohibited CP

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
5. SEL Commands

          

[Function] The offset in the arch motion Z-axis direction when operation is made with XACH
command is to be set. The value specified in operand 1 will be set as the offset in
the arch-motion Z-axis direction. The offset amount is set in mm and the effective
resolution is 0.001mm. A negative value can also be specified as the offset, as
long as the operation range will not be exceeded. It is the offset valid only to the
end point of XACH command. If the output field is specified, the output will turn
ON after this command is executed.

618
[28] Conveyor Tracking Related Commands

 TRMD (Tracking mode setting)

Extension Command, declaration
Input condition Output
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Operand 1 = 0
0 (Mode OFF) Prohibited
Optional Optional TRMD or Operand 1 = 1 CC
1 (Mode ON) (TRAC Command
timeout time)

5. SEL Commands
Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Set the Tracking Mode ON/OFF in Operand 1.

Only when Operand 1 = 1 (Tracking Mode ON), TRAC Command (explained
later) timeout time (timeout time until the datum point in the working range
exceeds the “minimum work position available for the tracking operation start”
after TRAC Command is executed) can be selected in Operand 2. The settable
range for the timeout time is settable from 0.00 to 99.00sec. When a selection of
no timeout time setting (Operand 2 = not set) is made, TRAC Command defines
there is no timeout setting and waits with no time limitation.
Work detection process becomes valid only when Tracking Mode is ON.

 Return Code in TRMD Command (Variable 99 (Local Space))

* When Operand 1 = 0 (Tracking Mode OFF), the return code cannot be
returned. (Variable 99 not operated)
* When the return code is the numbers except for 0, Tracking Mode is turned
OFF.
0 : Tracking Mode ON (In normal condition)
1 : Vision System initializing incomplete
2 : Ethernet connection incomplete

Caution : TRMD and TRAC Commands are available only when they are in the same
program (task).
Dedicated application software is required when using the conveyor tracking
function. Please contact us for the details.

619
  TRAC (Tracking operation setting & datum point position information
obtainment in work)
Extension Command, declaration
Input condition Outpu
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Operand 1 = 0
Prohibited
0 (Operation OFF)
Operand 1 = 1
or
Optional Optional TRAC 1 (Operation
Position number CC
to save the
(Standby) ON)
work position
information
5. SEL Commands

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
          

[Function] Set the Tracking Mode ON/OFF in Operand 1.

It is necessary to specify the work position information storage position number
in Operand 2 if Operand 1 = 1 (Tracking operation on setting) is specified.
After the tracking operation command is executed, the datum position
information for the identified top work is stored to the position number specified in
Operand 2 if the datum point within the work detected and confirmed during the
work detection process exceeds “Minimum tracking operation start work position”
(if it is already exceeded, at the same time TRAC Command is executed). If the
work position information is acquired, move the actuator to the position above the
work immediately with MOVL Command with a care to Z-axis (height).

Datum Point Position Information in Work Saved in Position Data

 X, Y, (rotation) R-axis

If Tracking Operation ON Command is executed while already in the conveyor

tracking operation, the tracking operation will continue and only the datum point
position information obtainment in the next work is performed.
When the tracking operation OFF command is executed, the tracking operation
is cancelled and it decelerates and stops tracking. If the tracking operation is
cancelled by the tracking operation OFF command, etc., the data such as the
acquired work datum position information would be invalid (meaningless).

620
 Return Code in TRAC Command (Variable 99 (Local Space))
* When Operand 1 = 0 (Tracking Operation OFF), the return code cannot be
returned. (Variable 99 not operated)
0: Tracking operation start & datum point position information obtaining
succeeded
1. Datum point in work position information obtaining timeout
Timeout value should be indicated in Operand 2 of TRMD Command as
described previously.
2. Datum point in work position information obtaining timer cancel (Timer cancel
by TIMC Command)
3. Reached the maximum work position for tracking operation start (Work
reached a position that cannot be tracked)
Even thought the datum point position information in work can be obtained, the

5. SEL Commands
data is no more meaningful, thus ensure not to do the positioning with that
position information. The work attribute (it is for the future expansion, currently
fixed value = no attribute identification) isaved to the local variable indicated in
“All-Axes Parameter No. 93 Tracking Work Attribute Saved Local Variable
Number”.
4. Tracking operation stop
When the work reaches the position to finish the tracking operation, tracking
reversed operation workposition, or an error is occurred, the tracking operation
gets cancelled (stopped).
5. Tracking Mode Cancelled
Work detection is set to invalid by Tracking Mode OFF Command or an error
and all the existed work information is deleted.

621
 Caution
1) TRMD and TRAC Commands are available only when they are in the same program (task).
2) Execute the Tracking Operation ON Command on the position where there is no interference
to the surroundings with the tracking operation, movement to the point above the datum point
in the working range after the tracking, or the combination of both operations.
3) Ensure to use MOVL Command for the movement on the axis during the conveyor tracking
operation. If the position data (Datum point position information in Work) is “obtained in
normal condition”, perform a positioning quickly with “MOVL” to the point around the position
(around the point above the datum point in the work) considering “the target values for the
axes that the data is not obtained for, such as Z-axis (height)”. The obtained position data is
effective only in “the tracking operation that time” and becomes ineffective after “the tracking
operation that time” is complete.
For SCARA Robot, the robot arm getting close to the area around the peculiar point as the
5. SEL Commands

result of conveyor tracking may cause an abnormal acceleration and it is very risky. In the
case this abnormal acceleration around the peculiar point is occurred, the arm deceleration
angle after the error detection also becomes larger. Do not locate interfering object in the
surroundings. The following errors will be detected if the abnormal acceleration around the
peculiar point:
 Error No. B74 CP Operation Limited Area Invasion Error
 Error No. B91 Main Excess Speed Necessity Error
 Error No. D09 Driver Excess Speed Error
To avoid this phenomenon, the work tracking limit can be set in “All-Axes No.75 Tracking
Operation Complete Work Position”, however, since it all depends on the work position,
there is still a risk that the robot arm reaches the peculiar position unless it is quickly moved
to the position (Datum Point in Work) obtained in normal condition by Tracking Operation ON
Command.
 It is also an effective way for the debug test operation when turning the system on to
detect in the simple interference check zone before invasion to the peculiar point on the
exist side if the operation is under a comparatively low conveyor speed.
 If reaching to the axis soft limit or interference range due to the positional correlation of
“minimum work position for tracking operation start” and “point above datum point for
work”, have an appropriate treatment on the sequence to avoid it such as by setting the
different start time for the positioning to the point above the work datum point with a
timer, etc.
4) Since the right for the servo use is occupied by the TRAC Command execution task during
Tracking Operation ON Command, the tracking related servo axis cannot be used from other
tasks. (For SCARA Robot, 4 axes are occupied for the purposes of the posture control and
other related.)
5) For SCARA Robot, it is operated on the work coordinate system of when the conveyor
tracking operation is started during the conveyor tracking operation.
6) Conveyor tracking operation does not stop at the break points of SEL program.
 The break point only pauses the next program step execution.
7) PUSH Command cannot be used during the conveyor tracking operation.

622
[29] Vision System I/F Related Command

 SLVS (Select vision system I/F)

Extension Command, declaration
Input condition Outpu
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Select vision
Optional Optional SLVS (Timeout time) CC
system I/F

Applicable models
XSEL
XSEL XSEL

5. SEL Commands
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
TT:,

         TTA: (PC/PG
only)

[Function] Select whether using Vision System I/F in this command (GTVD Command).

Operand 1： Select Vision System I/F

0 : Vision System I/F not selected
1 : Vision System I/F selected for use

Operand 2： Operand 1 = Invalid when set to “0”.······ Prohibited

Operand 1 = Except for “0” ···· Timeout time (sec) when GTVD Command is
executed
The setting range for the timeout time is from
0.00 to 99.00sec.
When no indication (Operand 2 = blank) is
defined, the timeout setting is not established
and is set to no limitation.

 Return Code in SLVS Command (Variable 99 (Local Space))

The result in SLVS execution is stored in Variable 99 as a return code.
* No return code will be obtained (Variable 99 not executed) when Operand 1 = 0.
* The return codes not listed below are in common with OPEN Command (for Ethernet
connection). Refer to “OPEN Command” in Ethernet Instruction Manual provided
separately.
0 : Completed in normal condition
1 : Timeout
(Related Parameters: I/O Parameter No. 127, Network Attribute 8, Bits 0 to 7)
2 : Timer cancelled (condition that the waiting status is cancelled by TIMC Command)
6 : Task Complete (Program complete request, etc.)
(Unable to identify from SEL Command)
23 : Vision System Initializing Incomplete Error

623
 (Note 1) SLVS and GTVD Commands can be executed only on the same program (task).

(Note 2) Executing SLVS Command with Operand 1 = 1 is indicated opens the

communication channel that is specified in I/O Parameter No. 351, Bits 4 to 7.
And also, executing SLVS Command with Operand 1 = 0 is indicated closes the
communication channel that is specified in I/O Parameter No. 351, Bits 4 to 7.

(Note 3) When the Vision System I/F is used with Ethernet, message communication
attribute is fixed to client.

[Example 1]
SLVS 1 Select Vision System I/F Usage
 (GTVD Command Timeout Value = None)

5. SEL Commands

SLVS 0 Cancel Vision System I/F Selection

[Example 2]
SLVS 1 60 Select Vision System I/F Usage
(GTVD Command Timeout Value = 60sec
 is indicated)

SLVS 0 Cancel Vision System I/F Selection

624
 GTVD (Vision system I/F image-capture data acquirement)
Extension Command, declaration
Input condition Outpu
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Capturing trigger
Optional Optional GTVD Variable number CC
classification

Applicable models
XSEL
XSEL XSEL
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/

5. SEL Commands
SSEL
QCT SXD
SAXD
TT:,

         TTA: (PC/PG
only)

[Function] This outputs the image-capture command to the Vision System I/F selected by
SLVS Command and stores the received image data to the variables and
specification data. With one time of execution of this command, one image data
can be obtained.

Operand 1 : Capturing Trigger Classification

0 : Reserved
1 : Immediate Image-Capture Command Output
2 : Image-Capture Command Output when Image-Capture Trigger Port
(I/O Port and Flag) is ON
3 to 6 : Reserved
Operand 2 : Variable number*1
Assuming the variable number selected in Operand 2 is n, the contents are
stored in the variables of quantity 8 in a row starting from n.
Variable No. n : Top data number for image data work coordinates
storage*3
Variable No. n+1 : Variable number for image data work attribute storage
(Note) Make sure the continuous 12 variables after the top
variable number are not in use. *2
Variable No. n+2 : Variable number for image data work quantity storage
Variable No. n+3 : Image-capture trigger port number
(Valid only when Operand 1 = 2 is input)
Variable No. n+4 : Data Classification for Image Data Storage
0 : Position data
1 : Work Coordinate System Offset Data*4
Variable No. n+5 : Reserved (to be fixed to 0)
Variable No. n+6 : Reserved (to be fixed to 0)
Variable No. n+7 : Reserved (to be fixed to 0)
*1 Select from the range of integer variables in the local and global domains.
Local domain : 1 to 91, 1001 to 1092
Grobal domain : 200 to 292, 1200 to 1292
*2 Select from the range of integer variables in the local and global domains.
Local domain : 1 to 87, 1001 to 1088
Grobal domain : 200 to 288, 1200 to 1288
(Note) For XSEL-P/Q and some others, there are global domains 20000 to
2788.
[Refer to 4.1 Each Type of Data Available to Handle on the Program
and its Range]

625
 *3 The variable set to this data number should be as shown below in response to the
indication of Variable No. n+4.
Variable No. n+4 = 0: Top position No.
1st to 12nd…Center of Work Piece Gravity Posiiton 1 to 12
1: Top work coordinate system No.
No. 1 to 12 …1 to 12 sets of center of work piece gravity offset
(Note) In either case, confirm 12 sets of data from the top data number are kept
unused in a row.
*4 Supported only by TTA or MSEL-PC/PG Application V2.00 and later

 Return Code in GTVD Command (Variable 99 (Local Space))

The result in GTVD execution is stored in Variable 99 as a return code.
0 : Completed in normal condition
1 : Work Information Acquirement WAIT Timeout
5. SEL Commands

2 : GTVD Timer cancelled (condition that the waiting status is cancelled by TIMC
Command)
3 : Vision System Unset Detection (SLVS Command not executed, etc.))
4 : Work Detection Cancel Status Detection (errors, etc.)

(Note 1) SLVS and GTVD Commands can be executed only on the same program (task).

(Note 2) Receivable communication formats can be switched in I/O Parameter No. 352,
Bits 0 to 7.

(Note 3) The system is capable to obtain the work data (coordinates and attributes) of 12
work pieces in 1 shot of image capturing.
Error No. 417 is issued when 13 or more work pieces are detected in 1 shot, and
“4: Work Detection Cancel Status Detection (error, etc.)” is set to the return code.

(Note 4) Error No. 416 (Received Message Error) is issued when there is an error in the
received message during SLVS Command execution.
Check the communication format selection parameter (I/O Parameter No. 352 or
Bits 0 to 7) settings and the output communication format on Vision System side.

(Note 5) There will be no change in the variables for work attribute storage and the
position data when the quantity of detected work piece in the received image
data is 0.

(Note 6) It is prohibited to capture an image during the movement of the robot if the
camera is mounted on the robot.
Make sure to capture an image in the stop condition.
An accurate work data cannot be acquired if a capturing is conducted during the
robot movement.
(Note 7) When the position data is indicated for the data classification for captured data
storage, the coordinate system definition unit axes position data should be
converted into the position on the work coordinate system selected while this
command is being executed.
(Note 8) When the work coordinate system offset data is indicated for the data
classification for captured data storage, “Error No. B73 Coordinate System Data
Change Forbidden during Servo Use Error” will occur if a subjected axis is in
operation while this command is being executed.
(Note 9) When the work coordinate system offset data is indicated for the data
classification for captured data storage, the result is set to the offset data of X, Y
and R-axes of the coordinate system definition unit related to X, Y and R-axes of
the vision system in “All Axes Parameter No. 121 Vision System I/F 1 Coordinate
Axes Definition”.

626
[30] Anti-Vibration Control Related Command

 NTCH (Anti-Vibration Control Parameter Set Select)

Extension Command, declaration
Input condition Outpu
condition Command,
(I/O, flag) Operand 1 Operand 2 (Output, flag)
(LD, A, O, AB, OB) declaration
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Parameter set
Optional Optional NTCH Axis pattern CC
number

Applicable models
XSEL
XSEL XSEL

5. SEL Commands
-RAX/ ASEL
XSEL -P/Q/ XSEL XSEL XSEL XSEL -RX/SX/
SAX/ PSEL TT/TTA MSEL
-J/K PCT/ -R/S -RA/SA -JX/KX -PX/QX RXD/
RAXD/ SSEL
QCT SXD
SAXD
 
(Linear (Linear
      drive drive   
axis axis
only) only)

[Function] It declares what, in the specific frequency patterns registered to the parameters,
is to be used for the anti-vibration control for the axis pattern set in Operand 1.
Operand 1 : Axis pattern selection
Indicate the axis that the anti-vibration control parameter set
selection is conducted as “1” and the one not to be conducted as “0”.
Operand 2 : Parameter set number
Select if use/not to use the anti-vibration control and which specific
frequency pattern (parameter set) is to be used.
0 : Standard Position Control (Anti-vibration control is not done)
1 : Vibration Control Parameter Set 1 (Each Axis Parameter No.151 to 154)
2 : Vibration Control Parameter Set 2 (Each Axis Parameter No.156 to 159)
3 : Vibration Control Parameter Set 3 (Each Axis Parameter No.161 to 164)
Except for 0 to 3 : Standard Position Control (Anti-vibration control is
not done)

[Example] NTCH 110 2 Setting the anti-vibration control parameter set 2 to

the 2nd and 3rd axes
<Example for Programming >

Standard
Position Control

Vibration
Parameter Set 1

Vibration
Parameter Set 3

Standard
Position Control

627
 5.4 Key Characteristics of Actuator Control Commands and Points to Note
5.4.1 Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS and CNTP]
1) By running a program with continuous movement commands input in a series of continuous
program
steps, you can allow the actuators to perform operations continuously without stopping between
steps.

PATH 1 5

ARC2 6 7
5. SEL Commands

PATH 8 12

2) Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
PATH 1 5

20 ARC2 6 7

PATH 8 12

Stops momentarily.

3) The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).

(Position 1)

628
[Example 1] (POTP = 1) Output Timing
POTP 1 308 Turn ON as P1 approaches.
: 309 Turn ON as P2 approaches.
310 Turn ON as P3 approaches.
: 311 Turn ON as P11 approaches.
PATH 1 3 308 312 Turn ON as P21 approaches.
ARC2 10 11 311 313 Turn ON as P22 approaches.
PATH 21 23 312 314 Turn ON when P23 operation is complete.

[Example 2] (POTP = 0) Output Timing

PATH 1 3 308 308 Turn ON as P3 approaches.
ARC2 10 11 311 311 Turn ON as P11 approaches.
PATH 21 23 312 312 Turn ON when P23 operation is complete.

5. SEL Commands
[Example 3] If an input condition is specified, the output will turn ON upon completion of operation
inthe step before the one in which the input condition is specified.

Output Timing
POTP 1 308 Turn ON as P1 approaches.
: 309 Turn ON as P2 approaches.
310 Turn ON when P3 operation is complete.
: 311 Turn ON as P11 approaches.
PATH 1 3 308 312 Turn ON as P21 approaches.
20 ARC2 10 11 311 313 Turn ON as P22 approaches.
PATH 21 23 312 314 Turn ON when P23 operation is complete.

4) When executing continuous movement commands sequentially, the controller is calculating

approx.
100 positions ahead. This is why the steps are displayed continuously on the PC screen or
teachingpendant screen, regardless of the actual operation. The last step in the continuous
operation section executed by continuous movement commands will wait for the applicable
operation to complete.

: Actuator operation
PATH 1 5 308
ARC 6 7 311 Step displayed on the PC software or
PATH 8 12 312 teaching pendant
BTON 310
:

629
 5) Do not allow the output fields to duplicate in the continuous operation section executed by
continuous movement commands.
Duplicating output fields in the continuous operation section will not achieve the expected result.
The output field will turn OFF at the start of processing of each command.

POTP 1 Do not let outputs 305 through 308 to

duplicate, as in the example shown at left.
PATH 1 5 305
: Continuous operation section executed by
: continuous movement commands
PATH 11 15 308

The final output status of duplicate 305 through 308 is indeterminable, because it is affected by the
5. SEL Commands

positioning calculation time and the relationship of durations of actual operations.

6) The actuator can be moved continuously along a series of continuous positions including one
discontinuous position. Specify the position number corresponding to the discontinuous position
as both the start position number and end position number of a PATH command. Position No. 6
is the discontinuous point to be passed in this example.

The actuator will move continuously along the path of position Nos. 1→2→3→4→6→9→10.

PATH 1 4
PATH 6 6 Discontinuous position
PATH 9 10

630
5.4.2 PATH/PSPL Commands
When executing a PATH or PSPL command, pay attention to the locus because it will change if the
acceleration/deceleration is different between points.
The locus can be fine-tuned by changing the acceleration/deceleration, but different
acceleration/deceleration settings between points will prevent smooth transition of speeds when
moving from one position to another.
If there is a large difference in deceleration/acceleration between points and the positioning
distance is small, the speed may drop. Exercise caution.

5.4.3 CIR/ARC Commands

The processing by a CIR or ARC command resembles moving along a polygon with a PATH

5. SEL Commands
command.
A small division angle may cause the speed to drop.
CIR2, ARC2, ARCD and ARCC commands actually perform arc interpolation.

Division angle set by a

DEG command

CIR CIR2

5.4.4 CIR2/ARC2/ARCD/ARCC Commands

With a CIR2, ARC2, ARCD or ARCC command, the speed can be changed (only in the arc
interpolation section) by inputting a speed for the point specified in operand 1. These commands
are effective when you must lower the speed partially because the radius is small and the arc locus
cannot be maintained inside the allowable range.

The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
Setting in the position data Setting in the position data specified in operand 1
1
specified in operand 1
2 Setting by VEL command Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
Default deceleration in all-axis parameter No. 12

631
 5.5 Position Output Operation Features
Applicable Controllers : TTA, MSEL, XSEL-RA/SA/RAX/SAX/RAXD/SAXD

Applicable Versions : TTA application Part V2.00 and later

MSEL application Part V2.00 and later

: TTA, MSEL • PC software (IA-101-X-MW) V12.03.00.00 and later

• Teaching pendant (TB-01) V1.50 and later
• Teaching pendant (TB-02) first edition and later
: It is applicable from the initial version for XSEL-RA/SA/RAX/SAX/RAXD/SAXD

* XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers are already applicable for this feature at the

5. SEL Commands

delivery.

5.5.1 Outline
There was POTP Command (PATH Output Type Setting) in SEL Command as the feature to output
with a position in operation by a command such as PATH Command. This is a feature to output the
on-signal while incrementing the output port indicated at the output part every time the actuator
approaches each position in continuous movement during PATH and PSPL movements. Therefore,
it always conducts on operation to different outputs.
On the other hand, the position output operation feature enables on and off operations to the same
outputs (control outputs of external devices) as it controls external devices such as a dispenser
and torque driver during the axis operation.
The output operation setting should be conducted at each position in the position data.
The set output operation is conducted when the movement command of the position that the output
operation is set is executed.
There are six types output operation as;
• To turn the indicated output port or flag ON after movement
• To turn the indicated output port or flag OFF after movement
• To turn the indicated output port or flag ON after passed the indicated distance
• To turn the indicated output port or flag OFF after passed the indicated distance
• To turn the indicated output port or flag ON at the position where the actuator is moved for the
indicated ratio minute to the whole movement amount from the movement start position
• To turn the indicated output port or flag OFF at the position where the actuator is moved for the
indicated ratio minute to the whole movement amount from the movement start position.

For TTA and MSEL this feature is not activated at delivery. Activate it by conducting 5.5.2 How to
Valid Position Output Operation Function.
This feature is already valid at delivery for XSEL-RA/SA/RAX/SAX/RAXD/SAXD. It is not
available to make it invalid.

632
5.5.2 How to Valid Position Output Operation Function (TTA, MSEL)
If the output operation data valid/invalid setting is changed, it is necessary to initialize the position
data as a change is made to the position data construction. Follow the procedures below to switch
the output operation data valid/invalid.

1) Save the position data to a file if necessary.

* Make sure to have a backup if the current data is necessary when switching the position output
operation data valid/invalid as initialization of the position data is conducted.

2) Change Bit 4-7: Position Output Operation Data Valid Select in All Axes Parameter No. 54 “All
Axes Setting Bit Pattern 3” (0: Invalid, 1: Valid)

3) Write the parameters to the flash ROM, and conduct the software reset.

5. SEL Commands
* Error No. 6BD “Position Data Construction Change Error” will occur after rebooting.

4) Initialize the position data and clear up all the position data.
Conduct “Controller” → “Memory Initialization” → “Position” in the main menu.

5) Write the position data to the flash ROM, and conduct the software reset.

6) As all the position data are cleared, transfer the position data saved in 1) as necessary to the
controller and write in the flash ROM.

The procedures above are necessary also when the setting of valid/invalid for the position output
operation data is changed by transferring and writing the parameter files. It is not necessary to
have the procedures above when all the backup files are to be transferred to the controller as the
tool automatically initializes the position data.

633
 5.5.3 How to Valid Position Data Output Operation Setting
There are 4 items, OutFn, OutNo., OutPara1 and OutPara2, as the items to set the output
operation.

OutFn
Set the output functio.
Set a value applicable for the output function of 1 to 6.
5. SEL Commands

The output operation will be invalid if no setting is conducted.

The display is as shown in the table below, and if 1 is set for instance, the display is on.

Output Function Name Setting in Number Display

Turns on after Moving 1 ON
Turns off after Moving 2 OFF
Turns on after passing
3 OND
indicated distance
Turns off after passing
4 OFFD
indicated distance
Turns on after passing
5 ONR
indicated ratio
Turns off after passing
6 OFFR
indicated ratio

OutNo.
Set the output port and flag subject to operation.

OutPara1
Set the parameters defined for each output function.

OutPara2
If the output pulse timer time is set, one-shot pulse output is made.

Setting for Each Output Function

OutPara1 : OutPara2 :
Output Function Name
Function Parameter 1 Function Parameter 2
Turns on after Moving Output delay timer time Output pulse timer time
Turns off after Moving (0.000 to 999.999 sec) (0.000 to 999.999 sec)
Turns on after passing
Output operation indicated
indicated distance Output pulse timer time
distance
Turns off after passing (0.000 to 999.999 sec)
(0.000 to 9999.999 mm)
indicated distance
Turns on after passing
Output operation indicated
indicated ratio Output pulse timer time
rate
Turns off after passing (0.000 to 999.999 sec)
(0.000 to 100.000 %)
indicated ratio

634
5.5.4 Valid SEL Language Commands for Output Operation of Position Data and
Common Notes for Caution
The commands shown in the table below are the valid commands.

Output
PC / TP
Function Output Function Name Valid SEL Commands
Display
Code
0 - Invalid －

1 ON Turns on after Moving MOVP / MOVL / MVPI / MVLI / TMPI / TMLI /

PATH / PSPL / PUSH / CIR / ARC / CIR2 /
ARC2 / CIRS / ARCS / ARCD / ARCC /
2 OFF Turns off after Moving ARCH

5. SEL Commands
Turns on after passing
3 OND
indicated distance
Turns off after passing
4 OFFD
indicated distance MOVL / MVLI / TMLI / PATH / CIR2 / ARC2 /
Turns on after passing ARCD / ARCC / ARCH
5 ONR
indicated ratio
Turns off after passing
6 OFFR
indicated ratio

635
 5.5.5 Explanation of Each Output Function
Below explains each output function.

[1] Turns ON/OFF After Moving

Output PC / Operation
Output Function Function Function
Function TP Output Port
Name Parameter 1 Parameter 2
Code Display Flag
Turns on after
1 ON
Moving Output Port Output delay timer Output pulse timer
Turns off after Flag No. time time
2 OFF
Moving
5. SEL Commands

[Function] The indicated output ports and flags are turned on/off after moving to the applicable
position. The timing of the output operation is as stated in the table below for each
classification of the movement. Indicate each of the output delay timer time and output
pulse timer time of the function parameter, and one-shot pulse is output. (No indication
when 0)

If it is set to be turned off after movement in the position

movement to another point, the signal is kept on. If it is required
to be compulsorily turned off, turn it off with BTOF Command
after movement is completed.

(Example) Output Time Chart of Turning on after Movement

No Indication for
Passed Time
Function Parameter 1, 2

With Indication for Passed Time

Function Parameter 1, 2

TD : Output Delay Timer time

Output Operation TP : Output Pulse TimerT time
Timing

■ Output Operation Timing

Movement Classification Output Operation Timing
Non-Continuous Movement
At movement complete (positioning complete)
(MOVP, MOVL, etc.)
At target position approach except for last
Continuous Movement
position and at operation complete (positioning
(PATH, CIR2, ARC2, etc.)
complete) for last position
Pressing Movement (PUSH) At detection of pressing complete

Output Operation (N-2)

Output Operation (N)

(Last Position)
Output Operation (N-1)
It shows below the time chart of on and off signals when Function Parameter 1 and Function

636
Parameter 2 are indicated and not indicated in the case that PATH Operation in Position No. 10 to
No. 13 below is conducted as an example.

 When Function Parameter 1 and Function Parameter 2 are not indicated

ON

OFF

5. SEL Commands
No.10 No.11 No.12 No.13
Turns ON at As there is no setting conducted It turns OFF
approach of output function to No. 11 and when operation
No. 12, the signal status would is completed.
not change. It is kept ON.

 When Function Parameter 1 and Function Parameter 2 are indicated

• Function Parameter 1 Setting Item : Output Delay Timer
• Function Parameter 2 Setting Item : Output Pulse Timer

ON

OFF

No.10 No.11 No.12 No.13

It turns ON in delay As there is no setting conducted Although the output
to approach for the of output function to No. 11 and function is set off,
duration set in the No. 12, the signal status would as the signal status
output delay timer. not change. It is kept OFF. is off, there should
It turns OFF when be no change to the
the duration set in status.
the output pulse It is kept OFF.
timer has passed.

637
 [2] Turns ON/OFF After Passing Indicated Distance

Output PC / Operation
Output Function Function Function
Function TP Output Port
Name Parameter 1 Parameter 2
Code Display Flag
Turns on after
3 OND passing indicated
distance Output Port Output Operation Output pulse timer
Turns off after Flag No. indicated distance time
4 OFFD passing indicated
distance

[Function] The indicated output ports and flags are turned on/off at the position forwarded for the
distance from the movement start position to the indicated in Function Parameter 1
5. SEL Commands

during movement to the applicable position. Indicate the output pulse timer times of
Function Parameter 2, and one-shot pulse is output. (No indication when 0)
This output function is valid for MOVL, MVLI, TMLI, PATH, CIR2, ARC2, ARCD, ARCC
and ARCH Commends. Error No. B97 “Position Output Operation Data Indication Error”
will occur if indicated to other commands.
* Even though the output timing of signal ON and OFF differs from that of ON/OFF
after movement, the way of ON-OFF operation is the same. Refer to [1] ON /OFF
after Movement for the way of ON /OFF operation.

Target Position

Output Operation Indicated Distance

Output Operation Position

Movement start Position

(Note 1) This function cannot be indicated when the tool coordinate system offset is set for X-axis
or Y-axis in the movement of 3-Axes Type SCARA. (Error No. B97 “Position Output
Operation Data Indication Error”)

(Note 2) For a position in the continuous movement such as PATH and arc movement, output
operation position will be indicated with the distance with the position in front as the
starting point.

Starting Point Output Operation Indicated Distance

Output Operation Position

Target Position

638
If the output operation indication distance is indicating the duplicating point of the movement to the
position in front and the movement to the applicable position (as shown in the figure below), the
output operation position will be the position that the movement to the position in front completes.

Output Operation Indicated Distance

Starting Point

Output Operation Position

5. SEL Commands
Target Position

Also, if the output operation indication distance is indicating the duplicating point of the movement
to the position in front and the movement to the next position (as shown in the figure below), the
output operation position will be the position that the movement to the next position starts.

Starting Point Output Operation Indicated Distance

Output Operation Position

Target Position

(Note 3) In the arc movement, the output operation position will be indicated in a distance to the
arc track on the inside command. As the actual track may become inside for some
velocity settings, adjustment of the indicated distance may be necessary.

Output Operation Indicated Distance

Output
Operation
Position

Track on Inside Command

Movement Start Position

639
 (Note 4) In the arch motion movement by ARCH Command, output operation position will be
indicated with the distance with the arch motion Z-axis downward movement position as
the starting point. Just as PATH, if the output operation indication distance is indicating the
duplicating point of the horizontal movement and the Z-axis downward movement, the
output operation position will be the position that the horizontal movement completes.

Starting Point

Output Operation Indicated Distance

Output Operation Position

5. SEL Commands

Movement Start Position Target Position

(Note 5) Variance in the output operation timing may become extremely large when an indication is
conducted to move in a very small distance to Arm 1, Arm 2 of IXP PowerCon SCARA or
an axis with small resolutions compared to other axes. Revise the movement position in
such a case.

(Example) When moving PowerCon SCARA Robot from the current position (-50.000,
300.000, 110.000, 0.000) to the target position (-49.900, 299.800, 109.000,
180.000);
→Change the target position to (-, -, -, 180.000) (no indication to 1st to 3rd arms
(not to move))

(Note 6) The relation between the distance of the output operation indication and the output
position is determined by the movement amount of each axis. When movement is made
with the linear movement axes of three axes or less, the output operation indication
distance can be a distance in the actual space, but when movement is made with the
linear movement axes and rotary movement axes mixed together (for such a reason as to
avoid interference), or when four or more linear movement axes are to move, the output
operation indication distance cannot be in the actual space as shown in the example
below. In such a case, it is easier to establish the setting with using the output function
indicating in rate.

Example) The position to conduct the output operation with indication of 150 for output operation
indication distance is as shown below when X-axis and Y-axis that move linearly and
R-axis that moves rotationally makes the linear interpolation movement from (0, 0, 0)
to (100, 200, 90).

100
X-axis : 150 × = 62.230
1002＋2002＋902

200
Y-axis : 150 × = 124.461
100 ＋2002＋902
2

90
R-axis : 150 × = 56.007
100 ＋2002＋902
2

(Note 7) For the tracking operation of XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, the

output function of indicated distance on/off is not to be used. (Error No. B97 “Position Output
Operation Data Indication Error”)

640
[3] Turns ON/OFF After Passing Indicated Ratio

Output PC / Operation
Output Function Function Function
Function TP Output Port
Name Parameter 1 Parameter 2
Code Display Flag
Turns on after
5 ONR passing indicated
ratio Output Port Output Operation Output pulse timer
Turns off after Flag No. indicated ratio time
6 OFFR passing indicated
ratio

[Function] The indicated output ports and flags are turned on/off at the position forwarded for the
distance from the movement start position to the indicated in Function Parameter 1

5. SEL Commands
during movement to the applicable position. Indicate the output pulse timer times of
Function Parameter 2, and one-shot pulse is output. (No indication when 0)
This output function is valid for MOVL, MVLI, TMLI, PATH, CIR2, ARC2, ARCD, ARCC
and ARCH Commends. Error No. B97 “Position Output Operation Data Indication Error”
will occur if indicated to other commands.
* Even though the output timing of signal ON and OFF differs from that of ON/OFF
after movement, the way of ON-OFF operation is the same. Refer to [1] ON /OFF
after Movement for the way of ON /OFF operation.

Target Position

Output Operation Indicated Ratio

Output Operation Position

Movement start Position

(Note 1) This function cannot be indicated when the tool coordinate system offset is set for X-axis
or Y-axis in the movement of 3-Axes Type SCARA. (Error No. B97 “Position Output
Operation Data Indication Error”)

641
 (Note 2) For a position in the continuous movement such as PATH and arc movement, output
operation position will be indicated with the ratio with the position in front as the starting
point.

Starting Point Output Operation Indicated Ratio

Output Operation Position

Target Position
5. SEL Commands

If the output operation indication ratio is indicating the duplicating point of the movement to the
position in front and the movement to the applicable position (as shown in the figure below), the
output operation position will be the position that the movement to the position in front completes.

Output Operation Indicated Ratio

Starting Point

Output Operation Position

Target Position

Also, if the output operation indication ratio is indicating the duplicating point of the movement to
the position in front and the movement to the next position (as shown in the figure below), the
output operation position will be the position that the movement to the next position starts.

Starting Point Output Operation Indicated Ratio

Output Operation Position

Target Position

642
(Note 3) In the arc movement, the output operation position will be indicated in a ratio to the arc
track on the inside command. As the actual track may become inside for some velocity
settings, adjustment of the indicated ratio may be necessary.

Output Operation Indicated Ratio

Output
Operation
Position

5. SEL Commands
Track on Inside Command

Movement Start Position

(Note 4) In the arch motion movement by ARCH Command, output operation position will be
indicated with the distance with the arch motion Z-axis downward movement position as
the starting point. Just as PATH, if the output operation indication ratio is indicating the
duplicating point of the horizontal movement and the Z-axis downward movement, the
output operation position will be the position that the horizontal movement completes.

Starting Point

Output Operation Indicated Ratio

Output Operation Position

Movement Start Position Target Position

(Note 5) Variance in the output operation timing may become extremely large when an indication is
conducted to move in a very small distance to Arm 1, Arm 2 of IXP PowerCon SCARA or
an axis with small resolutions compared to other axes. Revise the movement position in
such a case.

(Example) When moving IXP PowerCon SCARA Robot from the current position (-50.000,
300.000, 110.000, 0.000) to the target position (-49.900, 299.800, 109.000,
180.000);
→Change the target position to (-, -, -, 180.000) (no indication to 1st to 3rd arms
(not to move))

(Note 6) For the tracking operation of XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, the output

function of indicated distance on/off is not to be used. (Error No. B97 “Position Output
Operation Data Indication Error”)

643
 5.5.6 Common Notes for Caution
Stated below are the caution notes in common for each output function.

 The position data setting indicated in Operation 1 is to be valid for the output operation of the arc
movement commands (CIR, ARC, CIR2, ARC2, CIRS, ARCS, ARCD and ARCC) and the arch
motion command (ARCH). In these commands, only one output operation is valid in one motion.
In case of a command to set the position data also to Operation 2, the output operation data gets
ignored.

 In the output operation for PATH and PSPL Commands, settings in all the position data from the
start position in Operation 1 to the end position in Operation 2 are valid.

 The output operation by the position output operation data and the output operation by the output
5. SEL Commands

portion in SEL Command are processed individually. Therefore, indicating both in one command
is also available.

 16 units are available at maximum at the same time in total for all the programs for the output
delay timers in the position output operation and the shot pulse timers in Output 1. Error No. B04
“Simultaneous Excess Use in 1-Shot Pulse Output Error” occurs when timers more than that are
used.

 At the end of the program (including when cancelling an error), the output delay timers of the
position output operation and the shot pulse timers for Output 1 executed in the applicable
program are inactivated, and the output operation after that will all be cancelled.

 At the pause of the program, the output delay timers and Output 1 shot pulse timers will not be
paused. Therefore, pay attention as the output operation will be conducted after the time of the
timer has been passed even in a pause.

 In case that, before completing the delay and one-shot pulse output to the position output “A”, a
certain position output, the position output “B” is conducted from the same program to the same
output port and flag numbers, the output operation of A will be overwritten by the output operation
of B.

Example)
Prg 1 : • • •
MOVP 1 ON 316 2.000 0.000 • • (1)
MOVP 2 OFF 316 0.500 0.000 • • (2)
・・・
⇒ If Step (2) is finished before passing 2.000 sec. after Step (1) is finished, the
position output in Step (1) will be cancelled and Output Port No. 316 will not turn
on.

 The actual output timing of the position output operation has tolerance of 3 to 4msec.

644
5.5.7 Other Caution Notes
• The position output operation feature will not respond when moving an actuator by operating such
as Button in the position data edit window in the PC software.

• Make sure to always use tools applicable to the feature when using the position output operation
feature. In case a tool not applicable for the feature is connected and the position data is edited,
the output operation data will be deleted.

5. SEL Commands

645
 5. SEL Commands

646
6. Program Examples
6.1 Operation by Jog Command Doll-Picking Game Machine
(1) Overview of the system
This system is a doll-picking game machine consisting of axis-1 and axis-2 actuators.
Pushbutton switches corresponding to the two axes are provided on an external operation
switch box, and these switches are used to move the actuators to a desired position to grab
and pick up dolls inside the case.

Axis 1
Axis 2

6. Program Examples
Hand

Load
Hand control unit

Axis-1 movement
pushbutton switch Axis-2 movement pushbutton switch

647
 (2) Explanation of the operation
How this system operates is explained.

1) Wait for the axis-1 movement pushbutton switch to turn ON.

2) The X-axis moves while the pushbutton switch is ON, and stops when the switch turns
OFF.
3) Wait for the axis-2 movement pushbutton switch to turn ON.
4) The Y-axis moves while the pushbutton switch is ON, and stops when the switch turns
OFF.
5) Output a start command to the hand control unit.
6) Wait for an operation completion input from the hand control unit.
7) Move to the home after the input is received.

The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:
6. Program Examples

Operation Position Operation Flow Chart

Start
Hand control unit
Operation home
Axis 1 N
Axis 1 switch ON

Y
Axis 1 operates in forward
direction

Arbitrary distance
Axis 1 N
switch OFF
Arbitrary
Y
distance
Axis 1 stops
Axis
2 Axis 2 N
switch ON
Y
Axis 2 operates in forward
direction

I/O Assignments
Axis 2 N
Category I/O No. Signal name Specification switch OFF
Axis-1 movement Y
16 Pushbutton switch
command Axis 2 stops
Axis-2 movement
Input 17 Pushbutton switch
command Hand-control-unit start
XSEL

command ON
Hand operation External control
18
completion unit
N
Hand start Complete
Output 309 24V DC
command Y
* Flag is not used. Hand-control-unit start
command OFF

Move to home position

648
 (3) XSEL Controller application program

Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

Axes 1 and 2 return to home
1 HOME 11
(servo ON).
2 VEL 400 Set speed to 400mm/s.
3 TAG 1
Wait for input from axis-1
4 WTON 16
movement switch.
Move forward while axis-1
5 JFWN 1 16
movement switch is ON.
Wait for input from axis-2
6 WTON 17
movement switch.
Move forward while axis-2
7 JFWN 10 17
movement switch is ON.
Start command for external

6. Program Examples
8 BTON 309
control unit turns ON.
Wait for external control unit to
9 WTON 18
complete operation.
Start command for external
10 BTOF 309
control unit turns OFF.
Axes 1 and 2 move backward
11 JBWF 11 18
while 18 is ON.
12 GOTO 1 Jump to TAG1.
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

649
 6.2 Operation by Point Movement Command Riveting System
(1) Overview of the system
This system is a riveting system consisting of an XY-table operated by axis-1 and axis-2
actuators and a riveter. By setting a work on the XY-table at the operation home and turning
ON the start switch, rivets will be driven at the three points specified on the work.

Riveter

Axis 2 Work

XY-table
6. Program Examples

Axis 1

Operation box Body frame

650
(2) Explanation of the operation
How this system operates is explained.

1) The XY-table moves to the operation home (P1) and waits.

2) The operator sets a work on the XY-table and turns ON the start switch.
3) The XY-table moves to riveting position No. 1 (P2) on the work and a riveting command
is output to the riveter.
4) When the riveter completes the riveting operation and a completion signal is input, the
table will move to riveting position No. 2 (P3) and then No. 3 (P4), in the same manner.
5) When all three points have been riveted, the table will return to the operation home (P1).

The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:

Operation Position Operation Flow Chart

6. Program Examples
XY-table
Start

Move to position No. 1

P4
P1 Work
(Operation Work counter = 2
home)

N
Start

Y
P3 P2
Move to riveting position

Riveting command ON
Riveter position

Riveting N
complete

I/O Assignments Riveting command OFF

Category I/O No. Signal name Specification
Pushbutton
16 Start command Work counter + 1
switch
Input
Riveting
17 Contact signal
XSEL

N
completion Operation
complete
Riveting
Output 309 24V DC Y
command
* Flag is used from 600.

651
 (3) XSEL Controller application program
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
XY-table returns to home (servo
1 HOME 11
ON).
2 VEL 400 Set speed to 400mm/s.
3 TAG 1
Move to position No. 1 (home of
4 MOVL 1
work).
5 LET 1 2 Set 2 in work counter.
6 BTOF 600 Clear completion flag.
7 WTON 16 Wait for start command.
8 TAG 2
9 MOVL *1 Move to work counter position.
10 BTON 309 Riveting command turns ON.
11 WTON 17 Wait for riveting to complete.
6. Program Examples

12 BTOF 309 Riveting command turns OFF.

13 ADD 1 1 Increment work counter by 1.
Turns ON flag if operation is
14 CPEQ 1 5 600
complete.
15 N 600 GOTO 2 Jump to TAG2 if not complete.
16 GOTO 1 Jump to TAG1 if complete.
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

652
6.3 Palletizing Operation Palletizing System
(1) Overview of the system
This system is a palletizing system consisting of axis-1 and axis-2 actuators and a Z-axis air
cylinder. It clamps a work at the work feed point and transfers it onto a pallet, and repeats this
operation in a sequence.
(Operation is implemented by an offset command without using a palletizing function.)

Axis 2

Air cylinder
Axis 1

6. Program Examples
Air chuck

Pallet

Operation box

653
 (2) Explanation of the operation
How this system operates is explained.

1) Move to the standby point and wait for a start input.

2) Move to the work feed point after a start input is received.
3) The Z-axis comes down and the air chuck clamps the work.
4) The Z-axis rises and moves to above the pallet.
5) The Z-axis comes down and releases the work.
6) The Z-axis rises and moves to above the work feed point.
7) When the pallet becomes full, a pallet-completion indicator signal is output. The axes
move to P18 and then wait for restart.

The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:

Operation Position Operation Flow Chart

6. Program Examples

Start Chuck subroutine

Axis    
Clear variable Cylinder down
1
   
Move to position No. 18
Lower limit N
   

P1 Y
Wait for
input of 18 Reverse chuck output

P18 P17 Move to position No. 17 N

Timer

Axis 2 Y (0.5s)
Call chuck subroutine
Cylinder up

Move to position No. 1

N
Upper limit
Call chuck subroutine
I/O Assignments
Y
Category I/O No. Signal name Specification
Increment axis-1 offset by End of subroutine
Z-axis cylinder 20mm
16 Proximity SW
upper limit
Z-axis cylinder
Input

17 Proximity SW Variable
lower limit 300 = 80 N
Pushbutton
18 Start Y
XSEL

switch
Clear variable 300
309 Z-axis cylinder SV 24V DC
Output

310 Z-axis chuck SV 24V DC

Increment axis-2 offset by
Pallet-completion 30mm
311 24V DC
indicator
* Flag is used from 600. Variable
301 = 120
N
Pallet specifications Y
Axis-1 direction: 20mm pitch Completion signal ON
Axis-2 direction: 30mm pitch

654
 (3) XSEL Controller application program

Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

1 HOME 11 Axes 1 and 2 return to home.
2 VEL 100 Set speed to 100mm/s.
3 ACC 0.2 Acceleration/deceleration: 0.2G
4 TAG 1
5 LET 300 0 Clear variable.
6 LET 301 0 Clear variable.
7 OFST 11 0 Clear offset value.
8 MOVL 18 Move to position No. 18.
9 WTON 18 Wait for start input.
10 BTOF 311 Output 311 turns OFF.
11 TAG 2
12 OFST 11 0 Clear offset value.

6. Program Examples
13 MOVL 17 Move to position No. 17.
14 EXSR 1 Call chuck subroutine (chuck).
Offset axis 1 by value in variable
15 OFST 1 *300
300.
Offset axis 2 by value in variable
16 OFST 10 *301
301.
Move to position No. 1 + offset
17 MOVL 1
value.
18 EXSR 1 Call chuck subroutine (unchuck).
19 ADD 300 20 Add 20 to variable 300.
Turn ON flag 600 if variable 300
20 CPEQ 300 80 600
= 80.
21 N 600 GOTO 2 Jump to TAG2 if flag 600 is OFF.
22 LET 300 0 Clear variable 300.
23 ADD 301 30 Add 30 to variable 301.
Turn ON flag 601 if variable 301
24 CPEQ 301 120 601
= 120.
25 N 601 GOTO 2 Jump to TAG2 if flag 601 is OFF.
26 BTON 311 Output 311 turns ON.
27 GOTO 1 Jump to TAG1.
28 BGSR 1 Start chuck subroutine.
29 BTON 309 Z-axis cylinder down
30 WTON 17 Wait for lower-limit input.
31 BTNT 310 Reverse air-chuck output.
32 TIMW 0.5 Timer: 0.5 second
33 BTOF 309 Z-axis cylinder up
34 WTON 16 Wait for upper-limit input.
35 EDSR End of chuck subroutine
36
37
38
39

655
 6.4 Screw-Tightening Machine
(1) Overview of the system
This system consists of axis-1 and axis-2 actuators, Z-axis cylinder, screw-tightening device
and parts feeder, and tightens the screws fed by the parts feeder at the specified positions on
the work.

Axis 2
Screw tightening
start Z-axis cylinder
Screw-tightening device

Parts feeder

Axis 1
6. Program Examples

Work

Operation box

(2) Equipment
Screw-tightening machine (for Z-axis)
Actuators (for axes 1 and 2) IAI’s 60W servo motor/actuator with 300mm stroke  2
Controller IAI’s XSEL controller

(3) Explanation of the operation

(1) Tighten six screws at 30mm pitches on axes 1 and 2. Coordinates
1) The actuators move to a screw-tightening position.
2) The Z-axis air cylinder of the screw-tightening machine
comes down.
3) The screw-tightening machine starts operating.
4) When the screw tightening is complete, the Z-axis air Axis 2
cylinder rises.
5) The actuators move to the next position.

(2) The parts feeder operates in parallel with the above operation.
1) The parts feeder starts when screws are short. Axis 1
2) The parts feeder stops when the screws are fully loaded.

656
[Hardware]
1) I/O assignment
I/O connector (50 pins)
Pin No. Category Port No. Function Cable color
General-purpose: NC /
1 – Brown-1
Compact: +24V input
2 000 Program start Red-1
3 001 General-purpose input Orange-1
4 002 General-purpose input Yellow-1
5 003 General-purpose input Green-1
6 004 General-purpose input Blue-1
7 005 General-purpose input Purple-1
8 006 General-purpose input Gray-1
9 007 Program specification (PRG No.1) White-1
10 008 Program specification (PRG No.2) Black-1
11 009 Program specification (PRG No.4) Brown-2
12 010 Program specification (PRG No.8) Red-2

6. Program Examples
13 011 Program specification (PRG No.10) Orange-2
14 012 Program specification (PRG No.20) Yellow-2
15 013 Program specification (PRG No.40) Green-2
16 014 General-purpose input Blue-2
Input
17 015 General-purpose input Purple-2
18 016 Screw tightening start Gray-2
19 017 Screw tightening end White-2
20 018 Z-axis air cylinder top Black-2
21 019 Parts-feeder all screws tightened Brown-3
22 020 Screw tightening complete Red-3
23 021 General-purpose input Orange-3
24 022 General-purpose input Yellow-3
25 023 General-purpose input Green-3
26 024 General-purpose input Blue-3
27 025 General-purpose input Purple-3
28 026 General-purpose input Gray-3
29 027 General-purpose input White-3
30 028 General-purpose input Black-3
31 029 General-purpose input Brown-4
32 030 General-purpose input Red-4
33 031 General-purpose input Orange-4
34 300 Alarm output Yellow-4
35 301 Ready output Green-4
36 302 Emergency stop output Blue-4
37 303 General-purpose output Purple-4
38 304 General-purpose output Gray-4
39 305 General-purpose output White-4
40 306 General-purpose output Black-4
41 307 General-purpose output Brown-5
42 Output 308 General-purpose output Red-5
43 309 Z-axis air cylinder down Orange-5
44 310 Screw tightening start Yellow-5
45 311 Parts feeder start Green-5
46 312 General-purpose output Blue-5
47 313 General-purpose output Purple-5
48 314 General-purpose output Gray-5
49 315 General-purpose output White-5
General-purpose: NC /
50 – Black-5
Compact: 0V

657
 2) Layout drawing

Pin No. Category Port No. Function

General-purpose: NC / (Note)
1 –
Compact: +24V input
2 000 Program start
3 001 General-purpose input
4 002 General-purpose input
5 003 General-purpose input
6 004 General-purpose input
7 005 General-purpose input
8 006 General-purpose input
9 007 Program specification (PRG No.1)
10 008 Program specification (PRG No.2)

Digital switch
11 009 Program specification (PRG No.4)
12 010 Program specification (PRG No.8)
13 011 Program specification (PRG No.10)
6. Program Examples

14 012 Program specification (PRG No.20)

15 013 Program specification (PRG No.40)
16 014 General-purpose input
Input
17 015 General-purpose input
18 016 Screw tightening start Screw tightening start
Screw tightening end
19 017 Screw tightening end
Z-axis air cylinder top
20 018 Z-axis air cylinder top
Parts-feeder all screws
21 019 Parts-feeder all screws tightened tightened
22 020 Screw tightening complete Screw
tightening Screw tightener
23 021 General-purpose input complete
24 022 General-purpose input
25 023 General-purpose input
26 024 General-purpose input
27 025 General-purpose input
28 026 General-purpose input
29 027 General-purpose input
30 028 General-purpose input
Z-axis down Parts feeder
31 029 General-purpose input
32 030 General-purpose input
33 031 General-purpose input
34 300 Alarm output
35 301 Ready output
36 302 Emergency stop output
37 303 General-purpose output
38 304 General-purpose output
39 305 General-purpose output
40 306 General-purpose output
41 307 General-purpose output
42 Output 308 General-purpose output
43 309 Z-axis air cylinder down Z-axis air cylinder down
44 310 Screw tightening start Screw
tightening
45 311 Parts feeder start start Screw tightener
Parts feeder start
46 312 General-purpose output
47 313 General-purpose output
48 314 General-purpose output
49 315 General-purpose output
General-purpose: NC /
50 –
Compact: 0V (Note)
Pin No. 1 and 50 are not connected for general-purpose types.
Pin No. 1 is connected to +24V, while Pin No. 50 is connected to 0V, for compact types.

658
[Software]
1) Control flow chart
Main program:
Sub program:
Screw-tightening
machine Parts feeder

Program 1 Program 2

Screws short
Start program 2

Parts feeder ON
Align home

6. Program Examples
Screws fully loaded
Start screw tightening (pushbutton)

Parts feeder OFF

Move

5 seconds on timer
Z-axis air cylinder down

Start screw tightening

Screw tightening
complete

Z-axis air cylinder up

6 screws
tightened?

Screw tightening
complete?

Stop program 2

Stop parts feeder

End

659
 2) Main program
Screw-tightening program No. 1
Application program
Extension Input Output
Command
condition condition condition
Comment Comment
Output
AND, OR I/O, flag Command Operand 1 Operand 2
port, flag
1 EXPG 2 Start program 2.
2 HOME 11 Align home.
3 VEL 100 Speed: 100mm/sec
4 ACC 0.3 Acceleration: 0.3G
5 TAG 1 Jump destination at restart
6 WTON 16 Screw-tightening start pushbutton
7 LET 1 1 Set screw counter.
Jump destination after tightening
8 TAG 2
one screw
9 MOVL *1 Move.
6. Program Examples

10 BTON 309 Z-axis air cylinder down

11 BTON 310 Start screw tightening.
12 WTON 20 Screw tightening complete.
Cylinder up, screw tightening
13 BTOF 309 310
stopped.
Check Z-axis air cylinder top
14 WTON 18
position.
15 ADD 1 1 Increment screw counter by 1.
Compare after tightening six
16 CPEQ 1 7 900
screws.
Go to next screw-tightening cycle
17 N900 GOTO 2
after tightening one screw.
18 N17 GOTO 1 Restart screw tightening.
19 ABPG 2 Stop program 2.
20 BTOF 311 Stop parts feeder.
21 EXIT End of program 1

Position program
No. X Y
1 30 30
2 60 30
3 90 30
4 30 60
5 60 60
6 90 60

3) Sub program
Parts feeder program No. 2
Application program
Extension Input Output
Command
condition condition condition
Comment Comment
Output
AND, OR I/O, flag Command Operand 1 Operand 2
port, flag
1 TAG 1 Jump destination for repeating
2 WTOF 19 Screws short.
3 BTON 311 Start parts feeder.
4 WTON 19 Screws fully loaded.
5 BTOF 311 Stop parts feeder.
6 TIMW 5 5 seconds on restart timer
7 GOTO 1 Repeat.

660
7. Appendix Appendix

ASCII Code Table

Upper 3 bits 
0 1 2 3 4 5 6 7
 Lower 4 bits
0 NUL DLE SP 0 @ P ̀ p
1 SOH DC1 ! 1 A Q a q
2 STX DC2 " 2 B R b r
3 ETX DC3 # 3 C S c s
4 EOT DC4 $ 4 D T d t
5 ENQ NAK % 5 E U e u
6 ACK SYN & 6 F V f v

7. Appendix
7 BEL ETB ' 7 G W g w
8 BS CAN ( 8 H X h x
9 HT EM ) 9 I Y i y
A LF/NL SUB * : J Z j z
B VT ESC + ; K [ k {
C FF FS , < L l |
D CR GS - = M ] m }
E SO RS . > N ^ n ~
F SI US / ? O _ o DEL

661
 7. Appendix

662
Change History
Revision Date Description of Revision

2010.11 First edition

1A  1B (note corrected)
Correction of page number for each command in pages 1 to 19, 254 to 260
Pages 44 Correction in reference for (3)
Pages 103 Correction in right-hand rule
Pages 248 Addition of note to state to refer to TT Instruction Manual
Pages 295 Correction to the note of continuous operation command reference
Pages 489 and 491 Correction to the note of palletizing reference

2011.11 Second edition

Contents changed in Safety Guide
Caution notes added for when working with two or more persons
Contents deleted regarding Vertical Articulated and Rectangular 6-Axes Robots

2011.12 Edition 2B
Note corrected etc.

Change History
2012.04 Third edition
Note added for PCT/QCT Types for CT4 Actuator and explanation changed for
related command (SCRV)

2012.09 Fourth edition

Note added for XSEL-R/S/RX/SX/RXD/SXD types and related commands
added and changed

2012.10 Fifth edition

Note revised

2013.10 Sixth edition

TTA added

2014.06 Seventh edition

MSEL added

2014.08 Eighth edition

Notes added for MSEL Cartesian Type application

2015.09 Edition 8C
Pages 164 Correction of the explanation for palletizing calculation
Pages 299, 300 Correction of the SCRV Command of TT, TTA and MSEL

2016.01 Ninth edition

Contents related to coordinate system definition unit axes set in Coordinate
System Definition 1 Constructing Axes Setting for MSEL-PC/PG and TTA
added in explanation of commands

2016.02 Tenth edition

Contents added for work coordinate system, support of tool coordinate system
(GTVD command)

663
 Revision Date Description of Revision

2016.07 Tenth edition

Contents added for work coordinate system, support of tool coordinate system
(GTVD command)
XSEL-RA/SA/RAX/SAX/RAXD/SAXD added
1.4.5 Coordinate System of TTA, MSEL-PC/PG added
5.4 Key Characteristics of Actuator Control Commands and Points to Note
added
5.5 Position Output Operation Features added

2016.09 Edition 10B

Pages 399, 401 Torque limit setting parameter added for XSEL-J/K,
MSEL-PC/PG and TTA
2016.09 Edition 10C
Pages 571 Content partially deleted in Caution [6] for XCAS
Command
Note such as way of signal on and off added in 5.5 Position Output Operation
Feature
Change History

2016.09 Edition 10D

Pages 236, 244 Application added for variables (integers) from 2000 to
2799 in XSEL-R/S
Pages 337 Correction Made from ACMX Command MSEL ○ → ×

2016.10 Edition 10E

Pages 238, 239 SSEL Number of symbol definitions 500 → 1000
SSEL Number of symbol used in commands
2500 → 5000
Pages 245 “How to Deal with Character String Literals” added
Pages 294 Correction Made from Extension condition and Input
condition of EXSR Prohibited → Optional

2016.12 Edition 10F

Pages 601 Correction made to tell TTA and MSEL applied to TB-02
are later first edition

2017.03 Edition 10G

ASIN, ACOS, DTOR, RTOD, ABS, SGN, ECMD7, ECMD8 and ECMD9
commands added
Pages 124 7051 to 7054 added in TTA Virtual Input/Output Ports
Pages 128 7051 to 7054 added in MSEL Virtual Input/Output Ports

2017.06 Edition 10I

ECMD280 to 282, ECMD290 to 292 and ECMD300 commands added
XPTH command added
XACH, XACZ, XAEX, XATG and XOAZ commands added

2017.08 Edition 10J

QRTN Command: Note added stating applicable for
XSEL-RA/SA/RAX/SAX/RAXD/SAXD
ECMD250 command: Note added stating applicable for MSEL
NOT, LSFT, RSFT, CNTP, IPCN, ECMD10 and ECMD11 commands added

2017.09 Edition 10K

ECMD1 TTA (V1.22 or later) command added

664
Manual No.: ME0224-10K (September 2017)

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