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  5. Operation Manual

IAI ssel Operation Manual

Summary of ssel

  • Page 1

    Operation manual first edition ssel controller.

  • Page 2: Caution

    Caution operator alarm on low battery voltage this controller can be equipped with the following optional backup batteries for retention of data in the event of power failure: [1] system-memory backup battery (optional) for retention of position data, global variables/flags, error list, strings, etc...

  • Page 3: Caution

    Caution optional system-memory backup battery the ssel controller can be used with the optional system-memory backup battery. Caution: when installing the system-memory backup battery, “other parameter no. 20” must be set to “2.” installing the system-memory backup battery will add the following fun...

  • Page 4: Safety Precautions

    Safety precautions please read the information in “safety precautions” carefully before selecting a model and using the product. The precautions described below are designed to help you use the product safely and avoid bodily injury and/or property damage. Directions are classified as “danger,” “war...

  • Page 5

    [installation] z do not use this product in a place exposed to ignitable, inflammable or explosive substances. The product may ignite, burn or explode. Z avoid using the product in a place where the main unit or controller may come in contact with water or oil droplets. Z never cut and/or reconnect ...

  • Page 6

    Z turn off the power to the product in the event of power failure. Failure to do so may cause the product to suddenly start moving when the power is restored, thus resulting in injury or product damage. Z if the product is generating heat, smoke or a strange smell, turn off the power immediately. Co...

  • Page 7

    Z before installing or adjusting the product or performing other operations on the product, display a sign that reads, “work in progress. Do not turn on power.” if the power is turned on inadvertently, injury may result due to electric shock or sudden activation of an actuator. [operation] z turn on...

  • Page 8: Table of Contents

    Table of contents table of contents part 1 installation...................................................................................... 1 chapter 1 overview ................................................................................................................... 1 1. Introduction ......

  • Page 9

    Table of contents 2. How to perform absolute reset (absolute specification) ......................................................... 60 2.1 preparation ...................................................................................................................... 60 2.2 procedure...............

  • Page 10

    Table of contents chapter 2 list of sel language command codes................................................................. 95 1. By function................................................................................................................................ 95 2. Alphabetical order.....

  • Page 11

    Table of contents chapter 5 palletizing function (2-axis specification)............................................................. 251 1. How to use .............................................................................................................................. 251 2. Palletizing set...

  • Page 12

    Table of contents 9. Home return completion output ............................................................................................ 287 10. Axis movement by input waiting and completion output ....................................................... 288 11. Changing the moving speed ........

  • Page 13

    Table of contents chapter 3 product switching mode ....................................................................................... 318 1. I/o interface list ...................................................................................................................... 318 2. Parameter...

  • Page 14

    Table of contents * appendix ................................................................................................ 355 actuator specification list ......................................................................................................... 355 battery backup function ...........

  • Page 15

    1 part 1 installation part 1 installation chapter 1 overview 1. Introduction thank you for purchasing the ssel controller. Please read this manual carefully, and handle the product with due care and operate it correctly. Keep this manual in a safe place and reference relevant items when needed. When...

  • Page 16

    2 part 1 installation 3. Ssel controller functions the functions provided by the ssel controller are structured in the following manner. The ssel controller has the “program mode” in which sel programs are input to operate the actuator(s), and the “positioner mode” in which position numbers are spec...

  • Page 17

    3 part 1 installation this controller can be configured with one axis and two axes. Just like other conventional sel controllers, this controller can be combined with various actuators. When connecting an actuator, be sure to use a dedicated cable. • turn on the i/o power and brake power (for the sp...

  • Page 18

    4 part 1 installation 4. System setup * note on connecting the encoder cable to a controller of absolute specification follow the steps below when connecting the encoder cable to a controller of absolute specification. If the specified steps are not followed, the absolute-data backup battery may be ...

  • Page 19

    5 part 1 installation 5. Warranty period and scope of warranty the ssel controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty: 1. Warranty period the warranty period shall be either of the following periods, whichever ends first: • 18 mon...

  • Page 20

    6 part 1 installation chapter 2 specifications 1. Controller specifications base specifications of this product 100-v input specification 200-v input specification total output when maximum number of axes are connected 400 w 800 w control power input single-phase 100 to 115 vac ± 10% single-phase 20...

  • Page 21

    7 part 1 installation 2. Name and function of each part front view *1 for the 1-axis specification, [12], [14] and [16] are not installed and the front panel is masked. [6] pio connector [4] manu/auto switch [5] usb connector [11] axis 1 motor connector [12] axis 2 motor connector [13] axis 1 brake-...

  • Page 22

    8 part 1 installation down view top view [17] axis 1 absolute-data backup battery connector [18] axis 2 absolute-data backup battery connector [19] axis 1/2 absolute-data backup battery holder [20] system-memory backup battery holder [21] system-memory backup battery connector.

  • Page 23

    9 part 1 installation [1] led indicators: these indicators indicate the controller status. Name color status when the led is lit pwr green the controller has been started successfully and is receiving power. Rdy green the controller is ready. Alm orange an alarm is present emg red an emergency stop ...

  • Page 24

    10 part 1 installation [3] teaching connector: the teaching interface connects iai’s teaching pendant or a pc (pc software) to enable operation and setting of your equipment from the teaching pendant/pc. The interface is a rs232c system based on a 26-pin, half-pitch i/o connector. The signal level c...

  • Page 25

    11 part 1 installation teaching pendant & dedicated communication cable connector item specification remarks pin no. I/o signal name 1 sg signal ground 2 out emgs emergency-stop status 3 out vcc power output (standard ia-t-x/xd power supply (5 v)) 4 in dtr data terminal ready (shorted to dsr) 5 nc n...

  • Page 26

    12 part 1 installation [4] manu/auto switch: this switch is used to specify the controller operation mode. Manu auto teaching pendant/pc software operation (when the tp connector is used) possible not possible pc software operation (when the usb connector is used) possible note) not possible startin...

  • Page 27

    13 part 1 installation i/o interface list (program mode) pin no. Category port no. Function cable color 1a - external power supply 24 v 1-brown 1b 016 program specification (prg no. 1) 1-red 2a 017 program specification (prg no. 2) 1-orange 2b 018 program specification (prg no. 4) 1-yellow 3a 019 pr...

  • Page 28

    14 part 1 installation [7] panel unit connector: this connector is used to connect the optional panel unit. [8] power connector: this connector is used to connect the 100/200-vac single-phase input power. The connector is divided into the control power input side and the motor power input side. Item...

  • Page 29

    15 part 1 installation [11] axis 1 motor connector: this connector is used to connect the motor drive-source cable for axis 1. Motor connector specifications item description details applicable connector gic2.5/4-stf-7.62 4-pin, 2-piece connector by phoenix contact connector name m1 ~ 2 motor connec...

  • Page 30

    16 part 1 installation [15] axis 1 encoder/sensor connector: this connector is used to connect the encoder/sensor cables for axis 1. It connects the encoder and sensors for actuator axis 1, such as ls, creep and ot. *: ls, creep and ot sensors are optional. Encoder/axis sensor connector specificatio...

  • Page 31

    17 part 1 installa tion encoder sensor cable cable model: cb-x1-pa *** purple gray orange green red black drain blue yellow orange green purple gray red black blue yellow controller end plug connector: hood: (sumitomo 3m) (sumitomo 3m) actuator end plug housing: socket contact: retainer: (jst) (jst)...

  • Page 32

    18 part 1 installation cable model: cb-x1-pla *** white/blue white/yellow white/red white/black white/purple white/gray orange green purple gray red black blue yellow white/blue white/yellow white/red white/black white/purple white/gray purple gray orange green red black drain blue yellow controller...

  • Page 33

    19 part 1 installa tion cable model: cb-x2-pa *** white/blue white/yellow white/red white/black white/purple white/gray orange green purple gray red black blue yellow white/blue white/yellow white/red white/black white/purple white/gray drain orange green purple gray red black blue yellow controller...

  • Page 34

    20 part 1 installation cable model: cb-x2-pla *** white/orange white/green brown/blue brown/yellow brown/red brown/black white/blue white/yellow white/red white/black white/purple white/gray orange green purple gray red black blue yellow white/orange white/green brown/blue brown/yellow brown/red bro...

  • Page 35

    21 part 1 installation [16] axis 2 encoder/sensor connector: this connector is used to connect the encoder/sensor cables for axis 2. [17] axis 1 absolute-data backup battery connector: this connector is used to connect the absolute-data backup battery for axis 1. (this connector is required only whe...

  • Page 36

    22 part 1 installation [19] axis 1/2 absolute-data backup battery holder: this battery holder is used to install the absolute-data backup battery. (the holder is fitted onto the bottom face of the resin cover.) [20] system-memory backup battery holder (optional): this battery holder is used to insta...

  • Page 37

    23 part 1 installation chapter 3 installation and wiring 1. External dimensions 1. 2-axis specification (the same external dimensions also apply to the 1-axis specification.).

  • Page 38

    24 part 1 installation 2. 2-axis absolute specification (the same external dimensions also apply to the 1-axis specification.).

  • Page 39

    25 part 1 installation 3. Specification with system-memory backup battery (optional).

  • Page 40

    26 part 1 installation 2. Installation environment (1) when installing and wiring the controller, do not block the ventilation holes provided for cooling. (insufficient ventilation will not only prevent the product from functioning fully, but it may also result in failure.) (2) prevent foreign matte...

  • Page 41

    27 part 1 installation 3. Heat radiation and installation design the control panel size, controller layout and cooling method so that the ambient temperature around the controller will be kept at or below 40°c. Install the controller vertically on a wall, as shown below. This controller is cooled by...

  • Page 42

    28 part 1 installation 4. Noise control measures and grounding (1) wiring and power supply the pe terminal on the power-supply terminal block is used for protective grounding. Provide class d grounding. The grounding wire should have a size of 1.0 mm 2 (awg17) or larger and at least a size for ac po...

  • Page 43

    29 part 1 installation (3) noise sources and noise elimination there are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below: [1] ac solenoid valve, magnet sw...

  • Page 44

    30 part 1 installation reference circuit diagram controller surge absorber solenoid valve out com cr +24 v 0 v 100 vac cr 0 v.

  • Page 45

    31 part 1 installation 5. Power-supply capacity and heat output the ssel controller requires the following power supplies: a. Control power supply supplies power to the logic control part of the controller. B. Motor power supply supplies power for driving the actuator. C. Pio power supplies power to...

  • Page 46

    32 part 1 installation (3) brake power supply the table below shows the rated current and maximum instantaneous current of the brake power supply for one axis. Power-supply voltage 24 rated current [a] 0.5 maximum instantaneous current [a] 1 heat output at rated power output [w] 12 the brakes used b...

  • Page 47

    33 part 1 installation 6. Auxiliary power equipment 6.1 example of auxiliary power equipment configuration [1] breaker install a circuit breaker or earth leakage breaker on the ac power-supply line side (primary side) of the controller to prevent damage caused by power switching or short-circuit cur...

  • Page 48

    34 part 1 installation 7. Wiring 7.1 connecting the power cables as shown to the left, insert the stripped end of each cable into the connector, and tighten the screws with a screwdriver. Recommended cable diameter motor power (l1, l2): 2 mm (awg14) control power (l1c, l2c): 0.75 mm (awg18) recommen...

  • Page 49

    35 part 1 installation 7.2 connecting the actuator 7.2.1 connecting the motor cable (mot1, 2) connect the motor cable from the actuator to the applicable motor connector on the front face of the controller. Use a screwdriver to securely tighten the screws at the top and bottom of the connector. 7.2....

  • Page 50

    36 part 1 installation 7.3 connecting the emergency stop input, enable input and brake power input (wiring to the sio connector) as shown to the left, insert the stripped end of each cable while pressing down the spring using a driver. Applicable cable size: 0.2 ~ 1.3 mm (awg24 ~ 16) recommended str...

  • Page 51

    37 part 1 installation 7.3.1 emergency stop, enable and other internal circuits (safety category b) auto/manu switch tp connector system i/o connector emg switch enb switch power connector inside controller auto/manu status detection auto: closed manu: open tp-connector connection status detection c...

  • Page 52

    38 part 1 installation 7.3.2 connection example of external drive-source cutoff circuit and internal circuits (safety category 1) a system meeting safety category 1 can be built by providing a drive-source cutoff circuit externally to the controller. Auto/manu switch tp connector system i/o connecto...

  • Page 53

    39 part 1 installation 7.4 connecting the pio cable (i/o) connect the supplied flat cable. Connect the opposite end (open end without connector) of the cable to a desired peripheral (host plc, etc.). I/o flat cable (supplied): model cb-ds-p10020 no. Color wire no. Color wire 1a brown 1 9b gray 2 1b ...

  • Page 54

    40 part 1 installation 7.4.1 i/o connection diagram (1) npn specification (program mode) pin no. Category port no. Function cable color 1a p24 external power supply 24 v 1 – brown 1b 016 program specification (prg no. 1) 1 – red 2a 017 program specification (prg no. 2) 1 – orange 2b 018 program spec...

  • Page 55

    41 part 1 installation (2) pnp specification (program mode) pin no. Category port no. Function cable color 1a p24 external power supply 24 v 1 – brown 1b 016 program specification (prg no. 1) 1 – red 2a 017 program specification (prg no. 2) 1 – orange 2b 018 program specification (prg no. 4) 1 – yel...

  • Page 56

    42 part 1 installation (3) npn specification (standard positioner mode) pin no. Category port no. Function cable color 1a p24 external power supply 24 v 1 – brown 1b 016 position input 10 1 – red 2a 017 position input 11 1 – orange 2b 018 position input 12 1 – yellow 3a 019 position input 13 1 – gre...

  • Page 57

    43 part 1 installation (4) pnp specification (standard positioner mode) pin no. Category port no. Function cable color 1a p24 external power supply 24 v 1 – brown 1b 016 position input 10 1 – red 2a 017 position input 11 1 – orange 2b 018 position input 12 1 – yellow 3a 019 position input 13 1 – gre...

  • Page 58

    44 part 1 installation 7.5 external i/o specifications 7.5.1 npn specification (1) input part external input specifications (npn specification) item specification input voltage 24 vdc ±10% input current 7 ma per circuit on/off voltage on voltage --- 16.0 vdc min. Off voltage --- 5.0 vdc max. Insulat...

  • Page 59

    45 part 1 installation (2) output part external output specifications (npn specification) item specification load voltage 24 vdc maximum load current 100 ma per point, 400 ma per 8 ports note) leakage current 0.1 ma max. Per point td62084 (or equivalent) insulation method photocoupler insulation ext...

  • Page 60

    46 part 1 installation 7.5.2 pnp specification (1) input part external input specifications (pnp specification) item specification input voltage 24 vdc ±10% input current 7 ma per circuit on/off voltage on voltage --- 8 vdc max. Off voltage --- 19 vdc min. Insulation method photocoupler insulation e...

  • Page 61

    47 part 1 installation (2) output part external output specifications item specification load voltage 24 vdc maximum load current 100 ma per point, 400 ma per 8 ports note) leakage current 0.1 ma max. Per point td62784 (or equivalent) insulation method photocoupler insulation external devices [1] mi...

  • Page 62

    48 part 1 installation 7.6 connecting regenerative resistance units (rb) regenerative energy produced when the actuator decelerates to a stop or moves downward in a vertical installation is absorbed by means of the capacitor or resistor in the controller. If the produced regenerative energy cannot b...

  • Page 63

    49 part 1 installation 7.6.3 connection cables the cable used to connect a regenerative resistance unit to the ssel controller is different from the standard regenerative resistance connection cable (the connector on the ssel cable is not compatible with the connector on the standard cable). To conn...

  • Page 64

    50 part 1 installation 7.7 connecting the teaching pendant/pc software (tp) (optional) the ssel controller’s teaching connector is a small, half-pitch connector. If you are using a teaching pendant or pc software cable, connect the cable to a connector conversion cable, and then connect the conversi...

  • Page 65

    51 part 1 installation 7.8.1 explanation of codes displayed on the panel unit (optional) (1) application display priority (*1) description 1 ac power cut off (momentary power failure or power-supply voltage drop may also be the cause.) 1 system-down level error 2 writing data to the flash rom. 3 eme...

  • Page 66

    52 part 1 installation display priority (*1) description 9 ready status (auto mode) (program mode) 9 ready status (manual mode) (program mode) 9 operating in positioner mode; “no.” indicates positioner mode number. 9 ready status (auto mode) (positioner mode) 9 ready status (manual mode) (positioner...

  • Page 67

    53 part 1 installation (2) core display priority (*1) description 1 ac power cut off (momentary power failure or power-supply voltage drop may also be the cause.) 1 cold-start level error 1 cold-start level error 1 operation-cancellation level error 1 operation-cancellation level error 2 message lev...

  • Page 68

    54 part 1 installation 7.8.2 current monitor and variable monitor by setting other parameter nos. 49 and 50 appropriately, the optional panel unit can be used to monitor either current levels or variables. (1) current monitor currents of up to four axes having continuous axis numbers can be monitore...

  • Page 69

    55 part 1 installation (2) variable monitor the contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. Parameter settings other parameter no. 49 = 2 other parameter no. 50 = variable number of the global integer variable to be monit...

  • Page 70

    56 part 1 installation 7.9 installing the absolute-data backup battery (optional) as shown to the left, install the supplied battery holder at the bottom of the controller. Insert the battery into the holder. Connect the battery connector. Pay attention to the connector orientation. (the connector h...

  • Page 71

    57 part 1 installation 7.10 installing the system-memory backup battery (optional) as shown to the left, install the supplied battery holder at the top of the controller. Insert the battery into the holder. Connect the battery connector. Pay attention to the connector orientation. (the hook of the c...

  • Page 72

    58 part 1 installation chapter 4 operation 1. Startup (1) connect the motor cable and encoder cable to the controller. (2) connect the pio connector to the host plc using the supplied flat cable. (3) execute an emergency stop. (4) connect the pc or teaching pendant. Set the auto/manu switch to the “...

  • Page 73

    59 part 1 installation 1.1 power on sequence • although separate inputs are provided for the control power and motor power, they should be supplied from the same power-supply terminal. • turn on the pio power first. You can turn on the pio power much earlier than the control power and motor power, a...

  • Page 74

    60 part 1 installation 2. How to perform absolute reset (absolute specification) if the ssel controller experiences any abnormal absolute-encoder battery voltage or the battery or encoder cable is disconnected, an encoder battery error will generate. In this case, you must perform an absolute reset....

  • Page 75

    61 part 1 installation (6) the main window of the x-sel pc software opens. Click ok to close the error message. (7) from the monitor menu, select error detail to check the condition of the present error. If the controller is experiencing an encoder battery error, the displayed window should look lik...

  • Page 76

    62 part 1 installation (8) from the controller menu, select absolute reset. (9) when the warning dialog box appears, click ok. (10) the absolute reset dialog box appears. Click here to select the axis you want to perform an absolute reset for. (11) click encoder rotation data reset 1. When the warni...

  • Page 77

    63 part 1 installation (12) another warning dialog box is displayed. Click yes again. (13) after the controller has finished processing encoder rotation data reset 1, the red arrow will move to the next item. Click the following processing buttons in this order (the arrow will move to the next one a...

  • Page 78

    64 part 1 installation (14) when the confirmation dialog box appears, click yes to restart the controller. (note) if you continue to operate the controller without resetting the software or reconnecting the power, the following errors may generate: error no. C70, abs coordinate non-confirmation erro...

  • Page 79

    65 part 1 installation 3. How to start a program with the ssel controller, the stored programs can be started (run) using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the remaining two are used in general applications on site. The former tw...

  • Page 80

    66 part 1 installation 3.1 starting a program by auto-start via parameter setting other parameter no. 7 (auto program start setting) = 1 (standard factory setting) set the number of the program you wish to start automatically in other parameter no. 1 (auto-start program number). Set the controller m...

  • Page 81

    67 part 1 installation 3.2 starting via external signal selection [1] flow chart when the ready signal (output port no. 301) turns on, the rdy lamp (green) on the controller front panel will illuminate. Input a desired program number as a bcd code from the external device (input port nos. 16 through...

  • Page 82

    68 part 1 installation [2] timing chart t1: duration after the ready output turns on until input of external start signal is permitted t1 = 10 msec min. T2: duration after the program number is input until input of external start signal is permitted t2 = 50 msec min. T3: input duration of external s...

  • Page 83

    69 part 1 installation 4. Drive-source recovery request and operation-pause reset request (1) drive-source recovery request [1] case where a drive-source request is required a drive-source recovery request is required in the following case: • specify a desired input port for receiving the drive-sour...

  • Page 84

    70 part 1 installation 5. Controller data structure the controller data consists of parameters as well as position data and application programs used to implement sel language. Ssel controller data structure the user must create position data and application programs. The parameters are predefined, ...

  • Page 85

    71 part 1 installation 5.1 how to save data the flow to save data in the ssel controller is illustrated below. When data is transferred from the pc software or teaching pendant to the controller, the data is only written to the main cpu memory as shown in the diagram below and will be erased once th...

  • Page 86

    72 part 1 installation 5.1.2 when the system-memory backup battery (optional) is used change the setting of other parameter no. 20 to 2 (system-memory backup battery installed). Since the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary memory wil...

  • Page 87

    73 part 1 installation 5.2 points to note point to note when transferring data and writing to the flash memory never turn off the main power while data is being transferred or written to the flash memory. The data will be lost and the controller operation may be disabled. Point to note when saving p...

  • Page 88

    74 part 1 installation chapter 5 maintenance • routine maintenance and inspection are necessary so that the system will operate properly at all times. Be sure to turn off the power before performing maintenance or inspection. • the standard inspection interval is six months to one year. If the envir...

  • Page 89

    75 part 1 installation 3. Replacement procedure for system-memory backup battery (optional) backing up the system memory if the optional system-memory backup battery is installed in the ssel controller and “other parameter no. 20: backup battery installation function type” is set to “2” (installed),...

  • Page 90

    76 part 1 installation battery replacement procedure [1] remove the battery connector and pull out the battery. [2] insert a new battery into the holder and plug in the battery connector. The connector hook should face the right side. (8) when the replacement of system-memory backup battery is compl...

  • Page 91

    77 part 1 installation 4. Replacement procedure for absolute-data backup battery (optional) the replacement procedure is different depending on which error is present (no. A03, a23, ca1 or ca2). • if no error is present, perform steps (1) to (6). • if an absolute-data backup battery voltage-low warn...

  • Page 92

    78 part 1 installation (4) turn on the controller power. (5) set the absolute-data backup battery enable/disable switch to the top (enb) position. (6) turn off the controller power, and install the brake switch panel using screws. After the panel has been installed, turn on the power. (7) start the ...

  • Page 93

    79 part 2 programs part 2 programs chapter 1 sel language data 1. Values and symbols used in sel language 1.1 list of values and symbols used the various functions required in a program are represented by values and symbols. Function global range local range remarks input port 000 ~ 299 (300) varies...

  • Page 94

    80 part 2 programs z data of variables and flags in the global range will be retained even after the controller power is turned off. (other parameter no. 20 must be set to “2.” refer to 4.1, “how to save data” in part 1.) z the variables and flags in the local range will be cleared when the program ...

  • Page 95

    81 part 2 programs 1.3 virtual i/o ports (1) virtual input ports port no. Function 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 exp...

  • Page 96

    82 part 2 programs (2) virtual output ports 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 ...

  • Page 97

    83 part 2 programs 1.4 flags contrary to its common meaning, the term “flag” as used in programming means “memory.” flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Flags are divided into global flags (nos. 600 to 899) that can be used in all programs, and l...

  • Page 98

    84 part 2 programs 1.5 variables (1) meaning of variable “variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” variables can be used in many ways, such as putting in or taking out a value and performing addition or subtraction. Command ope...

  • Page 99

    85 part 2 programs (2) types of variables variables are classified into two types, as follows: [1] integer variables these variables cannot handle decimal places. [example] 1234 integer variable number 200 ~ 299 1200 ~ 1299 can be used in all programs “global integer variables” integer variable numb...

  • Page 100

    86 part 2 programs [3] variables with “*” (asterisk) (indirect specification) an “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,” then “1234” will be put in variable box 2. Command ...

  • Page 101

    87 part 2 programs 1.6 tags the term “tag” means “heading.” tags are used in the same way you attach labels to the pages in a book you want to reference frequently. A tag is a destination specified in a jump command “goto.” command operand 1 tag tag number (integer between 1 and 256) they are used o...

  • Page 102

    88 part 2 programs 1.7 subroutines by taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the same processing can be performed with fewer steps. (a maximum of 15 nests are accommodated.) they are used only in each program. Command operand 1 exsr subrouti...

  • Page 103

    89 part 2 programs 1.8 symbols in the ssel controller, values such as variable numbers and flag numbers can be handled as symbols. For the method to edit symbols, refer to “editing symbols” in the operation manual for x-sel teaching pendant or “symbol edit window” in the operation manual for x-sel p...

  • Page 104

    90 part 2 programs 1.10 axis specification axes can be specified based on axis number or axis pattern. (1) axis numbers and how axes are stated each of multiple axes is stated as follows: axis number how axis is stated 1 axis 1 2 axis 2 the axis numbers stated above can also be expressed using symbo...

  • Page 105

    91 part 2 programs (2) axis pattern whether or not each axis will be used is indicated by “1” or “0.” (upper) (lower) axis number axis 2 axis 1 used 1 1 not used 0 0 [example] when axes 1 and 2 are used axis 2 11 axis 1 [example] when axes 2 is used axis 2 10 (in this case, the 0s are needed to indi...

  • Page 106

    92 part 2 programs sel language consists of a position part (position data = coordinates, etc.) and a command part (application program). 2. Position part as position data, coordinates, speeds, accelerations and decelerations are set and stored. Position no. Axis 1 axis 2 speed acceleration decelera...

  • Page 107

    93 part 2 programs 3. Command part the primary feature of sel language is its very simple command structure. Since the structure is simple, there is no need for a compiler (to translate into computer language) and high-speed operation is possible via an interpreter (the program runs as commands are ...

  • Page 108

    94 part 2 programs 3.2 extension condition conditions can be combined in a complex manner. (sel language) command extension condition input condition command operand 1 operand 2 output condition 1 a condition 2 a condition 3 command operand 1 operand 2 command extension condition input condition com...

  • Page 109

    95 part 2 programs chapter 2 list of sel language command codes 1. By function variables can be specified indirectly in the operand 1, operand 2 and output fields. Symbols can be input in the condition, operand 1, operand 2 and output fields. The input items in ( ) under operand 1 and operand 2 are ...

  • Page 110

    96 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, l...

  • Page 111

    97 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, l...

  • Page 112

    98 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, l...

  • Page 113

    99 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, l...

  • Page 114

    100 part 2 programs 2. Alphabetical order operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: o...

  • Page 115

    101 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, ...

  • Page 116

    102 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, ...

  • Page 117

    103 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, ...

  • Page 118

    104 part 2 programs operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1 ≠ operand 2, gt: operand 1 > operand 2, ge: operand 1 ≥ operand 2, ...

  • Page 119

    105 part 2 programs chapter 3 explanation of commands 1. Commands 1.1 variable assignment z let (assign) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional let variable number data z...

  • Page 120

    106 part 2 programs z tran (copy) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional tran variable number variable number zr [function] assign the content of the variable specified i...

  • Page 121

    107 part 2 programs z clr (clear variable) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional clr variable number variable number zr [function] clear the variables from the one speci...

  • Page 122

    108 part 2 programs 1.2 arithmetic operation z add (add) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional add variable number data zr [function] add the content of the variable spe...

  • Page 123

    109 part 2 programs z mult (multiply) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mult variable number data zr [function] multiply the content of the variable specified in ope...

  • Page 124

    110 part 2 programs z mod (remainder) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mod variable number data zr [function] assign, to the variable specified in 1, the remainder ...

  • Page 125

    111 part 2 programs 1.3 function operation z sin (sine operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sin variable number data zr [function] assign the sine of the dat...

  • Page 126

    112 part 2 programs z tan (tangent operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional tan variable number data zr [function] assign the tangent of the data specified in op...

  • Page 127

    113 part 2 programs z sqr (root operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sqr variable number data zr [function] assign the root of the data specified in operand ...

  • Page 128

    114 part 2 programs 1.4 logical operation z and (logical and) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional and variable number data zr [function] assign the logical and operati...

  • Page 129

    115 part 2 programs z or (logical or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional or variable number data zr [function] assign the logical or operation result of the content o...

  • Page 130

    116 part 2 programs z eor (logical exclusive-or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional eor variable number data zr [function] assign the logical exclusive-or operation r...

  • Page 131

    117 part 2 programs 1.5 comparison operation z cpxx (compare) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) eq ne gt ge optional optional cpxx variable number data lt le [function] the output wil...

  • Page 132

    118 part 2 programs 1.6 timer z timw (timer) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional timw time prohibited tu [function] stop the program and wait for the time specified in...

  • Page 133

    119 part 2 programs z timc (cancel timer) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional timc program number prohibited cp [function] cancel a timer in other program running in p...

  • Page 134

    120 part 2 programs z gttm (get time) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gttm variable number prohibited cp [function] read system time to the variable specified in o...

  • Page 135

    121 part 2 programs 1.7 i/o, flag operation z btxx (output port, flag operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional btxx output, flag (output, flag) cp [function] rev...

  • Page 136

    122 part 2 programs z btpn (output on pulse) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional btpn output port, flag timer setting cp [function] turn on the specified output port o...

  • Page 137

    123 part 2 programs z btpf (output off pulse) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional btpf output port, flag timer setting cp [function] turn off the specified output port...

  • Page 138

    124 part 2 programs z wtxx (wait for i/o port, flag) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wtxx i/o, flag (time) tu [function] wait for the i/o port or flag specified in...

  • Page 139

    125 part 2 programs z in (read i/o, flag as binary) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional in i/o, flag i/o, flag cc [function] read the i/o ports or flags from the one s...

  • Page 140

    126 part 2 programs z inb (read i/o, flag as bcd) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional inb i/o, flag bcd digits cc [function] read the i/o ports or flags from the one s...

  • Page 141

    127 part 2 programs z out (write output, flag as binary) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional out output, flag output, flag cc [function] write the value in variable 99...

  • Page 142

    128 part 2 programs z outb (write output, flag as bcd) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional outb output, flag bcd digits cc [function] write the value in variable 99 to...

  • Page 143

    129 part 2 programs z fmio (set in, inb, out, outb command format) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional fmio format type prohibited cp [function] set the data format fo...

  • Page 144

    130 part 2 programs (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 eight bits and lower eight bits are reversed every 16 bits. (i/o, flag number upper) (i/o, flag number lower) 01234567h ⇔ 67h 45h 23h 01h ⇔ 0110 0111 0100 ...

  • Page 145

    131 part 2 programs [example 2] variable 99 = 00001234h (decimal: 4660, bcd: 1234) 00001234h variable 99 4660 (in/out command) 1234 (inb/outb command) (i/o, flag number upper) (i/o, flag number lower) fmio = 0 00h 00h 12h 34h ⇔ 0000 0000 0000 0000 0001 0010 0011 0100 fmio = 1 00h 00h 34h 12h ⇔ 0000 ...

  • Page 146

    132 part 2 programs 1.8 program control z goto (jump) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional goto tag number prohibited cp [function] jump to the position of the tag numb...

  • Page 147

    133 part 2 programs z exsr (execute subroutine) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional exsr subroutine number prohibited cp [function] execute the subroutine specified in...

  • Page 148

    134 part 2 programs z edsr (end subroutine) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited edsr prohibited prohibited cp [function] declare the end of a subroutine. This comm...

  • Page 149

    135 part 2 programs 1.9 task management z exit (end program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional exit prohibited prohibited cp [function] end the program. If the last ...

  • Page 150

    136 part 2 programs z expg (start other program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional expg program number (program number) cc [function] start the programs from the one...

  • Page 151

    137 part 2 programs z abpg (abort other program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional abpg program number (program number) cc [function] forcibly end the programs from ...

  • Page 152

    138 part 2 programs z sspg (pause program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sspg program number (program number) cc [function] pause the program from the one specif...

  • Page 153

    139 part 2 programs z rspg (resume program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional rspg program number (program number) cc [function] resume the programs from the one spe...

  • Page 154

    140 part 2 programs 1.10 position operation z pget (read position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pget axis number position number cc [function] read to vari...

  • Page 155

    141 part 2 programs z pput (write position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pput axis number position number cp [function] write the value in variable 199 to ...

  • Page 156

    142 part 2 programs z pclr (clear position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pclr position number position number cp [function] clear the position data from th...

  • Page 157

    143 part 2 programs z pcpy (copy position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pcpy position number position number cp [function] copy the position data specified...

  • Page 158

    144 part 2 programs z pred (read current position) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pred axis pattern position number cp [function] read the current position of the...

  • Page 159

    145 part 2 programs z prdq (read current axis position (1 axis direct)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional prdq axis number variable number cp [function] read the cur...

  • Page 160

    146 part 2 programs z ptst (check position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptst axis pattern position number cc [function] check if valid data is contained i...

  • Page 161

    147 part 2 programs z pvel (assign speed data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pvel speed position number cp [function] write the speed specified in operand 1 to t...

  • Page 162

    148 part 2 programs z pacc (assign acceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pacc acceleration position number cp [function] write the acceleration specif...

  • Page 163

    149 part 2 programs z pdcl (assign deceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pdcl deceleration position number cp [function] assign the deceleration data ...

  • Page 164

    150 part 2 programs z paxs (read axis pattern) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional paxs variable number position number cp [function] store the axis pattern at the pos...

  • Page 165

    151 part 2 programs z psiz (check position data size) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional psiz variable number prohibited cp [function] set an appropriate value in the...

  • Page 166

    152 part 2 programs z gvel (get speed data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gvel variable number position number cp [function] obtain speed data from the speed ite...

  • Page 167

    153 part 2 programs z gacc (get acceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gacc variable number position number cp [function] obtain acceleration data from...

  • Page 168

    154 part 2 programs z gdcl (get deceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gdcl variable number position number cp [function] obtain deceleration data from...

  • Page 169

    155 part 2 programs 1.11 actuator control declaration z vel (set speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional vel speed prohibited cp [function] set the actuator travel ...

  • Page 170

    156 part 2 programs z ovrd (override) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ovrd speed ratio prohibited cp [function] reduce the speed in accordance with the ratio speci...

  • Page 171

    157 part 2 programs z acc (set acceleration) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional acc acceleration prohibited cp [function] set the travel acceleration of the actuator....

  • Page 172

    158 part 2 programs z dcl (set deceleration) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional dcl deceleration prohibited cp [function] set the travel deceleration of the actuator....

  • Page 173

    159 part 2 programs z scrv (set sigmoid motion ratio) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scrv ratio prohibited cp [function] set the ratio of sigmoid motion control o...

  • Page 174

    160 part 2 programs z ofst (set offset) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ofst axis pattern offset value cp [function] reset the target value by adding the offset va...

  • Page 175

    161 part 2 programs z deg (set arc angle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional deg angle prohibited cp [function] set a division angle for the interpolation implemented...

  • Page 176

    162 part 2 programs z base (specify axis base) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional base axis number prohibited cp [function] count the axes sequentially based on the a...

  • Page 177

    163 part 2 programs z grp (set group axes) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional grp axis pattern prohibited cp [function] allow only the position data of the axis patte...

  • Page 178

    164 part 2 programs z hold (hold: declare axis port to pause) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional hold (input port, global flag) (hold type) cp [function] declare an i...

  • Page 179

    165 part 2 programs z canc (cancel: declare axis port to abort) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional canc (input port, global flag) (canc type) cp [function] declare an...

  • Page 180

    166 part 2 programs z vlmx (specify vlmx speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional vlmx prohibited prohibited cp [function] set the actuator travel speed to the vlmx ...

  • Page 181

    167 part 2 programs z dis (set division distance at spline movement) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional dis distance prohibited cp [function] set a division distance ...

  • Page 182

    168 part 2 programs z potp (set path output type) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional potp 0 or 1 prohibited cp [function] set the output type in the output field to b...

  • Page 183

    169 part 2 programs z papr (set push-motion approach distance, speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional papr distance speed cp [function] set the operation to be per...

  • Page 184

    170 part 2 programs z qrtn (set quick-return mode) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional qrtn 0 or 1 prohibited cp [function] set and cancel the quick-return mode. (1) q...

  • Page 185

    171 part 2 programs 1.12 actuator control command z svxx (turn on/off servo) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional svxx axis pattern prohibited pe [function] turn on/off...

  • Page 186

    172 part 2 programs z home (return to home) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional home axis pattern prohibited pe [function] perform home return of the axes specified by...

  • Page 187

    173 part 2 programs z movp (move ptp by specifying position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional movp position number prohibited pe [function] move the actuator t...

  • Page 188

    174 part 2 programs z movl (move by specifying position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional movl position number prohibited pe [function] move the actuator to th...

  • Page 189

    175 part 2 programs z mvpi (move via incremental ptp) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mvpi position number prohibited pe [function] move the actuator, without inte...

  • Page 190

    176 part 2 programs z mvli (move via incremental interpolation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mvli position number prohibited pe [function] move the actuator, wi...

  • Page 191

    177 part 2 programs z movd (move via direct value specification) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional movd target position (axis pattern) pe [function] move the axis sp...

  • Page 192

    178 part 2 programs z mvdi (move relatively via direct value specification) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mvdi travel distance (axis pattern) pe [function] move ...

  • Page 193

    179 part 2 programs z path (move along path) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional path start position number end position number pe [function] move continuously from th...

  • Page 194

    180 part 2 programs z jxwx (jog) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional jxwx axis pattern input, output, flag number pe [function] the axes in the axis pattern specified ...

  • Page 195

    181 part 2 programs z stop (stop movement) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional stop axis pattern prohibited cp [function] decelerate and stop the axes specified by the...

  • Page 196

    182 part 2 programs z pspl (move along spline) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pspl start position number end position number pe [function] continuously move from ...

  • Page 197

    183 part 2 programs z push (move by push motion) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional push target position number prohibited pe [function] perform push-motion operation...

  • Page 198

    184 part 2 programs [example] papr 100 20 movp 2 push 10 set the push-motion approach distance to 100 mm and push-motion approach speed to 20 mm/sec. Move from the current position to position no. 2. Perform push-motion movement from position nos. 2 to 10. The diagram below describes a push-motion m...

  • Page 199

    185 part 2 programs z ptrq (change push torque limit parameter) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptrq axis pattern ratio cc [function] change the push torque limit ...

  • Page 200

    186 part 2 programs z cir2 (move along circle 2 (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional cir2 passing position 1 number passing position 2 number pe [f...

  • Page 201

    187 part 2 programs z arc2 (move along circle 2 (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arc2 passing position number end position number pe [function]...

  • Page 202

    188 part 2 programs z chvl (change speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional chvl axis pattern speed cp [function] change the speed of the axes operating in other tas...

  • Page 203

    189 part 2 programs z arcd (move along arc via specification of end position and center angle (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arcd end positio...

  • Page 204

    190 part 2 programs z arcc (move along arc via specification of center position and center angle (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arcc center p...

  • Page 205

    191 part 2 programs z pbnd (set positioning band) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pbnd axis pattern distance cp [function] set the position complete width for the ...

  • Page 206

    192 part 2 programs z cir (move along circle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional cir passing position 1 number passing position 2 number pe [function] move along a ci...

  • Page 207

    193 part 2 programs z arc (move along arc) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arc passing position number end position number pe [function] move along an arc from the...

  • Page 208

    194 part 2 programs 1.13 structural if z ifxx (structural if) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ifxx variable number data cp [function] compare the content of the va...

  • Page 209

    195 part 2 programs z isxx (compare strings) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional isxx column number column number, character literal cp [function] compare the characte...

  • Page 210

    196 part 2 programs z else (else) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited else prohibited prohibited cp [function] an else command is used arbitrarily in conjunction w...

  • Page 211

    197 part 2 programs 1.14 structural do z dwxx (do while) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional dwxx variable number data cp [function] compare the content of the variabl...

  • Page 212

    198 part 2 programs z iter (repeat) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional iter prohibited prohibited cp [function] forcibly switch the control to eddo while in a doxx lo...

  • Page 213

    199 part 2 programs 1.15 multi-branching z slct (start selected group) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional slct prohibited prohibited cp [function] branch to the step ...

  • Page 214

    200 part 2 programs z whxx (select if true; variable) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited whxx variable number data cp [function] this command is used between slct...

  • Page 215

    201 part 2 programs z wsxx (select if true; character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited wsxx column number column number, character literal cp [function] this c...

  • Page 216

    202 part 2 programs z othe (select other) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited othe prohibited prohibited cp [function] this command is used between slct and edsl c...

  • Page 217

    203 part 2 programs 1.16 system information acquisition z axst (get axis status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional axst variable number axis number cp [function] sto...

  • Page 218

    204 part 2 programs z pgst (get program status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pgst variable number program number cp [function] store in the variable specified i...

  • Page 219

    205 part 2 programs z syst (get system status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional syst variable number prohibited cp [function] store the system status (top-priority ...

  • Page 220

    206 part 2 programs 1.17 zone z wzna (wait for zone on, with and) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzna zone number axis pattern cp [function] wait for the zone sta...

  • Page 221

    207 part 2 programs z wzno (wait for zone on, with or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzno zone number axis pattern cp [function] wait for the zone status of any ...

  • Page 222

    208 part 2 programs z wzfa (wait for zone off, with and) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzfa zone number axis pattern cp [function] wait for the zone status of al...

  • Page 223

    209 part 2 programs z wzfo (wait for zone off, with or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzfo zone number axis pattern cp [function] wait for the zone status of any...

  • Page 224

    210 part 2 programs 1.18 communication z open (open channel) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional open channel number prohibited cp [function] open the channel specifie...

  • Page 225

    211 part 2 programs z read (read) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional read channel number column number cc [function] read a character string from the channel specifie...

  • Page 226

    212 part 2 programs (note) a read command must be executed before the other side sends the end character. Scha 10 open 0 read 0 2 other side clos 0 • 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...

  • Page 227

    213 part 2 programs z tmrw (set read/writ timeout value) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional tmrw read timer setting (write timer setting) cp [function] set the timeou...

  • Page 228

    214 part 2 programs read completes successfully within 30 seconds → 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 co...

  • Page 229

    215 part 2 programs z writ (write) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional writ channel number column number cc (note 1) [function] write the character string in the colum...

  • Page 230

    216 part 2 programs z scha (set end character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scha character code prohibited cp [function] set the end character to be used by a r...

  • Page 231

    217 part 2 programs 1.19 string operation z scpy (copy character string) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scpy column number column number, character literal cc [fu...

  • Page 232

    218 part 2 programs z scmp (compare character strings) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scmp column number column number, character literal eq [function] compare th...

  • Page 233

    219 part 2 programs z sget (get character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sget variable number column number, character literal cp [function] assign one character...

  • Page 234

    220 part 2 programs z sput (set character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sput column number data cp [function] set the data specified in operand 2 in the column ...

  • Page 235

    221 part 2 programs z str (convert character string; decimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional str column number data cc [function] copy to the column specified in ...

  • Page 236

    222 part 2 programs z strh (convert character string; hexadecimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional strh column number data cc [function] copy to the column specifi...

  • Page 237

    223 part 2 programs z val (convert character string data; decimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional val variable number column number, character literal cc [functio...

  • Page 238

    224 part 2 programs z valh (convert character string data; hexadecimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional valh variable number column number, character literal cc [f...

  • Page 239

    225 part 2 programs z slen (set length) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional slen character string length prohibited cp [function] set the length to be processed by a s...

  • Page 240

    226 part 2 programs 1.20 arch-motion-related z arch (arch motion) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arch position number position number pe perform arch motion from ...

  • Page 241

    227 part 2 programs • 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.A if the resulting operation is undesirable, change the arch trigger and/...

  • Page 242

    228 part 2 programs z achz (declare arch-motion z-axis) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional achz axis number prohibited cp specify the axis number representing the arc...

  • Page 243

    229 part 2 programs z atrg (set arch triggers) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional atrg position number position number cp set the arch triggers used for arch motion. ...

  • Page 244

    230 part 2 programs z ofaz (set arch-motion z-axis offset) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ofaz offset value prohibited cp set the offset in the arch-motion z-axis...

  • Page 245

    231 part 2 programs 1.21 palletizing-related z bgpa (declare start of palletizing setting) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional bgpa palletizing number prohibited cp de...

  • Page 246

    232 part 2 programs z papi (set palletizing counts) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional papi count count cp set counts in the palletizing-axis directions. The count sp...

  • Page 247

    233 part 2 programs z pase (declare palletizing axes) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pase axis number axis number cp set the two axes to be used in palletizing (p...

  • Page 248

    234 part 2 programs z past (set palletizing reference point) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional past (position number) prohibited cp set the reference point used in p...

  • Page 249

    235 part 2 programs z paps (set palletizing points) for 3-point teaching command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional paps position number (palletizing position setting type) c...

  • Page 250

    236 part 2 programs • 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, o...

  • Page 251

    237 part 2 programs z psli (set zigzag) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional psli offset amount (count) cp set a zigzag palletizing. The value specified in operand 1 wi...

  • Page 252

    238 part 2 programs 1.22 palletizing calculation command z ptng (get palletizing position number) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptng palletizing number variable ...

  • Page 253

    239 part 2 programs z pdec (decrement palletizing position number by 1) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pdec palletizing number prohibited cc decrement by 1 the pa...

  • Page 254

    240 part 2 programs z parg (get palletizing angle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional parg palletizing number axis number cp obtain the palletizing angle. Calculate t...

  • Page 255

    241 part 2 programs 1.23 palletizing movement command z pmvp (move to palletizing points via ptp) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pmvp palletizing number prohibite...

  • Page 256

    242 part 2 programs z pmvl (move to palletizing points via interpolation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pmvl palletizing number prohibited pe move to the calcula...

  • Page 257

    243 part 2 programs 1.24 building of pseudo-ladder task z chpr (change task level) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional chpr 0 or 1 prohibited cp [function] specify “1”...

  • Page 258

    244 part 2 programs z tslp (task sleep) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited tslp time prohibited cp [function] set the time during which the applicable task will s...

  • Page 259

    245 part 2 programs 1.25 extended command z ecmd1 (get motor current value (as percentage of rated current)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 1 axis number cc ...

  • Page 260

    246 part 2 programs z ecmd5 (get axis operation status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 5 axis number cc [function] store the status of the axis specified in ...

  • Page 261

    247 part 2 programs z ecmd20 (get parameter value) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 20 variable number cc [function] store the value of the specified parameter...

  • Page 262

    248 part 2 programs chapter 4 key characteristics of actuator control commands and points to note 1. Continuous movement commands [path, cir, arc, pspl, cir2, arc2, arcd, arcc] [1] by running a program with continuous movement commands input in a series of continuous program steps, you can allow the...

  • Page 263

    249 part 2 programs [example 2] (potp = 0) output field timing path 1 3 600 600 turn on as p3 approaches. Arc2 10 11 603 603 turn on as p11 approaches. Path 21 23 604 604 turn on when p23 operation is complete. [example 3] if an input condition is specified, the output will turn on upon completion o...

  • Page 264

    250 part 2 programs 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/decelerat...

  • Page 265

    251 part 2 programs chapter 5 palletizing function (2-axis specification) the sel language used by the ssel controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletiz...

  • Page 266

    252 part 2 programs (2) 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.” fig. 1 papn 2 when pattern 2 is se...

  • Page 267

    253 part 2 programs 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-axi...

  • Page 268

    254 part 2 programs 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. Pal...

  • Page 269

    255 part 2 programs (5) 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 ...

  • Page 270

    256 part 2 programs 3. Palletizing calculation the items that can be operated or obtained using palletizing calculation commands are shown below: (1) palletizing position number commands --- pset, pinc, pdec, ptng number showing the ordinal number of a palletizing point. (in fig. 1 given in the expl...

  • Page 271

    257 part 2 programs 4. Palletizing movement palletizing movement commands are used to move the actuator to palletizing points. (1) movement commands to palletizing point --- pmvp, pmvl position coordinates of a two-dimensionally placed palletizing point are calculated and movement is performed using...

  • Page 272

    258 part 2 programs 5. Program examples (1) 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. Py-axis end-point coordinates position no. 4 (69, 143) px-axis end-point coordinates positi...

  • Page 273

    259 part 2 programs (2) simple program example (two-axis specification) using paps, papt and past the example below specifies movement only and does not cover picking operation. Reference point position no. 11 (70, 70) z picking position position no. 10

  • Page 274

    260 part 2 programs chapter 6 pseudo-ladder task with the ssel controller, 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 desig...

  • Page 275

    261 part 2 programs 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. [2] ladder commands outr ladder output relay (operand 1 = output, flag number) timr ladder timer relay (operand 1 ...

  • Page 276

    262 part 2 programs 4. Program example extension condition n input condition command operand 1 operand 2 output e cnd cmnd 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 a 15 timr 900 0.5 ld 7001 tslp 3 ld 7001 goto 1 ld 7001 exit outr314 timr900 0.5 sec 8 9...

  • Page 277

    263 part 2 programs chapter 7 application program examples 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 ext...

  • Page 278

    264 part 2 programs (2) explanation of the operation [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 t...

  • Page 279

    265 part 2 programs (3) ssel controller application program step e n cnd cmnd operand 1 operand 2 pst comment 1 home 11 axes 1 and 2 return to home (servo on). 2 vel 400 set speed to 400 mm/s. 3 tag 1 4 wton 16 wait for input from axis-1 movement switch. 5 jfwn 1 16 move forward while axis-1 movemen...

  • Page 280

    266 part 2 programs 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 load on the xy-table at the operation home and turning on the start s...

  • Page 281

    267 part 2 programs (2) explanation of the operation [1] the xy-table moves to the operation home and waits. [2] the operator sets a load on the xy-table and turns on the start switch. [3] the xy-table moves to riveting position no. 1 on the load and a riveting command is output to the riveter. [4] ...

  • Page 282

    268 part 2 programs (3) ssel controller application program step e n cnd cmnd operand 1 operand 2 pst comment 1 home 11 xy-table returns to home (servo on). 2 vel 400 set speed to 400 mm/s. 3 tag 1 4 movl 1 move to position no. 1. 5 let 1 2 set 2 in load counter. 6 btof 600 clear completion flag. 7 ...

  • Page 283

    269 part 2 programs chapter 8 real-time multi-tasking 1. Sel language the ssel controller allows integrated control of actuators and peripherals with a single controller using its 32-bit risc cpu and high-speed real-time operating system. There is no need to learn various languages for different uni...

  • Page 284

    270 part 2 programs 2. Multi-tasking “multi-tasking” operation may not be a familiar term, but it is widely used in computer programming to refer to parallel processing. Simply put, multi-tasking means running several programs in parallel. Take a screw-tightening robot, for example. In general, a sc...

  • Page 285

    271 part 2 programs 3. Difference from a sequencer the parallel processing method has evolved from the traditional method of using a sequence control circuit consisting of relays to a more recent one using a sequencer equipped with a microcomputer. Since a microcomputer basically allows one process ...

  • Page 286

    272 part 2 programs 4. Release of emergency stop default factory settings of parameters “other parameter no. 10, emergency-stop recovery type” = 0 “other parameter no. 11, safety-gate open recovery type” = 0 “other parameter no. 12, recognition type during automatic operation” = 0 an emergency stop ...

  • Page 287

    273 part 2 programs 5. 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 first, the program ...

  • Page 288

    274 part 2 programs chapter 9 example of building a system how to build hardware and software is explained in details by using a screw-tightening robot as an example. 1. Equipment screw-tightening machine (for z-axis) actuators (for axes 1 and 2) iai’s actuator with 300-mm stroke x 2 controller iai’...

  • Page 289

    275 part 2 programs 3. Overview of the screw-tightening 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 load. Axis 1 axis 2 parts feeder z-axis cyl...

  • Page 290

    276 part 2 programs 4. Hardware pin no. Category port no. Function 1a p24 external power supply 24 v 1b 016 program specification (prg no. 1) 2a 017 program specification (prg no. 2) 2b 018 program specification (prg no. 4) 3a 019 program specification (prg no. 8) 3b 020 program specification (prg n...

  • Page 291

    277 part 2 programs 5. Software (1) control flow chart main program: screw-tightening machine program 1 start program 2 align origin start screw tightening (pushbutton) move z-axis air cylinder down start screw tightening screw tightening complete z-axis air cylinder up 6 screws tightened? Screw tig...

  • Page 292

    278 part 2 programs (2) main program screw-tightening program no. 1 application program extension condition input condition command output condition comment and, or i/o, flag command operand 1 operand 2 output port, flag comment 1 expg 2 start program 2. 2 home 11 align home. 3 vel 100 speed: 100 mm...

  • Page 293

    279 part 2 programs chapter 10 example of building a system 1. Position table position table up to 1,500 position points can be registered in the ssel controller. Positions are registered using the pc software or teaching pendant. (example of 3-axis system) no.: specify a number, and the actuator wi...

  • Page 294

    280 part 2 programs 2. Programming format program edit screen (pc software) the ssel controllers support programs consisting of up to 2,000 steps. Programs are edited using the pc software or teaching pendant. No.: step number b: set a breakpoint (this field becomes editable during online edit). Cli...

  • Page 295

    281 part 2 programs 3. Positioning to five positions description move the actuator to positions 1 through 5 at a speed of 100 mm/sec after homing. Use of only 1 axis is assumed. Flowchart • homing must be performed and a speed must be set, before the actuator can be operated. • the actuator moves to...

  • Page 296

    282 part 2 programs 4. How to use tag and goto 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. Example of use 1 repeat the sam...

  • Page 297

    283 part 2 programs 5. Moving back and forth between two points description moves back and forth between two points. Flowchart • 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 in ...

  • Page 298

    284 part 2 programs 6. Path operation description move continuously through four arbitrary points without stopping (path movement). The actuator moves along the path shown at right, without stopping at p2 and p3. Compared with movp and movl, this command does not require the actuator to position exa...

  • Page 299

    285 part 2 programs 7. Output control during path movement description in spray operation, etc., output control may be required while the actuator is moving. The ssel controller can output signals while the actuator is moving with a path command. How to use before executing a path command, declare a...

  • Page 300

    286 part 2 programs 8. Circle/arc operation description the actuator moves along a two-dimensional circle or arc. How to 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. Example of use 1 circle • specify...

  • Page 301

    287 part 2 programs 9. Home return completion output description output a signal to confirm completion of homing (incremental specification). With the ssel controller, a home return completion signal can be output using an i/o parameter. However, the following explains how to output a home return co...

  • Page 302

    288 part 2 programs 10. Axis movement by input waiting and completion output description how to perform input waiting and output a processing completion signal is explained. Flowchart example of use the actuator waits until input port 10 turns on, and then moves to p1. The actuator waits until input...

  • Page 303

    289 part 2 programs 11. Changing the moving speed description change the moving speed. How to use with the ssel controller, the speed can be set using the following two methods: a: use a vel command within the application program b: use a speed setting in the position data table example of use appli...

  • Page 304

    290 part 2 programs 12. Changing the speed during operation description use a path command to change the speed while the actuator is moving. For example, this command is useful in a paint dispensing application where the application volume changes in the middle. Example of use the actuator moves thr...

  • Page 305

    291 part 2 programs 13. Local/global variables and flags 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...

  • Page 306

    292 part 2 programs 14. How to use subroutines 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 t...

  • Page 307

    293 part 2 programs 15. Pausing the operation description use a declaration command hold to pause the moving axis temporarily via external input. How to 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 progr...

  • Page 308

    294 part 2 programs 16. Canceling the operation 1 (canc) description use a declaration command canc to decelerate the moving axis to a stop and cancel the remaining operation. How to use while can is input, all movement commands in the same program are cancelled. Example of use canc command cancel t...

  • Page 309

    295 part 2 programs 17. Canceling the operation 2 (stop) description decelerate the moving axis to a stop and cancel the remaining operation. (stop) how to 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 usin...

  • Page 310

    296 part 2 programs 18. Movement by position number specification description load externally input bcd codes as position numbers to execute movements. 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 consi...

  • Page 311

    297 part 2 programs 19. Movement by external position data input description receive target position data as absolute values from a host device to execute movements. 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...

  • Page 312

    298 part 2 programs 20. Conditional jump description select the destination to jump to via goto using the external input, output and/or internal flag statuses as a condition. The controller waits for multiple inputs, and performs processing according to the received input(s). Example of use 1 if inp...

  • Page 313

    299 part 2 programs 21. Waiting multiple inputs description the controller waits for multiple different inputs and performs processing upon reception of any of these inputs. Point a wton command permits processing only when the specified input is received. The controller cannot wait for multiple inp...

  • Page 314

    300 part 2 programs 22. How to use offset 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. An ofst c...

  • Page 315

    301 part 2 programs 23. Executing an operation n times description execute a specific operation n times. 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,...

  • Page 316

    302 part 2 programs 24. Constant-pitch feed 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. Flowchart example of use use an ofst command to perform pitch feed. The number of times the actuat...

  • Page 317

    303 part 2 programs 25. Jogging 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 e...

  • Page 318

    304 part 2 programs 26. Switching programs description use expg/abpg commands to switch programs using a program. Example of use 1 start program 2 once the processing of program 1 is completed, and then end program 1. Program 1 program 2 example of use 2 start a program via an external signal, and t...

  • Page 319

    305 part 2 programs 27. Aborting a program description abort a program currently running. Execute an abpg command (command to abort other program) from other program in the multi-tasking mode. Caution * if the target program was executing a movement command, the actuator immediately decelerates to a...

  • Page 320

    306 part 3 positioner mode part 3 positioner mode in the positioner mode, position data is input in the manu mode and positioning operation based on input data is performed in the auto mode (the controller modes are switched using the auto/manu switch). If the controller mode is changed to manu whil...

  • Page 321

    307 part 3 positioner mode 2. Number of positions supported in each mode mode number of positions standard mode maximum 1,500 positions product switching mode total 1,500 positions for all products (the same number of position data sets is used for each product.) 2-axis independent mode 13 input bit...

  • Page 322

    308 part 3 positioner mode 4. Interface list of all pio patterns positioner mode pin no. Category port no. Standard mode product switching mode 2-axis independent mode teaching mode ds-s-c1 compatible mode cable color 1a p24 24-v input 1-brown 1b 16 position input 10 input 10 position input 7 axis 1...

  • Page 323

    309 part 3 positioner mode chapter 2 standard mode the standard mode provides a pio pattern of greatest general utility among all positioner modes accessible in the ssel controller. 1. I/o interface list pin no. Category port no. Signal name signal symbol function overview cable color 1a p24 externa...

  • Page 324

    310 part 3 positioner mode 2. Parameters to use the controller in the standard mode, set other parameter no. 25 to “1.” position numbers are specified as binary codes according to the factory setting. To change the input mode to bcd, set a value “other than 0” in other parameter no. 25. No. Paramete...

  • Page 325

    311 part 3 positioner mode „ cancellation (canc) if this signal turns on while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns off thereafter. „ home re...

  • Page 326

    312 part 3 positioner mode „ interpolation (line) with the 2-axis specification, input of the position signal and start signal while this signal is on will cause the two axes to perform interpolation operation (the two axes will start simultaneously and arrive at the target position simultaneously)....

  • Page 327

    313 part 3 positioner mode 4. Details of each output signal „ positioning complete (pend) this signal indicates that the actuator reached the target position and the positioning has completed. After the power was input and the servo has turned on, this signal will turn on if the position deviation i...

  • Page 328

    314 part 3 positioner mode 5. Timing chart 5.1 recognition of i/o signals an input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at ...

  • Page 329

    315 part 3 positioner mode 5.2 home return timings associated with home-return operation are illustrated below. Timing chart of home-return operation (standard positioner mode) perform home-return operation by following the procedure explained below. * before commencing the procedure, confirm that t...

  • Page 330

    316 part 3 positioner mode 5.3 movements through positions timings of how the actuator moves through positions are illustrated below. Timing chart of movement through positions (standard positioner mode) t 1 : at least 6 msec operate the actuator to move through positions by following the procedure ...

  • Page 331

    317 part 3 positioner mode * to perform push-motion or interpolation operation, turn on the applicable input signal before turning on the start input signal. Turn the operation signal off after the start input signal has turned off. * while the actuator is moving to the target position, only the pau...

  • Page 332

    318 part 3 positioner mode chapter 3 product switching mode in addition to position numbers, product numbers can also be specified in this mode. Sixteen bits of inputs 1 through 16 are divided into position number inputs and product number inputs. In other words, the actuator can be moved to differe...

  • Page 333

    319 part 3 positioner mode 2. Parameters the following parameters must be set in the product switching mode. Table: parameter settings in product switching mode type no. Parameter function 25 operation mode type 2: product switching mode 71 positioner mode parameter 1 position-number input mode spec...

  • Page 334

    320 part 3 positioner mode 3. Details of each input signal „ start (cstr) movement to the position corresponding to the position data of the specified product will start upon detection of the off → on leading edge of this signal. Product numbers and position numbers are specified by the 16-bit binar...

  • Page 335

    321 part 3 positioner mode the input mode can be changed to bcd by changing the setting of other parameter no. 71. Assume the following settings: other parameter no. 71, “position-number input method specification” = 1 (bcd) other parameter no. 72, “number of position-number input bits” = 8 (in the ...

  • Page 336

    322 part 3 positioner mode „ error reset (res) this signal is used to reset the alarm output signal (*alm) that has been generated due to an error. If an error occurred, check the content of the error and then turn this signal on. The error will be reset upon detection of the leading edge of the sig...

  • Page 337

    323 part 3 positioner mode 4. Details of each output signal „ positioning complete (pend) this signal indicates that the actuator reached the target position and the positioning has completed. After the power was input and the servo has turned on, this signal will turn on if the position deviation i...

  • Page 338

    324 part 3 positioner mode 5. Timing chart 5.1 recognition of i/o signals an input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at ...

  • Page 339

    325 part 3 positioner mode 5.2 home return timings associated with home-return operation are illustrated below. Timing chart of home-return operation (standard positioner mode) perform home-return operation by following the procedure explained below. * before commencing the procedure, confirm that t...

  • Page 340

    326 part 3 positioner mode 5.3 movements through positions timings of how the actuator moves through positions are illustrated below. Timing chart of movement through positions (standard positioner mode) t 1 : at least 6 msec operate the actuator to move through positions by following the procedure ...

  • Page 341

    327 part 3 positioner mode * to perform push-motion or interpolation operation, turn on the applicable input signal before turning on the start input signal. Turn the operation signal off after the start input signal has turned off. * while the actuator is moving to the target position, only the pau...

  • Page 342

    328 part 3 positioner mode chapter 4 2-axis independent mode with the 2-axis specification, each axis can be controlled separately in this mode. A set of signals, such as the start input signal and positioning complete output signal, are provided for each axis. Although the position number specifica...

  • Page 343

    329 part 3 positioner mode 2. Parameters the following parameters must be set in the 2-axis independent mode. Type no. Parameter function 25 operation mode type 3: 2-axis independent mode 71 positioner mode parameter 1 position-number input mode specification (0: binary, ≠ 0: bcd) * default value: 0...

  • Page 344

    330 part 3 positioner mode 3. Details of each input signal „ position inputs 1 through 13 (pc1 through 13) thirteen bits of pc1 through 13 are divided into position-number specification bits for axis 1 and position- number specification bits for axis 2. Example) assume that the parameters are set as...

  • Page 345

    331 part 3 positioner mode „ start 2 (cstr2) axis 2 will start moving to the position corresponding to the specified position data for axis 2 upon detection of the off → on leading edge of this signal. Position numbers are specified using, among the 13 bits of pc1 through 13, the remainder of the bi...

  • Page 346

    332 part 3 positioner mode 4. Details of each output signal „ positioning complete 1 (pend1) this signal indicates that axis 1 reached the target position and the positioning has completed. Use it together with the aforementioned move signal to determine the positioning completion status on the plc ...

  • Page 347

    333 part 3 positioner mode 5. Timing chart 5.1 recognition of i/o signals an input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at ...

  • Page 348

    334 part 3 positioner mode 5.2 home return timings associated with home-return operation are illustrated below. The figures in parentheses indicate port numbers for axis 2. Timing chart of home-return operation (standard positioner mode) perform home-return operation by following the procedure expla...

  • Page 349

    335 part 3 positioner mode 5.3 movements through positions timings of how the actuator moves through positions are illustrated below. The figures in parentheses indicate port numbers for axis 2. Timing chart of movement through positions (standard positioner mode) t 1 : at least 6 msec operate the a...

  • Page 350

    336 part 3 positioner mode * while the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo cannot be turned off even if the servo on input signal is turned off. (the servo can be turned off only when the positioning complete output signal is on.) * ...

  • Page 351

    337 part 3 positioner mode chapter 5 teaching mode in addition to normal positioning operation, jogging, inching and teaching can be performed in this mode. A dedicated input is used to switch to the teaching mode, where the actuator can be moved using i/os and the achieved position can be written t...

  • Page 352

    338 part 3 positioner mode 1. I/o interface list pin no. Category port no. Signal name signal symbol function overview cable color 1a p24 external power supply 24 v p24 1-brown 1b 016 axis 1 jog- jog1- axis 1 will move in the negative direction while this signal is on. 1-red 2a 017 axis 2 jog+ jog2+...

  • Page 353

    339 part 3 positioner mode 2. Parameters to use the controller in the teaching mode, set other parameter no. 25 to “4.” position numbers are specified as binary codes according to the factory setting. To change the input mode to bcd, set a value “other than 0” in other parameter no. 25. No. Paramete...

  • Page 354

    340 part 3 positioner mode „ servo on (son) the servo remains on while this signal is on. Use this signal if servo on/off control is required as part of the safety circuit for the entire system to be provided on the plc side. To operate the actuator using the start input/jog input, the servo on inpu...

  • Page 355

    341 part 3 positioner mode „ axis 1 jog (jog1+, jog1-) these signals are effective when the aforementioned modes output signal is on. The actuator of axis 1 will move to the + or - soft limit position upon detection of the off → on leading edge of each signal. Although the actuator will be forcibly ...

  • Page 356

    342 part 3 positioner mode 4. Details of each output signal „ positioning complete (pend) this signal indicates that the actuator reached the target position and the positioning has completed. The signal will turn on when the servo has turned on after the main power was input, and the controller bec...

  • Page 357

    343 part 3 positioner mode „ servo on output (svon) this signal will turn on when the servo turns on. Issue a movement command after the servo on output signal has turned on. „ system battery error this signal will turn on when the voltage of the optional system-memory backup battery drops to a spec...

  • Page 358

    344 part 3 positioner mode 5. Timing chart 5.1 recognition of i/o signals an input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at ...

  • Page 359

    345 part 3 positioner mode 5.2 home return in the teaching mode, no dedicated home-return input is available. Home return will be performed when the start signal is input after specifying a desired position in a condition where home return is not yet completed. Timings associated with home-return op...

  • Page 360

    346 part 3 positioner mode 5.3 movements through positions timings of how the actuator moves through positions are illustrated below. Timing chart of movement through positions (standard positioner mode) t 1 : at least 6 msec operate the actuator to move through positions by following the procedure ...

  • Page 361

    347 part 3 positioner mode 5.4 timings in the teaching mode t1: at least 20 msec. T1 represents the time after the position-information write input signal turns on, until writing of the current position starts. When the teaching mode specification (mode) input signal is turned on, the teaching mode ...

  • Page 362

    348 part 3 positioner mode chapter 6 ds-s-c1 compatible mode in this mode, the same i/o assignments used by the conventional controller model ds-s-c1 are used. As added functions, the cancellation (canc) input, interpolation setting input, system battery error output, and absolute battery error outp...

  • Page 363

    349 part 3 positioner mode 2. Parameters to use the controller in the ds-s-c1 compatible mode, set other parameter no. 25 to “16.” other parameter no. 25 = 16, “ds-s-c1 compatible mode” 3. Details of each input signal „ start (cstr) the actuator will start moving to the position corresponding to the...

  • Page 364

    350 part 3 positioner mode „ cancellation (canc) if this signal turns on while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns off thereafter. „ cpu res...

  • Page 365

    351 part 3 positioner mode 4. Details of each output signal „ ready (rdy) this signal will turn on when the initialization has completed successfully after the main power was input, and the controller enters the mode where it can control the actuator. This signal will turn off when an error of cold ...

  • Page 366

    352 part 3 positioner mode 5. Timing chart 5.1 recognition of i/o signals an input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at ...

  • Page 367

    353 part 3 positioner mode 5.2 home return in the ds-s-c1 compatible mode, no dedicated home-return input is available. Home return will be performed when the start signal is input after specifying position no. 0. The positioning complete output signal is off after the power is input when home retur...

  • Page 368

    354 part 3 positioner mode 5.3 movements through positions timings of how the actuator moves through positions are illustrated below. Timing chart of movement through positions (positioner mode) t 1 : at least 6 msec operate the actuator to move through positions by following the procedure explained...

  • Page 369

    355 appendix appendix ~ actuator specification list (note 1) the value in each band indicates the maximum speed at each applicable stroke. (note 2) the load capacity is based on operation at the rated acceleration. Model stroke (mm) and maximum speed (mm/sec) (note 1) load capacity (note 2) rated ac...

  • Page 370

    356 appendix (note 1) the value in each band indicates the maximum speed at each applicable stroke. (note 2) the load capacity is based on operation at the rated acceleration. Model stroke (mm) and maximum speed (mm/sec) (note 1) load capacity (note 2) rated acceleration horizontal vertical horizont...

  • Page 371

    357.

  • Page 372

    358.

  • Page 373

    359 appendix ~ battery backup function the ssel controller uses the following two batteries. • system-memory backup battery (optional) the optional battery is available for backing up position data, sel program variables and other data. • absolute-data backup battery a separate battery is used to re...

  • Page 374

    360 appendix to replace the system-memory backup battery, disconnect the battery connector on the top face of the controller, and change the battery in the battery holder with a new battery. It is recommended that you set a replacement schedule and replace the battery regularly. The battery must be ...

  • Page 375

    361 appendix 2. Absolute-data backup battery for absolute encoder if the ssel controller is to drive/control an absolute type actuator, an absolute-data backup battery must be installed in the controller. An absolute encoder is designed to retain rotation data and detect rotations using the power su...

  • Page 376

    362 appendix the absolute encoder backup specifications are shown in the table below. List of absolute encoder backup functions battery type ab-5 (by iai) battery voltage 3.6 v current capacity 2000 mah detection voltage for battery voltage low alarm (typical) 3.1 v 3.0 v ∼ 3.2 v detection voltage f...

  • Page 377

    363 appendix ~ synchro function 1. Common items (applicable to both the absolute specification and incremental specification) a pair of synchro axes consists of the master axis and the slave axis, with the axis of the smaller axis number designated as the master axis. The axis-number combination for...

  • Page 378

    364 appendix ~ absolute reset for synchro specification the controller ordered as a synchro type will be shipped with the applicable parameters set for the synchro specification. If an absolute reset is performed, some parameters must be changed. The following explanation assumes operation using the...

  • Page 379

    365 appendix 2. Position alignment of synchro-axis sliders position alignment (physical parallel adjustment) of synchro-axis sliders is performed in the following manner. (1) with each axes and the controller not yet connected with a cable (the main controller power is off), adjust the relative posi...

  • Page 380

    366 appendix (3) perform an absolute reset using the special procedure explained below (perform a forced reset by ignoring the onscreen instructions). [1] perform “encoder rotation data reset 1” for the slave axis. [2] follow the onscreen instructions to perform “encoder rotation data reset 1” throu...

  • Page 381

    367 appendix (4) enter the value recorded in (1) into “axis-specific parameter no. 83, absolute synchro slave-axis initialization cancellation” for the slave axis. → transfer the parameter data to the controller, write to the flash rom, and then restart the controller (software reset). (5) set the h...

  • Page 382

    368 appendix [3] enter the calculated result in [2] above into “axis-specific parameter no. 12, home preset value” for the slave axis. → transfer the parameter data to the controller, write to the flash rom, and then restart the controller (software reset). (6) turn on the servo, and check the opera...

  • Page 383

    369 appendix 5. Notes on use of synchro function • as a rule, when using the synchro function the master-axis and slave-axis sliders must be connected using a bracket, etc. • if the current position of the master axis is not aligned with the current position of the slave axis when the servo is turne...

  • Page 384

    370 appendix ~ parameter utilization functions not initially available on the controller can be added, or dedicated functions can be assigned to input/output ports, by changing the values of corresponding parameters. Before changing a given parameter, always read the applicable section in the parame...

  • Page 385

    371 appendix 1. Utilization examples of i/o parameters i/os include general-purpose inputs/outputs and dedicated inputs/outputs. General-purpose inputs/outputs are used by the user in sel programs for sending/receiving on/off signals to/from peripherals, among others. Dedicated inputs are turned on/...

  • Page 386

    372 appendix example 1) how to set input port no. 5 as an input to forcibly release the brake for axis 1 change the input function specification value of i/o parameter no. 35, which corresponds to input port no. 5, to “22” (axis 1 forced brake-release input). I/o parameter no. 35 = 22 example 2) how...

  • Page 387

    373 appendix (2) explanation of input function specification values input function specification value 0: general-purpose input the applicable input can be used freely in programs as a general- purpose input. Input function specification value 1: program start signal (bcd) (on edge) the applicable s...

  • Page 388

    374 appendix input function specification value 9: start-program number specification bit 1 (least significant bit) this bit specifies the least significant bit of a program number. Note: start-program number specification bits x (input function setting values 9 through 15) cannot be assigned discon...

  • Page 389

    375 appendix input function specification value 22: axis 1 forced brake release forcibly release the brake (axis 1). Note: this function is effective only when the brake switch is tilted down (nom). Input function specification value 23: axis 2 forced brake release forcibly release the brake (axis 2...

  • Page 390

    376 appendix (3) explanation of output function specification values output function specification value 0: general-purpose output the applicable output can be used freely in programs as a general- purpose output. Output function specification value 1: operation-cancellation level or higher error ou...

  • Page 391

    377 appendix output function specification value 13: all-valid-axes home-return complete (coordinate confirmed) output a signal will be output when all valid axes have completed home return. Output function specification value 14: all-valid-axes preset home coordinate output a signal will be output ...

  • Page 392

    378 appendix 2. Utilization examples of axis-specific parameters the following functions can be added to, or changed from the factory-set functions, by changing the values of the corresponding axis-specific parameters. Before changing a given parameter, always read the applicable section in the para...

  • Page 393

    379 appendix change the home return direction axis-specific parameter no. 6, “coordinate/physical-operation direction selection” no. Parameter name default value input range unit 6 coordinate/physical-operation direction selection 1 0 ~ 1 none z setting method a desired direction of home-return oper...

  • Page 394

    380 appendix about the home-return method axis-specific parameter no. 10, “home-return method” no. Parameter name default value input range unit 10 home-return method 0 0 ~ 5 none z explanation of setting set a desired method to perform home return. Z set value 0: search phase z after end search the...

  • Page 395

    381 appendix set a home preset axis-specific parameter no. 12, “home preset value” no. Parameter name default value input range unit 12 home preset value 0 -99999999 ~ 99999999 0.001 mm z explanation of setting set a value indicating where the actuator should be upon completing home return. (normall...

  • Page 396

    382 appendix set a home offset axis-specific parameter no. 21, “offset travel distance at home return” no. Parameter name default value input range unit 21 offset travel distance at home return 1000 -99999999 ~ 99999999 0.001 mm z explanation of setting an offset can be set that will be applied afte...

  • Page 397

    383 appendix apply length measurement correction axis-specific parameter no. 44, “length measurement correction” no. Parameter name default value input range unit 44 length measurement correction 0 -99999999 ~ 99999999 0.001 mm/1 m z explanation of setting adjust the difference between the actual di...

  • Page 398

    384 appendix about the rotational movement axis mode axis-specific parameter no. 66, “mode selection for rotational movement axis” no. Parameter name default value input range unit 66 mode selection for rotational movement axis 0 0 ~ 5 none z explanation of setting set a desired mode for a rotationa...

  • Page 399

    385 appendix perform short-cut control of a rotational movement axis axis-specific parameter no. 67, “short-cut control selection for rotational movement axis” z set this parameter if you wish to turn the rotational movement axis in the same direction, etc. What is short-cut control? To move the axi...

  • Page 400

    386 appendix turn the rotational movement axis infinitely axis-specific parameter no. 68, “mode selection for linear movement axis” no. Parameter name default value input range unit 68 mode selection for linear movement axis 0 0 ~ 5 none z explanation of setting change this parameter if you wish to ...

  • Page 401

    387 appendix zone output a signal can be output when the actuator has entered a desired zone specified by the user. Three parameters must be set to specify a zone. A zone is set for each axis. No. Parameter name default value input range unit 86 zone 1 max 0 -99999999 ~ 99999999 0.001 mm 87 zone 1 m...

  • Page 402

    388 appendix the zone output function allows four zones (zones 1 through 4) to be set for each axis. No. Parameter name default value input range unit 86 zone 1 max 0 -99999999 ~ 99999999 0.001 mm 87 zone 1 min 0 -99999999 ~ 99999999 0.001 mm 88 zone 1 output number 0 0 ~ 899 none 89 zone 2 max 0 -9...

  • Page 403

    389 appendi x 3. Parameter utilization examples (reference) description action parameter setting operation/outcome 1 suppress generation of errors pertaining to the standard i/o board (so that trial operation can be performed before the board is wired, for example). The i/o-board error monitor can b...

  • Page 404

    390 appendi x description action parameter setting operation/outcome 8 enter program numbers as binary codes using input ports (default setting: bcd input). Program numbers to be specified can be input as binary codes using the ports set as start-program number specification bits 1 through 7. Set th...

  • Page 405

    391 appendi x description action parameter setting operation/outcome 15 output a signal when all valid axes have completed home return. A desired output port can be set as an all-valid-axes home-return complete output. Set the following value in the i/o parameter “output function selection n” corres...

  • Page 406

    392 appendi x description action parameter setting operation/outcome 21 switch between the auto mode and manual mode using an input port. A desired input port can be set as a mode switching input. Set the following value in the i/o parameter “input function selection n” corresponding to the selected...

  • Page 407

    393 appendix ~ list of parameters if you have any question regarding changing the parameters, please contact iai’s sales engineering section. After changing a parameter, record the new and old parameter settings. If you have purchased the pc software, we recommend that you back up the parameters imm...

  • Page 408

    394 appendix 1. I/o parameters 1.1 i/o parameters no. Parameter name default value (reference) input range unit remarks 1 i/o port assignment type 1 0 ~ 20 0: fixed assignment 1: automatic assignment (priority: network i/f module Æ standard i/o; * ports are assigned only for the installed adjoining ...

  • Page 409

    395 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 31 input function selection 001 0 0 ~ 99 input function specification value * refer to “i/o function lists” for details. 32 input function selection 002 0 0 ~ 99 input function specification value * ref...

  • Page 410

    396 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 56 output function selection 310 0 0 ~ 99 output function specification value * refer to “i/o function lists” for details. 57 output function selection 311 0 0 ~ 99 output function specification value *...

  • Page 411

    397 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 87 (pc/tp sio reservation) 0 88 (pc/tp sio reservation) 0 89 (pc/tp sio reservation) 0 90 usage of sio channel 0 opened to user (auto mode) 0 0 ~ 9 0: open sel program 1: open sel program (connect pc/tp...

  • Page 412

    398 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 140 network system reservation 0 0 ~ 255 141 network system reservation 0 0 ~ 255 142 network system reservation 0 0 ~ 255 143 network system reservation 0 0 ~ 255 144 network system reservation 64511 1...

  • Page 413

    399 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 262 input function selection 027 0 0 ~ 99 input function specification value * refer to “i/o function lists” for details. 263 input function selection 028 0 0 ~ 99 input function specification value * r...

  • Page 414

    400 appendix 1.2 i/o function lists (1) input function list input function specification value function name remarks 0 general-purpose input 1 program start signal (bcd) (on edge) specify a bcd program number using the ports to which start-program number specification bits x (input function specific...

  • Page 415

    401 appendix (2) output function list output function specification value function name remarks 0 general-purpose output 1 operation-cancellation level or higher error output (on) * the following output functions cannot be assigned at the same time: • operation-cancellation level or higher alarm out...

  • Page 416

    402 appendix 2. Parameters common to all axes no. Parameter name default value (reference) input range unit remarks ~ 1 valid axis pattern 0000b 00b ~ 11111111b an off bit indicates that no driver is installed. 2 default override 100 1 ~ 100 used if not specified in program. (invalid for sio operati...

  • Page 417

    403 appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 25 (acceleration/deceler ation at home return (old)) 30 1 ~ 300 0.01 g (invalid) 26 acceleration/decelera tion specification type 0 reference only 0: t system, 1: p, m system 27 master ax...

  • Page 418

    404 appendix 3. Axis-specific parameters no parameter name default value (reference) input range unit remarks ~ 1 axis operation type 0 0 ~ 1 0: linear movement axis, 1: rotational movement axis (angle control) 2 ~ 5 (for expansion) 0 ~ 6 coordinate/physical- operation direction selection 1 0 ~ 1 0:...

  • Page 419

    405 appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 26 (phase-z evacuation distance at absolute home return (old)) 1000 0 ~ 99999 0.001 mm evacuation distance from the actual phase-z position (positive value = applied in the direction of moving ...

  • Page 420

    406 appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 57 push-abort deviation ratio at positioning 5000 1 ~ 99999 deviation is compared against “steady-state deviation of push speed + push-speed pulse speed x abort deviation ratio.” 58 positioning...

  • Page 421

    407 appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 84 maximum synchronization correction speed of synchro slave axis 5 0 ~ 100 mm/sec maximum travel speed for synchronization position correction of slave axis. Valid only with a synchro slave ax...

  • Page 422

    408 appendix 4. Driver parameters no. Parameter name default value (reference) input range unit remarks 1 type (upper) (manufacturing information) space reference only for adjustment by the manufacturer 2 type (middle) (manufacturing information) space reference only for adjustment by the manufactur...

  • Page 423

    409 appendix driver parameters no. Parameter name default value (reference) input range unit remarks 29 motor/encoder characteristic word (compatible with e, priority on e) (configuration information) 0004h reference only for adjustment by the manufacturer 30 motor/encoder control word 1 (compatible...

  • Page 424

    410 appendix driver parameters no. Parameter name default value (reference) input range unit remarks 61 ~ 67 (for expansion) 0h 0000h ~ ffffh 68 current control query information 01 0h reference only for adjustment by the manufacturer 69 current control query information 02 0h reference only for adj...

  • Page 425

    411 appendix 5. Encoder parameters no. Parameter name default value (reference) input range unit remarks 1 type (upper) (manufacturing information) space reference only 2 type (middle) (manufacturing information) space reference only 3 type (lower) (manufacturing information) space reference only 4 ...

  • Page 426

    412 appendix 6. I/o devices no. Parameter name default value (reference) input range unit remarks 1 type (upper) (manufacturing information) space reference only for adjustment by the manufacturer 2 type (middle) (manufacturing information) space reference only for adjustment by the manufacturer 3 t...

  • Page 427

    413 appendix 7. Other parameters no. Parameter name default value (reference) input range unit remarks 1 auto-start program number 0 0 ~ 64 (invalid if “0” is set) 2 i/o processing program number at operation/program abort 0 0 ~ 64 the start trigger is determined from the “i/o processing program sta...

  • Page 428

    414 appendix other parameters no. Parameter name default value (reference) input range unit remarks 12 automatic operation recognition type 0 0 ~ 3 0: program is running and all-operation-cancellation factor is not present 1: [program is running or in auto mode] and all- operation-cancellation facto...

  • Page 429

    415 appendix other parameters no. Parameter name default value (reference) input range unit remarks 36 pc/tp data protect setting (program) 0h 0h ~ ffffffffh bits 0 to 3: protect type (0: read/write, 1: read only, 2: no read/write) bits 4 to 7: protect release method (0: special operation) bits 8 to...

  • Page 430

    416 appendix other parameters no. Parameter name default value (reference) input range unit remarks 40 eeprom information check type 03h reference only 0: disable checksum, 1: enable checksum bit 0 = (for future expansion) bit 1 = encoder bits 2 to 7 = (for future expansion) 0: do not use eeprom, 1:...

  • Page 431

    417 appendix other parameters no. Parameter name default value (reference) input range unit remarks 49 panel 7-segment display data type 0 0 ~ 9 0: display controller status 1: display motor current indicator the current pattern of each axis is displayed instead of “ready status” or “program run num...

  • Page 432

    418 appendix 8. Manual operation types the selectable operation types will vary depending on the setting of the “manual operation type” parameter (other parameter no. 21). (1) pc software [1] setting = 0 (always enable edit and sio/pio start) functions operation type password edit safety speed jog, ...

  • Page 433

    419 appendi x ~ combination table of ssel linear/rotary control parameters permitted encoder processing method axis-specific parameter no. 1, axis operation type axis-specific parameter no. 68, mode selection for linear movement axis axis-specific parameter no. 66, mode selection for rotational move...

  • Page 434

    420 appendi x ~ error level control program run (application only) error level system error assignment source error no. (hex) display (7- segment display, etc.) error list (application only) error led output (main only) other parameter no. 4 = 0 other parameter no. 4 = 1 error reset (application onl...

  • Page 435

    421 appendi x program run (application only) error level system error assignment source error no. (hex) display (7- segment display, etc.) error list (application only) error led output (main only) other parameter no. 4 = 0 other parameter no. 4 = 1 error reset (application only) remarks main applic...

  • Page 436

    422 appendi x ~ error list (main application) (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 200 encoder parameter data version mismatch warning the version of encoder parameter data is not supported by this controller. Upda...

  • Page 437

    423 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 406 flash busy reset timeout error erasing/writing the flash rom 407 control constant table management information mismatch error the management information regard...

  • Page 438

    424 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 605 forced discharge error abnormal forced discharge. The drive-source cutoff relay may be abnormal. The power must be reconnected. 606 regenerative discharge erro...

  • Page 439

    425 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 630 updating system code error (application detection) the updating system code is invalid. 631 updating unit code error (application detection) the updating unit ...

  • Page 440

    426 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 64b serial encoder command packet error the serial encoder command packet is invalid. 64c 1-revolution data reset error at servo on (serial encoder command) a 1-re...

  • Page 441

    427 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 65f main/driver motor control data mismatch error a motor control constant does not match the corresponding driver parameter (rated speed, maximum speed, rated cur...

  • Page 442

    428 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 66f target specification error due to no axis number the specified target of slave communication (driver or encoder) is invalid (no axis number is assigned for the...

  • Page 443

    429 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 801 scif overrun status (iai protocol reception) communication failure. Check for noise, connected equipment and communication setting. 802 scif receive er status ...

  • Page 444

    430 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 900 blank step shortage error there are not enough blank steps to save step data. Provide enough blank steps needed to save step data. 901 step number error the st...

  • Page 445

    431 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A0b flash-rom verify error error erasing/writing the flash rom a0c flash-rom ack timeout error erasing/writing the flash rom a0d head sector number specification e...

  • Page 446

    432 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A23 absolute-data backup battery voltage-low warning (main analysis) the voltage of the absolute-data backup battery is low. Check the battery connection or replac...

  • Page 447

    433 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A40 data change refusal error during flash rom write data cannot be changed while the flash rom is being written. A41 duplicate flash-rom write commands refusal er...

  • Page 448

    434 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A5e i/o-port/flag count specification error the specified number of i/o ports/flags is invalid. A5f fieldbus error (lerror-on) a lerror-on was detected. A60 fieldb...

  • Page 449

    435 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. B00 scha setting error the setting of scha command is invalid. B01 tpcd setting error the setting of tpcd command is invalid. B02 slen setting error the setting of...

  • Page 450

    436 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. B21 ethernet ip address error an error will generate under the following conditions during normal use. When ip address (h) (first octet) through ip address (l) (fo...

  • Page 451

    437 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C0e bgsr no pair-end error there is no edsr for bgsr, or no bgsr for edsr. Check the correspondence between bgsr and edsr. C0f do/if/is over-nesting error the numb...

  • Page 452

    438 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C29 div command divisor 0 error “0” was specified as the divisor in the div command. C2a sqr command range error the operand value in the sqr command is invalid. I...

  • Page 453

    439 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C47 symbol search error definitions are not found for the symbols used in the program steps. C48 sio-message continuous conversion error the transmitted sio messag...

  • Page 454

    440 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C64 invalid servo acceleration/deceleration error the internal servo acceleration/deceleration is invalid. C65 servo on/off logic error the servo on/off logic betw...

  • Page 455

    441 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C79 pole sense operation error operation is disabled in the pole sense mode. C7a servo unsupported function error an attempt was made to use an unsupported functio...

  • Page 456

    442 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C90 spline calculation logic error the spline processing logic is invalid. C91 push-motion axis multiple specification error two or more push-motion axes were spec...

  • Page 457

    443 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Caa palletizing pase/paps non-declaration error neither pase nor paps palletizing-setting command is set. Set either command. Cab palletizing position number error...

  • Page 458

    444 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Cbf positioning distance overflow error the positioning distance is too large. If the controller is of absolute encoder specification and the system has just been ...

  • Page 459

    445 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D01 encoder eeprom-write timeout error the encoder is faulty or failure occurred in the encoder communication. D02 encoder eeprom-read timeout error the encoder is...

  • Page 460

    446 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D20 driver error (refer to error no. Ca1.) d22 encoder rotation reset error the encoder is faulty or has turned. D23 encoder alarm reset error faulty encoder d24 e...

  • Page 461

    447 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D58 fieldbus error (init timeout) an init timeout was detected. Check the status of the monitor led on the front face of the board by referring to the operation ma...

  • Page 462

    448 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D6f optional password error the optional function the controller is attempting to use requires an optional password. Check other parameter nos. 30 through 32, etc....

  • Page 463

    449 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E1f i/o assignment parameter error a value other than an i/o port number (“-1” is acceptable) or other than an i/o head port number + [multiple of 8] may be input ...

  • Page 464

    450 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E42 servo job error the servo job is invalid. E45 servo undefined command detection error an undefined command was detected during servo processing. E46 maximum re...

  • Page 465

    451 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E63 message-buffer information type error the message-buffer information type is invalid. E64 abnormal standby power detection error abnormal standby power was det...

  • Page 466

    452 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E7f stroke parameter error check axis-specific parameter nos. 7, 8, 1, etc. E80 unsupported card error an unsupported card is installed in an i/o slot. E81 priorit...

  • Page 467

    453 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Ff0 ~ f00 shutdown error (hi_sysdwn () definition) a shutdown error (hi_sysdwn () definition) was detected. F03 ~ f58 shutdown error (os call error) a shutdown err...

  • Page 468

    454 appendi x ~ error list (main core) (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A70 scif overrun error communication error. Check for noise, connected equipment and communication setting. (when updating the application...

  • Page 469

    455 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A85 from write request error before erase is complete when updating, a flash-rom write command was received before a flash-rom erase command. Confirm that the upda...

  • Page 470

    456 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E90 core code flash-rom status error the core program is invalid. Contact the manufacturer. E91 application code flash-rom status error the application program is ...

  • Page 471

    457 appendi x (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Eac servo control underrun error a servo control underrun error was detected. Ead boot error a fpga boot watchdog was detected. The core program may not be running...

  • Page 472

    Appendix ~ troubleshooting of ssel controller the x-sel controller has a panel window on its front side. This panel window displays an error number every time an error generates. When the power is turned on, normally “rdy” or “ardy” will be displayed. “p01” or other code will be displayed while a pr...

  • Page 474

    460 appendi x troubleshooting (causes and countermeasures for key errors) error no. Error name cause countermeasure acf ac power cutoff a momentary power failure or voltage drop has occurred. 100 v is input when the controller’s power specification is 200 v. Check the power-supply voltage. If the la...

  • Page 475

    Appendi x 461 error no. Error name cause countermeasure ca1 abnormal absolute-data backup battery voltage the pg cable was disconnected from the controller. Absolute reset has not been executed after the initial setup. The voltage of the absolute-data backup battery has dropped. Connect the pg cable...

  • Page 476

    462 appendi x error no. Error name cause countermeasure d18 speed loop underrun error the driver cpu board was damaged due to noise in the encoder cable. Replace the board and implement noise control measures. 807 shutdown relay er status the transistor on the power-supply board (to which the power ...

  • Page 477

    463 appendix trouble report sheet trouble report sheet date: company name department reported by tel (ext) fax iai agent purchase date serial number manufacture date [1] number of axes … axis(es) type [2] type of problem 1. Disabled operation 2. Position deviation 3. Runaway machine 4. Error error c...

  • Page 479

    Catalog no.: ssel controller mj0157-1a nov3006-1 head office: 2690 w. 237th street, torrance, ca 90505 tel (310) 891-6015 fax (310) 891-0815 chicago office: 1261 hamilton parkway, itasca, il 60143 tel (630) 467-9900 fax (630) 467-9912 new jersey office: 7 south main st., suite-f, marlboro, nj 07746 ...