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IAI X-SEL PX Operation Manual

Manual is about: multi axis controller

Summary of X-SEL PX

  • Page 1

    Operation manual seventh edition x-sel controller px/qx type tenth edition.

  • Page 3

    Please read before use thank you for purchasing our product. This operation manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and f...

  • Page 4

    Caution operator alarm on low battery voltage this controller is equipped with the following backup batteries for retention of data in the event of power failure: [1] system-memory backup battery for retention of position data, global variables/flags, error list, strings, etc. [2] absolute encoder b...

  • Page 5

    Caution 200 to 230 vac power supply auxiliary power circuit top: 0 v bottom: 24 v brake power +24-v power supply example of x-sel-px controller (4-axis scara robot of 250 to 600 mm in arm length, without expansion i/os) power-supply capacity 45 w: arm length 500 to 800 23 w: arm length 250 to 350 14...

  • Page 6

    Caution drive-source cutoff relay error (detection of fused relay: e6d) because of their circuit configuration, xsel-px controllers of single-phase, standard specification are the only class of controllers that may generate a “drive-source cutoff relay error (e6d),” notifying fusion of an internal r...

  • Page 7

    Caution note on controllers with increased cpu unit memory size * controllers with gateway function come with an increased memory size in their cpu unit. If you are using a controller with increased cpu unit memory size, use pc software and teaching pendants of the versions specified below. Teaching...

  • Page 9: Table Of Contents

    Table of contents table of contents safety guide.................................................................................................................................. 1 introduction..............................................................................................................

  • Page 10

    Table of contents chapter 8 how to perform an absolute encoder reset of a direct movement axis (absolute specification)...................................................................................................................... 87 1. Preparation ...............................................

  • Page 11

    Table of contents part 4 commands .................................................................................................................. 132 chapter 1 list of sel language command codes ......................................................................... 132 chapter 2 explanation of...

  • Page 12

    Table of contents 1. How to use .............................................................................................................................. 362 2. Palletizing setting .....................................................................................................................

  • Page 13

    Table of contents battery backup function ......................................................................................................... 422 1. System-memory backup battery ................................................................................ 422 2. Absolute-encoder backup batt...

  • Page 15

    Pre-1 safety guide this “safety guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product. Regulations and standards governing industrial robots safety measures on mechanical devices are generally clas...

  • Page 16

    Pre-2 requirements for industrial robots under ordinance on industrial safety and health work area work condition cutoff of drive source measure article signs for starting operation article 104 outside movement range during automatic operation not cut off installation of railings, enclosures, etc. A...

  • Page 17

    Pre-3 applicable modes of iai’s industrial robot machines meeting the following conditions are not classified as industrial robots according to notice of ministry of labor no. 51 and notice of ministry of labor/labor standards office director (ki-hatsu no. 340): (1) single-axis robo with a motor wat...

  • Page 18

    Pre-4 notes on safety of our products common items you should note when performing each task on any iai robot are explained below. No. Task note 1 model selection this product is not planned or designed for uses requiring high degrees of safety. Accordingly, it cannot be used to sustain or support l...

  • Page 19

    Pre-5 no. Task note (2) wiring the cables use iai’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place heavy articles on top. Current leak or poor electrical continuity may occur...

  • Page 20

    Pre-6 no. Task note 5 teaching when releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its dead weight, causing pinched hands or damaged load, etc. * safety fences --- indicate the movement range if safety fences are not provided. 6 confirmation ...

  • Page 21

    Pre-7 indication of cautionary information the operation manual for each model denotes safety precautions under “danger,” “warning,” “caution” and “note,” as specified below. Level degree of danger/loss symbol danger failure to observe the instruction will result in an imminent danger leading to dea...

  • Page 22: Ce Marking

    Ce marking if a compliance with the ce marking is required, please follow overseas standards compliance manual (me0287) that is provided separately. Pre-8.

  • Page 23

    Pre-9 steel band (piano wire) bundle loosely. Use a curly cable. Do not use a spiral tube where the cable flexes frequently. Prohibited handling of cables caution when designing an application system using actuators and controllers, incorrect wiring or connection of each cable may cause unexpected p...

  • Page 24

    Pre-10 7. Do not let the cable got tangled or kinked in a cable track or flexible tube. When bundling the cable, keep a certain degree of flexibility (so that the cable will not become too taut when bent). 8. Do not cause the cables to occupy more than 60% of the space in the cable track. 9. Do not ...

  • Page 25

    1 introduction [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] slot 1 slot 2 slot 3 slot 4 [1] series [2] controller type [3] ix actuator type [4] axis 5 motor wattage [5] axis 6 motor wattage [6] network (dedicated slot) [7] standard i/o [8] expansion i/o [9] i/o flat cable length [10] power- source volta...

  • Page 26

    2 [1] series [2] controller type [3] ix actuator type [4] axis 5 motor wattage [5] axis 6 motor wattage [6] network (dedicated slot) [7] standard i/o slot 1 slot 2 slot 3 slot 4 [8] expansion i/o [9] i/o flat cable length [10] power- source voltage (large-capacity 4-axis type) (large-capacity 5-axis...

  • Page 27

    3 introduction this controller receives power in order to drive the actuator motor(s) (three-phase/single-phase, 200 to 220 v) and to operate the controller itself (200 to 220 v). (*the single-phase power specification is applicable only to single-phase controllers.) the actuator motor drive power s...

  • Page 28

    4 part 1 installation part 1 installation caution chapter 1 safety precautions the x-sel px/qx controller can support a combination of a scara robot and linear movement axes to perform integrated control of all axes including peripheral equipment. In other words, the controller has the ability to co...

  • Page 29

    5 part 1 installation chapter 2 warranty period and scope of warranty the x-sel 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: ...

  • Page 30

    6 part 1 installation chapter 3 installation environment and selection of auxiliary power devices 1. 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 functi...

  • Page 31

    7 part 1 installation 2. Heat radiation and installation design the control panel size, controller layout and cooling method so that the surrounding air temperature around the controller will be kept at or below 40c. Install the controller vertically on a wall, as illustrated below. The controller ...

  • Page 32

    8 part 1 installation 3. Selection of auxiliary power devices this section provides selection guidelines for breakers, earth leakage breakers, contactors, surge absorbers and noise filters that can be used with the ac power supply line of the x-sel controller. These devices must be selected by takin...

  • Page 33

    9 part 1 installation (4) auxiliary power devices [1] circuit breaker install a circuit breaker or earth leakage breaker in the ac power-supply line (primary side) of the controller in order to prevent damage due to power switching and short current. One circuit breaker or earth leakage breaker can ...

  • Page 34

    10 part 1 installation [4] noise filter, ring core and clamp filters the global specification has no built-in noise filters in the motor power supply. If your controller is of the global specification, therefore, be sure to install noise filters and ring cores for the motor drive power supply extern...

  • Page 35

    11 part 1 installation peripheral configurations 3-phase power supply specification px type (standard specification) qx type (global specification) control panel circuit breaker earth leakage breaker single- phase noise filter ring core clamp filters encoder cable motor cable actuator controller sys...

  • Page 36

    12 part 1 installation peripheral configurations single-phase power supply specification px type (standard specification) qx type (global specification) control panel circuit breaker earth leakage breaker ring core clamp filters encoder cable motor cable actuator controller system i/os brake 24-vdc ...

  • Page 37

    13 part 1 installation 4. Noise control measures and grounding (1) wiring and power source pe on the power terminal block is used for protective grounding. Provide class d grounding from this terminal. Use a grounding cable with a wire size of 1.0 mm 2 (#awg17) or more, which should not be smaller t...

  • Page 38

    14 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 39

    15 part 1 installation reference circuit diagram surge absorber solenoid valve controller 0 v 15.

  • Page 40

    16 part 1 installation chapter 4 name and function of each part 1. Front view of controller px type (standard specification), 4 axes (scara axes only) px type (standard specification), expanded by 2 additional linear movement axes, with i/o brake unit 16.

  • Page 41

    17 part 1 installation qx type (global specification), 4 axes (scara axes only) qx type (global specification), expanded by 2 additional linear movement axes, with i/o brake unit 17.

  • Page 42

    18 part 1 installation [1] fg terminal this terminal is used to ground fg on the enclosure. The enclosure is connected to pe in the ac input part inside the controller. Fg terminal specifications item description m4 3-point sems screw, 5 mm name fg cable size 2.0 ~ 5.5 mm 2 min. Grounding method cla...

  • Page 43

    19 part 1 installation [3] ac-power input connector a 200-vac, single-phase/three-phase input connector consisting of six terminals including motor power terminals, control power terminals and a pe terminal. Note) select the single-phase input specification or three-phase input specification, whiche...

  • Page 44

    20 part 1 installation [6] encoder/axis-sensor connector this connector is used to connect the actuator encoder and axis sensors such as ls, creep and ot. * ls, creep and ot sensors are optional. The connectors are assigned to axis 1, axis 2, and so on, from the right. Encoder/axis-sensor connector ...

  • Page 45

    21 part 1 installation left: pc cable ( conforming to safety category 4) sel-t, sel-td, sel-tg teaching pendant ia-t-xa teaching pendant right: pc cable ia-t-x, ia-t-xd teaching pendant [7] motor connector this connector is used to drive the motor inside the actuator. Motor connector specifications ...

  • Page 46

    22 part 1 installation [9] teaching connector the teaching interface connects iai’s teaching pendant or a pc to enable operation and setting of your equipment from the teaching pendant/pc. The physical interface consists of a rs232c system based on a 25 pin d-sub connector. The signal level conforms...

  • Page 47

    23 part 1 installation interface specifications of teaching serial interface item no. Direction signal name details 1 fg frame ground 2 out txd transmitted data 3 in rxd received data 4 out rts request to send 5 in cts clear to send 6 out dsr equipment ready 7 sg signal ground 8 nc not connected 9 i...

  • Page 48

    24 part 1 installation [10] system i/o connector this i/o connector is used to control the safety actions of the controller. With the global specification, a safety circuit conforming to a desired safety category of up to level 4 can be configured using this connector and an external safety circuit....

  • Page 49

    25 part 1 installation [11] panel window this window consists of a 4-digit, 7 segment led display and five led lamps that indicate the status of the equipment. For the information shown on the display, refer to 2, “explanation of codes displayed on the panel window” or the “error code table.” meanin...

  • Page 50

    26 part 1 installation i/o interface list pin no. Category port no. Function cable color 1 - +24 v input brown-1 2 000 program start red-1 3 001 general purpose input orange-1 4 002 general purpose input yellow-1 5 003 general purpose input green-1 6 004 general purpose input blue-1 7 005 general pu...

  • Page 51

    27 part 1 installation [14] general rs232c port connector 1 channel 1 of the two-channel rs232c port provided for connection of general rs232c equipment. (refer to i/o parameter nos. 201 to 203.) [15] general rs232c port connector 2 channel 2 of the two-channel rs232c port provided for connection of...

  • Page 52

    28 part 1 installation [19] brake power input connector (scara axis only) this connector is used to input the power for scara brake control. 24 vdc must be supplied externally. Connect the scara-axis brake power to both the brake power cable from the scara robot and this connector. [20] brake power ...

  • Page 53

    29 part 1 installation [22] brake switch (linear movement axis only) this alternate switch with lock is used to release the axis brake. To operate the switch, pull it toward you and tilt. Tilting the switch upward (rls side) will release the brake forcibly, while tilting it downward (nom) will enabl...

  • Page 54

    30 part 1 installation 2. Explanation of codes displayed on the panel window 2.1 application display priority (*1) description 1 ac power is cut off (including momentary power failure or drop in power source voltage). 1 system down level error 2 writing data to the flash rom. 3 emergency stop is bei...

  • Page 55

    31 part 1 installation 2.2 core display priority (*1) description 1 ac power is cut off (including momentary power failure or drop in power source voltage) 1 coldstart level error 1 coldstart level error 1 operationcancellation level error 1 operationcancellation level error 2 message level error 2 ...

  • Page 56

    32 part 1 installation 2.3 current monitor and variable monitor other parameter nos. 49 and 50 can be set up to monitor currents or variables on the panel window. (1) current monitor currents of up to four axes having continuous axis numbers can be monitored. Parameter settings other parameter no. 4...

  • Page 57

    33 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 58

    34 part 1 installation chapter 5 specifications 1. Controller specifications 1.1. Px type (standard specification) 1-axis to 6-axis controller total output when maximum number of axes are connected single-phase specification: 1600 w three-phase specification: 2400 w control power input single phase,...

  • Page 59

    35 part 1 installation controller with increased memory size (with gateway function) 128 programs number of programs controller without increased memory size 64 programs multi-tasking 16 programs storage device flash rom + sram battery backup data input methods teaching pendant or pc software absolu...

  • Page 60

    36 part 1 installation 1.2 qx type (global specification) 1-axis to 6-axis controller total output when maximum number of axes are connected single-phase specification: 1600 w three-phase specification: 2400 w control power input single phase, 200 to 230 vac  10% motor power input single-phase spec...

  • Page 61

    37 part 1 installation data input methods teaching pendant or pc software absolute brake unit (brake type or absolute specification actuator only) built-in brake drive circuit driven by over-excitation at 90 v, released at 45 v (steady state) there are no limitation on the number of brake axes (a 6-...

  • Page 62

    38 part 1 installation 2. External i/o specifications 2.1. 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. Insulatio...

  • Page 63

    39 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 64

    40 part 1 installation 2.2. 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 ex...

  • Page 65

    41 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 66

    42 part 1 installation 3. Power source capacity and heat output the power consumption and heat output of the x-sel controller will vary depending on the number of connected axes and i/o configuration. This section explains how to estimate the power source capacity and heat output of your x-sel contr...

  • Page 67

    43 part 1 installation *2 the number of fan units varies depending on the controller specification. The number of fan units varies as follows in accordance with the number of controller axes (whether or not linear movement axis is added) and use/no-use of any expansion i/o board. Controller specific...

  • Page 68

    44 part 1 installation (2) power consumption and heat output of the motor drive part both the power consumption and heat output of the motor drive part will vary depending on the number of axes connected to the controller and wattage configuration. The table below lists per axis motor power consumpt...

  • Page 69

    45 part 1 installation list of motor drive powers power [w] (rated output) power  0.6 [power factor] [va output stage loss [w] nn2515 nn3515 tnn3015 tnn3515 unn3015 unn3515 615.8 1026.3 24.75 nn50 nn60 hnn5020 hnn6020 inn5020 inn6020 1122.8 1871.3 44.12 nn70 nn80 hnn7020 hnn8020 inn70...

  • Page 70

    46 part 1 installation (3) calculation example obtain the power source capacities and heat outputs when a controller of the following specifications is used. Scara: ix-nnn5020 linear movement axis: axis 5 --- isa-mxm-200-* (200 w), axis 6 --- isa-mzm-100-*-b (100 w, with brake) standard dio options:...

  • Page 71

    47 part 1 installation (4) reference example the power supply capacity and heat output of a scara-axis controller (4-axis specification without additional linear movement axis) are shown below. All figures assume use of a standard dio board, with devicenet support and a teaching pendant (iai’s stand...

  • Page 72

    48 part 1 installation 4. External dimensions 4.1 list of external dimension drawings the external controller dimensions vary depending on the scara model (arm length) and whether or not a linear movement axis or expansion i/o board is used, among others. The table below lists the external dimension...

  • Page 73

    49 part 1 installation example of applicable model: x-sel-px-nnn1205-n1-eee-2-3 fig. 4-2 px/qx type (three-phase standard specification, single-phase global specification, single-phase standard specification) 4-axis specification, scara arm length 120/150/180 mm, with expansion i/o board example of ...

  • Page 74

    50 part 1 installation 22 120 120 3-5 284 300 195 186 180 22 5 357 373 5 195 186 180 58.5 120 120 3-5 58.5 fig. 4-3 px/qx type (three-phase standard specification, single-phase global specification, single-phase standard specification) 5/6-axis specification, scara arm length 120/150/180 mm, witho...

  • Page 75

    51 part 1 installation 342 358 5 195 186 180 51 120 120 3-5 51 269 285 5 195 186 180 59.5 75 3-5 75 59.5 fig. 4-5 px/qx type (three-phase standard specification, single-phase global specification, single-phase standard specification) 4-axis specification, scara arm length 250 to 600 mm, without ex...

  • Page 76

    52 part 1 installation 397 413 5 195 186 180 78.5 120 120 3-5 78.5 324 340 5 195 186 180 42 120 120 3-5 42 fig. 4-7 px/qx type (three-phase standard specification, single-phase global specification, single-phase standard specification) 5/6-axis specification, scara arm length 250 to 600 mm, withou...

  • Page 77

    53 part 1 installation 206 222 5 195 186 180 28 75 3-5 28 75 (80) 3 125.3 279 295 5 195 186 180 64.5 75 3-5 64.5 75 4.3 qx type (three-phase global specification) controller example of applicable model: x-sel-qx-nnn1205-n1-eee-2-3 example of applicable model: x-sel-qx-nnn1205-n1-n1n1n1-2-3 fig. 4-...

  • Page 78

    54 part 1 installation 241 257 5 195 186 180 45.5 75 3-5 45.5 75 314 330 5 195 186 180 37 120 3-5 37 120 example of applicable model: x-sel-qx-nnn1205-200i-200i-n1-eee-2-3 example of applicable model: x-sel-qx-nnn1205-200i-200i-n1-n1n1n1-2-3 fig. 4-11 qx type (three-phase global specification) 5/6...

  • Page 79

    55 part 1 installation 226 242 5 195 186 180 38 75 3-5 38 75 299 315 5 195 186 180 29.5 120 3-5 29.5 120 example of applicable model: x-sel-qx-nnn2521-n1-eee-2-3 example of applicable model: x-sel-qx-nnn2515-200i-200i-n1-n1n1n1-2-3 fig. 4-13 qx type (three-phase global specification) 4-axis specif...

  • Page 80

    56 part 1 installation 354 370 5 195 186 180 57 120 3-5 57 120 281 297 5 195 186 180 20.5 120 3-5 20.5 120 example of applicable model: x-sel-qx-nnn5020-400ab-200ab-n1-eee-2-3 example of applicable model: x-sel-qx- nnn5020-400ab-200ab-n1-n1n1n1-2-3 fig. 4-15 qx type (three-phase global specificati...

  • Page 81

    57 part 1 installation chapter 6 safety circuit the circuit configuration for embodying safety actions such as emergency stop is different between the standard specification and global specification of the x-sel controller. The standard controller has a built-in drive source cutoff circuit conformin...

  • Page 82

    58 part 1 installation 2. Safety circuit for px type (standard specification) controller the px type controller has a built-in drive source cutoff circuit just like iai’s other controllers. The drive source cutoff circuit consists of a relay and conforms to safety category b. If your equipment must ...

  • Page 83

    59 part 1 installation with the px type, use only the signals shown in the shaded fields of the table for connection with the safety switches. Ensure that the specified pins are wired correctly, as incorrect wiring will compromise the safety mechanisms of the controller. The rdyout contacts will clo...

  • Page 84

    60 part 1 installation 3. Safety circuit for qx type (global specification) controller the global controller has no internal drive source cutoff circuit so that the user can configure a desired drive source cutoff circuit externally to the controller to conform to the required safety category. The s...

  • Page 85

    61 part 1 installation terminal assignments pin no. Signal name overview details 9 det in to fused-contact detection circuit external contact error input (paired with no. 18) connected to the fused contact detection contacts of the safety circuit. 8 in emergency stop detection input 7 emgin +24 v to...

  • Page 86

    62 part 1 installation emg1/emg2, enb1/enb2 emg1 (line+)/(line-) and emg2 (line+)/(line-) are redundant emergency stop control lines. Enb1 (line+)/(line-) and enb2 (line+)/(line-) are redundant enabling control lines. Use these lines to cut off the external drive source. Since they are completely dr...

  • Page 87

    63 part 1 installation qx type x-sel controller power supply part not installed ac cutoff relay rectifier dc bus to power stage external emergency-stop reset contact output teaching pendant power-on reset mpsdwn bit power error mushroom emergency- stop switch emg sw contact 1 emg sw contact 2 double...

  • Page 88

    64 part 1 installation external emergency stop circuit contactor (neo sc) relay contactor (neo sc) 200-vac, three- phase reset switch external emergency-stop switch external emg switch contact 1 external emg switch contact 2 safety relay unit (g9sa-301 by omron) safety gate switch external sgate con...

  • Page 89

    65 part 1 installation 4. Timing chart of safety circuit for qx-type sel controller a timing chart of the safety circuit for qx-type sel controller is shown below. The points in time shown in this timing chart are: “[1] power on,” “[2] emergency stop,” “[3] power on without cancelling emergency stop...

  • Page 90

    66 part 1 installation [2] emergency stop i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected). I/o parameter no. 44 = 0: the drive-sourc...

  • Page 91

    67 part 1 installation [3] power on without cancelling emergency stop assume that the same timings will apply when the power is turned on without performing an enable operation. I/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) an...

  • Page 92

    68 part 1 installation [4] enable operation i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected). I/o parameter no. 44 = 0: the drive-sou...

  • Page 93

    69 part 1 installation [5] system shutdown level error i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected). I/o parameter no. 44 = 0: th...

  • Page 94

    70 part 1 installation [6] cold start level error i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected). I/o parameter no. 44 = 0: the dri...

  • Page 95

    71 part 1 installation [7] operation cancellation level error i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected). I/o parameter no. 44 ...

  • Page 96

    72 part 1 installation [8] power on (in combination with drive-source cutoff reset input) i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are dete...

  • Page 97

    73 part 1 installation [9] emergency stop (in combination with drive-source cutoff reset input) i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors ar...

  • Page 98

    74 part 1 installation chapter 7 system setup 1. Connection method of controller and actuator 1.1 connection diagram for px type (standard specification) three-phase specification cp: single-phase 200 to 230 vac power supply mp: three-phase 200 to 230 vac power supply single-phase specification cp: ...

  • Page 99

    75 part 1 installation 1.2 connection diagram for qx type (global specification) three-phase specification cp: single-phase 200 to 230 vac power supply mp: three-phase 200 to 230 vac power supply single-phase specification cp: single-phase 200 to 230 vac power supply mp: three-phase 200 to 230 vac p...

  • Page 100

    76 part 1 installation the positions of motor connectors and encoder connectors vary depending on the scara type. The figure below shows where the motor connectors and encoder connectors are located for each scara type, as viewed from the front side of the controller. Arm length 700/800 high-speed t...

  • Page 101

    77 part 1 installation 1.3 startup procedure caution: be sure to connect the cables from the respective actuators to the correct connectors. When connecting multiple axes to the controller, be sure the actuator cables are going to the correct connectors. Check the type of the actuator connected. If ...

  • Page 102

    78 part 1 installation 2. I/o connection diagram 2.1 npn specification pin no. Category port no. Function (factory setting) 1 - +24-v input 2 000 program start 3 001 general-purpose input 4 002 general-purpose input 5 003 general-purpose input 6 004 general-purpose input 7 005 general-purpose input ...

  • Page 103

    79 part 1 installation 2.2 pnp specification pin no. Category port no. Function (factory setting) 1 - +24-v input 2 000 program start 3 001 general-purpose input 4 002 general-purpose input 5 003 general-purpose input 6 004 general-purpose input 7 005 general-purpose input 8 006 general-purpose inpu...

  • Page 104

    80 part 1 installation 2.3 i/o flat cable flat cable: kfx-50 (s) (color) (kaneko cord) no. Color no. Color no. Color no. Color no. Color 1 brown-1 11 brown-2 21 brown-3 31 brown-4 41 brown-5 2 red-1 12 red-2 22 red-3 32 red-4 42 red-5 3 orange-1 13 orange-2 23 orange-3 33 orange-4 43 orange-5 4 yell...

  • Page 105

    81 part 1 installation 3. Multipoint dio board this board is a multipoint dio board for xsel controllers on which 48 input points and 48 output points are provided. 3.1 overview 3.1.1 features [1] 96 points can be input/output using a single board. One board provides 48 input points and 48 output po...

  • Page 106

    82 part 1 installation 3.3 external interface specifications 3.3.1 external dio interface terminal assignment overview or multipoint dio interface specifications item overview remarks applicable connector half-pitch flat connector, 100 pins hif6-100pa-1.27ds (hirose) connector name external dio conn...

  • Page 107

    83 part 1 installation 3.4 multipoint i/o board connection cables cable 1 cable 2 category pin no. Color port no. Function category pin no. Color port no. Function - 1 brown-1 - 24-vdc for external power supply pin nos. 2 to 25/51 to 74 51 brown-1 300 alarm output 2 red-1 000 program start 52 red-1 ...

  • Page 108

    84 part 1 installation 3.5 multipoint i/o board connection cables model: cb-x-pioh020 socket: hif6-100d-1.27r (hirose) flat cable (50 cores) ul2651 awg28 x 2 no connector cable 1 (pins 1 to 50) cable 2 (pins 51 to 100) 84.

  • Page 109

    85 part 1 installation internal circuit internal circuit input terminal input terminal external power supply external power supply 3.6 i/o circuits 3.6.1 input input specifications item specification (common to pnp/npn) external power-supply voltage 24 vdc  10% input current max. 7 ma/1 point leak ...

  • Page 110

    86 part 1 installation 3.6.2 output output specifications specification output element transistor array npn specification: td62084af by toshiba pnp specification: td62784af by toshiba external power-supply voltage 24 vdc  10% maximum load current max. 50 ma/1 point (max. 400 ma/24 points): *1 leak ...

  • Page 111

    87 part 1 installation chapter 8 how to perform an absolute encoder reset of a direct movement axis (absolute specification) when the absolute-encoder backup battery voltage of a linear movement axis is abnormal or when the battery or encoder cable of a linear movement axis has been disconnected, an...

  • Page 112

    88 part 1 installation (6) the x-sel pc software window will be displayed. Clicking the [ok] button will clear the error message. (7) from the [monitor (m)] menu, select [detailed error information (e)] to check the current error status. In the case of an encoder battery error, the following will be...

  • Page 113

    89 part 1 installation (8) from the [controller (c)] menu, select [absolute reset (linear movement axis) (a)]. (9) when a [warning] dialog box is displayed, click the [ok] button. 89.

  • Page 114

    90 part 1 installation (10) the [abs. Encoder reset] dialog box will be displayed. Click here to select the axis for which you wish to perform an absolute reset. (11) clicking the [encoder rotation data reset 1] button will display a [warning] dialog box. Click the [yes] button. 90

  • Page 115

    91 part 1 installation (12) another [warning] dialog box will be displayed. Click the [yes] button. (13) when the processing of “encoder rotation data reset 1” is complete, the red arrow will move to the next item. Press the following processing buttons one by one (the red arrow will move to the nex...

  • Page 116

    92 part 1 installation (15) when the [confirmation] dialog box is displayed, click the [yes] button and restart the controller. (note) commencing the operation without first executing a software reset or reconnecting the power may generate an “error no. C70, abs coordinate non-confirmation error.” (...

  • Page 117

    93 part 1 installation chapter 9 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 environme...

  • Page 118

    94 part 1 installation 2. Spare consumable parts without spare parts, a failed controller cannot be repaired even when the problem is identified quickly. We recommend that you keep the following consumable parts as spares: consumable parts cables system memory backup battery: cr2032 (note 1) --- mus...

  • Page 119

    95 part 1 installation 3. Replacement procedure for system memory backup battery backing up the system memory if “other parameter no. 20, backup battery installation function type” is set to “2” (installed), the following sram data in the x-sel controller will be backed up by the system memory backu...

  • Page 120

    96 part 1 installation battery replacement procedure [1] remove the 7 segment led panel from the controller. Slide the panel upward and pull it toward you to remove. [2] press the center of the battery using a finger, as shown. The battery will come off from the holder. [3] install a new battery int...

  • Page 121

    97 part 1 installation (8) when the replacement of system memory backup battery is complete, confirm that the battery is installed securely and then turn on the controller power. (9) revert “other parameter no. 20, backup battery installation function type” to the value recorded in step 2, transfer ...

  • Page 122

    98 part 1 installation 4. Replacement procedure for absolute-encoder backup battery for linear movement axis the replacement procedure will vary depending on if errors are present at the time of replacement and if so, which errors are present (nos. A23, 914, ca2). If no error is present, perform ste...

  • Page 123

    99 part 1 installation (5) insert a new battery into the holder and plug in the battery connector. (6) turn on the controller power. (7) set the absolute data backup battery enable/disable switch to the top (enb) position. (note) this operation is not required if no error has occurred or an a23 erro...

  • Page 124

    100 part 1 installation (15) from the [controller (c)] menu on the pc software screen, select [software reset (r)], and restart the controller. Confirmation (note) commencing the operation without first executing a software reset or reconnecting the power may generate the following errors: error no....

  • Page 125

    101 part 2 operation part 2 operation chapter 1 operation how to start a program with the x-sel controller, the stored programs can be started 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 applicat...

  • Page 126

    102 part 2 operation 1. Starting a program by auto start via parameter setting i/o parameter no. 33 (input function selection 003) = 1 (default 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 mode...

  • Page 127

    103 part 2 operation 2. Starting via external signal selection (1) flow chart when the ready signal 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 a start signal from the external device. Whe...

  • Page 128

    104 part 2 operation (2) timing chart [1] start of program ready output program 1 program 2 program number input external start input 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 ...

  • Page 129

    105 part 2 operation 3. Drive source recovery request and operation pause reset request (1) drive source recovery request [1] how to request a drive source recovery a drive source recovery request can be issued using one of the following methods: set i/o parameter no. 44 to “1” (input selection func...

  • Page 130

    Part 2 operation chapter 2 special function 1. Driver overload warning function setting the motor estimated raised temperature that causes the driver overload error as 100%, the driver overload warning (message level error) will be detected when the load rate (hereafter described as the overload lev...

  • Page 131

    Part 2 operation [reference: check of overload level] the overload level during the motor operation can be checked in the pc interface software for xsel. [1] click “servo addition datamonitor” in “monitor” menu. [2] set the monitor type in “servo addition datamonitor” window to “01: motor load facto...

  • Page 132

    Part 2 operation ● axis-specific parameters no. Parameter name default value (reference) input range unit access right remarks 113 olwl (used be ovld) driver overload warning load level ratio 100 50 ~ 100 % f set in % from the driver overload error load level (invalid when 100) (main application ver...

  • Page 133

    106 part 3 controller data structure part 3 controller data structure the controller data consists of parameters as well as position data and application programs used to implement sel language. X-sel controller data structure the user must create position data and application programs. The paramete...

  • Page 134

    107 part 3 controller data structure chapter 1 how to save data since the x-sel controller uses flash memory, some data are saved by battery backup while others are saved in the flash memory. When data is transferred from the pc software or teaching pendant to the controller, the data is only writte...

  • Page 135

    107 part 3 controller data structure chapter 1 how to save data since the x-sel controller uses flash memory, some data are saved by battery backup while others are saved in the flash memory. When data is transferred from the pc software or teaching pendant to the controller, the data is only writte...

  • Page 136

    109 part 3 controller data structure 2. When the system memory backup battery is not used 2.1 controller without increased memory size other parameter no. 20 = 0 (system memory backup battery not installed) the programs, parameters, symbols and positions are read from the flash memory at restart. Th...

  • Page 137

    109 part 3 controller data structure 2. When the system memory backup battery is not used 2.1 controller without increased memory size other parameter no. 20 = 0 (system memory backup battery not installed) the programs, parameters, symbols and positions are read from the flash memory at restart. Th...

  • Page 138

    111 part 3 controller data structure 3. 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 ...

  • Page 139

    111 part 3 controller data structure 3. 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 ...

  • Page 140

    113 part 3 controller data structure chapter 2 x-sel language data 1. Values and symbols used in sel language 1.1 list of values and symbols used the functions required in a program are represented by values and symbols. Function global range local range remarks input port 000 ~ 299 (300) varies dep...

  • Page 141

    113 part 3 controller data structure chapter 2 x-sel language data 1. Values and symbols used in sel language 1.1 list of values and symbols used the functions required in a program are represented by values and symbols. Function global range local range remarks input port 000 ~ 299 (300) varies dep...

  • Page 142

    115 part 3 controller data structure 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) 70...

  • Page 143

    115 part 3 controller data structure 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) 70...

  • Page 144

    117 part 3 controller data structure 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 a...

  • Page 145

    117 part 3 controller data structure 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 a...

  • Page 146

    119 part 3 controller data structure real variable box variable box 1 (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 progra...

  • Page 147

    119 part 3 controller data structure real variable box variable box 1 (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 progra...

  • Page 148

    121 part 3 controller data structure 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 25...

  • Page 149

    121 part 3 controller data structure 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 25...

  • Page 150

    123 part 3 controller data structure 1.8 symbols in the x-sel 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...

  • Page 151

    123 part 3 controller data structure 1.8 symbols in the x-sel 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...

  • Page 152

    125 part 3 controller data structure (2) axis pattern whether or not each axis will be used is indicated by “1” or “0.” (upper) (lower) axis number axis 6 axis 5 axis 4 axis 3 axis 2 axis 1 used 1 1 1 1 1 1 not used 0 0 0 0 0 0 [example] when axes 1 and 2 are used axis 2 0011 --- the two 0s in front...

  • Page 153

    125 part 3 controller data structure (2) axis pattern whether or not each axis will be used is indicated by “1” or “0.” (upper) (lower) axis number axis 6 axis 5 axis 4 axis 3 axis 2 axis 1 used 1 1 1 1 1 1 not used 0 0 0 0 0 0 [example] when axes 1 and 2 are used axis 2 0011 --- the two 0s in front...

  • Page 154

    127 part 3 controller data structure 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 run...

  • Page 155

    127 part 3 controller data structure 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 run...

  • Page 156

    129 part 4 commands part 4 commands chapter 1 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 a...

  • Page 157

    129 part 4 commands part 4 commands chapter 1 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 a...

  • Page 158

    131 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 159

    131 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 160

    133 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 161

    133 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 162

    135 part 4 commands rc gateway function commands (controllers with gateway function only) * for the rc gateway function commands, refer to “operation manual for x-sel controller p/q/px/qx rc gateway function.” operation type in the output field cc: command was executed successfully, zr: operation re...

  • Page 163

    135 part 4 commands rc gateway function commands (controllers with gateway function only) * for the rc gateway function commands, refer to “operation manual for x-sel controller p/q/px/qx rc gateway function.” operation type in the output field cc: command was executed successfully, zr: operation re...

  • Page 164

    137 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 165

    137 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 166

    139 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 167

    139 part 4 commands operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2, ne: operand 1  operand 2, gt: operand 1 > operand 2, ge: operand 1  operand 2, ...

  • Page 168

    141 part 4 commands chapter 2 explanation of commands 1. Commands 1.1 variable assignment 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 zr ...

  • Page 169

    141 part 4 commands chapter 2 explanation of commands 1. Commands 1.1 variable assignment 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 zr ...

  • Page 170

    143 part 4 commands 1.2 arithmetic operation 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 speci...

  • Page 171

    143 part 4 commands 1.2 arithmetic operation 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 speci...

  • Page 172

    145 part 4 commands mod (remainder of division) 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 ...

  • Page 173

    145 part 4 commands mod (remainder of division) 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 ...

  • Page 174

    147 part 4 commands cos (cosine 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 cos variable number data zr [function] assign the cosine of the data specified in operan...

  • Page 175

    147 part 4 commands cos (cosine 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 cos variable number data zr [function] assign the cosine of the data specified in operan...

  • Page 176

    149 part 4 commands atn (inverse-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 atn variable number data zr [function] assign the inverse tangent of the data s...

  • Page 177

    149 part 4 commands atn (inverse-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 atn variable number data zr [function] assign the inverse tangent of the data s...

  • Page 178

    151 part 4 commands 1.4 logical operation 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 operation...

  • Page 179

    151 part 4 commands 1.4 logical operation 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 operation...

  • Page 180

    153 part 4 commands 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 res...

  • Page 181

    153 part 4 commands 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 res...

  • Page 182

    155 part 4 commands 1.6 timer 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 o...

  • Page 183

    155 part 4 commands 1.6 timer 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 o...

  • Page 184

    157 part 4 commands 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 ope...

  • Page 185

    157 part 4 commands 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 ope...

  • Page 186

    159 part 4 commands 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 or ...

  • Page 187

    159 part 4 commands 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 or ...

  • Page 188

    161 part 4 commands wt (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 wt i/o, flag (time) tu [function] wait for the i/o port or flag specified in ope...

  • Page 189

    161 part 4 commands wt (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 wt i/o, flag (time) tu [function] wait for the i/o port or flag specified in ope...

  • Page 190

    163 part 4 commands 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 output, flag bcd digits cc [function] read the i/o ports or flags from the one ...

  • Page 191

    163 part 4 commands 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 output, flag bcd digits cc [function] read the i/o ports or flags from the one ...

  • Page 192

    165 part 4 commands 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 t...

  • Page 193

    165 part 4 commands 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 t...

  • Page 194

    167 part 4 commands [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 195

    167 part 4 commands [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 196

    169 part 4 commands 1.8 program control 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 number...

  • Page 197

    169 part 4 commands 1.8 program control 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 number...

  • Page 198

    171 part 4 commands 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 comman...

  • Page 199

    171 part 4 commands 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 comman...

  • Page 200

    173 part 4 commands 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 (note)) cc [function] start the programs from th...

  • Page 201

    173 part 4 commands 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 (note)) cc [function] start the programs from th...

  • Page 202

    175 part 4 commands 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 specifie...

  • Page 203

    175 part 4 commands 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 specifie...

  • Page 204

    177 part 4 commands 1.10 position operation 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 variab...

  • Page 205

    177 part 4 commands 1.10 position operation 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 variab...

  • Page 206

    179 part 4 commands 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 the ...

  • Page 207

    179 part 4 commands 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 the ...

  • Page 208

    181 part 4 commands 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 a...

  • Page 209

    181 part 4 commands 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 a...

  • Page 210

    183 part 4 commands 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 in ...

  • Page 211

    183 part 4 commands 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 in ...

  • Page 212

    185 part 4 commands 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 scara cp operation ac...

  • Page 213

    185 part 4 commands 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 scara cp operation ac...

  • Page 214

    187 part 4 commands 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 posit...

  • Page 215

    187 part 4 commands 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 posit...

  • Page 216

    189 part 4 commands 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 item ...

  • Page 217

    189 part 4 commands 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 item ...

  • Page 218

    191 part 4 commands 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 t...

  • Page 219

    191 part 4 commands 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 t...

  • Page 220

    193 part 4 commands vels (dedicated scara command: set speed 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 vels ratio prohibited cp [function] set the travel speed for pt...

  • Page 221

    193 part 4 commands vels (dedicated scara command: set speed 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 vels ratio prohibited cp [function] set the travel speed for pt...

  • Page 222

    195 part 4 commands 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 scara cp operation acceleration/linear...

  • Page 223

    195 part 4 commands 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 scara cp operation acceleration/linear...

  • Page 224

    197 part 4 commands 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 scara cp operation deceleration/linear...

  • Page 225

    197 part 4 commands 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 scara cp operation deceleration/linear...

  • Page 226

    199 part 4 commands vlmx (dedicated linear movement axis command: 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 ...

  • Page 227

    199 part 4 commands vlmx (dedicated linear movement axis command: 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 ...

  • Page 228

    201 part 4 commands s-motion a (operand 2 = blank or 0) s-motion b (operand 2 = 1) if s-motion b is selected, the speed pattern becomes smoother (compared to the s-motion control ratio applicable when s-motion a is selected). (the deviation peak from the trapezoid motion becomes smaller.) [example 1...

  • Page 229

    201 part 4 commands s-motion a (operand 2 = blank or 0) s-motion b (operand 2 = 1) if s-motion b is selected, the speed pattern becomes smoother (compared to the s-motion control ratio applicable when s-motion a is selected). (the deviation peak from the trapezoid motion becomes smaller.) [example 1...

  • Page 230

    203 part 4 commands 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 b...

  • Page 231

    203 part 4 commands 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 b...

  • Page 232

    205 part 4 commands 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 pattern...

  • Page 233

    205 part 4 commands 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 pattern...

  • Page 234

    207 part 4 commands 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 i...

  • Page 235

    207 part 4 commands 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 i...

  • Page 236

    209 part 4 commands 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 be ...

  • Page 237

    209 part 4 commands 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 be ...

  • Page 238

    211 part 4 commands dftl (dedicated scara command: define tool coordinate system) 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 dftl tool coordinate system number position numbe...

  • Page 239

    211 part 4 commands dftl (dedicated scara command: define tool coordinate system) 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 dftl tool coordinate system number position numbe...

  • Page 240

    213 part 4 commands gttl (dedicated scara command: get tool coordinate system definition 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 gttl tool coordinate system number p...

  • Page 241

    213 part 4 commands gttl (dedicated scara command: get tool coordinate system definition 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 gttl tool coordinate system number p...

  • Page 242

    215 part 4 commands slwk (dedicated scara command: select load coordinate system) 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 slwk load coordinate system number prohibited cp ...

  • Page 243

    215 part 4 commands slwk (dedicated scara command: select load coordinate system) 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 slwk load coordinate system number prohibited cp ...

  • Page 244

    217 part 4 commands righ (dedicated scara command: change current arm system to right arm (arm 2 may operate if the current arm system is the opposite arm)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output...

  • Page 245

    217 part 4 commands righ (dedicated scara command: change current arm system to right arm (arm 2 may operate if the current arm system is the opposite arm)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output...

  • Page 246

    219 part 4 commands ptpr (dedicated scara command: specify right arm as ptp target arm system (movement of the opposite arm system is prohibited when the target value cannot be achieved) (no arm operation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) comma...

  • Page 247

    219 part 4 commands ptpr (dedicated scara command: specify right arm as ptp target arm system (movement of the opposite arm system is prohibited when the target value cannot be achieved) (no arm operation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) comma...

  • Page 248

    221 part 4 commands ptpd (dedicated scara command: specify current arm as ptp target arm system (movement of the opposite arm system is prohibited when the target value cannot be achieved) (no arm operation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) com...

  • Page 249

    221 part 4 commands ptpd (dedicated scara command: specify current arm as ptp target arm system (movement of the opposite arm system is prohibited when the target value cannot be achieved) (no arm operation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) com...

  • Page 250

    223 part 4 commands dfif (dedicated scara command: define coordinates of simple interference check zone) 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 dfif interference check zo...

  • Page 251

    223 part 4 commands dfif (dedicated scara command: define coordinates of simple interference check zone) 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 dfif interference check zo...

  • Page 252

    225 part 4 commands seif (dedicated scara command: specify error type for simple interference check zone) 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 seif interference check z...

  • Page 253

    225 part 4 commands seif (dedicated scara command: specify error type for simple interference check zone) 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 seif interference check z...

  • Page 254

    227 part 4 commands wght (dedicated scara command/set tip load mass, inertial moment) 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 wght mass (inertial moment) cp this command i...

  • Page 255

    227 part 4 commands wght (dedicated scara command/set tip load mass, inertial moment) 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 wght mass (inertial moment) cp this command i...

  • Page 256

    229 part 4 commands 1.12 actuator control command sv (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 sv axis pattern prohibited pe [function] turn an axis ...

  • Page 257

    229 part 4 commands 1.12 actuator control command sv (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 sv axis pattern prohibited pe [function] turn an axis ...

  • Page 258

    231 part 4 commands movl (move by specifying position data in cp 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 movl position number prohibited pe [function] move the ...

  • Page 259

    231 part 4 commands movl (move by specifying position data in cp 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 movl position number prohibited pe [function] move the ...

  • Page 260

    233 part 4 commands mvli (move via incremental interpolation in cp 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 mvli position number prohibited pe [function] move th...

  • Page 261

    233 part 4 commands mvli (move via incremental interpolation in cp 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 mvli position number prohibited pe [function] move th...

  • Page 262

    235 part 4 commands jw ( 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 jw axis pattern input, output, flag number pe [function] the axes in the axis pattern specified i...

  • Page 263

    235 part 4 commands jw ( 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 jw axis pattern input, output, flag number pe [function] the axes in the axis pattern specified i...

  • Page 264

    237 part 4 commands 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 an axis to a stop. (note 1) a stop c...

  • Page 265

    237 part 4 commands 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 an axis to a stop. (note 1) a stop c...

  • Page 266

    239 part 4 commands push (move by push motion in cp 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 push target position number prohibited pe [function] perform push-mo...

  • Page 267

    239 part 4 commands push (move by push motion in cp 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 push target position number prohibited pe [function] perform push-mo...

  • Page 268

    241 part 4 commands cir2 (move along circle in cp operation (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 ...

  • Page 269

    241 part 4 commands cir2 (move along circle in cp operation (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 ...

  • Page 270

    243 part 4 commands arc2 (move along arc in cp operation (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 [...

  • Page 271

    243 part 4 commands arc2 (move along arc in cp operation (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 [...

  • Page 272

    245 part 4 commands cirs (move three-dimensionally along circle in cp 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 cirs passing position 1 number passing position 2 ...

  • Page 273

    245 part 4 commands cirs (move three-dimensionally along circle in cp 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 cirs passing position 1 number passing position 2 ...

  • Page 274

    247 part 4 commands arcs (move three-dimensionally along arc in cp 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 arcs passing position number end position number pe [...

  • Page 275

    247 part 4 commands arcs (move three-dimensionally along arc in cp 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 arcs passing position number end position number pe [...

  • Page 276

    249 part 4 commands arcd (move along arc via specification of end position and center angle in cp operation (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 ar...

  • Page 277

    249 part 4 commands arcd (move along arc via specification of end position and center angle in cp operation (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 ar...

  • Page 278

    251 part 4 commands arcc (move along arc via specification of center position and center angle in cp operation (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...

  • Page 279

    251 part 4 commands arcc (move along arc via specification of center position and center angle in cp operation (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...

  • Page 280

    253 part 4 commands chvl (dedicated linear movement axis command: 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 sp...

  • Page 281

    253 part 4 commands chvl (dedicated linear movement axis command: 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 sp...

  • Page 282

    255 part 4 commands 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 band for the axe...

  • Page 283

    255 part 4 commands 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 band for the axe...

  • Page 284

    257 part 4 commands tmli (dedicated scara command: move relatively between positions on tool coordinate system via interpolation in cp operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) opt...

  • Page 285

    257 part 4 commands tmli (dedicated scara command: move relatively between positions on tool coordinate system via interpolation in cp operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) opt...

  • Page 286

    259 part 4 commands cir (move along circle in cp 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 cir passing position 1 number passing position 2 number pe [function] m...

  • Page 287

    259 part 4 commands cir (move along circle in cp 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 cir passing position 1 number passing position 2 number pe [function] m...

  • Page 288

    261 part 4 commands 1.13 structural if if (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 if variable number data cp [function] compare the content of the vari...

  • Page 289

    261 part 4 commands 1.13 structural if if (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 if variable number data cp [function] compare the content of the vari...

  • Page 290

    263 part 4 commands 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 wit...

  • Page 291

    263 part 4 commands 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 wit...

  • Page 292

    265 part 4 commands 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 do loop...

  • Page 293

    265 part 4 commands 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 do loop...

  • Page 294

    267 part 4 commands wh (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) optional optional wh variable number data cp [function] this command is used between slct and e...

  • Page 295

    267 part 4 commands wh (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) optional optional wh variable number data cp [function] this command is used between slct and e...

  • Page 296

    269 part 4 commands 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 com...

  • Page 297

    269 part 4 commands 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 com...

  • Page 298

    271 part 4 commands 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 in ...

  • Page 299

    271 part 4 commands 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 in ...

  • Page 300

    273 part 4 commands garm ((dedicated scara command: get current arm system) 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 garm variable number prohibited cp [function] obtain th...

  • Page 301

    273 part 4 commands garm ((dedicated scara command: get current arm system) 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 garm variable number prohibited cp [function] obtain th...

  • Page 302

    275 part 4 commands wzno (dedicated linear movement axis command: 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 [func...

  • Page 303

    275 part 4 commands wzno (dedicated linear movement axis command: 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 [func...

  • Page 304

    277 part 4 commands wzfo (dedicated linear movement axis command: 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 [fun...

  • Page 305

    277 part 4 commands wzfo (dedicated linear movement axis command: 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 [fun...

  • Page 306

    279 part 4 commands 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 specified ...

  • Page 307

    279 part 4 commands 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 specified ...

  • Page 308

    281 part 4 commands 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 a timeout va...

  • Page 309

    281 part 4 commands 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 a timeout va...

  • Page 310

    283 part 4 commands 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 rea...

  • Page 311

    283 part 4 commands 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 rea...

  • Page 312

    285 part 4 commands 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 the ...

  • Page 313

    285 part 4 commands 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 the ...

  • Page 314

    287 part 4 commands 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 sp...

  • Page 315

    287 part 4 commands 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 sp...

  • Page 316

    289 part 4 commands 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 specified...

  • Page 317

    289 part 4 commands 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 specified...

  • Page 318

    291 part 4 commands 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 [fun...

  • Page 319

    291 part 4 commands 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 [fun...

  • Page 320

    293 part 4 commands 1.20 palletizing-related 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 decl...

  • Page 321

    293 part 4 commands 1.20 palletizing-related 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 decl...

  • Page 322

    295 part 4 commands 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 (px ...

  • Page 323

    295 part 4 commands 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 (px ...

  • Page 324

    297 part 4 commands 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) cp ...

  • Page 325

    297 part 4 commands 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) cp ...

  • Page 326

    299 part 4 commands fig. 2-(b) when the point data of the axis i component matches among all three points excluding the end point fig. 2-(c) when the point data of the two points other than that of the pz-axis component matches among the three points excluding the end point (= in the above figure, w...

  • Page 327

    299 part 4 commands fig. 2-(b) when the point data of the axis i component matches among all three points excluding the end point fig. 2-(c) when the point data of the two points other than that of the pz-axis component matches among the three points excluding the end point (= in the above figure, w...

  • Page 328

    301 part 4 commands 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 will...

  • Page 329

    301 part 4 commands 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 will...

  • Page 330

    303 part 4 commands ptrg (dedicated scara command: set palletizing 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 ptrg position number position number cp set the a...

  • Page 331

    303 part 4 commands ptrg (dedicated scara command: set palletizing 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 ptrg position number position number cp set the a...

  • Page 332

    305 part 4 commands 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 arch-...

  • Page 333

    305 part 4 commands 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 arch-...

  • Page 334

    307 part 4 commands aext (dedicated scara command: set arch-motion composition) 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 aext (position number) prohibited cp set arch-motio...

  • Page 335

    307 part 4 commands aext (dedicated scara command: set arch-motion composition) 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 aext (position number) prohibited cp set arch-motio...

  • Page 336

    309 part 4 commands 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 pall...

  • Page 337

    309 part 4 commands 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 pall...

  • Page 338

    311 part 4 commands 1.22 palletizing movement command 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 (position n...

  • Page 339

    311 part 4 commands 1.22 palletizing movement command 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 (position n...

  • Page 340

    313 part 4 commands pach (dedicated scara command) 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 pach palletizing number position number pe perform arch motion from the current ...

  • Page 341

    313 part 4 commands pach (dedicated scara command) 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 pach palletizing number position number pe perform arch motion from the current ...

  • Page 342

    315 part 4 commands 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 the current point and move ...

  • Page 343

    315 part 4 commands 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 the current point and move ...

  • Page 344

    317 part 4 commands 1.23 building of pseudo-ladder task 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 345

    317 part 4 commands 1.23 building of pseudo-ladder task 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 346

    319 part 4 commands 1.24 extended commands ecmd1 (get motor current value (% 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 [function] st...

  • Page 347

    319 part 4 commands 1.24 extended commands ecmd1 (get motor current value (% 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 [function] st...

  • Page 348

    321 part 4 commands ecmd250 (set torque limit/detection time for torque limit over error) 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 250 axis pattern cc [function] set t...

  • Page 349

    321 part 4 commands ecmd250 (set torque limit/detection time for torque limit over error) 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 250 axis pattern cc [function] set t...

  • Page 350

    323 part 4 commands (note 6) an “error no., c6b deviation overflow error” or “error no., ca5, stop deviation overflow error” is sometimes detected before “error no., 420, steady-state (non-push) torque over error.” this is normal. (note 7) when changing the torque setting to a high level from a low ...

  • Page 351

    323 part 4 commands (note 6) an “error no., c6b deviation overflow error” or “error no., ca5, stop deviation overflow error” is sometimes detected before “error no., 420, steady-state (non-push) torque over error.” this is normal. (note 7) when changing the torque setting to a high level from a low ...

  • Page 352

    325 part 4 commands (3) notes on cp operation the singular point refers to a position where arms 1 and 2 form a straight line. Performing cp operation along a path near the singular point may reduce locus accuracy, cause vibration (noise) or generate errors. The errors that may occur include the fol...

  • Page 353

    325 part 4 commands (3) notes on cp operation the singular point refers to a position where arms 1 and 2 form a straight line. Performing cp operation along a path near the singular point may reduce locus accuracy, cause vibration (noise) or generate errors. The errors that may occur include the fol...

  • Page 354

    327 part 4 commands 2. Arm system 2-1 right/left arm systems the robot position has two patterns based on the right arm system and the left arm system, respectively. Right arm system: arm 2 is located at a point away in the ccw direction from the position where arms 1 and 2 form a straight line. Lef...

  • Page 355

    327 part 4 commands 2. Arm system 2-1 right/left arm systems the robot position has two patterns based on the right arm system and the left arm system, respectively. Right arm system: arm 2 is located at a point away in the ccw direction from the position where arms 1 and 2 form a straight line. Lef...

  • Page 356

    329 part 4 commands in the figure, a black arrow indicates a movement involving change of arm systems. A white arrow indicates a movement not involving change of arm systems. The striped arm represents the right arm system, while the white arm represents the left arm system. (1) ptpd after a ptpd co...

  • Page 357

    329 part 4 commands in the figure, a black arrow indicates a movement involving change of arm systems. A white arrow indicates a movement not involving change of arm systems. The striped arm represents the right arm system, while the white arm represents the left arm system. (1) ptpd after a ptpd co...

  • Page 358

    331 part 4 commands (3) ptpr after a ptpr command is executed, the robot will perform positioning using the right arm system. The ptpr command limits the target arm system to the right arm system. Therefore, attempting a movement to an area where positioning is possible only with the left arm system...

  • Page 359

    331 part 4 commands (3) ptpr after a ptpr command is executed, the robot will perform positioning using the right arm system. The ptpr command limits the target arm system to the right arm system. Therefore, attempting a movement to an area where positioning is possible only with the left arm system...

  • Page 360

    333 part 4 commands (5) righ the righ command changes the current arm system to the right arm system. If a righ command is executed when the current arm system is the left arm system, arm 2 will move until arms 1 and 2 form a straight line. Executing a righ command when the current arm system is the...

  • Page 361

    333 part 4 commands (5) righ the righ command changes the current arm system to the right arm system. If a righ command is executed when the current arm system is the left arm system, arm 2 will move until arms 1 and 2 form a straight line. Executing a righ command when the current arm system is the...

  • Page 362

    335 part 4 commands 3. Scara coordinate system a horizontal articulated robot uses three types of coordinate systems: base coordinate system, load coordinate system and tool coordinate system. When tool coordinate system no. 0 (= tool coordinate system offsets are 0) is selected, normally the robot ...

  • Page 363

    335 part 4 commands 3. Scara coordinate system a horizontal articulated robot uses three types of coordinate systems: base coordinate system, load coordinate system and tool coordinate system. When tool coordinate system no. 0 (= tool coordinate system offsets are 0) is selected, normally the robot ...

  • Page 364

    337 part 4 commands 3.2 load coordinate system (dedicated scara function) this coordinate system provides 32 sets of three-dimensional cartesian coordinates and rotating- axis coordinates as defined by the offset of each axis with respect to the base coordinate system. Note that load coordinate syst...

  • Page 365

    337 part 4 commands 3.2 load coordinate system (dedicated scara function) this coordinate system provides 32 sets of three-dimensional cartesian coordinates and rotating- axis coordinates as defined by the offset of each axis with respect to the base coordinate system. Note that load coordinate syst...

  • Page 366

    339 part 4 commands (2) positioning on the load coordinate system perform positioning after selecting a desired load coordinate system. Use a slwk command to select a load coordinate system number in a sel program. The selected load coordinate system number will remain valid after the program ends, ...

  • Page 367

    339 part 4 commands (2) positioning on the load coordinate system perform positioning after selecting a desired load coordinate system. Use a slwk command to select a load coordinate system number in a sel program. The selected load coordinate system number will remain valid after the program ends, ...

  • Page 368

    341 part 4 commands 3.3 tool coordinate system (dedicated scara function) this coordinate system provides 128 sets of three-dimensional cartesian coordinates and rotating- axis coordinates as defined by the dimensions (offsets) of a tool (hand, etc.) installed on the tool- mounting surface. Note tha...

  • Page 369

    341 part 4 commands 3.3 tool coordinate system (dedicated scara function) this coordinate system provides 128 sets of three-dimensional cartesian coordinates and rotating- axis coordinates as defined by the dimensions (offsets) of a tool (hand, etc.) installed on the tool- mounting surface. Note tha...

  • Page 370

    343 part 4 commands (2) positioning using tool coordinate system offsets perform positioning after selecting a desired tool coordinate system. Use a sltl command to select a tool coordinate system number in a sel program. The selected tool coordinate system number will remain valid after the program...

  • Page 371

    343 part 4 commands (2) positioning using tool coordinate system offsets perform positioning after selecting a desired tool coordinate system. Use a sltl command to select a tool coordinate system number in a sel program. The selected tool coordinate system number will remain valid after the program...

  • Page 372

    345 part 4 commands 4. Simple interference check zone (dedicated scara function) the simple interference check zone is an area set for the purpose of checking possible interference between the robot and peripherals. In the case of tool coordinate system no. 0 (= tool coordinate system offsets are 0)...

  • Page 373

    345 part 4 commands 4. Simple interference check zone (dedicated scara function) the simple interference check zone is an area set for the purpose of checking possible interference between the robot and peripherals. In the case of tool coordinate system no. 0 (= tool coordinate system offsets are 0)...

  • Page 374

    347 part 4 commands as for simple interference check zone no. 1, entry into this rectangular solid area will not be detected if rb is outside the range of 0 to 180. To enable detection regardless of the r-axis coordinate, do not enter anything in coordinates 1 and 2 in the r column for zone 1. If e...

  • Page 375

    347 part 4 commands as for simple interference check zone no. 1, entry into this rectangular solid area will not be detected if rb is outside the range of 0 to 180. To enable detection regardless of the r-axis coordinate, do not enter anything in coordinates 1 and 2 in the r column for zone 1. If e...

  • Page 376

    349 part 4 commands (2) soft limits of arm 2 the position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis coordinate system (0 degree). It is not influenced by the angle position of arm 1. The operating angle in the counterclockwise direction (positive direction) ...

  • Page 377

    349 part 4 commands (2) soft limits of arm 2 the position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis coordinate system (0 degree). It is not influenced by the angle position of arm 1. The operating angle in the counterclockwise direction (positive direction) ...

  • Page 378

    351 part 4 commands 5.2 monitoring coordinates on each axis system coordinates on each axis system can be monitored using the pc software or teaching pendant. The figure below is a display example in the pc software. When a given axis system is selected as the jog coordinate system in the position d...

  • Page 379

    351 part 4 commands 5.2 monitoring coordinates on each axis system coordinates on each axis system can be monitored using the pc software or teaching pendant. The figure below is a display example in the pc software. When a given axis system is selected as the jog coordinate system in the position d...

  • Page 380

    353 part 4 commands notes with ptp optimal acceleration/deceleration for scara robot, the robot will not operate at an optimal acceleration/deceleration unless a mass corresponding to the actual load at the tip of the robot is set by a wght command. Be sure to set the tip load mass of the scara robo...

  • Page 381

    353 part 4 commands notes with ptp optimal acceleration/deceleration for scara robot, the robot will not operate at an optimal acceleration/deceleration unless a mass corresponding to the actual load at the tip of the robot is set by a wght command. Be sure to set the tip load mass of the scara robo...

  • Page 382

    355 part 4 commands notes when the horizontal move optimization function based on z position for scara robot is enabled, the tip load mass of the scara robot must be set using a wght command. An appropriate effect cannot be obtained unless a mass corresponding to the actual load at the tip of the ro...

  • Page 383

    355 part 4 commands notes when the horizontal move optimization function based on z position for scara robot is enabled, the tip load mass of the scara robot must be set using a wght command. An appropriate effect cannot be obtained unless a mass corresponding to the actual load at the tip of the ro...

  • Page 384

    357 part 4 commands [example 3] if an input condition is specified, the output will turn on upon completion of operation in the step before the one in which the input condition is specified. Output field timing potp 1 308 turn on as p1 approaches. 309 turn on as p2 approaches. 310 turn on when p3 op...

  • Page 385

    357 part 4 commands [example 3] if an input condition is specified, the output will turn on upon completion of operation in the step before the one in which the input condition is specified. Output field timing potp 1 308 turn on as p1 approaches. 309 turn on as p2 approaches. 310 turn on when p3 op...

  • Page 386

    359 part 4 commands chapter 5 palletizing function the sel language used by the ix controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizing. 1. How to use use pa...

  • Page 387

    359 part 4 commands chapter 5 palletizing function the sel language used by the ix controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizing. 1. How to use use pa...

  • Page 388

    361 part 4 commands 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 389

    361 part 4 commands 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 390

    363 part 4 commands (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 391

    363 part 4 commands (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 392

    365 part 4 commands 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 393

    365 part 4 commands 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 394

    367 part 4 commands (2) movement comment based on end point specified by point data --- arch perform arch motion using an end point specified by position data. In the case of a linear movement in parallel with an actuator, operation can be performed only with two axes including the applicable axis a...

  • Page 395

    367 part 4 commands (2) movement comment based on end point specified by point data --- arch perform arch motion using an end point specified by position data. In the case of a linear movement in parallel with an actuator, operation can be performed only with two axes including the applicable axis a...

  • Page 396

    369 part 4 commands schematic diagram of palletizing positions based on the above program the number shown at top right of each cycle indicates the corresponding palletizing position number. Count in px-axis direction = 5, count in py-axis direction = 7 zigzag offset: 20, zigzag count: 4 py-axis end...

  • Page 397

    369 part 4 commands schematic diagram of palletizing positions based on the above program the number shown at top right of each cycle indicates the corresponding palletizing position number. Count in px-axis direction = 5, count in py-axis direction = 7 zigzag offset: 20, zigzag count: 4 py-axis end...

  • Page 398

    371 part 4 commands schematic diagram of palletizing positions based on the above program (the px and py-axes are parallel with xb and yb (base coordinates), respectively.) the number shown at top right of each cycle indicates the corresponding palletizing position number. Count in px-axis direction...

  • Page 399

    371 part 4 commands schematic diagram of palletizing positions based on the above program (the px and py-axes are parallel with xb and yb (base coordinates), respectively.) the number shown at top right of each cycle indicates the corresponding palletizing position number. Count in px-axis direction...

  • Page 400

    373 part 4 commands 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 401

    373 part 4 commands 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 402

    375 part 4 commands chapter 7 multi-tasking “multi-tasking” operation means running several programs in parallel. 1. 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 ...

  • Page 403

    375 part 4 commands chapter 7 multi-tasking “multi-tasking” operation means running several programs in parallel. 1. 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 ...

  • Page 404

    377 part 4 commands 3. 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 405

    377 part 4 commands 3. 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 406

    379 appendix (note 1) the figure in each band indicates the maximum speed for 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 horizo...

  • Page 407

    379 appendix (note 1) the figure in each band indicates the maximum speed for 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 horizo...

  • Page 408

    381 appendix (note 1) the figure in each band indicates the maximum speed for each applicable stroke. (note 2) the load capacity is based on operation at the rated acceleration. (note 3) rcs2-r**7, ls and lsa-series actuators cannot be used as axis 5 or 6. Model stroke (mm) and maximum speed (mm/sec...

  • Page 409

    381 appendix (note 1) the figure in each band indicates the maximum speed for each applicable stroke. (note 2) the load capacity is based on operation at the rated acceleration. (note 3) rcs2-r**7, ls and lsa-series actuators cannot be used as axis 5 or 6. Model stroke (mm) and maximum speed (mm/sec...

  • Page 410

    383 appendix 384 appendix how to write programs 1. Position table position table with x-sel controllers of px/qx types, 4000 position points can be registered if the memory size has not been increased. If the memory size has been increased, 20000 positions can be registered. Positions are registered...

  • Page 411

    383 appendix 384 appendix how to write programs 1. Position table position table with x-sel controllers of px/qx types, 4000 position points can be registered if the memory size has not been increased. If the memory size has been increased, 20000 positions can be registered. Positions are registered...

  • Page 412

    385 appendix 2. Program format program edit screen (pc software) with x-sel controllers, a program consisting of up to 6000 steps can be created if the memory size has not been increased. If the memory size has been increased, a program consisting of up to 9999 steps can be created. Programs are edi...

  • Page 413

    385 appendix 2. Program format program edit screen (pc software) with x-sel controllers, a program consisting of up to 6000 steps can be created if the memory size has not been increased. If the memory size has been increased, a program consisting of up to 9999 steps can be created. Programs are edi...

  • Page 414

    387 appendix 4. How to use tag and goto description if you want to repeat the same operations in the program or skip steps when a given condition is met, use a goto command together with a tag command. Tag can be specified in a step either before or after the one containing a goto command. Example o...

  • Page 415

    387 appendix 4. How to use tag and goto description if you want to repeat the same operations in the program or skip steps when a given condition is met, use a goto command together with a tag command. Tag can be specified in a step either before or after the one containing a goto command. Example o...

  • Page 416

    389 appendix 6. Path operation description move the actuator through four arbitrary points continuously without stopping (path operation). The actuator moves along the path shown to the right, without stopping at p2 or p3. Since precise positioning is not performed at p2 and p3, the tact time of mov...

  • Page 417

    389 appendix 6. Path operation description move the actuator through four arbitrary points continuously without stopping (path operation). The actuator moves along the path shown to the right, without stopping at p2 or p3. Since precise positioning is not performed at p2 and p3, the tact time of mov...

  • Page 418

    391 appendix 8. Circular, arc operation description the actuator operates along a two-dimensional circle or arc. How to use to specify a circle, specify three passing points. To specify an arc, also specify three points, specifically the start point, passing point and end point. Example of use 1 cir...

  • Page 419

    391 appendix 8. Circular, arc operation description the actuator operates along a two-dimensional circle or arc. How to use to specify a circle, specify three passing points. To specify an arc, also specify three points, specifically the start point, passing point and end point. Example of use 1 cir...

  • Page 420

    393 appendix 10. Axis movement by input waiting and output of complete signal description how to perform an input waiting process and output a processing complete signal is explained. Flow chart application program end of program output 310 turns off input 11 output 310 turns on move to p1 input 10 ...

  • Page 421

    393 appendix 10. Axis movement by input waiting and output of complete signal description how to perform an input waiting process and output a processing complete signal is explained. Flow chart application program end of program output 310 turns off input 11 output 310 turns on move to p1 input 10 ...

  • Page 422

    395 appendix 12. Speed change during operation description use a path command to change the speed while the actuator is moving. This function is useful in dispensing applications where the dispensing amount, such as coating amount, changes in the middle of operation. Example of use operate the actua...

  • Page 423

    395 appendix 12. Speed change during operation description use a path command to change the speed while the actuator is moving. This function is useful in dispensing applications where the dispensing amount, such as coating amount, changes in the middle of operation. Example of use operate the actua...

  • Page 424

    397 appendix 14. How to use subroutines description when the same processes are performed several times in one program, a group of these steps that are isolated from others and called together as a set is called a “subroutine.” subroutines are used to reduce program steps and make the program less c...

  • Page 425

    397 appendix 14. How to use subroutines description when the same processes are performed several times in one program, a group of these steps that are isolated from others and called together as a set is called a “subroutine.” subroutines are used to reduce program steps and make the program less c...

  • Page 426

    399 appendix 16. Aborting of operation 1 (canc) description use a declarative command canc to cause the moving axis to decelerate a stop and cancel the remaining operation of the axis. How to use while canc is input, all movement commands issued in the same program are paused are aborted. Canc comma...

  • Page 427

    399 appendix 16. Aborting of operation 1 (canc) description use a declarative command canc to cause the moving axis to decelerate a stop and cancel the remaining operation of the axis. How to use while canc is input, all movement commands issued in the same program are paused are aborted. Canc comma...

  • Page 428

    401 appendix 18. Movement by position number specification description read an external bcd code input as a position number to move the actuator. How to use use an inb command to read a position number as a bcd code via an input port. A position number consisting of up to three digits can be specifi...

  • Page 429

    401 appendix 18. Movement by position number specification description read an external bcd code input as a position number to move the actuator. How to use use an inb command to read a position number as a bcd code via an input port. A position number consisting of up to three digits can be specifi...

  • Page 430

    403 appendix 20. Output of coordinate values description read the current coordinates of the actuator in real time and output bcd data via an output port. Example of use use a prdq command to read the current coordinate position of axis 1. Output the current coordinate data of axis 1 as a bcd every ...

  • Page 431

    403 appendix 20. Output of coordinate values description read the current coordinates of the actuator in real time and output bcd data via an output port. Example of use use a prdq command to read the current coordinate position of axis 1. Output the current coordinate data of axis 1 as a bcd every ...

  • Page 432

    405 appendix 22. Waiting for multiple inputs description the actuator waits for one of several different inputs, and proceeds to an applicable process when a given input is received. Point with a wton command, the actuator cannot perform any process unless one of the specified inputs is received. In...

  • Page 433

    405 appendix 22. Waiting for multiple inputs description the actuator waits for one of several different inputs, and proceeds to an applicable process when a given input is received. Point with a wton command, the actuator cannot perform any process unless one of the specified inputs is received. In...

  • Page 434

    407 appendix 24. Execution of operation n times description execute a specific operation n times. Example of use the actuator repeats going back and forth between p1 and p2 10 times, after which the program ends. Use a cpeq command to compare the number of times the operation has actually been repea...

  • Page 435

    407 appendix 24. Execution of operation n times description execute a specific operation n times. Example of use the actuator repeats going back and forth between p1 and p2 10 times, after which the program ends. Use a cpeq command to compare the number of times the operation has actually been repea...

  • Page 436

    409 appendix 26. Jogging (for linear axes) description the slider moves forward or backward while an input is on or off. In addition to an input, an output or global flag can also be used. If the specified input does not meet the condition when this command is executed, nothing is done and the progr...

  • Page 437

    409 appendix 26. Jogging (for linear axes) description the slider moves forward or backward while an input is on or off. In addition to an input, an output or global flag can also be used. If the specified input does not meet the condition when this command is executed, nothing is done and the progr...

  • Page 438

    411 appendix 28. Aborting of program description abort a program currently running. In the multi-tasking mode, execute an abpg command (abort other program) from other program. Note * if the program to be aborted is executing a movement command, any axis moving at the time will immediately decelerat...

  • Page 439

    411 appendix 28. Aborting of program description abort a program currently running. In the multi-tasking mode, execute an abpg command (abort other program) from other program. Note * if the program to be aborted is executing a movement command, any axis moving at the time will immediately decelerat...

  • Page 440

    413 appendix (3) parameter settings the sio channel numbers and specifications are set as follows according to the factory-set parameters. For advanced settings, set the following parameters sequentially: channel 1  i/o parameter nos. 201 to 203 channel 2  i/o parameter nos. 213 to 215 i/o paramet...

  • Page 441

    413 appendix (3) parameter settings the sio channel numbers and specifications are set as follows according to the factory-set parameters. For advanced settings, set the following parameters sequentially: channel 1  i/o parameter nos. 201 to 203 channel 2  i/o parameter nos. 213 to 215 i/o paramet...

  • Page 442

    415 appendix (4) program [1] string process commands a “string” refers to a series of characters. This controller supports global strings and local strings. Global strings can be read or written commonly from any program, while local strings are effective only within a given program and cannot be us...

  • Page 443

    415 appendix (4) program [1] string process commands a “string” refers to a series of characters. This controller supports global strings and local strings. Global strings can be read or written commonly from any program, while local strings are effective only within a given program and cannot be us...

  • Page 444

    417 appendix [4] definition of transmission format in the sample application program provided here, only three types of transmission formats, or namely home return command, movement command and movement complete, are required. These formats are defined as follows. Take note that these definitions ar...

  • Page 445

    417 appendix [4] definition of transmission format in the sample application program provided here, only three types of transmission formats, or namely home return command, movement command and movement complete, are required. These formats are defined as follows. Take note that these definitions ar...

  • Page 446

    419 appendix battery backup function the x-sel controller uses the following two types of batteries. System-memory backup battery this coin battery is used to back up the position data, sel program variables, etc., in the controller. Each controller ships with the system-memory backup battery. Absol...

  • Page 447

    419 appendix battery backup function the x-sel controller uses the following two types of batteries. System-memory backup battery this coin battery is used to back up the position data, sel program variables, etc., in the controller. Each controller ships with the system-memory backup battery. Absol...

  • Page 448

    421 appendix 2. Absolute-encoder backup battery if the x-sel controller is to drive an absolute-type actuator, an absolute-encoder backup battery must be installed in the robot or controller. An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from t...

  • Page 449

    421 appendix 2. Absolute-encoder backup battery if the x-sel controller is to drive an absolute-type actuator, an absolute-encoder backup battery must be installed in the robot or controller. An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from t...

  • Page 450

    423 appendix expansion i/o board (optional) type: ia-103-x-32 type: ia-103-x-16 pin no. Category port no. Function pin no. Port no. Function 1 - +24-v input 1 - +24-v input 2 32 general-purpose input 2 32 general-purpose input 3 33 general-purpose input 3 33 general-purpose input 4 34 general-purpos...

  • Page 451

    423 appendix expansion i/o board (optional) type: ia-103-x-32 type: ia-103-x-16 pin no. Category port no. Function pin no. Port no. Function 1 - +24-v input 1 - +24-v input 2 32 general-purpose input 2 32 general-purpose input 3 33 general-purpose input 3 33 general-purpose input 4 34 general-purpos...

  • Page 452

    425 appendix 5 426 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 p...

  • Page 453

    425 appendix 5 426 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 p...

  • Page 454

    427 appendix 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 > slot 1 (standard i/o) ~ * ports are assigned only for the installed adjoining slots, st...

  • Page 455

    427 appendix 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 > slot 1 (standard i/o) ~ * ports are assigned only for the installed adjoining slots, st...

  • Page 456

    429 appendix no. Parameter name default value (reference) input range unit remarks 24 i/o setting bit pattern 1 (related to global specifications) 10000h 0h ~ ffffffffh bits 0 to 3: rdy out function selection (system io) (0: sysrdy (software = pio trigger program can be run) and hardware is normal (...

  • Page 457

    429 appendix no. Parameter name default value (reference) input range unit remarks 24 i/o setting bit pattern 1 (related to global specifications) 10000h 0h ~ ffffffffh bits 0 to 3: rdy out function selection (system io) (0: sysrdy (software = pio trigger program can be run) and hardware is normal (...

  • Page 458

    431 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 34 input function selection 004 0 0 ~ 5 0: general-purpose input 1: all servo axis soft interlock (off level) (valid for all commands other than the servo off command) (operation is held upon interlock ...

  • Page 459

    431 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 34 input function selection 004 0 0 ~ 5 0: general-purpose input 1: all servo axis soft interlock (off level) (valid for all commands other than the servo off command) (operation is held upon interlock ...

  • Page 460

    433 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 60 output function selection 314 1 0 ~ 5 0: general-purpose output 1: absolute-data backup battery voltage-low warning level or lower (or check of all axes. Upon detection of abnormal level, the output ...

  • Page 461

    433 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 60 output function selection 314 1 0 ~ 5 0: general-purpose output 1: absolute-data backup battery voltage-low warning level or lower (or check of all axes. Upon detection of abnormal level, the output ...

  • Page 462

    435 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 100 used by the sio system (sp3) (extended) 28100010h 0h ~ ffffffffh bits 28 to 31: baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2 kbps) bits 24 to 27: data length (7 or 8) bits 20...

  • Page 463

    435 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 100 used by the sio system (sp3) (extended) 28100010h 0h ~ ffffffffh bits 28 to 31: baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2 kbps) bits 24 to 27: data length (7 or 8) bits 20...

  • Page 464

    437 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 126 network attribute 7 7d007d0h 0h ~ ffffffffh ethernet tcp/ip message communication attribute bits 0 to 15: min timeout value (msec) bits 16 to 31: mout timeout value (msec) 127 network attribute 8 50...

  • Page 465

    437 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 126 network attribute 7 7d007d0h 0h ~ ffffffffh ethernet tcp/ip message communication attribute bits 0 to 15: min timeout value (msec) bits 16 to 31: mout timeout value (msec) 127 network attribute 8 50...

  • Page 466

    439 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 201 attribute 1 of sio channel 1 opened to user (mount standard) 28100000h 0h ~ ffffffffh bits 28 to 31: baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2 kbps) * if flow control is p...

  • Page 467

    439 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 201 attribute 1 of sio channel 1 opened to user (mount standard) 28100000h 0h ~ ffffffffh bits 28 to 31: baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2 kbps) * if flow control is p...

  • Page 468

    441 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 215 attribute 3 of sio channel 2 opened to user (mount standard) 01118040h 0h ~ ffffffffh bits 28 to 31: flow control type (0: none, 1: xon/xoff, 2: hardware) * valid only in full-duplex communication. ...

  • Page 469

    441 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 215 attribute 3 of sio channel 2 opened to user (mount standard) 01118040h 0h ~ ffffffffh bits 28 to 31: flow control type (0: none, 1: xon/xoff, 2: hardware) * valid only in full-duplex communication. ...

  • Page 470

    443 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 518 forced brake release input port number for rc axis 7 0 0 ~ 3999 forcibly release the brake when the applicable port is on. (beware of dropping object, etc.) * invalid, if 0. (invalid, if input port ...

  • Page 471

    443 appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 518 forced brake release input port number for rc axis 7 0 0 ~ 3999 forcibly release the brake when the applicable port is on. (beware of dropping object, etc.) * invalid, if 0. (invalid, if input port ...

  • Page 472

    445 appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 29 all-axis setting bit pattern 1 10000h 0h ~ ffffffffh bits 0 to 3: (for future extension) bits 4 to 7: overrun (servo) error level (0: operation-cancellation level 1: cold-start level 2...

  • Page 473

    445 appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 29 all-axis setting bit pattern 1 10000h 0h ~ ffffffffh bits 0 to 3: (for future extension) bits 4 to 7: overrun (servo) error level (0: operation-cancellation level 1: cold-start level 2...

  • Page 474

    447 appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 204 maximum deceleration of linear movement axis 100 1 ~ 999 0.01 g * valid for linear movement axes (axes 5 and 6 (6-axis type)) only. (main application version 0.12 or later) 205 minimu...

  • Page 475

    447 appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 204 maximum deceleration of linear movement axis 100 1 ~ 999 0.01 g * valid for linear movement axes (axes 5 and 6 (6-axis type)) only. (main application version 0.12 or later) 205 minimu...

  • Page 476

    449 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 14 home-sensor input polarity 0 0 ~ 2 reference only for scara axes (axes 1 to 4) 0: not used, 1: contact a, 2: contact b 15 overrun-sensor input polarity 0 0 ~ 2 reference only for scara axes...

  • Page 477

    449 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 14 home-sensor input polarity 0 0 ~ 2 reference only for scara axes (axes 1 to 4) 0: not used, 1: contact a, 2: contact b 15 overrun-sensor input polarity 0 0 ~ 2 reference only for scara axes...

  • Page 478

    451 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 34 brake equipment specification 0, 0, 1, 1, 0, 0 0 or 1 0: not equipped, 1: equipped 35 brake unlock check time 150 0 ~ 3000 msec time after receiving a brake-unlock start response until tran...

  • Page 479

    451 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 34 brake equipment specification 0, 0, 1, 1, 0, 0 0 or 1 0: not equipped, 1: equipped 35 brake unlock check time 150 0 ~ 3000 msec time after receiving a brake-unlock start response until tran...

  • Page 480

    453 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 67 short-cut control selection for rotational movement axis (linear movement axis) 0 0 ~ 5 reference only for scara axes (axes 1 to 4) 0: do not select, 1: select (valid only in the index mode...

  • Page 481

    453 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 67 short-cut control selection for rotational movement axis (linear movement axis) 0 0 ~ 5 reference only for scara axes (axes 1 to 4) 0: do not select, 1: select (valid only in the index mode...

  • Page 482

    455 appendix axis-specific parameters no. Parameter name default value (reference) s k r a m e r ti n u e g n a r t u p n i 93 zone 3 min of linear movement axis 0 -99999999 ~ 99999999 reference only for scara axes (axes 1 to 4) 0.001 mm valid only when max > min. * must be inside the range for at l...

  • Page 483

    455 appendix axis-specific parameters no. Parameter name default value (reference) s k r a m e r ti n u e g n a r t u p n i 93 zone 3 min of linear movement axis 0 -99999999 ~ 99999999 reference only for scara axes (axes 1 to 4) 0.001 mm valid only when max > min. * must be inside the range for at l...

  • Page 484

    457 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 145 sio current-arm- system change speed default value (a2c) 0, 3, 0, 0, 0, 0 1 ~ 10 % (used only for axis 2 (a2c)) 146 reserved by the system (change prohibited) 5000, 5000, 5000, 5000, 0, 0 ...

  • Page 485

    457 appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 145 sio current-arm- system change speed default value (a2c) 0, 3, 0, 0, 0, 0 1 ~ 10 % (used only for axis 2 (a2c)) 146 reserved by the system (change prohibited) 5000, 5000, 5000, 5000, 0, 0 ...

  • Page 486

    459 appendix 4. Driver card 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 manuf...

  • Page 487

    459 appendix 4. Driver card 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 manuf...

  • Page 488

    461 appendix driver card parameters no. Parameter name default value (reference) input range unit remarks 61 ~ 67 (for extension) 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 fo...

  • Page 489

    461 appendix driver card parameters no. Parameter name default value (reference) input range unit remarks 61 ~ 67 (for extension) 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 fo...

  • Page 490

    463 appendix 6. I/o device 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 manufa...

  • Page 491

    463 appendix 6. I/o device 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 manufa...

  • Page 492

    465 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 493

    465 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 494

    467 appendix other parameters no. Parameter name default value (reference) input range unit remarks 39 pc/tp data protect setting (coordinate system) 0h 0h ~ ffffffffh bits 0 to 3: protect type (tool coordinate offset) (0: read/write, 1: read only, 2: no read/write) bits 4 to 7: protect release meth...

  • Page 495

    467 appendix other parameters no. Parameter name default value (reference) input range unit remarks 39 pc/tp data protect setting (coordinate system) 0h 0h ~ ffffffffh bits 0 to 3: protect type (tool coordinate offset) (0: read/write, 1: read only, 2: no read/write) bits 4 to 7: protect release meth...

  • Page 496

    469 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 497

    469 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 498

    471 appendix 9. Use examples of key pa rameters you ca n add function s to those availabl e unde r the facto ry setti ng s or set dedi cated functio ns to i/o ports, by changi ng the pa rameter values . Before chan gi ng a pa ramet er, be sure to read the corresp ondi ng se ction in the li st of par...

  • Page 499

    471 appendix 9. Use examples of key pa rameters you ca n add function s to those availabl e unde r the facto ry setti ng s or set dedi cated functio ns to i/o ports, by changi ng the pa rameter values . Before chan gi ng a pa ramet er, be sure to read the corresp ondi ng se ction in the li st of par...

  • Page 500

    473 appendix descripti on action parameter setti ng manip ul ation/o perati on w ant to output signa l w hen al l valid line ar moveme nt axes are at their home. Output port no . 304 can b e set as a si gn al in di ca tin g t ha t a ll v al id lin ea r m ov em en t a xe s a re a t t he ir h om e. No...

  • Page 501

    473 appendix descripti on action parameter setti ng manip ul ation/o perati on w ant to output signa l w hen al l valid line ar moveme nt axes are at their home. Output port no . 304 can b e set as a si gn al in di ca tin g t ha t a ll v al id lin ea r m ov em en t a xe s a re a t t he ir h om e. No...

  • Page 502

    475 appendix descripti on action parameter setti ng manip ul ation/o perati on w ant to contin ue actuator o pe ratio n after the emerg enc y st op is re set ( w an t to resume actu ator oper ation f rom the part stoppe d d ue to emerg en cy stop input). Progr am s other than the on e command in g a...

  • Page 503

    475 appendix descripti on action parameter setti ng manip ul ation/o perati on w ant to contin ue actuator o pe ratio n after the emerg enc y st op is re set ( w an t to resume actu ator oper ation f rom the part stoppe d d ue to emerg en cy stop input). Progr am s other than the on e command in g a...

  • Page 504

    477 appendix c om bi na tio n ta bl e o f x -s el p x/ q x ax is 5 /6 l in ea r/r ot ar y c on tro l p ar am et er (o th er th an s ca r a ax es ) permitted encod er processing method axis-specific par ameter no. 1, axis opera tion type axis-specific par ameter no. 68, mode sel ection for linear mov...

  • Page 505

    477 appendix c om bi na tio n ta bl e o f x -s el p x/ q x ax is 5 /6 l in ea r/r ot ar y c on tro l p ar am et er (o th er th an s ca r a ax es ) permitted encod er processing method axis-specific par ameter no. 1, axis opera tion type axis-specific par ameter no. 68, mode sel ection for linear mov...

  • Page 506

    479 appendix program run ( applic atio n onl y) error level sy stem error assignm ent source error no. (hex ) displ ay (7 - segme nt display , etc.) error list (applic atio n onl y) error led output (main only ) other paramet er no. 4 = 0 other paramet er no. 4 = 1 error reset (applic atio n onl y) ...

  • Page 507

    479 appendix program run ( applic atio n onl y) error level sy stem error assignm ent source error no. (hex ) displ ay (7 - segme nt display , etc.) error list (applic atio n onl y) error led output (main only ) other paramet er no. 4 = 0 other paramet er no. 4 = 1 error reset (applic atio n onl y) ...

  • Page 508

    481 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 400 mounte d-sio unop en error (s) an attempt w as made to use a chan nel th at is not open. 401 mounte d-sio in-use err or an attempt w as made to ope n ...

  • Page 509

    481 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 400 mounte d-sio unop en error (s) an attempt w as made to use a chan nel th at is not open. 401 mounte d-sio in-use err or an attempt w as made to ope n ...

  • Page 510

    483 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 435 rc gate w ay r c axis conti nu ation d isab le er ror the rc axis g ener ated a n al arm that disab les contin uat io n of operatio n. Exam ple: a rc ...

  • Page 511

    483 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 435 rc gate w ay r c axis conti nu ation d isab le er ror the rc axis g ener ated a n al arm that disab les contin uat io n of operatio n. Exam ple: a rc ...

  • Page 512

    485 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 622 mounted-sio undefined contro l command receive error an und efined c ontrol command w as rece ived from the mounted-sio. 623 driver error d etail cod ...

  • Page 513

    485 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 622 mounted-sio undefined contro l command receive error an und efined c ontrol command w as rece ived from the mounted-sio. 623 driver error d etail cod ...

  • Page 514

    487 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 65a unsup porte d e ncod er id error the encoder is not supporte d. No enco der co ntrol consta nt record is av ail able that correspo nds to the encod er...

  • Page 515

    487 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 65a unsup porte d e ncod er id error the encoder is not supporte d. No enco der co ntrol consta nt record is av ail able that correspo nds to the encod er...

  • Page 516

    489 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 6a1 ubm data conf igurati on ch an ge error data confi gurat ion in th e u se r-d at a b ac ku p m em or y w as c ha ng ed . I ni tia liz e t he memor y. ...

  • Page 517

    489 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 6a1 ubm data conf igurati on ch an ge error data confi gurat ion in th e u se r-d at a b ac ku p m em or y w as c ha ng ed . I ni tia liz e t he memor y. ...

  • Page 518

    491 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 80e exp an ded-sio receive b uffer overflo w stat us (sel receptio n) the receive bu ffer overflo w ed . Excessiv e dat a w as rece ived from outside. 80f...

  • Page 519

    491 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 80e exp an ded-sio receive b uffer overflo w stat us (sel receptio n) the receive bu ffer overflo w ed . Excessiv e dat a w as rece ived from outside. 80f...

  • Page 520

    493 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 938 simple i nterfer ence ch eck zo ne data co unt- specificati on er ror the specif ied n umber of simpl e interfere nce check zon e dat a i s invalid. *...

  • Page 521

    493 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. 938 simple i nterfer ence ch eck zo ne data co unt- specificati on er ror the specif ied n umber of simpl e interfere nce check zon e dat a i s invalid. *...

  • Page 522

    495 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. A2a program in acti ve error the s pecified p rogram is not r unni ng. A2b program-ru n command r efus al error in aut o mode programs ca nn ot be run fro...

  • Page 523

    495 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. A2a program in acti ve error the s pecified p rogram is not r unni ng. A2b program-ru n command r efus al error in aut o mode programs ca nn ot be run fro...

  • Page 524

    497 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. A68 sci parit y error (sio bridge) commun icatio n failur e. C hec k for noise, sho rting, circuit fail ure an d slave c ard. A69 data cha nge r efusal er...

  • Page 525

    497 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. A68 sci parit y error (sio bridge) commun icatio n failur e. C hec k for noise, sho rting, circuit fail ure an d slave c ard. A69 data cha nge r efusal er...

  • Page 526

    499 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. B1d ethernet no n-o pen err or an attempt w as made to use a chan nel n ot yet open ed b y o w n task. B1e ethernet multi ple writ ex ecu tion error writ ...

  • Page 527

    499 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. B1d ethernet no n-o pen err or an attempt w as made to use a chan nel n ot yet open ed b y o w n task. B1e ethernet multi ple writ ex ecu tion error writ ...

  • Page 528

    501 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. B83 rc = 0 w ait tim eout error u po n z c-axis h om e return ti meout of r-axis 0 po siti oni ng has occurr ed . Check for ope ration restri ctio n, w ir...

  • Page 529

    501 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. B83 rc = 0 w ait tim eout error u po n z c-axis h om e return ti meout of r-axis 0 po siti oni ng has occurr ed . Check for ope ration restri ctio n, w ir...

  • Page 530

    503 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. C1c unuse d-l d det ection err or an attempt w as made to e xec ute a comman d base d on mu ltiple l d con diti on that has be en sav ed, w ith out usi ng...

  • Page 531

    503 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. C1c unuse d-l d det ection err or an attempt w as made to e xec ute a comman d base d on mu ltiple l d con diti on that has be en sav ed, w ith out usi ng...

  • Page 532

    505 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. C 59 h ea d s ec to r n um be r s pe ci fic at io n e rro r ( flas h rom erase) error erasin g the flash rom c5a sector count s pecificati on err or (f la...

  • Page 533

    505 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. C 59 h ea d s ec to r n um be r s pe ci fic at ion er ro r ( flas h rom erase) error erasin g the flash rom c5a sector count s pecificati on err or (f las...

  • Page 534

    507 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. C84 in-use ax is ser vo off error the servo of an axis currently in use (being process ed) w as turned off. C85 non-i nstall ed d river error driver is no...

  • Page 535

    507 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. C84 in-use ax is ser vo off error the servo of an axis currently in use (being process ed) w as turned off. C85 non-i nstall ed d river error driver is no...

  • Page 536

    509 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. Cb9 px/py-a xis ind etermina bl e err or at pall et izin g angl e acq uisi tion angl e cann ot b e calcul ated be cause ther e ar e too man y val id a xe ...

  • Page 537

    509 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. Cb9 px/py-a xis ind etermina bl e err or at pall et izin g angl e acq uisi tion angl e cann ot b e calcul ated be cause ther e ar e too man y val id a xe ...

  • Page 538

    511 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. D01 encod er eepr om- w rite time ou t error the encoder is fault y or fai lur e occurre d in the enc oder co mmunicati on. D02 encod er eepr om-read time...

  • Page 539

    511 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. D01 encod er eepr om- w rite time ou t error the encoder is fault y or fai lur e occurre d in the enc oder co mmunicati on. D02 encod er eepr om-read time...

  • Page 540

    513 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. D58 fi eldb us error ( init timeout) an init timeout w as d etected. Check the stat us of the moni to r led on the f ront face of the board b y refer ring...

  • Page 541

    513 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. D58 fi eldb us error ( init timeout) an init timeout w as d etected. Check the stat us of the moni to r led on the f ront face of the board b y refer ring...

  • Page 542

    515 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E06 receiv e timeout error (slave communic atio n) respo nse from the slave can no t be recog niz ed. E07 sci overrun er ror (slave com m unicati on) comm...

  • Page 543

    515 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E06 receiv e timeout error (slave communic atio n) respo nse from the slave can no t be recog niz ed. E07 sci overrun er ror (slave com m unicati on) comm...

  • Page 544

    517 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E4 7 n o n or m al re sp on se e rro r a t a bs ol ut e- dat a a cq ui sit io n n or m al re sp on se is no t r ec eiv ed w he n a cq ui rin g a bs ol ut ...

  • Page 545

    517 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E4 7 n o n or m al re sp on se e rro r a t a bs ol ut e- dat a a cq ui sit io n n or m al re sp on se is n ot rec eiv ed w he n a cq ui rin g a bs ol ut e...

  • Page 546

    519 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E7e parameter err or the parameter is invali d. E7f stroke param et er error check a xis-s pe cific par amete r nos. 7, 8, 1, etc. E80 unsupported card er...

  • Page 547

    519 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E7e parameter err or the parameter is invali d. E7f stroke param et er error check a xis-s pe cific par amete r nos. 7, 8, 1, etc. E80 unsupported card er...

  • Page 548

    521 appendix erro r list (m ain cor e) (in the p an el win do w, the thre e digit s af te r “e” indicate an erro r num be r.) error no. Error name descripti on, ac tion, etc. A70 scif overrun e rror commun icatio n error. Check for noise, con ne cted eq uipm en t and commu nicatio n setting . (w he ...

  • Page 549

    521 appendix erro r list (m ain cor e) (in the p an el win do w, the thre e digit s af te r “e” indicate an erro r num be r.) error no. Error name descripti on, ac tion, etc. A70 scif overrun e rror commun icatio n error. Check for noise, con ne cted eq uipm en t and commu nicatio n setting . (w he ...

  • Page 550

    523 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E90 core co de flas h-rom status error the core progr am is inval id. C ontact the man ufacturer. E91 applic atio n cod e flash-rom stat us error the appl...

  • Page 551

    523 appendix (in the pan el wind ow, the thre e digits aft er “e” in dicate an erro r nu mber. ) error no. Error name descripti on, ac tion, etc. E90 core co de flas h-rom status error the core progr am is inval id. C ontact the man ufacturer. E91 applic atio n cod e flash-rom stat us error the appl...

  • Page 552

    525 appendix troubleshooting of x-sel controller the x-sel controller has a panel window on its front face. Error numbers will be displayed in this panel window. When the power is turned on, normally “rdy” or “ardy” will be displayed. “p01” or other code will be displayed while a program is running....

  • Page 553

    525 appendix troubleshooting of x-sel controller the x-sel controller has a panel window on its front face. Error numbers will be displayed in this panel window. When the power is turned on, normally “rdy” or “ardy” will be displayed. “p01” or other code will be displayed while a program is running....

  • Page 554

    527 appendix erro r no. Erro r nam e cau se cou nterm ea sure c6b deviation ove rflow e rror ope ration is mechani cally di sa bled. Che ck if any of the mounti ng bolts fo r the linea r movement ax is is cont ac tin g insid e the a xis, o r if the slide r attach ment is conta cting any surroundi ng...

  • Page 555

    527 appendix erro r no. Erro r nam e cau se cou nterm ea sure c6b deviation ove rflow e rror ope ration is mechani cally di sa bled. Che ck if any of the mounti ng bolts fo r the linea r movement a xis is cont ac tin g insid e t he a xis, o r if the slide r attach ment is conta cting any surroundi n...

  • Page 556

    529 appendix speed loop integral time constant (parameter list 1) driver card parameter number unit input range default (reference) 44 - 1 ~ 1000 30 current loop control band number driver card parameter number unit input range default (reference) 46 - 0 ~ 4 4 this parameter sets the control band fo...

  • Page 557

    529 appendix speed loop integral time constant (parameter list 1) driver card parameter number unit input range default (reference) 44 - 1 ~ 1000 30 current loop control band number driver card parameter number unit input range default (reference) 46 - 0 ~ 4 4 this parameter sets the control band fo...

  • Page 558

    531 change history revision date description of revision february 2008 may 2008 august 2009 june 2010 first edition second edition third edition fourth edition fifth edition sixth edition added “before using the product” on the first page after the cover. Deleted “safety precautions” before the tabl...

  • Page 559

    531 change history revision date description of revision february 2008 may 2008 august 2009 june 2010 first edition second edition third edition fourth edition fifth edition sixth edition added “before using the product” on the first page after the cover. Deleted “safety precautions” before the tabl...

  • Page 560

    Manual no.: me0152-10a (january 2017) the information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2017. Jan. Iai corporation. All rights reserved. 17.01.000 head office: 577-1 obane shimizu-ku shizuoka city shizuoka 424-0103, japan ...