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IAI X-SEL Operation Manual

Manual is about: P/Q/PCT/QCT Type

Summary of X-SEL

  • Page 1

    Operation manual nineteenth edition xsel controller p/q/pct/qct type.

  • Page 3

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  • Page 4: Caution

    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

    Caution ence has to do with the specific circuit the input voltage and number of external regenerative at least 40 seconds before reconnecting the power. Drive-source cutoff relay error (detection of fused relay: e6d) as a condition limited to xsel-p/pct type controllers of standard single-phase spe...

  • Page 6: Caution

    Caution note on controller with expanded cpu unit memory * the controller with gateway function comes with an expanded memory in the cpu unit. For a controller with expanded cpu unit memory, use the pc software or teaching pendant of an applicable version as specified below. Teaching tool version xs...

  • Page 7

    Safety guide ³6dihw\*xlgh´kdvehhqzulwwhqwrxvhwkhpdfklqhvdiho\dqgvrsuhyhqwshuvrqdolqmxu\rusurshuw\ gdpdjhehiruhkdqg0dnhvxuhwruhdglwehiruhwkhrshudwlrqriwklvsurgxfw safety precautions for our products 7khfrpprqvdihw\suhfdxwlrqviruwkhxvhridq\rirxuurerwvlqhdfkrshudwlrq 1r 2shudwlrq 'hvfulswlrq 'hvfulswlr...

  • Page 8

    No. Operation description description 2 transportation Ɣ when carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate w...

  • Page 9

    No. Operation description description (2) cable wiring Ɣ 8vhrxufrpsdq\¶vjhqxlqhfdeohvfor connecting between the actuator and controller, and for the teaching tool. Ɣ do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy th...

  • Page 10

    No. Operation description description 4 installation and start (4) safety measures Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ when the product i...

  • Page 11

    No. Operation description description 6 trial operation Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ after the teaching or programming operation, ...

  • Page 12

    No. Operation description description 8 maintenance and inspection Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ perform the work out of the safety...

  • Page 13: Alert Indication

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  • Page 14

    " #!*''i%!&%$(%#&""*)%&&q'!%&" #!!( 4i9;a@5''%")%',.

  • Page 15: 91;9>

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  • Page 16

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  • Page 17

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  • Page 19: Table of Contents

    Table of contents introduction ........................................................................................................................1 part 1 installation ...........................................................................................................3 chapter 1 safety p...

  • Page 20

    Part 2 operation ........................................................................................................111 chapter 1 operation ......................................................................................................................... 111 1. Starting a program by auto...

  • Page 21

    1.13 structural if ............................................................................................................ 243 1.14 structural do .......................................................................................................... 246 1.15 multi-branching ....................

  • Page 22

    3. Overview of the screw-tightening system ...................................................................... 345 4. Hardware ......................................................................................................................... 346 5. Software ...................................

  • Page 23

    1 introuduction introduction thank you for purchasing the xsel controller. Inappropriate use or handling will prevent this product from demonstrating its full function and may even cause unexpected failure or result in a shortened service life. Please read this manual carefully, and handle the produ...

  • Page 24

    2 introuduction this controller receives two types of power from external power sources: one for driving the motor (three-phase or single-phase, 200 to 220 v) and the other for control (single-phase, 200 to 220 v). * a single-phase power source is required only for controllers of single-phase specif...

  • Page 25

    3 part 1 installation chapter 1 safety precautions part 1 installation part 1 installation caution chapter 1 safety precautions the xsel controller can be combined with a maximum of six actuators of different types, and is able to provide integrated control over the entire system including periphera...

  • Page 26

    4 part 1 installation chapter 2 warranty part 1 installation chapter 2 warranty 1. Warranty period one of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location 2. Scope of the warranty our products are covered by...

  • Page 27

    5 part 1 installation chapter 2 warranty part 1 installation 5. Conditions of conformance with applicable standards/regulations, etc., and applications (1) if our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable ...

  • Page 28

    6 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! #'% : !&''"!I!)%"! !' 4:5 r!!&'!!*%!'"!'%"%"!"'"')!''"!"%")"%""!4!&(!' )!''"!*!"'"!,#%)!''#%"('%" (!'"!!(,('' ,&"%&('!(%5 4;5 %)!'"%! ''%%" !'%!'"!'%"%'%"(')!''"!"&q!'"!'%"%&!"' &!&(&'#%"""%*'...

  • Page 29

    7 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! ; k''"!!!&''"! &!'"!'%"#!&y"!'%"%,"('!""! '"&"''' !'' #%'(%%"(!' "!'%"%*#''"%"*=9f !&''"!'%"%)%',"!*&(&'%'"*"!'%"%*"","%)!''"! 4+(&'%*&%%" ''"#5&(%'"!&''"!'%"%!'"% !'"!%'"!! #%") ! ( %!":>9 ")...

  • Page 30

    8 part 1 installation chapter 3 installation environment and selection of auxiliary power devices 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 use...

  • Page 31

    9 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! 4=5 (+%,#"*%)& : %('%% !&'%('%%"%%'%%!'#"*%8&(##,!4#% %,&5"'"!'%"%! "%%'"#%)!' ('"#"*%&*'!!&"%'(%%!'!%('%%"%%'%% !(&'"#%"''"'' "'"%#"*%&(##,!"!'%"#"*%&(##, r''('"%&%'!"%%'!'"!'%"%(%%!'!%&&'"'%...

  • Page 32

    10 part 1 installation chapter 3 installation environment and selection of auxiliary power devices 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, th...

  • Page 33

    11 part 1 installation chapter 3 installation environment and selection of auxiliary power devices part 1 installation peripheral configurations three-phase power supply specification p/pct type (standard specification) q/qct type (global specification) 200-vac three- phase power bus control panel c...

  • Page 34

    12 part 1 installation chapter 3 installation environment and selection of auxiliary power devices part 1 installation peripheral configurations single-phase power supply specification p/pct type (standard specification) q/qct type (global specification) 200-vac single- phase power bus control panel...

  • Page 35

    13 part 1 installation chapter 3 installation environment and selection of auxiliary power devices 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. Us...

  • Page 36

    14 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! 4 %% !,!"&&"(%&('&"!"))& !'&*'&!%,&%"#%'(%"!%! *!(!&,&' o"&%" '%'&! !'(&!' &(%&"*c &"!")) !'&*'%, &(%888!&'&(%%!#%*''" &"!")) !'&*'%, &(%888 !&'"!#%*''"'% !'"#',!"%!*''" #', !%('"!!'!"!%)%"%'...

  • Page 37

    15 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! %!%('% "!'%"% q(%&"%% q"!")) 7;= 9 :99 9.

  • Page 38

    16 part 1 installation chapter 4 name and function of each part. Part 1 installation chapter 4 name and function of each part 1. Front view of controller p/pct type (standard specification), 4 axes p/pct type (standard specification), 4 axes with expansion i/o board and brake unit.

  • Page 39

    17 part 1 installation chapter 4 name and function of each part. Part 1 installation q/qct type (global specification), 4 axes q/qct type (global specification), 4 axes with expansion i/o board and brake unit.

  • Page 40

    18 part 1 installation chapter 4 name and function of each part. %':!&''"! 4:5j'% ! &'% !&(&'"%"(!J"!'!"&(%!"&(%& "!!''"i!'!#('#%'!&'"!'%"% j% !Q#'"!& ' &%#'"! = o j &y ;9'">> ; ! J%"(!! '" &&%"(!! 4;5i+'%!%!%')(!' "!!'"% &"!!'"%&(&'""!!'%!%')%&&'!(!''' , %$(%*!'"!'%"%&(&!8" !)%"! !''!'('8!%!%')%&&'...

  • Page 41

    19 part 1 installation chapter 4 name and function of each part. %':!&''"! 4 ;998&!8#&"%'%8#&!#('"!!'"%"!&&'!"&+ '% !&!(! "'"%#"*%'% !&"!'%"#"*%'% !&! I'% ! O"'5 !"''''&!8#&!#(''"!!'%8#& !#(''"!%)#!!"!'%$(% "'"%8 %)#"*%&"(%&'!%',#"!," &*''% ! " ('"! "#%)!''%&""!"''"('&"!!'"%*!' "!'%"%&%)!#"*% "*%"!!...

  • Page 42

    20 part 1 installation chapter 4 name and function of each part. %':!&''"! 4?5 i!"%+&8&!&"% "!!'"% &"!!'"%&(&'""!!'''('"%!"%!+&&!&"%& &(&nqii!6nqii!&!&"%&%"#'"! I!"%+&8&!&"%"!!'"%q#'"!& ' &%#'"! '& "!!'"% k8#';?8#! "!!'"% :9;;?8?;9;ln4,q( '" " 8!"!!'"% :9:;?8 ;9899a5 "!!'"%! J:'"? I!"%+&8&!&"%"!!'"%...

  • Page 43

    21 part 1 installation chapter 4 name and function of each part. Part 1 installation (7) motor connector this connector is used to drive the motor inside the actuator. Motor connector specifications item description details connector gic2.5/4-stf-7.62 4-pin, 2-piece connector by phoenix contact conn...

  • Page 44

    22 part 1 installation chapter 4 name and function of each part. Part 1 installation (9) teaching connector the teaching interface connects iai’s teaching pendant or a pc (pc software) to enable operation and setting of your equipment from the teaching pendant/pc. The physical interface consists of ...

  • Page 45

    23 part 1 installation chapter 4 name and function of each part. %':!&''"! !'%q#'"!&"!Q%!'% ' o" %'"! Q!! '& : j % %"(! ; (' s %!& ''' ! S )' = (' q $(&''"&! > ! Q %'"&! ? (' q i$(# !'%, @ qj q!%"(! A o o"'"!!' b ! Qs: q&!!"%!%'! #!!' :9 ! Qs; q&!!"%!%'! #!!' :: o o"'"!!' :; (' ij: i %!,8&'"#"!'': :...

  • Page 46

    24 part 1 installation chapter 4 name and function of each part. 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 c...

  • Page 47

    25 part 1 installation chapter 4 name and function of each part. 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 di...

  • Page 48

    26 part 1 installation chapter 4 name and function of each part. %':!&''"! (!'"!&%''' " !'(!'"!& &&!'"#"%'o"&999'" 9:> !!) #% '%&4%'"o"& >?O">b!?9!:` % '%&b"##!+`n&' "% '%&b5 !'%n&' !O" '"%, "%'o" (!'"! ""% : 8 7;=8!#(' %"*!8: ; 999 %"% &'%' 8: 99: j!%8#(%#"&!#(' %!8: = 99; j!%8#(%#"&!#(' t"*8: > 99...

  • Page 49

    27 part 1 installation chapter 4 name and function of each part. %':!&''"! 4:=5 j!%q; "!!'"%: !!:"''*"8!!Q; !%q; 4%'"#% '%o"&;9:'";9 4:>5 j!%q; "!!'"%; !!;"''*"8!!Q; !%q; 4%'"#% '%o"&;:5 j!%q; ' )%)* '& "!!'"% 8&(b8#!4i5 s;89b=;8>9;n4o5 "!!'"%! Q:q; + ( *%! &'! :9 ' !'%&'!% q; "!!'(!' 8" #'' k8(#+" ...

  • Page 50

    28 part 1 installation chapter 4 name and function of each part. Part 1 installation (19) supplementary power source (for brake, etc.) input connector it is a 24v dc input connector to for brake releasing and driving*. When an actuator equipped with a brake or that necessary to supply power from thi...

  • Page 51

    29 part 1 installation chapter 4 name and function of each part. %':!&''"! ; i+#!'"!""&,"!'!R!"* ;: ##'"! , %"%',46:5 &%#'"! : #"*%&('"4!(! " !'%,#"*%(%"%%"#!#"*%8&"(% )"'5 : q,&' 8"*!)%%"% ; r%'!''"'& i %!,&'"#&!'('4+#'(%!'(#' "5 = i!&*'4 !&*'&','54+#'!'(#' "5 > "8&'%')%%"% > "8&'%')%%"% > #%'"!8!'...

  • Page 52

    30 part 1 installation chapter 4 name and function of each part. %':!&''"! ;; "% , %"%',46:5 &%#'"! : #"*%&('"4!(! " !'%,#"*%(%"%%"#!#"*%8 &"(%)"'5 : "8&'%')%%"% : "8&'%')%%"% : #%'"!8!'"!)%%"% : #%'"!8!'"!)%%"% ; &&)%%"% ; &&)%%"% ; ##'"!(#' " ; ##'"!(#'&!#%"%&& ; ##'"!(#'&" #' ; k%*%'&' "#%"&& ; %...

  • Page 53

    31 part 1 installation chapter 4 name and function of each part. %':!&''"! ; '%#% '%o"&=b!>9!&'(#'" "!'"%(%%!'&"%)%&"!'#!*!"*4 ! ##'"!)%&"!99b"%'%5 4:5 (%%!' "!'"% (%%!'&"(#'""(%+&)!"!'!("(&+&!( %&! "!'"% % '%&''!& '%#% '%o"=bf: '%#% '%o">9fq &'+&!( % "!'+&'" "!'"% i+ #5 "'%#% '%o"=b&&''"`:b!"'%#% '...

  • Page 54

    32 part 1 installation chapter 4 name and function of each part. %':!&''"! 4;5 % "!'"% "!'!'&""!'%)%&!,"!'#!*!"* "&')!'%&":'"bbb!, % '%&''!& '%#% '%o"=bf; '%#% '%o">9f%!( %"'"!'%)%'" "!'"% r!'&*%''!'"'&"%&"'*%%&'4%&'%'5&+(''%'#% '%)(&) !!#(''#!*!"**&"*'"!'!'"'"!'%)%!&'"`%,&''(&b"% `#%"% %(!!( %b%8'&...

  • Page 55

    33 part 1 installation chapter 5 specifications. Part 1 installation chapter 5 specifications 1. Controller specifications 1.1. P/pct type (standard specification) controller with 1 to 6 axes total output when maximum number of axes are connected single-phase specification: 1600w three-phase specifi...

  • Page 56

    34 part 1 installation chapter 5 specifications. Part 1 installation controller with expanded memory (with gateway function) 128 programs number of programs controller without expanded memory 64 programs multi-tasking 16 programs storage device flash rom + sram battery backup data input methods teac...

  • Page 57

    35 part 1 installation chapter 5 specifications. Part 1 installation 1.2 q/qct type (global specification) controller with 1 to 6 axes total output when maximum number of axes are connected single-phase specification: 1600w three-phase specification: 2400w control power input single-phase, 200 to 23...

  • Page 58

    36 part 1 installation chapter 5 specifications. Part 1 installation multi-tasking 16 programs storage device flash rom + sram battery backup data input methods teaching pendant or pc software brake unit (brake-type actuator only) built-in brake drive circuit driven by over-excitation at 90 v, relea...

  • Page 59

    37 part 1 installation chapter 5 specifications. 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 vd...

  • Page 60

    38 part 1 installation chapter 5 specifications. %':!&''"! 4;5 ('#('#%' i+'%!('#('q#'"!&4ooq#'"!5 ' q#'"! N")"' ;= + ( "(%%!' :99 #%#"!'=99 #%a#"%'& o"'5 n(%%!' 9: +#%#"!' ?;9a=4"%$()!'5 &"'"! '" "'""(#%&"'"! I+'%!)& : !'(%%, ; q$(!%!#('(!' o"'5 =99 &' + ( '"'"(%%!'")%,'#"%'&%" "('#('#"%'o" + ( '"'"...

  • Page 61

    39 part 1 installation chapter 5 specifications. 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....

  • Page 62

    40 part 1 installation chapter 5 specifications. %':!&''"! 4;5 ('#('#%' i+'%!('#('q#'"!& ' q#'"! N")"' ;= + ( "(%%!' :99 #%#"!'=99 #%a#"%'& o"'5 n(%%!' 9: +#%#"!' ?;@a=4"%$()!'5 &"'"! '" "'""(#%&"'"! I+'%!)& : !'(%%, ; q$(!%!#('(!' o"'5 =99 &' + ( '"'"(%%!'")%,'#"%'&%" "('#('#"%'o" + ( '"'"(%%!'""('...

  • Page 63

    41 part 1 installation chapter 5 specifications. Part 1 installation 3. Power-source capacity and heat output the power consumption and heat output of the xsel controller will vary depending on the number of connected axes and i/o configuration. This section explains how to estimate the power-source...

  • Page 64

    42 part 1 installation chapter 5 specifications. 41 part 1 installation table 2. Motor drive powers and output losses (p/q/pct/qct types) control power supply external power source internal consumption [va] external consumption [va] internal consumption [va] external consumption [va] quantity base p...

  • Page 65

    43 part 1 installation chapter 5 specifications. 42 part 1 installation (2) calculation example obtain the power-source capacities and heat outputs when a controller of the following specifications is used. Actuator for axis 1: 200 w actuator for axis 2: 200 w actuator for axis 3: 100 w with brake a...

  • Page 66

    44 part 1 installation chapter 5 specifications. Part 1 installation (3) calculatingthewattageofeachactuatorthatcanbeconnectedtoasingle-phasespecificationsystem forlsa(linearactuator)anddd(directdrivemotor)toconnecttothesinglephasetype,calculatethe wattagefrom“outputforcontrollerwattagecalculation”i...

  • Page 67

    45 part 1 installation chapter 5 specifications. Part 1 installation 249 265 08 1 68 1 59 1 49.5 75 75 49.5 125.3 5 - 35 (80) 3 269 285 081 681 591 59 .5 75 75 59 .5 5 - 35 4. External dimensions 4.1 p/q/pct/qct type (three-phase standard specification, single-phase global specification, single-phas...

  • Page 68

    46 part 1 installation chapter 5 specifications. Part 1 installation 322 33 8 081 681 591 41 120 120 41 5 - 3 5 342 358 081 681 591 51 120 120 51 5 - 3 5 fig. 4-3 p/q/pct/qct type 4-axis controller with expansion i/o board (incremental specification) (three- phase standard specification, single-phas...

  • Page 69

    47 part 1 installation chapter 5 specifications. Part 1 installation 284 300 08 1 68 1 59 1 22 120 120 22 125.3 5 - 3 5 (80) 3 32 4 340 08 1 68 1 59 1 42 120 120 42 5 - 3 5 4.2 p/q/pct/qct type (standard specification) 6-axis controller (three-phase standard specification, single-phase global specif...

  • Page 70

    48 part 1 installation chapter 5 specifications. Part 1 installation 357 373 081 681 591 58.5 120 120 58 .5 5 - 3 5 397 413 081 681 591 78.5 120 120 78.5 5 - 3 5 fig. 4-7 p/q/pct/qct type 4-axis controller with expansion i/o board (incremental specification) (three- phase standard specification, sin...

  • Page 71

    49 part 1 installation chapter 5 specifications. Part 1 installation 125.3 222 206 591 681 081 28 75 75 28 5 - 3 5 (80) 3 22 6 242 08 1 68 1 59 1 38 75 75 38 5 - 3 5 4.3 q/qct type (three-phase global specification) 4-axis controller external views of enclosures for various 4-axis controllers are sh...

  • Page 72

    50 part 1 installation chapter 5 specifications. Part 1 installation 295 279 591 681 081 64.5 75 75 64.5 5 - 3 5 299 315 08 1 68 1 59 1 29.5 120 120 29.5 5 - 35 fig. 4-11 q/qct type 4-axis controller with expansion i/o board (incremental specification) fig. 4-12 q/qct type 4-axis controller with exp...

  • Page 73

    51 part 1 installation chapter 5 specifications. Part 1 installation 241 257 08 1 68 1 59 1 45.5 75 75 45.5 125.3 5 3 - 3 5 (80) 281 297 08 1 68 1 59 1 20.5 120 120 20.5 5 - 3 5 4.4 q/qct type (three-phase global specification) 6-axis controller external views of enclosures for various 6-axis contro...

  • Page 74

    52 part 1 installation chapter 5 specifications. Part 1 installation 314 33 0 081 681 591 37 120 120 37 5 - 3 5 354 370 08 1 68 1 59 1 57 120 120 57 5 - 3 5 fig. 4-15 q/qct type 6-axis controller with expansion i/o board (incremental specification) (three-phase global specification) fig. 4-16 q/qct ...

  • Page 75

    53 part 1 installation chapter 6 safety circuit 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 xsel controller. The standard controller has a bu...

  • Page 76

    54 part 1 installation chapter 6 safety circuit part 1 installation 2. Safety circuit for p/pct type (standard specification) controller the p/pct 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 con...

  • Page 77

    55 part 1 installation chapter 6 safety circuit part 1 installation with the p/pct type, use only the signals shown in the shaded fields of the table for connection with the safety switches. Exercise caution that opening the specified pins or wiring them differently may compromise the safety actions...

  • Page 78

    56 part 1 installation chapter 6 safety circuit part 1 installation 3. Safety circuit for q/qct 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 ...

  • Page 79

    57 part 1 installation chapter 6 safety circuit part 1 installation terminal assignments pin no. Signal name s li a t e d w e i v r e v o 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 circ...

  • Page 80

    58 part 1 installation chapter 6 safety circuit %':!&''"! I:ij;io:io; ij:4!754!85!Ij;4!754!85%%(!!' %!,8&'"#"!'%"!& io:4!754!85!Io;4!754!85%%(!!'!!"!'%"!& &'&!&'"('"'+'%!%)&"(%q!',%" #',%,&!!&"!(% %,%('(&!!+'%!#"*%&"(% ij!Io! Ij!4o5!Ij!47;=5%"!''!#('&''!"','"!'%"%"'%)8&"(%('"!#(' %),'%)8&"(%('"%(')!...

  • Page 81

    59 part 1 installation chapter 6 safety circuit part 1 installation q/qct type xsel controller power supply part digital control 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 mush...

  • Page 82

    60 part 1 installation chapter 6 safety circuit 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 safety relay unit (g9sa-301 by omron) safety gate switch external sgat...

  • Page 83

    61 part 1 installation chapter 6 safety circuit part 1 installation 4. Safety circuit timing charts for q/qct type sel controller safety circuit timing charts for q/qct type sel controller are shown below. The timings covered by the timing charts are as follows: [1], “power on,” [2], “emergency stop...

  • Page 84

    62 part 1 installation chapter 6 safety circuit %':!&''"! ;i %!,&'"# #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"('#(' ,4&,&' 5 qo4&,&' 5 ij:...

  • Page 85

    63 part 1 installation chapter 6 safety circuit %':!&''"! %'(,'& ' !%'#*!'#"*%&'(%!"!*'"('!!#(' #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"(...

  • Page 86

    64 part 1 installation chapter 6 safety circuit %':!&''"! =i!!#(' #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"('#(' ,4&,&' 5 qo4&,&' 5 ij:ij;...

  • Page 87

    65 part 1 installation chapter 6 safety circuit %':!&''"! >q,&' 8&('"*!)%%"% #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"('#(' ,4&,&' 5 qo4&,...

  • Page 88

    66 part 1 installation chapter 6 safety circuit %':!&''"! ?"8&'%')%%"% #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"('#(' ,4&,&' 5 qo4&,&' 5 i...

  • Page 89

    67 part 1 installation chapter 6 safety circuit %':!&''"! @#%'"!8!'"!)%%"% #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"('#(' ,4&,&' 5 qo4&,&'...

  • Page 90

    68 part 1 installation chapter 6 safety circuit %':!&''"! A"*%o4" !*'%)8&"(%('"%&'!#('5 #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" !#('&!C"%'o":= %)8&"(%('"%...

  • Page 91

    69 part 1 installation chapter 6 safety circuit %':!&''"! Bi %!,&'"#4" !*'%)8&"(%('"%&'!#('5 #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" !#('&!C"%'o":= %)8&"(...

  • Page 92

    70 part 1 installation chapter 7 system setup part 1 installation chapter 7 system setup a connection example of a 2-axis controller is given below: 1. Connection method of controller and actuator in the case of an absolute specification, perform an absolute reset after the connection (refer to chap...

  • Page 93

    71 part 1 installation chapter 7 system setup part 1 installation 1.2 connection diagram for q/qct type (global specification) note 1: with the absolute specification, set the absolute-data backup battery enable/disable switch to the bottom position for all axes before connecting the encoder/axis-se...

  • Page 94

    72 part 1 installation chapter 7 system setup part 1 installation 1.3 startup procedure note: when installing multiple axes to the controller, be sure to connect the actuator cables to the right connectors. Check the type of the actuator connected to each connector. If the cables and connectors are ...

  • Page 95

    73 part 1 installation chapter 7 system setup %':!&''"! ; "!!'"!% ;: oo'"! !O" '"%, "%'o" (!'"! : 8 7;=8!#(' ; 999 %"% &'%' 99: j!%8#(%#"&!#(' = 99; j!%8#(%#"&!#(' > 99 j!%8#(%#"&!#(' ? 99= j!%8#(%#"&!#(' @ 99> j!%8#(%#"&!#(' a 99? J!%8#(%#"&!#(' b 99@ %"% '"!4jo":5 :9 99a %"% '"!4jo";5 :: 99b %"% '...

  • Page 96

    74 part 1 installation chapter 7 system setup %':!&''"! ;; o'"! !O" '"%, "%'o" (!'"! : 8 7;=8!#(' ; 999 %"% &'%' 99: j!%8#(%#"&!#(' = 99; j!%8#(%#"&!#(' > 99 j!%8#(%#"&!#(' ? 99= j!%8#(%#"&!#(' @ 99> j!%8#(%#"&!#(' a 99? J!%8#(%#"&!#(' b 99@ %"% '"!4jo":5 :9 99a %"% '"!4jo";5 :: 99b %"% '"!4jo"=5 :;...

  • Page 97

    75 part 1 installation chapter 7 system setup %':!&''"! ; 'cms8>94q54""%54m!""%5 o" ""% o" ""% o" ""% o" ""% o" ""% : %"*!8: :: %"*!8; ;: %"*!8 %"*!8= =: %"*!8> ; 8: :; 8; ;; 8 8= =; 8> %!8: : %!8; ; %!8 %!8= = %!8> = t"*8: := t"*8; ;= t"*8 t"*8= == t"*8> > j%!8: :> j%!8; ;> j%!8 j%!8= => j%!8> ? (8...

  • Page 98

    76 part 1 installation chapter 7 system setup part 1 installation 2.4 changing port numbers assigned to i/o function selections (main (from32m) or later) you can use i/o parameter nos. 283 to 298, “port number assigned to input function selection ***” to assign, to desired input ports, input functio...

  • Page 99

    77 part 1 installation chapter 7 system setup %':!&''"! 4;5 &&! !'+ #""('#('(!'"!&'"! J)!"*&!+ #"&&!!"('#('(!'"!&'"! ,#% '%o"=?`('#('(!'"!&'"! % '%o"=?`('#('(!'"!&'"! 4%%"%"('#('5"%'&%%'"##!+`n&'"% '%&b q''"('#('#"%'!( %"%"('#('(!'"!&'"! !( %&&!'""('#('(!'"!&'"! ,"(&'` #"%'o" "%!,'&!"%"('#('(!'"!&'"...

  • Page 100

    78 part 1 installation chapter 7 system setup %':!&''"! 4=5 &+ # j)!"*&&''!+ #"&,&' &&! !'&c !#('#"%'o":?F%"% &'%'&!4o54'"!5 !#('#"%'o":@fq%)"o&! !#('#"%'o"&:a'"; !#('#"%'o";=fi%%"%%&'4o5 !#('#"%'o";>fk" %'(%!")+&4o5 ('#('#"%'o" ('#('#"%'o" ('#('#"%'o" ('#('#"%'o" ('#('#"%'o" ('#('#"%'o"& % '%q''!& ...

  • Page 101

    79 part 1 installation chapter 7 system setup %':!&''"! ('8#"!'"% &"%& ('8#"!'"%$(##*'=a!#('#"!'&!=a"('#('#"!'&"%(&*'sqin "!'%"%& '(%& : !"%#%")&'"'"b?!#('"('#('#"!'& ('#!#('&"('#('&","(%sqin"!'%"%!"!'%"*'&!"%"%!=a!#('#"!'& !=a"('#('#"!'& ; q(##"%'!!'%&"o!Oo',#& l(&',"(!*'(%%!'"%&,"(!&"&'&%!'%""!"'*...

  • Page 102

    80 part 1 installation chapter 7 system setup %':!&''"! % !&&! !'"%i+'%!!'% )%)*" ('8#"!'!'%'"!& ' )%)* %& ##"!!'"% k8#''"!!'"%:99#!& k?8:998:;@q4k%"&5 "!!'"%! I+'%!"!!'"% i+'%!#"*%&(##, ;= :91 #"*%!&)!'"'*"%('& &(##,!#"*%'"%"(#";= #"!'&!;=#"!'& =a#"!'& =a#"!'& !,"('4"!!'"%! !'&(%5 ;=8"*%!#(' #"*%8&...

  • Page 103

    81 part 1 installation chapter 7 system setup %':!&''"! : ; '"%, ! O" ""% "%' o" (!'"! '"%, !O" ""% "%'o" (!'"! 8 : %"*!8: 8 i+'%! #"*% &(##, ;= "%#!O"&;'";>>:'"@= >: %"*!8: % "('#(' ; 8: 999 %"% &'%' >; 8: ,"('#(' %!8: 99: j!%#(%&"&!#(' > %!8: i %!,&'"#"('#(' = t"*8: 99; j!%#(%&"&!#(' >= t"*8: j!%#...

  • Page 104

    82 part 1 installation chapter 7 system setup %':!&''"! "!!'"!&"%('8#"!'"% "!( %c8s8k9;9 o: q"'ck?8:998:;@4k%"&5 '4>9"%&5n;?>:rj;a+; :4#!&:'">95 #!!*'"(' "!!'"% ;4#!&>:'":995.

  • Page 105

    83 part 1 installation chapter 7 system setup %':!&''"! !#('('#('%('& !#(' !#(''"!& ' q#'"!4" "!'"ooo'"!&5 i+'%!#"*%8&(##,)"' ;= :91 !#('(%%!' @ +#%#"!' n(%%!' : +#%#"!' !#('%(' oo'"! O'"! !'%!%(' !'%!%(' i+'%!#"*%&(##, i+'%!#"*%&(##, !#(''% ! !#(''% !.

  • Page 106

    84 part 1 installation chapter 7 system setup %':!&''"! ; ('#(' ('#(''"!& ' q#'"! ('#(' !' %!&&'"%%%, oo'"!C ?;9a=,"&"%#"%'"! O'"!C ?;@a=,"&"%#"%'"! I+'%!#"*%8&(##,)"' ;= :91 + ( "(%%!' >9 +#%#"!' 4=99 +#%;=#"!'&5c6: n(%%!' 9: +#%#"!' 6:c=99 %#%&!'&''"'"('#('(%%!'"%%"(#";=#"!'& oo'"! O'"! !'%! %(' %...

  • Page 107

    85 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) 1. Single axis, orthogonal axis and rotating axis when the absolute-encoder battery voltage of the xsel c...

  • Page 108

    86 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) part 1 installation (6) the xsel pc software window will be displayed. Clicking the [ok] button will clear the error message. (7) from the [monitor] menu, select [detailed error information] to check t...

  • Page 109

    87 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4a5 %" '"!'%"%45 !(&'&"('&'45 4b5 r!R%!!""+&,'m(''"! 4:95&i!"%&'""+*, %'"&''+&,"(*&'"#%"% !&"('%&'"% 4::5 !'i!"%"''"!'&':(''"!*,r%!!""+'t& (''"!.

  • Page 110

    88 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4:;5!"'%r%!!""+*,'t&(''"! 4: %&&'""*!#%"&&!(''"!&"!,"!4'%%%"** ")'"'!+'' *! #%"&&&" #'5c : &'"!'%"%i%%"% ; q%)"o = q%)" o"'c r'&"'*%)%&"!::99"%'%!"%%"''"!'%&';*#%"% *'&%)"&&'o"%!,'&%)"&'#*# >...

  • Page 111

    89 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) 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 ...

  • Page 112

    90 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! ; k"*'"%"% &"('&'"!U!'4&"(',#!,5 !%%'!"!'"!&&(&*!'u(!'&"!!''"'"!'%"%"%'%&'' &"(' !"%''%,)"'&!"% "%!"%&!&"!!'!!"%''%,%%"%* !%'!&"('%&'*%$(% ;: %#%!"%&"('&' !'u(!'!&"('%&'%"% %" '8&%*!(&' !' !(...

  • Page 113

    91 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! ;; q'%'!'&"('&'!(48&%*q#!(&' !'r!"*5 4:5 q'%''8&%*!(&' !'*!"*%" '&"'*% 4;5 8&%*!(&' !'*!"*&'%'& r!!% ") !'+&!( %&&'`"'+&o"b!`i!"%,#b%, 8&%*!(&' !'%"% (&!!% ") !'+&!%"''"! ") !'+&& #%q!'(&' !'...

  • Page 114

    92 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! ; 4:5 q'`n!%+&o"b**(&'"#%"% !&"('%&'48&%*!(&' !'5 4;5 '&'"''"!'&':4n!%+&"'+&5(''"!.

  • Page 115

    93 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4 4=5 r!'""+##%&'t&(''"!.

  • Page 116

    94 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4>5 '&'"!'%"%i%%"%(''"! 4?5 'q%)"o4n!%+&"'+&5(''"!.

  • Page 117

    95 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4@5 ' #q'!%#"&'(%&'!,4n!%+&5(''"! %((&'!% ") !'+&4u8+&5%'(%!&'"'&" 4a5 l"'%"''"! ") !'+&48+&5'"'%%!#"&'(%#"&'"!4%%'"'(&'%'"!" %%!#"&'(%5!'!'l"!(''"! (&'%'"!"%%!#"&'(% 8('&(%.

  • Page 118

    96 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4b5 'q%)"84n!%+&"'+&5(''"! 4:95%&&' %!,&'"#&*'4 %!,&'"#(''"!"!'5 4::5&'%&'%(&!'&*'"!'"!'%"%&.

  • Page 119

    97 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4:;5q''#'!#!"!&''('!'(&' !'&&"*!"*'"+'%""'!'%%! #"&'(% !&''"! '" : !&%''8&%*!!'"'"!'%" "* ; (&'8('&(%"'8&%*!'""!'''&(% = '!'&%*'"&(%'"!'"'8&%*! 6 ''&' "!% '''(&' !'&)%''"'8&%*!!'''8('&(% !&(%...

  • Page 120

    98 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4: 4:=5'i!"%"''"!'&';4"'+&5(''"!.

  • Page 121

    99 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4:>5r!'""+##%&'t&(''"! 4:?5r!'""+##%&'t&(''"!.

  • Page 122

    100 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4:@5'k" #"&('" '(#'4!!&',54"'+&5(''"! 4:a5 ")'(&' !' 4:b5n"'%4"!'%"!'#!"'"!'%"%5 4;95!' %!,&'"#4,%&!' %!,&'"#(''"!"!'5 4;:5'm(''"!.

  • Page 123

    101 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4;;5'q%)"o4n!%+&"'+&5(''"! 4; %((&'%"''"! ") !'+&48+&5 ")&'"'y%"#"!'!'!'!% ") !'+&4u8+&5%'(%!&'"'&".

  • Page 124

    102 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4;=5'q%)"84n!%+&"'+&5(''"! 4;>5'i!"%"''"!'&'.

  • Page 125

    103 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4;?5r!'""+##%&'t&(''"! 4;@5'k" #"&('" '(#'4!!&',54n!%+&5(''"!!'!`sb!''"# %'8!"%!%"'*!"*'""&'*!"* r%!! !"'''!"'""*!'*"%#%"(%"%%', ,%&('!#"&'"! !'.

  • Page 126

    104 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4;a5"&!'8&%*!(&' !'*!"*""*!'8&%*!(&' !'"#!&' ""*!&%!'t&(''"! 4;b5r!'&!*%''!'"'&'""*!&%!##%&'t&(''"!.

  • Page 127

    105 part 1 installation chapter 9 maintenance 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 ...

  • Page 128

    106 part 1 installation chapter 9 maintenance 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 xsel controller wi...

  • Page 129

    107 part 1 installation chapter 9 maintenance %':!&''"! ''%,# !'%"(% :5 ")'@8& !'ni#!%" '"!'%"% q'#!(#*%!#(''"*%,"('"% ") ;5 %&&'!'%"'''%,(&!!%&&"*! ''%,*" "%" '"% #"%'&4'7 %&"(!,"(5 =5 !&''#!!'"%!#"&'"!.

  • Page 130

    108 part 1 installation chapter 9 maintenance %':!&''"! 4a5 r!'%# !'"&,&' 8 "%,(#''%,&" #'"!% '''''%,&!&' &(%,!'!'(%!"!'"!'%"%#"*% 4b5 )%'`'%#% '%o";9(#8''%,!&''"!(!'"!',#b'"')(%"%!&'#; '%!&%'&''!'"'"!'%"%!'!#%"% &*%' 6 "!% '''&*%'!#%"&&&" #' 4:95%"% &"'*%%&'4%&'%''"!'%"%5 4o"'5 " !!'"#%'"!*'"('%&'+...

  • Page 131

    109 part 1 installation chapter 9 maintenance %':!&''"! = # !'%"(%"%&"('8'(#''%, %# !'#%"(%*)%,#!!"!%%"%&%#%&!'''' "%# !'!&" *%%"%&%#%&!'4o"; !"%%"%%&!'#%"% &'#&4:5'"4a5 !&"('8'(#''%,)"'8"**%!!4%%"%o";5 !&"('8'(#''%,)"'%%"%4%%"%o"b:="%;5%&!'#%"% &'#&4:5'"4a5 !'!#%"% !&"('!"%%&',%%%!'"#'%a`k"*'"%"% !...

  • Page 132

    110 part 1 installation chapter 9 maintenance %':!&''"! 4?5 (%!"!'"!'%"%#"*% 4@5 q''&"('8'(#''%,!&&*''"''"#4io5#"&'"! 4o"'5&"#%'"!&!"'%$(%!"%%"%&!%'"%*!!; 4a5 (%!"'"!'%"%#"*%!!&''%&*'#!*''&%*&r!'&*'#!& !!&''(%!"!'#"*% 4b5 q'%''&"'*%"!!%" '"!'%"%45 !(&'&"('&'45 4:95r!R%!!""+&,'m(''"! R%!! 4::5&i!"%&'...

  • Page 133

    111 part 2 operation chapter 1 operation part 2 operation part 2 operation chapter 1 operation how to start a program with the xsel controller, the stored programs can be started (run) using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the ...

  • Page 134

    112 part 2 operation chapter 1 operation 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 pro...

  • Page 135

    113 part 2 operation chapter 1 operation %';#%'"! ; q'%'!)i+'%!Q!Q'"! 4:5 "*%' r!'it&!'(%!&o't #4%!5"!'"!'%"%%"!'#!* ( !' !#('&%#%"% !( %& "%" '+'%!) !#('&'%'&!%" '+'%!) r!'#%"% &%(!'!( %"' &'%'#%"% *&"*!!'i ,%"'"!'%"%%"!'#! ! %!,8&'"#&!*&!#('%" ' +'%!)"%"!'%"%%%"%"(%% '"!'%"%*'(%!"'&%)"#"*% 4t #*'(...

  • Page 136

    114 part 2 operation chapter 1 operation %';#%'"! 4;5 !%' ,"('#(' %"% !( %!#(' i+'%!&'%' !#(' %"% : %"% ; :c (%'"!'%'%,"('#(''(%!&o(!'!#(' "+'%!&'%'&!% '' :f:9 & ! ;c (%'"!'%'#%"% !( %&!#('(!' !#('"+'%!&'%'&!% '' ;f>9 & ! &&o&&&&&&&&&&&&&&&&&&&&&&&&&o&&&&&&&&&&o&&&&&&&&&&&&&&&& &&o&&&&&&&&&&&&&&&&&&...

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    115 part 2 operation chapter 1 operation %';#%'"! %)8q"(%")%,$(&'!#%'"!8(&&'$(&' 4:5 %)8&"(%%")%,%$(&' :5 k"*'"%$(&'%)8&"(%%")%, %)8&"(%%")%,%$(&'!&&((&!"!"'""*! '"&c q'#% '%o"=='"`:b4!#('&'"!(!'"!9:=f%)8&"(%('"%&'!#('5'! !#(''o'"!#('#"%'o":= q'%)8q"(%")%,$(&'45%" '"!'%"%45 !("!'&"'*% &%! Q''4"!'%"%...

  • Page 138

    116 part 3 controller data structure 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. Xsel controller data structure the user must create position data and ap...

  • Page 139

    117 part 3 controller data structure chapter 1 how to save data part 3 controller data structure chapter 1 how to save data since the xsel 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 ...

  • Page 140

    118 part 3 controller data structure chapter 1 how to save data part 3 controller data structure since the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary memory will remain the same as the original data before edit unless the edited data are wri...

  • Page 141

    119 part 3 controller data structure chapter 1 how to save data %' ; r!'q,&' 8 "%,(#''%,&o"'& ;: "!'%"%*'"('i+#! "%, '%#% '%o";9f94q,&' 8 "%,(#''%,!"'!&'5 #%"% % '%&&, "&!#"&'"!&%%%" '& "%,'%&'%''!' ! "%,*% !'& &'"%!'"%'(!&&'''%*%''!'"' & "%, "!'%"%*,&"#%'&!"%!*'''!' ! "%,4+(!'#% '%&5 4+ ;9:99:>! ''...

  • Page 142

    120 part 3 controller data structure chapter 1 how to save data part 3 controller data structure 2.2 controller with expanded memory (with gateway function) (other parameter no. 20 = 0 (system-memory backup battery not installed)) the programs, parameters, symbols and positions are read from the fla...

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    121 part 3 controller data structure chapter 1 how to save data %' "!'&'"o"' "!''"!"'*!'%!&%%!'!*%'!'"'& "%, o)%'(%!"' !#"*%*'&!'%!&%%"%*%''!'"'& "%,'*"&'!'"!'%"%"#%'"! ,& "!''"!"'*!&)!#% '%&'" !"%#% '%&%&'"%!'ii"''('"%3&!"%'&4(!"'% #% '%&',%!"'&'"%!'ii"'"!'%"%5!"%#% '%&* %%" '!"%3&ii'"'"!'%"%*!'#"*...

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    122 part 3 controller data structure chapter 1 how to save data %' o"'"!!%&!( %"#% '%& !"!'%"%*'+#! "%,4*''*,(!'"!5'!( %"#% '%&& !%& o( %"#% '%& r'"('+#! "%, r'+#! "%, =99 ?99 8+& =99 +&8 ;;9 ;>9 %)% b@ b@ i!"% ) a; a; '% :;9 ;99 !"'"'""*!#"!'c 6 #% '%&)!"!'%"%*'"('+#! "%,&'%!&%%'""!'%"%*' +#! "%,"%...

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    123 part 3 controller data structure chapter 2 xsel language data part 3 controller data structure chapter 2 xsel language data 1. Values and symbols used in sel language 1.1 list of values and symbols used the various functions required in a program are represented by values and symbols. Function g...

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    124 part 3 controller data structure chapter 2 xsel language data part 3 controller data structure the variables and flags in the global range will be retained even after the controller power is turned off. (when other parameter no. 20 is set to “2.” refer to chapter 1, “how to save data,” of part 3...

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    125 part 3 controller data structure chapter 2 xsel language data %' : %'("%'& 4:5 %'(!#('#"%'& "%'o" (!'"! @999 *,& @99: *,&o @99; "'"**%!!"%&,&' 8 "%,(#''%, @99 !"% )"'"&,&' 8 "%,(#''%, @99= 4"%('(%+#!&"!F&&'%',#%"'5 @99> 4"%('(%+#!&"!F&&'%',#%"'5 @99? "#8)&,&' %%"%f&&)%%"%%&!' @99@ "#8)&,&' %%"%f...

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    126 part 3 controller data structure chapter 2 xsel language data part 3 controller data structure port no. Function 7164 running program no. 64 (including during pause) 7165 running program no. 65 (including during pause) (controller with expanded memory (with gateway function) only) ~ ~ 7228 runni...

  • Page 149

    127 part 3 controller data structure chapter 2 xsel language data %' := & "!'%%,'"'&" "! !!''% `b&(&!#%"% ! !&` "%,b&%(&'" &'"%%&'',"%%"!'"`(+%,%,&b!&$(!% &%)!'""&4o"&?99'"abb5''!(&!#%"% &!"&4o"&b99 '"bbb5''!(&"!,!#%"% j"&*%'!4(#,''%,5)!'%'#"*%&'(%!" n"&*%*!'#"*%&'(%!" !( % ?99'"abb !(&!#%"% & `j"&b...

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    128 part 3 controller data structure chapter 2 xsel language data %' :> %& 4:5 !!")% `%b&'!'% (&!&"'*%#%"% !Q #,#('' !&`"+!*)(& #('b%&!(&! !,*,&&((''!!"%'!"(')(!#%"% !'"! "%&('%'"! " ! #%!: #%!; : : '&" !#'")%"+:*%,"!'!&;'!:*'"'(%%!' )(! % "+: )%!(&! !,*,&&(&c (''!!)(4:; !"(')(4=>?5"% !)(47:5 % "+: ...

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    129 part 3 controller data structure chapter 2 xsel language data %' 4;5 ,#&")%& %&%&&!'"'*"',#&&""*&c :5 !'%)%& &)%&!!"'! #& i+ #:; !'%)%!( % ;99'";bb :;99'":;bb !(&!#%"% & `j"!'%)%&b !'%)%!( % :'"bb :99:'":9bb &"!,!#%"% `n"!'%)%&b !'%bb&%&'%'&&,&' (&&!!'%"#%'"!& !,)(!'%!%" abbbbbbb'"bbbbbbbb!!#('!...

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    130 part 3 controller data structure chapter 2 xsel language data %' !`6b4&'%&5&(&'",)% !'""*!+ #'"!'!'")%"+:*#('!)%"+;)%"+: "!'!&`:; " ! #%!: #%!; ni : :; " ! #%!: #%!; ni ; 6: ")(&")%&&`!%''"!B !`6b&&"(&*!!%',,!&, ")%4%%'":a`q, "&b5 " ! #%!: #%!; ni : (':!)% ni ; (';!)% 6 '"!'!'")%"%;'" )% 4"!'!'"...

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    131 part 3 controller data structure chapter 2 xsel language data %' :? & '% `'b !&`!B &%(&!'& *,,"(''&'"'#&!"","(*!''"%%!%$(!', '&&'!'"!!( #" !`jb " ! #%!: j !( %4!'%'*!:!Bb5 ,%(&"!,!#%"% j: j:.

  • Page 154

    132 part 3 controller data structure chapter 2 xsel language data %' :@ q(%"('!& ,'!"(''#%'&"#%"% ''%(&%#',!%&'%!' &`&(%"('!&b'& #%"&&!!#%"% *'*%&'#&4 + ( ":>!&'&%" "'5 ,%(&"!,!#%"% " ! #%!: isq q(%"('!!( %4!'%'*!:!Bbd)%&&"&(##"%'5 q(%"('!+('"!" ! " ! #%!: jq q(%"('!!( %4!'%'*!:!Bb5 q(%"('!&'%'%'"! ...

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    133 part 3 controller data structure chapter 2 xsel language data part 3 controller data structure 1.8 symbols in the xsel 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 xs...

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    134 part 3 controller data structure chapter 2 xsel language data %' ::9 +&q#'"! +&!&"!+&!( %"%+''%! 4:5 +&!( %&!"*+&%&'' i" ('#+&&&''&""*&c +&!( % k"*+&&&'' : +&: ; +&; +& = +&= > +&> ? +&? +&!( %&&''")!&"+#%&&(&!&, "& &+&!( %,"(*&'","!,"!" ('#+& " !&''(&+&'"!&"!+&!( % qijikusqqikukuj.

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    135 part 3 controller data structure chapter 2 xsel language data %' 4;5 +''%! R'%"%!"'+&*(&&!',`:b"%`9b 4##%5 4n"*%5 +& !( % +&? +&> +&= +& & : : : : : : o"'(& 9 9 9 9 9 9 i+ # r!+&:!;%(& +&; 9999::88849&!%"!'%!"'!&&%,r''9&% ")'+#%&&"!%&`::b5 +&: i+ # r!+&:!=%(& +&= :99:8884!'&&'9&%!'"!''#"&'"!"+&=...

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    136 part 3 controller data structure chapter 2 xsel language data part 3 controller data structure xsel language consists of a position part (position data = coordinates, etc.) and a command part (application program). 2. Position part as position data, coordinates, speeds, accelerations and deceler...

  • Page 159

    137 part 3 controller data structure chapter 2 xsel language data %' " !%' #% %,'(%"qin!(&'&)%,& #" !&'%('(%q!'&'%('(%&& #'%& !"!"%" #%4'"'%!&'!'"" #('%!(5!8"#%'"!"&&)! !'%#%'%4'#%"% %(!&&" !&%'%!&'5 qin!(q'%('(% '"*&"*&'&'%('(%""!" !&'# " !%'"! I+'!&"!"!'"! 4o5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#('...

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    138 part 3 controller data structure chapter 2 xsel language data %' i+'!&"!"!'"! "!'"!&!" !!" #+ !!% 4qin!(5 " ! I+'!&"! "!'"! !#(' "!'"! " ! #%! : #%! ; ('#(' "!'"!: "!'"!; "!'"! #%! : #%! ; " ! I+'!&"! "!'"! !#(' "!'"! " ! #%! : #%! ; ('#(' "!'"!: "!'"!; " ! #%! : #%! ; " ! I+'!&"! "!'"! !#(' "!'...

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    139 part 4 commands chapter 1 list of sel language command codes 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 ...

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    140 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    141 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    142 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    143 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    144 part 4 commands chapter 1 list of sel language command codes part 4 commands 2. Alphabetical order operation type in the output field cc: command was executed successfully, zr: operation result is zero, pe: operation is complete, cp: command part has passed, tu: time up eq: operand 1 = operand 2...

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    145 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    146 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    147 part 4 commands chapter 1 list of sel language command codes 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 operan...

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    148 part 4 commands chapter 1 list of sel language command codes 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 operan...

  • Page 171

    149 part 4 commands chapter 1 list of sel language command codes part 4 commands rc gateway function commands (controller with gateway function only) * for commands relating to the rc gateway function, refer to the “operation manual for xsel controller p/q/pct/qct/ px/qx rc gateway function.” operat...

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    150 part 4 commands chapter 1 list of sel language command codes part 4 commands commands relating to electronic cam function (applicable only to controllers with electronic cam function) * for the details of electronic cam commands, refer to the “operation manual for xsel controller p/q/pct/qct: el...

  • Page 173

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    152 part 4 commands chapter 2 explanation of commands %'=" !& n4%)%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N % !( % % !( % u (!'"! %')%&%" '"!!"#%!:'%"('"'%! "#%!; "!'!'&"')%&'')!%" 9 "('#('*'(%!O*!9&&&!'"')%!"#%!: i+ #: n : > %)%&:'%"(> i+ #; ni : :9 &&!:9...

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    153 part 4 commands chapter 2 explanation of commands %'=" !& :; %' '#%'"! 45 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! % !( % ' u (!'"! '"!'!'"')%!"#%!:!')(!"#%! ;!&&!'%&(''"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 i+ #: ni : &&! : ; ;'"'"!'!'")%:4 >45*&'"%!)%:...

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    154 part 4 commands chapter 2 explanation of commands %'=" !& n4('#,5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N % !( % ' u (!'"! ('#,'"!'!'"')%!"#%!:,')(! "#%!;!&&!'%&(''"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 i+ #: ni : &&! N : ; ('#,'"!'!'")%:4 ?4 i+ #; ni...

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    155 part 4 commands chapter 2 explanation of commands %'=" !& 4 !%")&"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! % !( % ' u (!'"! &&!'"')%!:'% !%"'!,)!'"!'!'" ')%!"#%!:,')(!"#%!; "('#('*'(%!O*!'"#%'"!%&('" &9 4o"'5 " !&(&*'!'%)%& i+ #: ni : @ &&!@'")%: : '!'%...

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    156 part 4 commands chapter 2 explanation of commands %'=" !& : (!'"!#%'"! Qo4q!"#%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qo % !( % ' u (!'"! &&!'&!"''!"#%!;'"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 &''!!"#%!: (&'%)%!%!":99'":bb::99'"::bb '" (!'"'!"#%!;...

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    157 part 4 commands chapter 2 explanation of commands %'=" !& o4!!'"#%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O % !( % ' u (!'"! &&!''!!'"''!"#%!;'"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 &''!!"#%!: (&'%)%!%!":99'":bb::99'"::bb '" (!'"'!"#%!;&%! 4o"':5 !...

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    158 part 4 commands chapter 2 explanation of commands %'=" !& qp4""'"#%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qp % !( % ' u (!'"! &&!'%""'"''!"#%!;'"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 i+ #: qp : = &&!'%""'"=4;5'")%: i+ #; ni : :9 ni ; = qp 6: 6; &&...

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    159 part 4 commands chapter 2 explanation of commands %'=" !& := n"#%'"! O4n"o5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O % !( % ' u (!'"! &&!'"o"#%'"!%&('"'"!'!'"')%!"#%!: !')(!"#%!;'"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 i+ #: ni : ;9= &&!;9='")%: o : :@9...

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    161 part 4 commands chapter 2 explanation of commands %'=" !& i4n"+(&)85 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I % !( % ' u (!'"! &&!'"+(&)8"#%'"!%&('"'"!'!'"')%! "#%!:!')(!"#%!;'"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 i+ #: ni : ;9= &&!;9='")%: i : :@9 &&...

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    162 part 4 commands chapter 2 explanation of commands %'=" !& :> " #%&"!#%'"! 4" #%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 ip oi j ji #'"! #'"! % !( % ' n ni (!'"! "('#('*'(%!O'" #%&"!%&('"'"!'!'"')% !"#%!:!')(!"#%!;&'&&'"!'"! )(!')%"&!"'! "('#('*'(%!'"!'"!&!"'&'& 4o...

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    163 part 4 commands chapter 2 explanation of commands %'=" !& :? % r4 %5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! R %"' (!'"! Q'"#'#%"% !*'"%'' !"#%!: &''!%!&99:'"bb!'(!'&&"! "('#('*'(%!O*!'' &!'#%"% #%"&'" '!+'&'# i+ #: r :> r'"%:>&"!& i+ #; ni : :9 &&!:9'")%...

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    164 part 4 commands chapter 2 explanation of commands %'=" !& 4!' %5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! %"% !( % %"' (!'"! !' %!"'%#%"% %(!!!!#% 4o"'5 %&!Rror!I" !&!!!'&" ror!I" !&)!' "('&!"''&&&( ''! (! '' %&!!'*'' *! I+ #: :9 !'*'' !#%"% :9 i+ #; ni : ...

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    165 part 4 commands chapter 2 explanation of commands %'=" !& j4j'' 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J % !( % %"' (!'"! &,&' ' '"')%!"#%!:' &!(!'&":9 &"!& ' "'!%&!"&!( %%"%'&" !&'*! '%!*(&'"(''#&' i+ #: j : '%%!' '")%: : >99 q''!!' '">&"!&'% j ; '(%%...

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  • Page 190

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    169 part 4 commands chapter 2 explanation of commands %'=" !& r4r'"%#"%'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! R 4 5 (!'"! R'"%'#"%'"%!"#%!:'"'(%!O #%"% !"%''%'' ,&''!'' !"#%!; &''!%!&99:'"bb&"!& "('#('*'(%!O(#"!#&"'' 4"!,*!"#%!;& o"'5 "!!"'!'%!"#%!: r o r...

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    171 part 4 commands chapter 2 explanation of commands %'=" !& o4&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O '& (!'"! '#"%'&"%&%" '"!!"#%!:"%'!( %"'& !"#%!;'")%bb& :> := : :; :: :9 b a !#('#"%'!( % o o o a> %bb 4o"':5 + ( "''&4 4o"';5 !( %"#"%'&!&''!(&&=+!4'&...

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    172 part 4 commands chapter 2 explanation of commands %'=" !& 4r%'"('#('&!%,5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ('#(' ('#(' (!'"! R%'')(!)%bb'"'"('#('#"%'&"%&%" '"!!"#%!: '%"('"'%!"#%!; : %bb ##% n"*% : 9 9 9 9 : 9 : !%, ('#('#"%'!( % o o o 4o"':5 + ( "...

  • Page 195

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  • Page 199

    177 part 4 commands chapter 2 explanation of commands %'=" !& :a %"% "!'%" j4l( #5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J !( % %"' (!'"! L( #'"'#"&'"!"''!( %!"#%!: 4o"'5 j" !&)"!,*'!'& #%"% i+ #: j : q'' c c c j : l( #'"': &!J" !'"%!"('""%!'"!,"'&,!'+&&'"*...

  • Page 200

    178 part 4 commands chapter 2 explanation of commands %'=" !& isq4i+('&(%"('!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Isq q(%"('! !( % %"' (!'"! I+(''&(%"('!!"#%!: + ( ":>!&'&(%"('!&%&(##"%' 4o"'5 &" !&)"!,"%&(%"('!&*'!'& #%"% i+ #: isq : i+('&(%"('!: c c is...

  • Page 201

    179 part 4 commands chapter 2 explanation of commands %'=" !& iq4i!&(%"('!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' iq %"' %"' (!'"! %'!"&(%"('! &" !&*,&%$(%''!"&(%"('! %'%'#%"% *#%"'"'&'#!+''"'isq''&! I+ #: %'"'&'"!"!Isq" !.

  • Page 202

    180 part 4 commands chapter 2 explanation of commands %'=" !& :b &! !' is4i!#%"% 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Is %"' %"' (!'"! I!'#%"% '&'&'#&!%*'"('!"(!'%!!,is" !'#%"% * %'(%!'"'!!! 4o"'5 q''(&'#%"% ! ('#('#"%'& '! N"& % n")%& % (%%!')(& '! J"& ...

  • Page 203

    181 part 4 commands chapter 2 explanation of commands %'=" !& isj4q'%'"'%#%"% 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Isj %"% !( % 4%"% !( %5 (!'"! Q'%''#%"% &%" '"!!"#%!:'%"('"'%!"#%! ;!%(!' !#%q#'"!!"#%!:"!,&"* i+ #: isj :9 :; q'%'#%"% o"&:9::!:; i%%"%8!%...

  • Page 204

    182 part 4 commands chapter 2 explanation of commands %'=" !& j4"%'"'%#%"% 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J %"% !( % 4%"% !( %5 (!'"! "%,!'#%"% &%" '"!!"#%!:'"'"'%! "#%!;q#'"!!"#%!:"!,&"* 4o"':5 !J" !&&&(* ") !'" !&!+(''+&* ',%'!&'"# 4o"';5 o"'"!,'...

  • Page 205

    183 part 4 commands chapter 2 explanation of commands %'=" !& qqj4(%"% 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qqj %"% !( % 4%"% !( %5 (!'"! (&'#%"% %" '"!!"#%!:'%"('"'%! "#%!;''(%%!'&'#q#'"!!"#%!:"!,&"* 4o"':5 (&!#%"% *&"#(&'"#%'"!'#%"% &!+('! 4o"';5 o"'"!...

  • Page 206

    184 part 4 commands chapter 2 explanation of commands %'=" !& qj4&( #%"% 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qj %"% !( % 4%"% !( %5 (!'"! &( '#%"% &%" '"!!"#%!:'%"('"'%! "#%!;q#'"!!"#%!:"!,&"* 4o"':5 &( !#%"% *&"%&( '"#%'"!'#%"% !+('!"% '#(& i+ #: qj :9...

  • Page 207

    185 part 4 commands chapter 2 explanation of commands %'=" !& ::9 "&'"!#%'"! Ji4#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ji +& !( % "&'"! !( % (!'"! '")%:bb''"'+&!( %!"#%!:!'#"&'"!' !"#%!; i)!Ji" !&+(''*!"'&'"%!)%:bb4'ji " !*!"'+('5'%&!"#"&'"!''"%4'#"...

  • Page 208

    186 part 4 commands chapter 2 explanation of commands %'=" !& 4r%'#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! +& !( % "&'"! !( % (!'"! R%'')(!)%:bb'"'+&!( %!"#%!:!'#"&'"!' !"#%!; i+ #: ni :bb :>9 &&!:>9'")%:bb ; r%''"!'!'")%:bb4:>95'"+&;'#"&'"! I+ #; ni ...

  • Page 209

    187 part 4 commands chapter 2 explanation of commands %'=" !& n4%#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N "&'"! !( % "&'"! !( % (!'"! %'#"&'"!'%" '"!!"#%!:'%"('"'%! "#%!; %'*!'"!'"!*'"(''!*!"'9999#"&'"! ',*%ssss"!''!#!!'!!"!'&"'*% i+ #: n :9 ;9 %''%...

  • Page 210

    188 part 4 commands chapter 2 explanation of commands %'=" !& t4"#,#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! T "&'"! !( % "&'"! !( % (!'"! "#,'#"&'"!'!"#%!;'"'#"&'"!!( %!"#%!: i+ #: t ;9 :9 "#,''"#"&'"!O":9'"#"&'"!O";9 i+ #; ni : ;9 &&!;9'")%: ni ; :9 ...

  • Page 211

    189 part 4 commands chapter 2 explanation of commands %'=" !& i4(%%!'#"&'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I +& #''%! "&'"! !( % (!'"! '(%%!'#"&'"!"'+&!"#%!:'"'#"&'"!! "#%!; i+ #: i :: :9 '(%%!'#"&'"!&"+&:!;'"#"&'"!O" :9 i+ #; +''%!!!%',(&!)% r!'" !...

  • Page 212

    190 part 4 commands chapter 2 explanation of commands %'=" !& p4(%%!'+"&'"!4:+&%'55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! P +& !( % % !( % &" !!!#('(&!'&"'*%")%&"!::9>"%'%"%'!#!!'")%&"!:9> "%'% (!'"! '(%%!'#"&'"!"'+&!( %!"#%!:'"')% !"#%!; (%%!'#"&'"!!"'! "%...

  • Page 213

    191 part 4 commands chapter 2 explanation of commands %'=" !& q4#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q +& #''%! "&'"! !( % (!'"! )'&"!'!!'+''%!!"#%!:''#"&'"! !( %!"#%!; "('#('*'(%!O!"!"'','+''%!&)4' #"&'"!'&"!''!#!!'&"*`ssssb"%'#"&'"!'&!' &"'*%%!5...

  • Page 214

    192 part 4 commands chapter 2 explanation of commands %'=" !& in4&&!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! In q# "&'"! !( % (!'"! R%''!"#%!:'"'#"&'"!!( %!"#%!; 4o"'5 !'))(&*%''!*'in" !!% *!%'*!''#"&'"! &! ") !'"#%'"!'i+%&('"! I+ #: in :99 :9 r%':99 &'"#"&...

  • Page 215

    193 part 4 commands chapter 2 explanation of commands %'=" !& 4&&!%'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! %'"! "&'"! !( % (!'"! R%''%'"!!"#%!:'"'#"&'"!!( %!"#%!; 4o"'5 !&!"'#%"% "%" !%(!"''"+' '&'"% '('"% i+ #: 9 :9 r%'%'"!9 i+ #; ni :99 9 &&!9 ni ; :9...

  • Page 216

    194 part 4 commands chapter 2 explanation of commands %'=" !& n4&&!%'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N %'"! "&'"! !( % (!'"! &&!'%'"!'!"#%!:'"'%'"!' !'#"&'"! '!"#%!; %'"!&&'!J! ,!((#'"'*" #& i+ #: n 9 &&!9.

  • Page 217

    195 part 4 commands chapter 2 explanation of commands %'=" !& sq4+''%!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Sq % !( % "&'"! !( % (!'"! Q'"%'+''%!''#"&'"!!"#%!;'"')%! "#%!: i+ #: sq : bb '+''%!'#"&'"!Bb'")%: '#"&'"!&)!&""*&`:b4!%,9:5*% '")%: i+ #; ni : &&!...

  • Page 218

    196 part 4 commands chapter 2 explanation of commands %'=" !& qu4#"&'"!'&y5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qu % !( % %"' (!'"! Q'!##%"#%')(!')%!"#%!:!"%!*'' #% '%&''! R!`'%#% '%o"; + ( !( %"#"&'"!'''!&'"%!'"!'%"%*&' 4%&&"*'%''%(&"%!"'5 r!`'%#% '%o"; ...

  • Page 219

    197 part 4 commands chapter 2 explanation of commands %'=" !& jin4j''5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Jin % !( % "&'"! !( % (!'"! '!'%" '' !'#"&'"!'!"#%!;!&' ')(!')%!"#%!: i+ # jin :99 :9 q''''#"&'"!O":9!)%:99 "&'"!O" +&: +&; +& : ; :9 >9999 :99999 :...

  • Page 220

    198 part 4 commands chapter 2 explanation of commands %'=" !& j4j'%'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J % !( % "&'"! !( % (!'"! '!%'"!'%" '%'"!' !'#"&'"!'!"#%! ;!&'')(!')%!"#%!: i+ # j :99 :9 q''%'"!''#"&'"!O":9!)%:99 "&'"!O" +&: +&; +& : ; :9 >999...

  • Page 221

    199 part 4 commands chapter 2 explanation of commands %'=" !& jn4j'%'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Jn % !( % "&'"! !( % (!'"! '!%'"!'%" '%'"!' !'#"&'"!'!"#%! ;!&'')(!')%!"#%!: i+ # jn :99 :9 q''%'"!''#"&'"!O":9!)%:99 "&'"!O" +&: +&; +& : ; :9 >...

  • Page 222

    200 part 4 commands chapter 2 explanation of commands %'=" !& ::: '('"%"!'%"%'"! In4q' " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! In q# %"' (!'"! Q'''('"%'%)!')(!"#%!: (!'& & + ( *)%,#!!"!' ""''('"%"!!'q' !"'+!'## + ( 4o"':5 #&!!"'(&!%%"%*!%' 4o"';5 ! ( &: & i+ ...

  • Page 223

    201 part 4 commands chapter 2 explanation of commands %'=" !& 4)%%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q#%'" %"' (!'"! ('!"%!*''%'"!"#%!:4"!' &''!5%'"&&'!%!%" :'":991 " !,!"*: &!!%'(&! " ! '"%& ""'"#%'"!C:#(& & " ! '''!!%'c:#(&;>? & 4q ""'!&&"'("#%'"!!!"...

  • Page 224

    202 part 4 commands chapter 2 explanation of commands %'=" !& 4q'%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! %'"! %"' (!'"! Q'''%)%'"!"''('"% + ( %'"!*)%,#!!"!'"! ""''('"% "!!' %'"!&&'!J! ,!((#'"'*" #& 4o"'5 '#"&'"!'"!'!&!"%'"!O%'"!&!"'&',! " !''('"%* ")&"!...

  • Page 225

    203 part 4 commands chapter 2 explanation of commands %'=" !& n4q'%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N %'"! %"' (!'"! Q'''%)%'"!"''('"% + ( %'"!*)%,#!!"!'"! ""''('"% "!!' %'"!&&'!J! ,!((#'"'*" #& 4o"'5 '#"&'"!'"!'!&!"%'"!O%'"!&!"'&',n" ! ''('"%* ")...

  • Page 226

    204 part 4 commands chapter 2 explanation of commands part 4 commands scrv (set sigmoid motion ratio) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scrv ratio prohibited cp [fun...

  • Page 227

    205 part 4 commands chapter 2 explanation of commands %'=" !& q4q'"&'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q +& #''%! &' )( (!'"! &'''%')(,!'"&')(!"#%!;'"'"%!'%' )(*!#%"% !''('"% ") !'!"#%!: "&'&&'! !'')%&"('"!&999: !')"&' ,&"!&'"#%'"!%!&!"'+ !Q" !%"&&*'%...

  • Page 228

    206 part 4 commands chapter 2 explanation of commands %'=" !& ij4q'%!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ij ! %"' (!'"! Q')&"!!"%'!'%#"'"! # !',4 ")"!%5"% 4 ")"!%5" ! R!"%&+('%*),'!&'%'"('' #&&!#"!'& !&&'!%!%" 9'":;9%& '!&&''"`9b!##%"#%')&"!!*('('" ',&"...

  • Page 229

    207 part 4 commands chapter 2 explanation of commands %'=" !& qi4q#,+&&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qi +& !( % %"' (!'"! "(!''+&&$(!',&"!'+&!( %!"#%!:!'%&' +& qi" !!(&*'ipsq'('"%8"!'%"kk n!Y"!" !&o"'''y"!%!&&&!'"''('"% )#% '% i+ #: ki : +&:%'(%!&...

  • Page 230

    208 part 4 commands chapter 2 explanation of commands %'=" !& j4q'%"(#+&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J +& #''%! %"' (!'"! "*"!,'#"&'"!'"'+''%!!"#%!:'"" ) #%"% &&( &'''%%!"'"%"'%+&!"' r! ('##%"% &%%(!& ('!"(&,&&!!+&*"*'& #"&'"! ''"(&'), "!'#%"% & ...

  • Page 231

    209 part 4 commands chapter 2 explanation of commands %'=" !& kn4k"c%+"%''"#(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Kn 4!#('#"%' "5 4kn ',#5 (!'"! %!!#('#"%'"%"'"#(&*&%)"" !&!+(' r!"#%'"!%"% "!'!#('#"%'"%"!"#%!:' (%%!'&%)"#%"&&!*#(&4'+&% ")!',*%''"&'"#5 !...

  • Page 232

    210 part 4 commands chapter 2 explanation of commands %'=" !& o4!C%+"%''""%'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O 4!#('#"%' "5 4o ',#5 (!'"! %!!#('#"%'"%"'""%'*&%)"" !&!+(' r!"#%'"!%"% "!'!#('#"%'"%"!"#%!:' (%%!'&%)"#%"&&!*"%'4'+&% ")!',*%''" &'"#"%'#%"...

  • Page 233

    211 part 4 commands chapter 2 explanation of commands %'=" !& ns4q#,ns " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ns %"' %"' (!'"! Q'''('"%'%)'"'ns!"% , + ( i+('!Ns" !*&'')(%&'%!`+&8#% '%o";b nsb&''%) 4o"'5 'ns&!"!'!("("&'"!'%)" !4kqn5' '%''"#"&'"!*" " #"&'ns!"'...

  • Page 234

    212 part 4 commands chapter 2 explanation of commands part 4 commands acmx (indicate acmx acceleration) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited cp optional optional acmx acmx acc...

  • Page 235

    213 part 4 commands chapter 2 explanation of commands part 4 commands example for use example. 1 for arch motion movement (vertical axis to move up/down) vlmx set the speed setting in vlmx speed. Acmx 1 set the acmx acceleration/deceleration of no.1. Achz 3 indicate the 3rd axis to z-axis for arch m...

  • Page 236

    214 part 4 commands chapter 2 explanation of commands part 4 commands example. 2 when the transported weight differs for going forward and backward vlmx set the speed setting in vlmx speed. Acmx 1 set the acmx acceleration/deceleration of no.1. Movp 10 ptp movement is made to position no.10. Acmx 2 ...

  • Page 237

    215 part 4 commands chapter 2 explanation of commands %'=" !& q4q')&"!&'!'! ") !'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q &'! %"' (!'"! Q')&"!&'!"%'!'%#"'"! # !',qn4 ")"!!5 " ! R!Qn" !&+('#&&!#"!'*(''&'!&' %!'('#&&!#"!'&*(&&!'%#"'"!#"!'& '&'!&&''"`9b!##%"#...

  • Page 238

    216 part 4 commands chapter 2 explanation of commands %'=" !& 4q'k"('#('',#5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! 9"%: %"' (!'"! Q''"('#('',#!'"('#(''"(&*!K"%qn" !& +(' r!K"%qn" !&+(''"('#('*"#%'&""*&! "%!*''&''!"'" ! 4:5#%!:f94o(#"!" #'"!""#%'"!5 "('#('#"...

  • Page 239

    217 part 4 commands chapter 2 explanation of commands %'=" !& 4q'#(&8 "'"!##%"&'! " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! &'! Q# (!'"! Q''"#%'"!'"#%"% *!Qk" !&+(' q''&'!4#(&8 "'"!##%"&'!5")%*#(&8 "'"!##%" "#%'"!4'"%$(8 '!"#%'"!5*#%"% !"#%!:4! 5!&'' #(&8 "'"!#...

  • Page 240

    218 part 4 commands chapter 2 explanation of commands %'=" !& po4q'$(8%'(%! "5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Po 9"%: %"' (!'"! Q'!!'$(8%'(%! " 4:5po#%!:f94o"% "5 "&'"!!& " #'*!" !#(&&)!"('#('!' (%%!'#"&'"!&!&'#"&'"!!! 6 %'"!" !&(%%!',+('!'$(8%'(%! "...

  • Page 241

    219 part 4 commands chapter 2 explanation of commands %'=" !& ok4%'"!"!'%"#% '%&'&'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ok +& #''%! % '% &'!( % (!'"! %"%'+''%!&'!"#%!:*"'!'(%)%'"!%$(!& %&'%!#% '%&*(&'"#%"% )%'"!"!'%" #%!: +''%!&&'"! Q#,:"%!+&"%*)%'"!"!...

  • Page 242

    220 part 4 commands chapter 2 explanation of commands %'=" !& ::; '('"%"!'%"" ! Q4(%!O&%)"5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q +& #''%! %"' i (!'"! (%!O'&%)"&"'+&,'+''%!!"#%!: q o (%!O'&%)" (%!'&%)" i+ #: qo ::99 (%!O'&%)"&"+& +&&%)"&%%,o i+ #; +''%!!!...

  • Page 243

    221 part 4 commands chapter 2 explanation of commands %'=" !& ki4'(%!'"" 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ki +& #''%! %"' i (!'"! %"% " %'(%!"'+&,'+''%!!"#%!: &%)""" 8%'(%!+&*'(%!O('" ', "('#('*'(%!''&'%'"" %'(%!!'(%!O*!'" %'(%!& " #' 4o"'5 ""*!#(&""...

  • Page 244

    222 part 4 commands chapter 2 explanation of commands %'=" !& 4"),,!#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! "&'"! !( % %"' i (!'"! ")''('"%'"'#"&'"!"%%"!!'"'#"&'"!!( %!"#%! :*'"('!'%#"'"!4&'!&"%`"!'8'"8"!'b5 "('#('*'(%!''&'%'"+& ") !'!'(%!O*!' ") !'&...

  • Page 245

    223 part 4 commands chapter 2 explanation of commands %'=" !& n4"),,!#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N "&'"! !( % %"' i (!'"! ")''('"%'"'#"&'"!"%%"!!'"'#"&'"!!( %!"#%! :*'!'%#"'"! "('#('*'(%!''&'%'"+& ") !'!'(%!O*!' ") !'& " #' i+ #: in :99 q...

  • Page 246

    224 part 4 commands chapter 2 explanation of commands part 4 commands mvpi (move via incremental ptp) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mvpi position number prohibit...

  • Page 247

    225 part 4 commands chapter 2 explanation of commands part 4 commands mvli (move via incremental interpolation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mvli position numbe...

  • Page 248

    226 part 4 commands chapter 2 explanation of commands %'=" !& k4")"!#'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! K q'%' #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!'!("(&,%" '#"&'"!!"#%!:'"'#"&'"!! "#%!; "('#('',#!'"('#('!&'(&!!'('"%8%'"!" ! !%&!'%'"!* '#&&!#"!'&"&...

  • Page 249

    227 part 4 commands chapter 2 explanation of commands 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 [fun...

  • Page 250

    228 part 4 commands chapter 2 explanation of commands %'=" !& q4q'"# ") !'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q +& #''%! %"' (!'"! %'!&'"#'+&,'+''%!!"#%!: 4o"':5 q" !!(&*'')&%)"" !&"'%'!Q " ! 4o"';5 q" !"!,&&(&%'"!8&'"#" !4"#%'"!&'"#5'" +''%!!"&!"'*'"%&...

  • Page 251

    229 part 4 commands chapter 2 explanation of commands %'=" !& qn4")"!!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qn q'%' #"&'"! !( % i! #"&'"! !( % i (!'"! "!'!("(&, ")%" '&'%'#"&'"!'"!#"&'"!)!'%#"'"!"! !8!'%#"'"!(%) "('#('',#!'"('#('!&'(&!!'('"%8%'"!" ! !)'&&...

  • Page 252

    230 part 4 commands chapter 2 explanation of commands %'=" !& qk4"),#(& "'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qk %' #"&'"! !( % %"' i (!'"! %"% #(&8 "'"!"#%'"!(!'''%'#"&'"!!"#%!:&% +& ")!!"% "%" '#"&'"!"%!'"'#(&8 "'"!##%"&'%' #"&'"!&'% !," !'%*#(&8 "'...

  • Page 253

    231 part 4 commands chapter 2 explanation of commands %'=" !& i+ # :99 ;9 ; qk :9 q''#(&8 "'"!##%"&'!'":99 !#(&8 "'"!##%"'";9 & ")%" '(%%!'#"&'"!'"#"&'"!O"; %"% #(&8 "'"! ") !'%" #"&'"!O"&;'":9 % "*&%(&8 "'"! ") !'&"!'#"&'"!'&"*!!' '"*c "&'"!O" +&: +&; +& : ssssss ssssss ssssss sss sss sss ; >9999 :...

  • Page 254

    232 part 4 commands chapter 2 explanation of commands %'=" !& p4!#(&'"%$( '#% '%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! P +& #''%! '" (!'"! !'#(&'"%$( '#% '%"'+''%!!"#%!:'"')( !"#%!;#%!;&&'&!!'%4(!'c15 p" !' #"%%,%*%'&`%)%%#% '%o" #"&'"!!B 4o"':5 #(&'"%$( '...

  • Page 255

    233 part 4 commands chapter 2 explanation of commands %'=" !& ;4")"!%;4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ; &&! #"&'"!: !( % &&! #"&'"!; !( % i (!'"! ")"!%"%!'!%" '(%%!'#"&'"!!#&&!#"&'"!&:!;) %!'%#"'"! %"''!%'"!"'%&'% !,')!#"&'"!' % "*&%&r4"*...

  • Page 256

    234 part 4 commands chapter 2 explanation of commands %'=" !& ;4")"!%;4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ; &&! #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!!%"%!'!%" '(%%!'#"&'"!#&&!'#"&'"!! '% !'!''!#"&'"!)%!'%#"'"! !%'"!*'))(&&"!'""*!#%"%'&c %"%...

  • Page 257

    235 part 4 commands chapter 2 explanation of commands %'=" !& q4")'%8 !&"!,"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q &&! #"&'"!: !( % &&! #"&'"!; !( % i (!'"! ")"!%4'%8 !&"! ") !'5"%!'!%" '(%%!'#"&'"!! #&&!#"&'"!&:!;&$(!', %"''!%'"!"'%&'% !,')!#"&'"!' ")...

  • Page 258

    236 part 4 commands chapter 2 explanation of commands %'=" !& q4")'%8 !&"!,"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q &&! #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!!%4'%8 !&"! ") !'5"%!'!%" '(%%!'#"&'"! #&&!'#"&'"!!'% !'!''!#"&'"! !%'"!*'))(&&"!'""*!#%"%'&c ...

  • Page 259

    237 part 4 commands chapter 2 explanation of commands %'=" !& kn4! " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Kn +''%! Q# (!'"! !'"'+&"#%'!!"'%'& r!Kn" !&+(''"'+&!"#%!:*!'" ')(!"#%!; 4o"':5 &" !&!"')"!!+&"#%',qnqkkkq "%q" ! 4o"';5 i+('!Kn" !"%!+&"#%'!!& " "'"!4q...

  • Page 260

    238 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%)'"!"!#"&'"!!!'%!4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I! #"&'"! !( % !'% ! I (!'"! ")"!!%"%!'!%" '(%%!'#"&'"!!'% !'!''!#"&'"! )%!'%#"'"! Q#,'!#"&'"!" ") !'!"#%!:!'!'%!"% ,' #"...

  • Page 261

    239 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%)'"!"!'%#"&'"!!!'%!4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! !'% #"&'"! !( % !'% ! I (!'"! ")"!!%"%!'!%" '(%%!'#"&'"!,#!%(&%" ' !'%#"&'"!)%!'%#"'"! Q#,'!'%#"&'"!!"#%!:!'!'%!"% ,'#"...

  • Page 262

    240 part 4 commands chapter 2 explanation of commands %'=" !& o4q'#"&'"!!!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O +& #''%! &'! (!'"! Q''#"&'"!" #'*'"%'+&!'+''%!!"#%!: &'!!"#%!;&&'! &%(#"&'"!!& " #'*!" !#(&&)!"('#('! '(%%!'#"&'"!&!&'#"&'"!!!%"%'&" !&'),"( ...

  • Page 263

    241 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! &&! #"&'"!: !( % &&! #"&'"!; !( % i (!'"! ")"!%"%!'!%" '(%%!'#"&'"!!#&&!'#"&'"!&! "#%!&:!; %"%%)%&!'&''!&""#%!&:!;* # !'%(% ") !'! '%)%&%'"! "('#('*'...

  • Page 264

    242 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! &&! #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!!%%" '(%%!'#"&'"!'"'#"&'"!!"#%!;,#&&! '#"&'"!!"#%!: "('#('*'(%!''&'%'"% ") !'!'(%!O*!' ") !'& " #' %!%" ;c...

  • Page 265

    243 part 4 commands chapter 2 explanation of commands %'=" !& :: 4q'%('(%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! % !( % ' (!'"! " #%'"!'!'"')%!"#%!:*'')(! "#%!;!#%"'"'!+'&'#'"!'"!&&'& '"!'"!&!"'&'&'#%"% *#%"'"'&'#!+''"'"%%"!! Inqi" !!,"%'"'&'#!+''"'"%%"!!I"...

  • Page 266

    244 part 4 commands chapter 2 explanation of commands %'=" !& q4" #%&'%!&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % "( ! !( % %'%'% (!'"! " #%'%'%&'%!&!'"( !&!"#%!&:!;!#%"'" '!+'&'#'"!'"!&&'& '"!'"!&!"'&'&'#%"% *#%"'"'&'#!+''"'"%%"!! Inqi" !!,"%'"'...

  • Page 267

    245 part 4 commands chapter 2 explanation of commands %'=" !& inqi4i&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' inqi %"' %"' (!'"! !Inqi" !&(&%'%%,!"!(!'"!*'!"%q" !'" %'" !#%''"+('*!'"!'"!&!"'&'& i+ #: %'"'&'"!&"!!Q i4i!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ...

  • Page 268

    246 part 4 commands chapter 2 explanation of commands %'=" !& ::= q'%('(% r4rkni5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! R % !( % ' (!'"! " #%'"!'!'"')%!"#%!:*'')(! "#%!;!+(''&(&$(!'" !&(#'"i*'"!'"!& &'& #%"% *#%"'"'&'#!+''"'"%%"!!I'"!'"!&!" "!%&'& ni" !!(&'...

  • Page 269

    247 part 4 commands chapter 2 explanation of commands %'=" !& i4#'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I %"' %"' (!'"! "%,&*''"!'%"'"i*!""# i+ #: rip : 9 #''" !&(#'"!I" !* )%:"!'!&`9b c ?99 i c "%,&*''"!'%"'"!I" !! #%"% !( !'?99&o i i4i!Rkni5 " !%'"! I+'...

  • Page 270

    248 part 4 commands chapter 2 explanation of commands %'=" !& ::> ('8%!! Qn4q'%'&'%"(#5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qn %"' %"' (!'"! %!'"'&'#!+''"!,rk"%rq" !''+&'&"%!Iqn " !!*"&"!'"!&&'&"%'"'&'#!+''"!Ki" !!"! "'"!'"!&%&'& qn" ! (&'""*,rkrq"%iqn" !...

  • Page 271

    249 part 4 commands chapter 2 explanation of commands %'=" !& rk4q''%(d)%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' rk % !( % ' (!'"! &" !&(&'*!Qn!Iqn" !&'"+(''&(&$(!' " !&(#'"'!+'r" !"%!Ki"%iqn" !*!' " #%&"!%&('"'"!'!'"')%!"#%!:*'')( !"#%!;&'&&'"!'"! Rk ip #%!:...

  • Page 272

    250 part 4 commands chapter 2 explanation of commands %'=" !& rq4q''%(d%'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' rq "( ! !( % "( ! !( % %'% '% (!'"! &" !&(&'*!Qn!Iqn" !&'"+(''&(&$(!' " !&(#'"'!+'r" !"%!Ki"%iqn" !*!' " #%&"!%&('"'%'%&'%!&!'"( !&!"#%!&:!; &'&&...

  • Page 273

    251 part 4 commands chapter 2 explanation of commands %'=" !& ki4q'"'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' ki %"' %"' (!'"! &" !&(&'*!Qn!Iqn" !&'"%'" !'" +('*!!"!"'"!'"!&%&'& i+ #: %'"'&'"!&"!Qnrk!Rq iqn4i!&'%"(#5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! ...

  • Page 274

    252 part 4 commands chapter 2 explanation of commands %'=" !& ::? Q,&' !"% '"!$(&'"! Sq4j'+&&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Sq % !( % +& !( % (!'"! Q'"%!')%!"#%!:'&''(&4+&%%"%!( %5"'+& !"#%!; 4o"':5 '"'!%&('&`9b' !&!"+&%%"%%&!' 4o"';5 q!'%%"%&'...

  • Page 275

    253 part 4 commands chapter 2 explanation of commands %'=" !& jq4j'#%"% &''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Jq % !( % %"% !( % (!'"! Q'"%!')%!"#%!:'&''(&4#%"% %%"%!( %5"'#%"% !"#%!; 4o"':5 '"'!%&('&`9b' !&!"#%"% %%"%%&!' 4o"';5 '"('%%"%&'&%*%''!!+ ...

  • Page 276

    254 part 4 commands chapter 2 explanation of commands %'=" !& qtq4j'&,&' &''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qtq % !( % %"' (!'"! Q'"%'&,&' &''(&4'"#8#%"%',&,&' %%"%!( %5!')%! "#%!: 4o"':5 '"'!%&('&`9b' !&!"&,&' %%"%%&!' 4o"';5 q!'%%"%&'&%*%''!!+ &...

  • Page 277

    255 part 4 commands chapter 2 explanation of commands %'=" !& ::@ u"! Ruo4r'"%y"!O*'o5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ruo u"! !( % +& #''%! (!'"! R'"%'y"!&''(&"+&4o5,'+''%!!"#%!;'" " o4!&y"!5*'%''"'y"!!"#%!: 4o"':5 y"!&''(&"+&!"','" #'!" %'(%!*% !4"(...

  • Page 278

    256 part 4 commands chapter 2 explanation of commands %'=" !& ruo4r'"%y"!O*'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ruo u"! !( % +& #''%! (!'"! R'"%'y"!&''(&"!,"'+&45,'+''%!!"#%!;'" " o4!&y"!5*'%''"'y"!!"#%!: 4o"':5 y"!&''(&"+&!"','" #'!" %'(%!*% !4"('&y"!5...

  • Page 279

    257 part 4 commands chapter 2 explanation of commands %'=" !& ru4r'"%y"!*'o5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ru u"! !( % +& #''%! (!'"! R'"%'y"!&''(&"+&4o5,'+''%!!"#%!;'" " 4"('&y"!5*'%''"'y"!!"#%!: 4o"':5 y"!&''(&"+&!"','" #'!" %'(%!*% !4"('&y"!5 4o"...

  • Page 280

    258 part 4 commands chapter 2 explanation of commands %'=" !& ru4r'"%y"!*'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ru u"! !( % +& #''%! (!'"! R'"%'y"!&''(&"!,"'+&45,'+''%!!"#%!;'" " 4"('&y"!5*'%''"'y"!!"#%!: 4o"':5 y"!&''(&"+&!"','" #'!" %'(%!*% !4"('&y"!5 4...

  • Page 281

    259 part 4 commands chapter 2 explanation of commands part 4 commands 1.18 communication open (open channel) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional open channel number pr...

  • Page 282

    260 part 4 commands chapter 2 explanation of commands %'=" !& i45 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I !! !( % "( ! !( % (!'"! %'%&'%!%" '!!!"#%!:'"'"( !! "#%!; *!*!'%'%,qk" !&%) i'%""%""( ! , ','%'&" !&+('%'(%!"*&'"%!")% 4'"%,&''!C)%bb5r'%"%!"''" !*&+('...

  • Page 283

    261 part 4 commands chapter 2 explanation of commands %'=" !& 4o"':5i" ! (&'+('"%'"'%&&!&'!%'% 4o"';5!!O"& 4"#%!;c95 qk :9 io : i : ; '%& nq : '(%!""'i" ! %'(%!"&&'"%!")%)%!( %!&',`'%#% '%o" ;=b(')%!( %&bb 9c i" #'&(&&(,4)" #'5 :c i' "('4'' "(')(&&'," !54"!'!('"%)5 ;c i' %!4'*'&''(&&!," !54"!'!('"%)...

  • Page 284

    262 part 4 commands chapter 2 explanation of commands 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 (w...

  • Page 285

    263 part 4 commands chapter 2 explanation of commands part 4 commands writ (write) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional writ channel number column number cc (note 1) [f...

  • Page 286

    264 part 4 commands chapter 2 explanation of commands %'=" !& qk4q'!%'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qk %'% " %"' (!'"! Q''!%'%'"(&,i"%r" ! !,%'%%" 9'";>>4%'%"(&!Q'5! I+ # %'"'&'"!&"!I!R" !&.

  • Page 287

    265 part 4 commands chapter 2 explanation of commands %'=" !& ::b q'%!#%'"! Qt4"#,%'%&'%!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qt "( ! !( % "( ! !( % %'%'% (!'"! "#,'%'%&'%!!'"( !!"#%!;'"'"( !! "#%!: "#,*#%"% "%'!'&',qnio" ! %'%'%&!"#%!;"#,*#%"% "%'!'%!'"...

  • Page 288

    266 part 4 commands chapter 2 explanation of commands %'=" !& q4" #%%'%&'%!&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % "( ! !( % %'%'% ip (!'"! " #%'"( !!"#%!:*''"( !!"#%!; " #%&"!*#%"% "%'!'&',qnio" ! %'%'%&!"#%!;" #%&"!*#%"% "%'!'% !'"''% i+ # q ...

  • Page 289

    267 part 4 commands chapter 2 explanation of commands %'=" !& qji4j'%'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qji % !( % "( ! !( % %'%'% (!'"! &&!"!%'%%" '"( !!"#%!;'"')%! "#%!: %'%8&'%!'%&!"#%!;'%&'%'%*&&! I+ # qji : :99 &&!"!,'%" "( !:99'")%: ni : &&! Ni...

  • Page 290

    268 part 4 commands chapter 2 explanation of commands %'=" !& q4q'%'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % ' (!'"! Q'''!"#%!;!'"( !!"#%!: i+ # q > :9 q':94n5!"( !> ni : :99 &&!:99'")%: ni ; >9 &&!>9'")%; q 6: 6; q''"!'!'")%;4>94x;355!'"!'!'" )...

  • Page 291

    269 part 4 commands chapter 2 explanation of commands %'=" !& q4"!)%'%'%&'%!D 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % ' (!'"! "#,'"'"( !!"#%!: %'%&'%!"!)%'%" '' !"#%!; '*(&''"'!'&',qnio" ! ''+&'!''*('"''!'&',qnio " ! '!'%'&!"!)%'*'!'!'&',qnio" !...

  • Page 292

    270 part 4 commands chapter 2 explanation of commands %'=" !& qk4"!)%'%'%&'%!D+ 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qk "( ! !( % ' (!'"! "#,'"'"( !!"#%!:+ %'%&'%!"!)%'%" ' '!"#%!; !,'!'%#%'*(&''"'!'&',qnio" ! ''+&'!''*('"''!'&',qnio " ! '!'%'&!"!)%'*'!'...

  • Page 293

    271 part 4 commands chapter 2 explanation of commands %'=" !& n4"!)%'%'%&'%!'d 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N % !( % "( ! !( % %'%'% (!'"! "!)%'' '!'"( !!"#%!;'"!%,!&&!' %&(''"')%!"#%!: "!)%&"!*#%"% "%'!'&',qnio" ! %'%8&'%!'%&!"#%!;"!)%&"!*#%"% "...

  • Page 294

    272 part 4 commands chapter 2 explanation of commands %'=" !& nk4"!)%'%'%&'%!'d+ 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Nk % !( % "( ! !( % %'%'% (!'"! "!)%''+ '!'"( !!"#%!;'"!%,!&&!' %&(''"')%!"#%!: "!)%&"!*#%"% "%'!'&',qnio" ! !,'!'%#%'*"!)%'*'' #%'!!"% ...

  • Page 295

    273 part 4 commands chapter 2 explanation of commands %'=" !& qnio4q'!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qnio %'% &'%! !' %"' (!'"! Q''!''"#%"&&,&'%!" ! & (&'*,&&'"%(&!'""*!" !&c q #%'&!) qt #%'&!) q #%'&!) rq #%'&!) qk #%'&!) n nk #%'&!) q #%'&) i+ #...

  • Page 296

    274 part 4 commands chapter 2 explanation of commands %'=" !& :;9 'y!8' j4%&'%'"#'y!&''!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J 'y! !( % %"' %'&'%'"#'y!&''! !'&" !&+('#'y!&''!"%'#'y!!( %!"#%!:* ! 4!'&"!Kuisu"%j" !&''!&!*'"('%!J5 !#('%!"#'y!!( %&%" :'":9 r...

  • Page 297

    275 part 4 commands chapter 2 explanation of commands %'=" !& 4q'#'y!"(!'&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! "(!' "(!' q'"(!'&!'#'y!8+&%'"!& "(!'!"#%!:*##,'"'#%%!'8+&4s8+&5%'"!*'"(!' !"#%!;*##,'"'t8+&%'"! '&" !&+('"%j&%4f*#'y!&''!&!"'!5!%%"%* !%' '"('#...

  • Page 298

    276 part 4 commands chapter 2 explanation of commands %'=" !& qi4%#'y!+&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qi +& !( % +& !( % q'''*"+&'"(&!#'y!4s!T8+&5 +&!"#%!:*&'&'#%%!'+&4s8+&5 +&!"#%!;*&'&'t8+& &" !&(&!"!(!'"!*'!Q '!!"'(&'"'%*' #%"%', '&%" !'"(& '&"...

  • Page 299

    277 part 4 commands chapter 2 explanation of commands %'=" !& q4q'#'y!%%!#"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q 4"&'"! !( %5 %"' q''%%!#"!'(&!#'y! )(&&'!"#%!:''#"&'"!!( %!"#%!:*(&'"&'"%'%%! #"!'' !")(&&'!"#%!:'#"&'"!8!( %&''!"%&'"%!%%!#"!''*" !) &" !...

  • Page 300

    278 part 4 commands chapter 2 explanation of commands %'=" !& q4q'#'y!#"!'&5"% " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "&'"! !( % 4'y! #"&'"! &''!',#5 q'#'y!#"&'"!&, !&" 'y!#"&'"!&!&"&', !&"=8#"!''!!=8#"!''!'#'&(%! !&!,$(%!"'%'!&$(%%'!"%#%"% !"#%!:,'#"&'"!!...

  • Page 301

    279 part 4 commands chapter 2 explanation of commands %'=" !& #'y!#"&'"!&%&', !&"=8#"!''!!%'!)"#'y!#%&"!& %$(%!"!'"!*%"(%#"!'&(&!'&''!"#'y!#"&'"!&%!"*!'""! #!'&%" !''#'y!#"&'"!&&'!!"!8#!% !!% `:b&!"#%!;#'y!#"&'"!&*&',=8#"!''!4#!%',#5 ;45 #!&'% !,''%#"!'&!(!'&'%'#"!'!#"!'!S8+&%'"!!! #"!'!T8+&%'"!Q''!...

  • Page 302

    280 part 4 commands chapter 2 explanation of commands %'=" !& r!'#"!''"!," #"!!'"'%'!'u8+&" #"!!'&'& '*!!, '*"#"!'& "!''%#"!'&"'%'!'!#"!' 4!'")(%'#"!''"" #"!!'"'%'!'u8+&" #"!!'&'& '*!'&'%'#"!'!'!#"!'!T8+&%'"!5 ')+''%!"'#"!''(&"% & ')+&!#'y! " !&+(''%,!!+&(&!J" !"!,'+& "!' )#"!'8'+&*(&&'&"(%"#'y!#"!'...

  • Page 303

    281 part 4 commands chapter 2 explanation of commands %'=" !& qn4q'yy5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qn &' "(!' 4"(!'5 q'yy#'y! )(!"#%!:*&'&'"&' "(!'"%)!8!( %%"*& "(!'!"#%!;*&'&'"(!'"%)!8!( %%"*& 4%'"`'y!Q''!Ba`uy&''!B(!%/k"*'"&/5 "#%!;&!"''"(!'"%)!...

  • Page 304

    282 part 4 commands chapter 2 explanation of commands %'=" !& ku4%#'y!U8+&5!,*!'%%'&''%+& " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ku 4+& !( %5 %"' q#,'+&!( %%#%&!'!'#'y!U%'"! +&!( %!"#%!:*&'&'+&!( %%#%&!'!'#'y!U%'"! "#%!:&!"'''"!"#'y!U8+&''*&%,%*" !) '&" !&+(...

  • Page 305

    283 part 4 commands chapter 2 explanation of commands %'=" !& j4q'#'y!%'%%&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J "&'"! !( % "&'"! !( % q''%'%%&'"(&"%% "'"!"!'#'y!#"!'& 4&&''!" &)*!K" !&+('5 q''#'y!U8+&4u8+&5#"&'"!'!'#"!''!"#%!:&'#'y!&'%'8 #"!'%'%%!&''u8...

  • Page 306

    284 part 4 commands chapter 2 explanation of commands %'=" !& is4q'#'y!" #"&'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Is 4"&'"! !( %5 %"' q'#'y!" #"&'"! #"&'"!!( %!"#%!:*&'"%(&!" #"&'"! R!#'y! ") !'" !&+('''"!,)+&"'%'!'st4! U58+&!'#"!''*" #%&'!8#"!'""%!'&"...

  • Page 307

    285 part 4 commands chapter 2 explanation of commands %'=" !& ku4%%8 "'"!U8+&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ku +& !( % %"' q#,'+&!( %%#%&!'!'%8 "'"!U%'"! +&!( %!"#%!:*&'&'+&!( %%#%&!'!'%8 "'"!U%'"! '"('#('&'"('#('*'(%!O'%'&" !&+('.

  • Page 308

    286 part 4 commands chapter 2 explanation of commands %'=" !& j4q'%'%%&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J "&'"! !( % "&'"! !( % q''%'%%&(&"%% "'"! 4&&''!" &)*!!K" !&+('5 q''%8 "'"!U8+"&'"!'!'#"!''!"#%!:&'&'%'8#"!'%'%% !&''%8 "'"!U8+"&'"!'!'#"!''!"#%!...

  • Page 309

    287 part 4 commands chapter 2 explanation of commands %'=" !& is4q'%8 "'"!" #"&'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Is 4"&'"! !( %5 %"' q'%8 "'"!" #"&'"! #"&'"!!( %!"#%!:*&'"%(&!" #"&'"! R!!% "'"!&+('''")+&!'#"!''!'&" !+#'"% ''")+&!'%8 "'"!!8#"!''&*&'...

  • Page 310

    288 part 4 commands chapter 2 explanation of commands %'=" !& :;: 'y!('"!" ! Oj4j'#'y!#"&'"!!( %5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Oj 'y! !( % % !( % &&!'#'y!#"&'"!!( %"%'#'y!!( %!"#%!:'"')% !"#%!; '"('#('&'"('#('*'(%!O'%'&" !&+(' o4!% !'#'y!#"&'"!!( %...

  • Page 311

    289 part 4 commands chapter 2 explanation of commands %'=" !& i4% !'#'y!#"&'"!!( %,:5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I 'y! !( % %"' % !',:'#'y!#"&'"!!( %"%'#'y!!( %!"#%!: '% !')(&"!&%!"% 'y!#"&'"!('(!%'(%%!'#'y! &''!')(*(#'!"'')(*!"'(#' '"('#('&'"('#...

  • Page 312

    290 part 4 commands chapter 2 explanation of commands %'=" !& j4j'#'y!!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J 'y! !( % +& !( % '!'#'y!! (''#'y!!4%&5%" '#,&+&!"#%!;"%'#'y! !( %!"#%!:!&'"%'%&('!)%:bb &" !!!"'+('!"'!&&%, '&" !&+(''%q4&' '#%%!'+&!'#,&+&*('('...

  • Page 313

    291 part 4 commands chapter 2 explanation of commands %'=" !& :;; 'y!") !'" ! 4")'"#'y!#"!'&)5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! 'y! !( % 4"&'"! !( %5 i ")'"'('#'y!#"!'&) +&* ")'"'#'y!#"!'&!"#%!:) '#'y!#"!'&%)"!,"%'st8+&4*!#'y!U8+&4u8+&5&!"' '5 ") !'!%'...

  • Page 314

    292 part 4 commands chapter 2 explanation of commands %'=" !& n4")'"#'y!#"!'&)!'%#"'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N 'y! !( % 4"&'"! !( %5 i ")'"'('#'y!#"!'&)!'%#"'"! +&* ")'"'#'y!#"!'&!"#%!:)!'%#"'"! '#'y!#"!'&%)"!,"%'st8+&4*!#'y!U8+&4u8+&5&!"' ...

  • Page 315

    293 part 4 commands chapter 2 explanation of commands %'=" !& k4'y!8#"!'% "'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! K 'y! !( % "&'"! !( % i %"% % "'"!%" '(%%!'#"!'! ")'"'#'y!#"!'& ")'"'#'y!#"!'&!"#%!:)% "'"! ") !'&!'st8+&%'"!&*!'%%&!%" '(%%!'#"!''"'#'y!&'...

  • Page 316

    294 part 4 commands chapter 2 explanation of commands %'=" !& u8+&""%!'"'!#"!'*" 'u8+&" #"!!'"'#"&'"!""%!'&"' #'y!#"!'!,#(&'#'y!U8+&"&''%&!"u" #"!!''u8+&""%!' "'!#"!'*" 'u8+&""%!'"'&'%'#"!'#(&'#'y!U8+&"&' 4o"% ,'"&'&'"#'y!#"&'"!&&(&'%'%%&!U#"!'5 !%%"%*!%''#'y!&'%'8#"!'%'%%&&'"*'&'%'#"!'"%'#'y!!8 #"!...

  • Page 317

    295 part 4 commands chapter 2 explanation of commands %'=" !& k4% "'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! K "&'"! !( % "&'"! !( % i %"% % "'"!%" '(%%!'#"!'! ")'"'#"!'& ")'"'#"!'&!"#%!:)% "'"! ") !'&!%'"!&"'%'!'%8 "'"!U8+&%'"!*!'%%&!%" '(%%!' #"!''"'&'%'...

  • Page 318

    296 part 4 commands chapter 2 explanation of commands %'=" !& %8 "'"!U8+&*" "*!'%%&8#%"&&" !)(&"('#('%"%' "#%'"! ,""*'"(&!>)!!'"% !'"!+#!'"!"k" ! #!!"!'&''!&"%8'%%#"!'&!U#"!'!'&&!'%'%%&!U#"!' '"!%&'"#%'"!!, &"%'%8'%%!8#"!'''%&!,)+&'"'%'!''"'%8 "'"!U8 +&'!"#%'"!*&'%'!"%'##+&!'& !!%d('")'% '%%& %8'%%"...

  • Page 319

    297 part 4 commands chapter 2 explanation of commands %'=" !& :; k4!'&)5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! K 9"%: %"' (!'"! Q#,`:b4&%kjk5,"(*&''%''&'"#%"&&"%"'%'&& &" !!&"(&*'!"!8%'&& &)!49c&%on:c&%kjk5&!"'%$(%" #"!!'(' ,!&%kjk*%$(%qn" !+#!"*4r'"('qn'&&...

  • Page 320

    298 part 4 commands chapter 2 explanation of commands %'=" !& qn4& " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' qn %"' (!'"! Q''' (%!*'##'&*!"%%'"&'%(''#%"&&! ' '""'%'&& ''&)&&''"&%kjk'&" ! (&'*,& ##'&*(%!'&'' ' !"#%!:&&'! & !##%"#%'' &''! (&'+ !"!''(&,&' 4o"% ,##%"...

  • Page 321

    299 part 4 commands chapter 2 explanation of commands %'=" !& :;= i+'!" !& i:4j' "'"%(%%!')(4%!'"%'(%%!'55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I : +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9 &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!...

  • Page 322

    300 part 4 commands chapter 2 explanation of commands %'=" !& i;4j'" &!&"%&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I ; +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=:"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!!'&")%&"!: (!'"! '!'...

  • Page 323

    301 part 4 commands chapter 2 explanation of commands %'=" !& i " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=:"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!!'&")%&"!: (!'"! '!'"('#(''")%%(!&!&"%&...

  • Page 324

    302 part 4 commands chapter 2 explanation of commands %'=" !& i=4j'%#&!&"%&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I = +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=:"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!!'&")%&"!: (!'"! '!'...

  • Page 325

    303 part 4 commands chapter 2 explanation of commands %'=" !& i>4+&"#%'"!&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I > +& !( % (!'"! Q'"%'&''(&"'+&!"#%!;!)%bb +&&''(&&!','o&'"'&&"*!"*"%!, '$(%)( (&'"!)%''"!%,)('"'% !'##&''(& %!( %bb @ ? > = ; : 9 q%)"+&!...

  • Page 326

    304 part 4 commands chapter 2 explanation of commands part 4 commands ecmd20 (get a parameter value) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 20 variable number cc [fu...

  • Page 327

    305 part 4 commands chapter 2 explanation of commands %'=" !& i;>94q''"%$( 'b'"%$( '")%b''"!' 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I ;>9 !'%)% !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=@"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!...

  • Page 328

    306 part 4 commands chapter 2 explanation of commands %'=" !& 6r!%)%'!'"!'"!&'"'%('& i+ #; ni ;b9 q'''%'+''%!4+&:!;5!!'%)%;b9 ni ;b: :999 q'&',8&'''"%$( '4 + ( '&'"%+&5!!'% )%;b: ni ;b; ;9999 %'`&',8&'''"%$( '")%b''"!' !!'%)% ;b;4q'`;9999b'"%'&''!5 q 6;b9 %"*8'"%$(+&)'"!"(!'% i ;>9 ;b9 ')(&"'%"!&(')...

  • Page 329

    307 part 4 commands chapter 3 key characteristics of actuator control commands and points to note %'=" !& #'% o"' : "!'!("(&") !'" !& kqn;;qq 4:5 ,%(!!!#%"% *'"!'!("(& ") !'" !&!#('!&%&""!'!("(%"% &'#&,"(!"*''('"%&'"#%"% "#%'"!&"!'!("(&,*'"('&'"##!'*!&'#& k : > ; ? @ k a :; 4;5 "!'!("(& ") !'*!"')!!...

  • Page 330

    308 part 4 commands chapter 3 key characteristics of actuator control commands and points to note %'=" !& k ;: ; i+ # !!#('"!'"!&'"('#('*'(%!O(#"!" #'"!""#%'"!! '&'#"%'"!!*'!#('"!'"!& ('#(' ! : (%!O&:##%"& (%!O&;##%"& (%!O*! (%!O&::##%"& k : (%!O&;:##%"& ;9 ; :9 :: (%!O&;;##%"& k ;: ; (%!O*!; 4=5 r!...

  • Page 331

    309 part 4 commands chapter 3 key characteristics of actuator control commands and points to note %'=" !& ; kqn" !& r!+('!K"%qn" !#,''!'"!'"'"(&(&'*!' %'"!%'"!&%!''*!#"!'& "(&!!8'(!,!!'%'"!%'"!('%!' %'"!%'"!&''!&'*!#"!'&*#%)!'& ""''%!&'"!"&*! ")!%" "!#"&'"!'"!"'% '%&%%!!%'"!%'"!'*!#"!'&!'#"&'"!!&'!&...

  • Page 332

    310 part 4 commands chapter 4 palletizing function part 4 commands chapter 4 palletizing function the sel language used by the xsel controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch m...

  • Page 333

    311 part 4 commands chapter 4 palletizing function %'=" !& 4;5 'y!#''%!888" !Co q'#''%!!'!'#'y!"%% '*"#''%!&(&'%'"*%) !%!( %&!''"%%"#'y!!%`#'y!#"&'"!!( %&b : o ; r!#''%!;&&' 4q''!&!"'!&&%,#''%!:&&'5 %"*%" :'" " #%&!'#'y!#!&'`t8+&b 4 q''#'y!"(!'& = "(!'"%#%%!'+&4s8+&5c 4=5 'y!#"&'"!&''! 'y!#"&'"!&''!...

  • Page 334

    312 part 4 commands chapter 4 palletizing function %'=" !& "&''#'y!#"&'"!&, "!'!("("&'"!'!'!,'%&'#"&'"!!( %(&!Q" ! & '""*&,"('"&''s8+&!T8+&&'%8 !&"!+&!"'#%*'' '('"%&!!"'%"&&!*'"'% !'+ #&"*!"*#"&'"!' !%&'"%!'%"!'!("("&'"!'& r!'%#"!'&%'('%" #"&'"!O":: "&'"!O":: cq'%'#"!'4%&'#'y!#"&'"!5 "&'"!O":; c'y!#...

  • Page 335

    313 part 4 commands chapter 4 palletizing function %'=" !& '"'"&'#'y!#"&'"!&!#%*'''('"%& 'y!%%!#"!'c q'"%'#"&'"!'"'&'%'#"!'4#'y!#"&'"!O":5!#"&'"! '!,'###"&'"!!( %(&!Q" ! &&"*!"* 'y!#'&c &" !'",'#'&!'s8+&!T8+&%'"!& 'y!+&c &qi" !'",''*"+&"!%#%&!'!'s8+&%'"! !'"'%%#%&!'!'t8+&%'"!'"(&!#'y! 4!'('"%+&!( %#...

  • Page 336

    314 part 4 commands chapter 4 palletizing function %'=" !& 4>5 uy&''!888" !Cqn &qn" !'"&'yy,"('&&"*!"* uy"&'c &' "(!'!'#%%!'8+&%'"!**##*!)!8 !( %%"*&%# `i)!8!( %%"*&b%%'"'%"*&"(%%!'')!!( %&&"!'%"* #%&'%#%&!'!'%&'%"* uy"(!'c o( %!')!8!( %%"*&*"!'% "* qn ; 4?5 %8 "'"!&''! 45 %8 "'"!U8+&!( %888" !Cku 4...

  • Page 337

    315 part 4 commands chapter 4 palletizing function %'=" !& 4@5 'y!%8 "'"!&''! 45 'y!U8%'"!+&!( %888" !Cku 45 'y!U8+&"&'888" !Cu 45 'y!" #"&'"!888" !Cis " #"&'"!'%%&'"#"&'"!'"!,'"!+&,"(*&'"(&*'#'y! ") !'" !&"'%'!'st4!U58+&i+ #&!(%"''"!! O"'''"#%'"!"'" #"&'+&*&'%'!!")'#'y!%'%%& !#'y!8" #"&'"!&''!" !,#...

  • Page 338

    316 part 4 commands chapter 4 palletizing function 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 ...

  • Page 339

    317 part 4 commands chapter 4 palletizing function %'=" !& = 'y!") !' 'y! ") !'" !&!('"&(&'" ")'"#'y!#"!'!"!(&'" ")'" !!#"!',#"&'"!' 4:5 ") !'" !&'"#'y!#"!'888nk "&'"!""%!'&"'*"8 !&"!,"%'%8 !&"!,##'y!#"!'%(' ! ") !'%"% (&!'('#"!'&'!#"!'4+&* ")'"' #'y!#"!'"'#'y!#"&'"!!( %!'+('" !5 *"'('"%+&*%$(%'"" #...

  • Page 340

    318 part 4 commands chapter 4 palletizing function %'=" !& 4;5 ") !'" !'&"!!#"!',#"!''888k %"% % "'"!(&!!!#"!',#"&'"!' !'&"!% ") !'!#%*'!'('"%"#%'"!!#%"% "!,*''*" +&!(!'##+&!'u8+& % "'"! (&'&' ku j : :: k :9 :; k&'#"!'"% "'"! "&'"!O":; q'%'8#"!'%'%% "&'"!O": i!8#"!'%'%% "&'"!O":: q'%'#"!' i!#"!' "&'...

  • Page 341

    319 part 4 commands chapter 4 palletizing function %'=" !& > %"% i+ #& 4:5 q ##%"% + #4'*"8+&'"!5(&!Q4&', + #"*& ") !'"!,!"&!"'")%#!"#%'"! Q'# i o ! ! #%!: #%!; &' " !' : j : q'%'&''!#'y!O": ; = 'y!"(!'&c q ; q', = i i!&''!#'y!O": > ? In ;99 q#c;99 & @ n : ")'"#!#"&'"! A qi : q'#'y!#"&'"!!( %'": b j...

  • Page 342

    320 part 4 commands chapter 4 palletizing function %'=" !& 4;5 q ##%"% + #4'*"8+&'"!5(&!Q!Qi + #"*& ") !'"!,!"&!"'")%#!"#%'"! Q'# i o ! ! #%!: #%!; &' " !' : j : q'%'&''!#'y!O": ; = 'y!"(!'&c qi : ; s8+&f+&:t8+&f+&; = =9 ;> 'csf=9tf;> > q ; "&'"!O";&%%!#"!' ? I i!&''!#'y!O": @ a in ;99 q#c;99 & b n ...

  • Page 343

    321 part 4 commands chapter 4 palletizing function %'=" !& 4 + #"*& ") !'"!,!"&!"'")%#!"#%'"! Q'# i o ! ! #%!: #%!; &' " !' : j : q'%'&''!#'y!O": ; > @ 'y!"(!'&c>+@ = o : 'y!#''%!: > q : q', ? "&'"!O":' @ qn ;9 = uy"&'f;9 a ku 'y!U8+&f+& b j = = q'#'y!%'%%& :9 "&'"!O"=' :: u :99 u8+&"&'f:99 :; is ? ...

  • Page 344

    322 part 4 commands chapter 4 palletizing function %'=" !& q'# i o ! ! #%!: #%!; &' " !' a ")'"#!#"&'"! J : !!!"""##%"&&! K : b 'y!% "'"! U#"!',"&'"! O"b k a b % "'"! U#"!',"&'"! O"b o : ?99 !% !'#'y!#"&'"! !( %,: ?99 j : j"'"!!!"""# o&&(&&( =9 =: is i!"'& =; = == => o" +&: +&; +& +&= %& : :99999 :9...

  • Page 345

    323 part 4 commands chapter 4 palletizing function %'=" !& q '% "# !'8#"!'#"&'"!&&"!'")#%"% !( %&"*!'''"#%'"%!''y!#"&'"!!( % "(!'!S8+&%'"!F>"(!'!T8+&%'"!F@ uy"&'c;9 uy"(!'c= '&'!Ca:@b +&8:%'"! I!8#"!'""%!'&"#%%!'+&4s8+&5c"&'"!O";4;?9:9>:995 %!#"!'c"&'"!O": 4:99:99:995 t8+& i!8#"!'""%!'&"t8+&c"&'"!O"...

  • Page 346

    324 part 4 commands chapter 4 palletizing function %'=" !& 4=5 q ##%"% + #(&!Qi!Q + #"*& ") !'"!,!"&!"'")%#!"#%'"! Q'# i o ! ! #%!: #%!; &' " !' : j : q'%'&''!#'y!O": ; > @ 'y!"(!'&c>+@ = o : 'y!#''%!: > qi : ; s8+&f+&:t8+&f+&; ? =9 '4sf=9 tf @ q : q'%%!#"!'' a "&'"!O":' b qn ;9 = uy"&'f;9 :9 uy"(!'...

  • Page 347

    325 part 4 commands chapter 4 palletizing function %'=" !& q'# i o ! ! #%!: #%!; &' " !' j : !!!"""##%"&&! K : b 'y!% "'"! U#"!',"&'"!O"b k a b % "'"! U#"!',"&'"!O"b o : ?99 !% !'#'y!#"&'"! !( %,: ?99 j : j"'"!!!"""#o& &(&&( is i!"'& =9 o" +&: +&; +& +&= %& : :99999 :99999 :99999 6666 %!#"!'' ; 6666...

  • Page 348

    326 part 4 commands chapter 4 palletizing function %'=" !& q '% "# !'8#"!'#"&'"!&&"!'")#%"% !( %&"*!'''"#%'"%!''y!#"&'"!!( % "(!'!S8+&%'"!F>"(!'!T8+&%'"!F@ '!S8+&%'"!C=9 '!T8+&%'"!C uy"&'c;9 uy"(!'c= %!#"!' 4stu5 f4:99:99:995 +&8:%'"! T8+& s8+& +&8;%'"! > = ; : ;9 := ; b :a ;@ : ;; a :@ ;? :; ;: @ :...

  • Page 349

    327 part 4 commands chapter 5 pseudo-ladder task. Part 4 commands chapter 5 pseudo-ladder task with the xsel controller, a pseudo-ladder task function can be used depending on the command and extension condition. The input format is shown below. Note that this function must be used by expert enginee...

  • Page 350

    328 part 4 commands chapter 5 pseudo-ladder task. %'=" !& ; n%q'' !' 4:5 i+'!&"!"!'"!& n n o onm nm "'")+'!&"!"!'"!&!(&!!"!8%'&& 4;5 n%" !& n%"('#('%,4#%!:f('#('!( %5 n%' %%,4#%!:fn"!( %#%!;f %&''!4&55 "!'&'"o"' &&,&' "!,#%"&&&&"'*%%&(&!!!'%#%'%%"%'#%"&&!' & ( "!%'!''"'" %&$(!% 4&&,&' &!"'&('"%%8&%#...

  • Page 351

    329 part 4 commands chapter 5 pseudo-ladder task. %'=" !& = %"% i+ # i+'!&"!"!'"! !#('"!'"! " ! #%!: #%!; ('#(' i o ! ! &' n @99: k : : j : n a o b :9 n o :: :; n : o := :> b99 9> n @99: qn n @99: j : n @99: is b99 9>qi a b :: :; :9 : := :> :> b99 9> n @99: qn n @99: j : n @99: is b99 9>qi a b :: :;...

  • Page 352

    330 part 4 commands chapter 6 application program examples %'=" !& #'%? ##'"!%"% i+ #& : #%'"!,l"" ! "8!J ! 4:5 )%)*"'&,&' &&,&' &"8#! !"!&&'!"+&8:!+&8;'('"%&(&(''"! &*'&"%%"!!'"''*"+&%#%")"!!+'%!"#%'"!&*'"+!'& &*'&%(&'" ")''('"%&'"&%#"&'"!'"%!#(#"&!&'& +&; k!"!'%"(!' +&: k! N" +&8: ") !' #(&(''"!&*...

  • Page 353

    331 part 4 commands chapter 6 application program examples part 4 commands (2) explanation of the operation 1. Wait for the axis-1 movement pushbutton switch to turn on. 2. The x-axis moves while the pushbutton switch is on, and stops when the switch turns off. 3. Wait for the axis-2 movement pushbu...

  • Page 354

    332 part 4 commands chapter 6 application program examples part 4 commands (3) xsel controller application program step e n cnd cmnd operand 1 operand 2 pst comment 1 home 11 axes 1 and 2 return to home (servo on). 2 vel 400 set speed to 400 mm/s. 3 tag 1 4 wton 16 wait for input from axis-1 movemen...

  • Page 355

    333 part 4 commands chapter 6 application program examples %'=" !& ; #%'"!,"!'") !'" ! )'!Q,&' 4:5 )%)*"'&,&' &&,&' &%)'!&,&' "!&&'!"!St8'"#%',+&8:!+&8;'('"%&! %)'%,&''!*"%#%'"!'st8'''"#%'"!" !'(%!!"!'&'%'&*' %)'&*%)!'''%#"!'&"!'*"%#%' )'% r"%#%' st8' +&; +&: #%'"!"+ ",%.

  • Page 356

    334 part 4 commands chapter 6 application program examples part 4 commands (2) explanation of the operation 1. The xy-table moves to the operation home (p1) and waits. 2. The operator sets a load on the xy-table and turns on the start switch. 3. The xy-table moves to riveting position no. 1 (p2) on ...

  • Page 357

    335 part 4 commands chapter 6 application program examples part 4 commands (3) xsel controller application program step e n cnd cmnd operand 1 operand 2 pst comment 1 home 11 xy-table returns to home (servo on). 2 vel 400 set speed to 400 mm/s. 3 tag 1 4 movl 1 move to position no. 1 (home of work)....

  • Page 358

    336 part 4 commands chapter 6 application program examples %'=" !& 'y!#%'"! 'y!Q,&' 4:5 )%)*"'&,&' &&,&' 'y!&,&' "!&&'!"+&8:!+&8;'('"%&!U8+&%,!%' #&*"%#%'''*"%#%'#"!'!'%!&%&'"!'"#'!%#'&'&"#%'"!! &$(! 4#%'"!& # !',!"&'" !*'"('(&!#'y!(!'"!5 +&: +&; %,!% %( ' #%'"!"+.

  • Page 359

    337 part 4 commands chapter 6 application program examples part 4 commands (2) explanation of the operation 1. Move to the standby point and wait for a start input. 2. Move to the work part feed point after a start input is received. 3. The z-axis comes down and the air chuck clamps the work part. 4...

  • Page 360

    338 part 4 commands chapter 6 application program examples part 4 commands (3) xsel controller application program step e n cnd cmnd operand 1 operand 2 pst comment 1 home 11 axes 1 and 2 return to home. 2 vel 100 set speed to 100 mm/s. 3 acc 0.2 acceleration/deceleration: 0.2 g 4 tag 1 5 let 300 0 ...

  • Page 361

    339 part 5 multi-tasking chapter 1 real-time multi-tasking part 5 multi-tasking part 5 multi-tasking chapter 1 real-time multi-tasking 1. Sel language the xsel controller allows integrated control of actuators and peripherals with a single controller using its 32- bit risc cpu and high-speed real-ti...

  • Page 362

    340 part 5 multi-tasking chapter 1 real-time multi-tasking %'>('8&! ; ('8&! `('8'&!B"#%'"! ,!"' %'% (''&*,(&!" #('%#%"% !'"%%'" #%#%"&&!Q #,#(' ('8'&! !&%(!!!&)%#%"% &!#% &%*8''!!%""'"%+ # !!%&%*8''!!%""'"!&&'&"+&8:!+&8;'('"%&!&%*8''!! ! 4(#"*!%,!%'5 #%'"!"* '"('"*%'&& #' ") !'"+&8:!+&;'('"%&!'"#%'"...

  • Page 363

    341 part 5 multi-tasking chapter 1 real-time multi-tasking %'>('8&! %!%" q$(!% #%#%"&&! '"&)")%" ''%'"! '""(&!&$(!"!'%"%(' "!&&'!"%,&'" "%%!'"!(&!&$(!%$(##*' %"" #('% q! %"" #('%&,"*&"!#%"&&"%"&$(!"!'%"%('*' %"" #('% (&'&!'!'%#%"% '")##%!'#%#%"&&!"%'&%&"!&! ' &%$(%*&'"")%4' 5 %"" #('%&!&'!'%#%"% !"(...

  • Page 364

    342 part 5 multi-tasking chapter 1 real-time multi-tasking part 5 multi-tasking 4. Release of emergency stop default factory settings of parameters “other parameter no. 10, emergency-stop recovery type” = 0 “other parameter no. 11, safety-gate open recovery type” = 0 “other parameter no. 12, recogni...

  • Page 365

    343 part 5 multi-tasking chapter 1 real-time multi-tasking %'>('8&! > %"% q*'! %"(& '"&%)'"&*''*!#%"% !!"!'#(%#"&"#%"% & %#%&!'') '"&%+#!"* i+'%!&'%' %"% &*'! %"% q!8'&! Is" ! ('8'&! Isj" ! %&''#%"% &*'! '"&%%,)!'"&*'!,+'%!&'%'!&*'!, ##'"!#%"% 4:5 i+'%!&'%' '" %'"#'%:`#%'"!B4q'%'!)i+'%!Q!Q'"!5! %';`...

  • Page 366

    344 part 5 multi-tasking chapter 2 example of building a system part 5 multi-tasking chapter 2 example of building a system how to build hardware and software is explained in details by using a screw-tightening robot as an example. 1. Equipment screw-tightening machine (for z-axis) actuators (for ax...

  • Page 367

    345 part 5 multi-tasking chapter 2 example of building a system %'>('8&! )%)*"'q%*8'!!Q,&' &&,&' "!&&'&"+&8:!+&8;'('"%&u8+&,!%&%*8''!!)!#%'&% !''!&'&%*&,'#%'&%''#"&'"!&"!'*"%#%' +&: +&; %'&% u8+&,!% q%*8''!!) r"% #%' #%'"!"+.

  • Page 368

    346 part 5 multi-tasking chapter 2 example of building a system %'>('8&! = k%*% 4:5 &&! !'& "!!'"%4>98#!5 !O" '"%, "%'o" (!'"! ""% : 8 7;=8!#(' %"*!A: ; 999 %"% &'%' a: 99: j!%8#(%#"&!#(' %!A: = 99; j!%8#(%#"&!#(' t"*a: > 99 j!%8#(%#"&!#(' j%!A: ? 99= j!%8#(%#"&!#(' (a: @ 99> j!%8#(%#"&!#(' (%#a: a ...

  • Page 369

    347 part 5 multi-tasking chapter 2 example of building a system %'>('8&! 4;5 n,"('% !O" '"%, "%'o" (!'"! : 8 j!%8#(%#"&co" #'c7;=8!#(' ; 999 %"% &'%' 99: j!%8#(%#"&!#(' = 99; j!%8#(%#"&!#(' > 99 j!%8#(%#"&!#(' ? 99= j!%8#(%#"&!#(' @ 99> j!%8#(%#"&!#(' a 99? J!%8#(%#"&!#(' b 99@ %"% '"!4jo":5 :9 99a ...

  • Page 370

    348 part 5 multi-tasking chapter 2 example of building a system %'>('8&! > q"'*% 4:5 "!'%""*%' !#%"% c q%*8''!! ! %"% : q'%'#%"% ; !" q'%'&%*''!!4#(&(''"!5 ") u8+&%,!% "*! Q'%'&%*''!! Q%*''!! " #' u8+&%,!%(# ?&%*& ''!H q%* ''!! " #'h q'"##%"% ; q'"##%'&% i! Tiq tiq o o q(#%"% c %'&% %"% ; q%*&&"%' %...

  • Page 371

    349 part 5 multi-tasking chapter 2 example of building a system %'>('8&! 4;5 !#%"% q%*8''!!#%"% o": ##'"!#%"% i+'!&"! "!'"! !#(' "!'"! " ! ('#(' "!'"! " !' o " ! #%! : #%! ; ('#(' #"%' " !' : isj ; q'%'#%"% ; ; ki :: !" in :99 q#c:99 & = 9 %'"!C9 > j : l( #&'!'"!'%&'%' ? Ro :? Q%*8''!!&'%'#(&(''"! @...

  • Page 372

    350 appendix appendix (note 1) the figure in each elongated circle indicates the maximum speed for the applicable stroke(s). (note 2) the payload capacity is based on operation at the rated acceleration. (note 3) rcs2-r**7 series actuators cannot be used as axis 5 or 6. Stroke (mm) and maximum speed...

  • Page 373

    351 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! Q'%"4 5! + ( &54o"':5 ,"#', 4o"';5 k"%y"!' " !( % %' '%'"! K"%y"!' %' 5# 5 5#5 5#8 . > > > appendix.

  • Page 374

    352 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! 4o"'&%&'('"%&!!"'(&&+&>"%? " !( % q'%"4 5! + ( &54o"':5 ,"#',4o"';5 ' %'"! K"%y"!' %' k"%y"!' %' 5 55 5/.

  • Page 375

    353 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! " !( % q'%"4 5! + ( &54o"':5 ,"#',4o"';5 ' %'"! K"%y"!' %' k"%y"!' %' appendix.

  • Page 376

    354 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! " !( % q'%"4 5! + ( &54o"':5 ,"#',4o"';5 ' %'"! K"%y"!' %' k"%y"!' %'.

  • Page 377

    355 appendix ##!+ 4o"':5 + ( ,!"'%*'&"%'&'%" "& 4o"';5 '()( ,)%,#!!"!'"#%'!"!'"! 4o"'"%? , " !( % q'%"4 5 k"%y"!'45 ,"#', %'45 %(&'4o5 + ( 4 &5 4o"':5 + ( %'"! 4j54o"';5 appendix.

  • Page 378

    356 appendix appendix how to create a program 1. Position table position table with p/q/pct/qct type xsel controllers without expanded memory, up to 4000 position points can be registered. With expanded memory, these controllers let you register up to 20000 positions. Positions are registered using ...

  • Page 379

    357 appendix appendix 2. Programming format program edit screen (pc software) with xsel controllers without expanded memory, programs consisting of up to 6000 steps can be created. With expanded memory, these controllers let you create programs consisting of up to 9999 steps. Programs are edited usi...

  • Page 380

    358 appendix ##!+ "&'"!!'")"&'"!& &%#'"! ")''('"%'"#"&'"!&:'%"(>'":99 &'%" %'(%! &""!,:+&&&&( "*%' k" %'(%! (&'#%"% ! (&'&'"%''('"%! "#%' '('"% ")&'"'#"&'"!'""%!'&,'%') ")" !& r''&"(''"!" %'(%!4ki" !5&!"'%$(% ##'"!#%"% "&'"!' q'%' k" %'(%! Q' ")'": ")'"; ")'" ")'"= ")'"> i!"#%"%.

  • Page 381

    359 appendix ##!+ = k"*'"&j!J &%#'"! &j!J" !&'"%#''& "#%'"!*'!'#%"% "%'"( #'"&%&'# "!'"!&&'&j" !!*%''!!&'#'%"%"%'%j" ! I+ #"&: #''& "#%'"! I+ #"&; q#&'#& #' q'#&'"%#' l( # q'#&'"!"% appendix.

  • Page 382

    360 appendix ##!+ > ")!!"%''*!*""!'& &%#'"! ")&!"%''*!'*"#"!'& "*%' '('"% ")&!"%''*!:!;!!', &""!,:+&&&&( i!'%j!'%&'"'&'#&'"%#'!!'%j!'&'" '&'#&'"%#' ##'"!#%"% "&'"!' q'%' k" %'(%! ")'": ")'";.

  • Page 383

    361 appendix ##!+ ? '#%'"! &%#'"! ")"!'!("(&,'%"("(%%'%%,#"!'&*'"('&'"##! 4k ") !'5 '('"% ")&"!'#'&"*!'%'*'"('&'"##!' ;! " #%*'!N'&" !"&!"'%$(%' '('"%'"#"&'"!+',';! ' !%( &&( '""*!" !&+('*!''('"%& &'"##':c k;= '('"%* ")%" :'"=,#&&!#"!'&!%;! #"&'"!&,!%&!'%'"!5 i)!`k; '('"%*&' ")!'& *,&*!`k;=b&!#(' `k...

  • Page 384

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

  • Page 385

    363 appendix ##!+ a %%#%'"! &%#'"! '('"% ")&"!'*"8 !&"!%"%% k"*'"& ",%,'%#"!'&''('"%*#&&",!%,'&'%'!#"!' #&&!#"!'!!#"!' i+ #"&: % q#,`;; `;; ")"!'&%"*& "(&''('"%'" ")"(!'%"*&,`; i+ #"&; % q#,`;; %! %!%" !&!+('!"'"!,'*"8 !&"!,4'*!'*"'('"%+&5('&" '%8 !&"!,4 "!'%'('"%+&5 qc %8 !&"!% ") !' qc %8 !&"!% ")...

  • Page 386

    364 appendix appendix 9. Output of home return and home return complete signal description output a signal to confirm completion of home return (incremental specification or quasi-absolute specification). With the xsel controller, a home return completion signal can be output using an i/o parameter....

  • Page 387

    365 appendix ##!+ :9 +&") !',!#('r'!!" #'"!('#(' &%#'"! K"*'"#%"% !#('*'!!"('#('#%"&&!" #'"!&!&+#! "*%' i+ #"& '('"%*'&(!'!#('#"%':9'(%!&o!'! ")&'": '('"%*'&(!'!#('#"%'::'(%!&o!'! ")&'"; ") !'" #'"!&!&"('#('%" !%" ##'"!#%"% q'%' !#(':9 ")'": ('#(' !#(':: ('#(' ")'"; ('#(' i!"#%"% appendix !%" ##'"!#...

  • Page 388

    366 appendix appendix 11. Changing the moving speed description change the moving speed. How to use with the xsel controller, the speed can be set using the following two methods: a: use a vel command within the application program b: use a speed setting in the position data table example of use app...

  • Page 389

    367 appendix ##!+ :; !!'q#(%!#%'"! &%#'"! &k" !'"!'*''('"%& ")! "%+ #'&" !&(&(!#!'!&!##'"!*%'##'"!)"( !&! ' i+ #"& '('"% ")&'%"(!%&'"!&!'>9 &;9 &!>9 &%'), *'"('&'"##!4k ") !'5 "&'"!' ##'"!#%"% `k:=b&'"!, ") !'" !%$(% %! !&"!%" "'%#%"% (&!Kn4!5" !4!' ('8 '&! "5 ##'"!*' q'"! Q'"! Q'"! Appendix.

  • Page 390

    368 appendix appendix 13. Local/global variables and flags description the internal variables and flags used in the sel language are classified into local and global types. The data range used commonly by all programs is called the global range, while the data range used only by each program is call...

  • Page 391

    369 appendix ##!+ := k"*'"&q(%"('!& &%#'"! &(%"('!&%"(#"&'#&''%!+('&)%' &*'!#%"% q(%"('!&% (&'"%('!( %"#%"% &'#&! '#%"% &,'"%#'"bb&(%"('!&! (&!"!#%"% #'":>&(%"('!&!!&' k"*'"& %&(%"('!&(&!'""*!" !&c isqc &(%"('! Jqc %'&'%'"&(%"('!4&'%'"%"(#"&'#&5 iqc %'!"&(%"('!4!"%"(#"&'#&5 i+ #"& ('"! L( #!%" *'!&(...

  • Page 392

    370 appendix ##!+ :> (&!'#%'"! &%#'"! &%'"!" !Kn'"#(&' ")!+&' #"%%,)+'%!!#(' k"*'"& #(&!'%%(#'"!"#%'"!!+(''" ")!+&4'"%''+&'"&'"#5,%! Kn" !*'!'#%"% rkn&!#('''('"%#(&&4%'&'"&'"#(%%!', ")!5!&' ")! " !&!'& #%"% i+ #"& kn;9 %'"!'"+('#(&!%8#(%#"&!#(';9'(%!&o ##'"! T"(!,"!&'"!!#('#"%'!#%!:"'kn" ! &"""*&''(...

  • Page 393

    371 appendix ##!+ :? !!'#%'"!:4o5 &%#'"! &%'"!" !O'"%'' ")!+&'"&'"#!!'% !!"#%'"! K"*'"& ro&!#(' ") !'" !&!'& #%"% %! I+ #"& o" ! !' ") !'" !&!#('#"%';9'(%!&o4%'"!5 6 %'&" !!&'#"%' ") !'" !&,"(*!''"! 6 ro&!#('"#%'"!" !&%!&$(!',*'&&"'%'!"#%'"! " !&4&(%"&&!!('"!#%"&&!5%+('&$(!', ('"! Q!+('"!"'&" ! &'!"...

  • Page 394

    372 appendix ##!+ :@ !!'#%'"!;4q5 &%#'"! %'' ")!+&'"&'"#!!'% !!"#%'"!4q5 k"*'"& i+('q" !%" "'%#%"% '""%,&'"#'"#%'"!4!' ('8'&! "5q#, '+&,"(*!''"&'"#(&!!+''%! I+ #"&: q" ! !#%"% `q::b&+('*`n:b&!+('`n:b*!!''('"%* "!'!('&"#%'"!%" `n;b i+ #"&; !#%"% `q:9b&+('*`n:b&!+('"!,'+&;#%'"`n:b*! "'+&:!;*"#%'(!%`n;...

  • Page 395

    373 appendix ##!+ :a ") !',"&'"!O( %q#'"! &%#'"! N"+'%!,!#('"&"&'"!!( %&'"+(' ") !'& i+ #"& &!O" !'""#"&'"!!( %&"%" !!#('#"%' #"&'"!!( %!(&!)("!&&'!"(#'"'%'& "*%' !#('&&! !' ('#(' "%' &%#'"! : q'%'!#(' :> "&'"!'"!: :? "&'"!'"!; :@ "&'"!'"!= :a "&'"!'"!A :b "&'"!'"!:9 ;9 "&'"!'"!;9 ;: "&'"!'"!=9 ;; "...

  • Page 396

    374 appendix ##!+ :b ") !',i+'%!"&'"!'!#(' &%#'"! )'%'#"&'"!'&&"(')(&%" "&')'"+(' ") !'& i+ #"& &!O" !'""#"&'"!'&"%" !!#('#"%' i)(&"("!&&'""(%'&*''&''!'! # ")!+&&+&: i+ #c"`:; "*%' !#('&&! !' ('#(' "%' &%#'"! Q'%'!#(' ##'"!#%"% q'%' !'&''! Q'%'!#(' ") !' " #'"! ")'" #"&'"! ") !' " #'"!O.

  • Page 397

    375 appendix ##!+ ;9 ('#(''!""%!'& &%#'"! '(%%!''('"%""%!'!%' !"('#(''%!%" !"('#('#"%'&' i+ #"& &p" !'""'(%%!'""%!'#"&'"!"+&: (%%!'""%!''"+&:&"('#('&''9;8&"!!'%)& "('#('%!&999'"bbbbb "('#('&&! !' ('#('#"%'o" &%#'"! ('#('#"%'o" &%#'"! !'c ##'"!#%"% 6r'p" !'(%%!'#"&'"!""%!'&*%''!'")%:9: q!'""%!'&%,')%...

  • Page 398

    376 appendix ##!+ ;: "!'"!L( # &%#'"! Q''&'!'"!'"( #'")j(&!'+'%!!#('"('#('!"%!'%!&''(&&& "!'"! "!'%"%*'&"% ('#!#('&!#%"% %"&&!"%!'"'%)!#('4&5 i+ #"&: !#(':9'(%!&o''('"%*( #'"j:''(%!&''('"%*#%"'"'!+' #%"&&! 6!#(':9'(%!&o''('"%*#%"&&!!#%"% #%"&&! !#(':9'(%!&''('"%*#%"% #%"&&!!'! #%"% #%"&&! I+ #"&; "!...

  • Page 399

    377 appendix ##!+ ;; r'!('#!#('& &%#'"! "!'%"%*'&"% ('#%!'!#('&!#%"% %"&&!(#"!%#'"!"!,"'&!#('& "!' ro" !#% '%"&&!"!,*!'!#('&%)"!'%"%!!"'*'"% ('#!#('& i+ #"& !#('&:9!;9% "!'"%!''('"%*#%"'"'!+'&'#*!'%!#('&%)4 "5 %"% %"% &&"*!!'& #'"!'%"%*'&"%!#('*'"('(&!Ro" ! & '"!&"(&*! ('#!#('"!'"!& (&'" ! !#(':9 !#...

  • Page 400

    378 appendix ##!+ ; &%#'"! R'!Q" !!"&'!"%#"&'"!'*!,"(*!''"&'4"&'5'! #"!'&,&)% '%&(&''('"%*&!"'!&'+',!'#"&'"!"%"%"'% %&"!& !Q" !!&"(&'"#%"% #'4%'";>`"!&'!'8#'b5 ('"! !!"&'&!&''"&'##&'" ") !'" !&+(''%'%"!' "&'+('!"&'" !!,,!`9b !"&'"&!"'##,'""'%#%"% &4)! !' ('8'&! "5)!"&' (&'##'"#%"% &' (&'&'"%#%"% & !...

  • Page 401

    379 appendix ##!+ ;= i+('!!#%'"!O' & &%#'"! I+('"#%'"!!' & i+ #"& '('"% ")&!"%''*!:!;'!' &!'!'#%"% !& &ip" !'"" #%'!( %"' &' ") !'&!'(,%#'!&':9 '&&&( ''" %'(%!&!" #' ##'"!#%"% %! & "#%'"!!&"#%"% (&!Rip" ! Appendix.

  • Page 402

    380 appendix ##!+ ;> "!&'!'8#' &%#'"! ''('"%,#'!' &%" %%!#"!' #'!!( %"%#''"!&%,)%&!)! "*%' i+ #"& &!Q" !'"#%"% #' !( %"' &''('"%&!&"(!',"(!'% )% s8+&&!'#"&')%'"! "!' !Q" !##&'" ") !'" !& i+('!!Q" !"!"&!"' ")'+& ##'"!#%"% %! '!&" #%"% (&!"% n" ! Q'%' !'&''! Q'%'!#(' ") !% !'#' )% ##,"&' !% !' "(!'% "...

  • Page 403

    381 appendix ##!+ ;? L"! &%#'"! &% ")&"%*%"%*%*!!#('&o"% !&'"!!#('!"('#('"%"!(&&( &%* ")%','"'!+'&'#'!#('"&!"'&'&,'"!'"!*!' " !&+(' %&&"'!#('&''(&'&%*&'"#(#"!%!'&"' '!'" !!'!+'&'# *+(' k"*'"& i+#!'"!"" !& +&: ")&"%*%*!#(';9&o +&: ")&"%*%*!#(';:& +&; ")&*%*!#(';;&o +&; ")&*%*!#('; i+ #"&: q'"#'+&*!&!...

  • Page 404

    382 appendix appendix 27. Switching programs description use expg/abpg commands to switch programs using a program. Example of use 1 start program 2 once the processing of program 1 is completed, and then end program 1. Program 1 program 2 example of use 2 start a program via an external signal, and...

  • Page 405

    383 appendix ##!+ ;a "%'!%"% &%#'"! "%'#%"% (%%!',%(!!! I+('!J" !4" !'""%'"'%#%"% 5%" "'%#%"% !' ('8'&! " ('"! 6''%'#%"% *&+('! ") !'" !''('"% ',%'&'"&'"#! '#%"% !& i+ #"& !#%"% 4%:5 "%'"!'%"#%"% 4%!5 "%'"!'%"#%"% &'%'& r'"%!"%'!#(' %:&"%' #%"% !& 6j*&+('*''('"%*& ")!)" !''('"% ', %'&'"&'"#!'#%"% !&...

  • Page 406

    384 appendix appendix battery backup function the xsel controller uses the following two batteries. System-memory backup battery a coin-type battery is used to back up the position data, sel program variables, etc., in the controller. Each controller is shipped with the system-memory backup battery....

  • Page 407

    385 appendix ##!+ e''%,# !'g "%#'&,&' 8 "%,(#''%,"#!'#!*!"*"!'%"!'&"'"!'%"%! %#'"!8',#''%,!'''%,"% '&%" !'''''%,%#%(%,!"%!*''#"*%8"!%$(!,(%'"!" '"!'%"% ''%, (&'%#&&""!&'"!'%"%3&''%,)"' "!'"%(!'"!!%'&''%, )"'"*% '%!% &''''%,%%"%*"(%!##%"+:9,&' !'' #%'(%";9' #"*%&&(##'"'"!'%"%"!'!("(&,!''%,%%"%"(%&''*...

  • Page 408

    386 appendix appendix 2. Absolute-data backup battery if the xsel controller is to drive an absolute-type actuator, an absolute-data backup battery must be installed in the controller. An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from the abso...

  • Page 409

    387 appendix appendix the xsel controller provides an enable switch for absolute-data backup battery for each controller axis. When replacing any absolute-data backup battery following a battery error, turn the absolute-data backup battery enable/disable switch of the target axis to off (the control...

  • Page 410

    388 appendix ##!+ i+#!&"!"%4#'"!5 ,#c8:9 ,#c8:9 !O" '"%, "%'o" (!'"! !O" "%'o" (!'"! : 8 7;=8!#(' : 8 7;=8!#(' ; j!%8#(%#"&!#(' ; j!%8#(%#"&!#(' j!%8#(%#"&!#(' j!%8#(%#"&!#(' = j!%8#(%#"&!#(' = j!%8#(%#"&!#(' > j!%8#(%#"&!#(' > j!%8#(%#"&!#(' ? J!%8#(%#"&!#(' ? J!%8#(%#"&!#(' @ j!%8#(%#"&!#(' @ j!%8...

  • Page 411

    389 appendix appendix operation of high speed cartesian robot (ct4) 1. Connectionof regenerative resistors the number of necessary regenerative resistors is two pieces. It is capable up to 100w with two resistors when an additional axis such as a gripper is added. 2. Creating a program for the ct4 o...

  • Page 412

    390 appendix appendix 34 195 186 175 5 5 16.6 126 number of regenerative resistance units to be connected regenerative resistance unit: a unit that converts to heat the regenerative current generating when the motor decelerates. [installation standards] when used horizontally total sum of motor capa...

  • Page 413

    391 appendix ##!+ q,!%" (!'"! : " "!' &4##'" "' ' &"(' '"! ! !% !''"!5 q,!%" +& "!&&' " &'% +& ! &) +& +& *' ' & % +& !( % " & ' &'%+&r!'(!'&)%" !'"!" &'%8+&!&)8+&!( %&&&'!+&8 #% '%o"?> '!&,!%"+&&&'"%+&4'+&&!"'&,!%"+&`9b&&'5 i+ #5 ;8+& "!!'"! 4 &''!& " "'% #% '%& )%, #%', '*! ' &"(' '"! ! ' !% !' '"...

  • Page 414

    392 appendix ##!+ &"(' &' " q,!%" "!'%"% ,"( ) ' &,!%" '"! ' ' ' " "%% ' "!'%"% & ! # *' '% #% '%& &' "% ' &,!%" '"! " #%"% ! &"(' %&' "*)% ' #% '%& (&' ! +#!'"! )! "* & & "! ' "#%'"! ! ' &"'*% ' "#%'"! !( "% ' &"'*% "% #%"% ! ! &"(' %&' : q,!%" +& q,!%" +& "!&&' " &'% +& ! &) +& +& *' ' & % +& !( %...

  • Page 415

    393 appendix ##!+ ; "&'"! (&' !'"q,!%"8+&q%& #"&'"!& " &,!%"8+& &%& % (&' 4#,&, (&' "% #%& 5 4:5 r' ' +& ! "!'%"% !"' "!!' , & 4 ! "!'%"% #"*% & "5 (&' ' %') #"&'"!! " ' &'% +& ! &) +& ! "(# ' +& 4;5 #"&'"! (&' !' !!"' #%"% *' ' +& ! "!'%"% !"' "!!' , & 4*! % & $(## '5 ""* ' &'#& "*c : "(# ' &%& ! "...

  • Page 416

    394 appendix ##!+ 4 &+#!"*c : %"% `i!"%"''"!'&':b"%'&)+& ; %"% `i!"%"''"!'&':b'%"(`i!"%"''"!'&';b"%' &'%+& ,""*!'"!8&%!!&'%('"!& %"% '& "#%'"!!&'#:!'!"& q''+&!( %"'&)+& i!"%"''"!'&': &%&"*%!!*!"*&* ,t&"!*!"*& "!"'&'"!'%"%i%%"%! &(&$(!'(''"!& q''+&!( %"' &'%+& i!"%"''"!'&': &%&"*%!!*!"*&* ,t&"!*!"*& ...

  • Page 417

    395 appendix ##!+ 4=5 i!'%')("'&)+&%"%!4:5!`+&8#% '%o"a ""%!'!'y'"!!'"!B q'%!&%'""!'%"%r%''"&&'%'"!'%"%4&"'*%%&'5 4>5 q'" #%&')(&!!' &'%8+&!&)8+&""%!'& : '"!'%"%3&@8& !'ni,&"*&`%,b%'(%%!'#"&'"!&"' &'%+&! &)+&,"!'&%!*''&%)"'(%!" 4!`i%%"%o"@='(8#"&'"!&"' '")%%%"%b!%'&%&''%%"%!`%,b& ,,"(!%'(%%!'#"&'"!&...

  • Page 418

    396 appendix ##!+ o":; k" #%&' )(b q'%!&% '" "!'%"% r%' '" & &'%' "!'%"% 4&"'*% %&'5 4?5 (%! "! ' &%)" ! ' "#%'"!! ' " " 4"#%' ' &'% +&5 ! `i%%"% o" 9 %)% ")%" %%"%b `i%%"% o" ? )'"! ")%"* %%"%b `i%%"% o" > q'"#8)'"! ")%"* %%"%b "% "'% %%"% !%'& ' ""*! ' &c ' (%%!' #"&'"! " ' &'% +& )'& &!!', %" '' ...

  • Page 419

    397 appendix ##!+ #"%'!' %#%'"! "% ! %"&& " 8+('"! " &"(' &' % , & '' ' &"(' %&' & %$(% '" +(' ! "% &( %&"!& & '%"( & %% "* "% ' +#!'"!& "% ' #%#%'"! ! #%"&& ! &( && : k" #%&' ! Q'# 4>5 & !"' !&&%, ' "!!'"! " ' ! !& & ! ' & "!'"! & *! ' ) & ""' 4' :&' &"(' %&'5 4"% %# !' &"!!'!&%' "% ''%, %# !'5 '% ...

  • Page 420

    398 appendix appendix 5. Notes on use of the synchro function as a rule, the synchro function must be implemented by coupling the master-axis and slave-axis sliders using a bracket, etc. If the current position of the master axis is not aligned with that of the slave axis when the servo is turned on...

  • Page 421

    399 appendix appendix vibration control function * applicable versions : xsel-p/q/pct/qct controller main application version 0.90 or later : pc software (ia-101-x-**) version 7.6.1.0 or later (note) this function cannot be set from a teaching pendant. Natural vibration (resonance) frequencies are a...

  • Page 422

    400 appendix ##!+ ('"! & " )%'"! "!'%" "!''(&'&&%'"(&'!'8)%'"!"!'%" %'"! ")% , )%'"! "!'%" %'"! (& , "#%'"! " ! '('"% !%' ! ' & %'"! & ' "#%'! %'"! " ' '('"% %'"! !"' ")% , )%'"! "!'%" : %'"! !"' (& , "#%'"! " ! '('"% ; %'"! !%' ! %'"! %!' %" ' "#%'! %'"! " ' '('"% !!% !"' !%'! )%'"! ' !!"' #! )%'"!...

  • Page 423

    401 appendix ##!+ %#%'"! %"(% ""* ' #%"(% "* '" &(% ! &' ## ' & "% ##,! '& (!'"! Q'# : q'# 9 q'# q'# ; q'# > q'# = % "#%'"! 4 ' )%'"! #! '5 )%'"! & !"' &(!', #! %'(%! '" qi; 4%)* ' !'(% )%'"! %$(!,5 "% &''! )%'"! "!'%" "!''(&'&&%'"(&'!'8)%'"!"!'%" "!% ' )%'"! '" #! "!% ' )%'"! '" #! & ")% , '& (!'"!...

  • Page 424

    402 appendix ##!+ qi +&8#% '%& o" % '%&' !( % % '%! !' (')( !#('%! :>: ''!('"!%'%&'"!': ' :9 9'":999 :>; ''!('"!%'%&'"!'; ' :999 9'":999 :> o'(%)%'"!%$(!, ::999k u :9999 >99'" :>= : o"''%! ' b>>946:5 :'";9999 :>? ''!('"!%'%&'"!': ' :9 9'":999 :>@ ''!('"!%'%&'"!'; ' :999 9'":999 :>a o'(%)%'"!%$(!, ::...

  • Page 425

    403 appendix ##!+ q'"##!''('"%#%'"! '('"%"#%'"!!&'"##!'*" '"&c!"% "#%'"!&'"#! %!,&'"# : o"% "#%'"!&'"# %'"!"!'%"&') cq'%'"!"#%'"!#!!(&''('"%'"%' '"&'"#"%!'"'#!(!%)%'"!"!'%" o"% #"&'"!"!'%"&')cq'%'"!"#%'"!#!!(&''('"%'"%' '"&'"#"%!'"'#!(!%!"% #"&'"!"!'%"4)%'"!"!'%"&!"'(&5 ; '&%)" !'"#%'"!#!! ','(%!"'&...

  • Page 426

    404 appendix appendix soft limit+ soft limit- soft limit- soft limit+ axis 1 (stroke) axis 2 (stroke) multiple-slider near-miss detection (collision prevention) function * applicable versions: xsel-p/q/pct/qct controllers of main application version 0.51 or later teaching pendant main application (i...

  • Page 427

    405 appendix ##!+ '% '%&4+&8% '%&5 o" % '%! (' )( !#('%! !' %& :9= %'+& '"!"% ('#8&% !%8 && ''"! 9k 9k'"k '&9'" ''"!'%'4"!'#"&') &"'""%!'&,&' "' '%'+&5 '&='"@c '!+&!( %"!%8 && ''"!'%'4"!'!') &"'""%!'&,&' "' '%'+&5 6 '!+& (&'!'% "%+&4'#%' +&*''& %+&!( % " &' !+&"%' &""!)!!5 6 "%+&"!,!+&*"& %&"('"!!"'...

  • Page 428

    406 appendix ##!+ j!%8(%#"&q; 4:5 q#'"!& ;8!!Q; !%8#(%#"&q; q; ' )%)* '& ## "!!'"% 8&(b8#!"!!'"%4i5 s;89b=;8>9;n4o5 "!!'"%! Q:q; + ( "!!'"! &'! :9 ' ## !'%&'!% q; "!!'(!' 8" #'' k8(#+" (!'"! "!!'"! 8&'!%; : ! 45 4%%%''"!Co"'(&5 ; ! )'4s5 (' q %!& '''4s5 = (' i i$(# !'%,45 > ! Qj q!%"(! ? ! '&'%,4q5 ...

  • Page 429

    407 appendix ##!+ 4 q!!!( %&!'"!&%&'&""*&&"!''"%,&''!&"%## #% '%&c '&%&'&"!'""*!#% '%&c !!:#% '%o"&;9:'";9 !!;#% '%o"&;: % '%q''!&4%!5 o" % '%! (')( !#('%! !' ;9: ''%(':"q!!:"#!'"(&% 4&'!% "(!'5 ;a:9999:k 9k'" k o"! ;: ''%(':"q!!;"#!'"(&% 4&'!% "(!'5 ;a:9999:k 9k'" k o"! '&;a'"@?=c@?A>c::>;#&5 '&;='...

  • Page 430

    408 appendix appendix no. Parameter name default value input range unit 202 attribute 2 of sio channel 1 opened to user (standard mount) 00000001h 0h to ffffffffh none 214 attribute 2 of sio channel 2 opened to user (standard mount) 00000001h 0h to ffffffffh none settings bits 28 to 31: for future e...

  • Page 431

    409 appendix ##!+ 4=5 %"% & : q'%!#%"&&!" !& &'%!%%&'"%'%&'%!&"!'%"%(&&"&'%!&!"&'%!& j"&'%!&%" "!&'%!&''!%"%*%''!%" !,#%"% n"&'%!&%) "!,!'#%"% !*'##&'%!&!!!"'(&!!,"'%#%"% "%%!''"!"'&'%!&%&&!!( %!%!'%! J"&'%!&c n"&'%!&c:'";bb4;bb5 &!"%&'%!" !&!"% ,'&" !&%(&!&%" (!'"!*' +'%!$(# !' q%" (!'"!' (&'#%"&&&...

  • Page 432

    410 appendix ##!+ %'%&&!'#%'"% !'"!'%!& &&"!"% '%&'"%!`&'%!B*& #,#(' &'"!'!%"%%'%& q'%!&%)!'""&'%!&''!%"%*%''!!#%"% &!"&'%!&'' !%"%*%''!"!,!#%"% !*'##&'%!&"% %!''"!"'&'%!&%&&!"( !!( %!%!'%! !%'%&&'"%!"( !" #%&!&'%! "&'"!&"&!&'%!%!',"( !!( %&!*"( !&%(&'"&'"%)!&' "%'%&!&'%,(&!" ! "%+ #%'%&'%!`kib!'!" ...

  • Page 433

    411 appendix ##!+ = '% !'"!"'%!& &&"!"% ' !'&+ #"##'"!#%"% '%',#&"'%!& &&"!"% '&%(&!(!" %'(%!" ! ") !'" !! ") !'" #'"!&"% '&%'% !& "* !"''''&%"!,+ #&!'(&%!'% !"% '%, k" %'(%!" !"% ' &"% '&(&'"" !'"!'%"%%" ''"#%"% " %'(%! ") !'" !"% ' &"% '&(&'"" !'"!'%"%%" ''" ")+& ") !'" #'"!"% ' &"% '&&!'%" '"!'%"...

  • Page 434

    412 appendix ##!+ > %"&&!#%"(% #%"&&!#%"(%'"""**!#%"% !'#'"!+ #&+#! "*c q'`nb&%'%!'!'!"%'%&'%!4'% !'"%%'%5 #!!!:"'q; '&!''"!!:&%)!'""&'%!&'%'!%" "( !: '%)'*&`ib''&"!)%''"!%,)(!'"!)%' )(&&'!)%:9*'#"&'"!'&&""!)%''"!%,)(!' "!)%')(&&'!#"&'"!O":%'%' ") !'&%%"('!'%' ") !'&" #'`mb&&!' ? ##'"!#%"% qi o" o 8...

  • Page 435

    413 appendix ##!+ n&'"% '%& ,"()!,$(&'"!%%!!!'#% '%&"!''3&q&i!!%!Q'"! '%!!#% '%%"%'!*!"#% '%&''!& ,"()#(%&'&"'*%*%" !'',"((#'#% '%& ','%' "!'%"%&)%!*!'&,&' !"%#"%'!'"!'%"%&&'%'q!!( %"(&'" y! &''!&(% '%&,"(&"((#'#% '%&%(%,&,"((#'#%"% & " '!*#% '%&')*%'' '"'&!'!+('&"'*%%&'"% %"!!''#"*% &'&"*%+ #&"(')(...

  • Page 436

    414 appendix ##!+ : % '%& o" % '%! (')( 4%!5 !#(' %! !' %& : #"%'&&! !'',# : 9'";9 9c+&&! !' :c('" '&&! !'4%"%',co'*"% "(q"': 4&'!%5]d6"%'&%&&!"!,"%'!&' "!!&"'&&'%'!%" &"':f"%&',%&"!&5 ; !#('#"%'&'%'!( % *'+&'!% &&! !'&4:5 999 8:'">bb 974('#"a54!)!'))(&&'5 *'+&'!% &&! !'&4:5 8:'">bb = !#('#"%'&'%'!(...

  • Page 437

    415 appendix ##!+ o" % '%! (')( 4%!5 !#(' %! !' %& : "!'"%4=5 : 9'"> 9c"!"' "!'"% :c"!'"% ;c"!'"%4"!"' "!'"%%%"%&%'!'";=8#"*% &"(%5 6 q" +#'"!#, 6 94f"!"' "!'"%5"%;4f"!'"%4"!'"%"!,%%"%& %'!'";=8#"*%&"(%55&&'&,&' %%"% *!"'!%')!*!!!"% ',%'!'"';=8 #"*%&"(%"(%&k"*)%&(&$(!''( "('#('&%" ''"%*('",%(''" #%"...

  • Page 438

    416 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& ;> &''!'#''%!; 4"'"!5 9k 9k'" k '&9'" '&='"@c"%('(%+#!&"! ;? '" ;@ 4"%+#!&"!5 9 ;a %,"('#('#"%' !( % 9 9'"?Bbb ('#('#"%'o*!&%,4!)95 4!##'"!)%&"!9??"%'%8 "!,5 ;b %)8&"(%('"4qo5 !"''"!#,& "('#('#"%'!( % 9 9'"?Bbb ('#('#"%''%)8&"(%('" 46 #"%'!'c&...

  • Page 439

    417 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& 99: 9 9'"> 9c j!%8#(%#"&!#(' :c q"'*%%&'&!4:&o5 6 "!'!("#%'"!&&''"!(#"! %!,&'"#!'&"'*%%&'&!4'"#%") !&"!!'"#%'"!5 o"'c #"%'!( %&&!'"'&(!'"!!! (&!#% '%o";a=`"%'!( %&&!'" !#('(!'"!&'"!99:b4!##'"!)%&"! 9?="%'%8 99; 9 9'"> 9c j!%8#(%#"&!#(' :c q%)"...

  • Page 440

    418 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& 99a : 9'"> 9c j!%8#(%#"&!#(':c%"% !( %"% #%"% &'%' o"'c &&! !'!!!"!')(&'! `#% '%o" ##'"!)%&"!9 o"'c #"%'!( %&&!'"'&(!'"!!! (&!#% '%o";b:`"%'!( %&&!'" !#('(!'"!&'"!99ab4!##'"!)%&"! 9?="%'%8 99b : 9'"> 9c j!%8#(%#"&!#(':c%"% !( %"% #%"% &'%' o"'...

  • Page 441

    419 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& => !#('(!'"!&'"! 9:> 9 9'"> 9c j!%8#(%#"&!#(' :c k" %'(%!")+&4o54q%)"o (&' +('%&'f#% '%o" o": ;c k" %'(%!")!% !'+&4o54q%)"o (&'+('%&'f#% '%o" #% '%o": o"'c #"%'!( %&&!'"'&(!'"!!! (&!#% '%o";ba`"%'!( %&&!'" !#('(!'"!&'"!9:>b4!##'"!)%&"! 9?="%'%...

  • Page 442

    420 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& >: ('#('(!'"! &'"! 9 9'"> 9c j!%8#(%#"&"('#(' :c +&:!8#"&'"!"('#('4'*"%#%'& &&(%! #(&8 "'"!"#%'"!5 ;c ('#('*!+&8:&%)"&o4q,&' "!'"%'&"('#('5 o"'c #"%'!( %&&!'"'&(!'"!!! (&!#% '%o" "('#('(!'"!&'"!B4!##'"!)%&"! 9?="%'%8 >; ('#('(!'"! &'"! 9 9'"> ...

  • Page 443

    421 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& >b ('#('(!'"!&'"! 9 9'"> 9c j!%8#(%#"&"('#(' :c q,&' 8 "%,(#''%,)"'8"**%!!)"%"*% o"'c #"%'!( %&&!'"'&(!'"!!! (&!#% '%o" (!'"!&'"! '%8 ?9 ('#('(!'"!&'"! 9 9'"> 9c j!%8#(%#"&"('#(' :c &"('8'(#''%,)"'8"**%!!)"%"*% 4"+"!''"!"!"% )'"('#(' *'(!'#"*%...

  • Page 444

    422 appendix appendix i/o parameters no. Parameter name default value (reference) input range s k r a m e r t i n u 72 unaffected general- purpose output area number (min) when all operations are paused (servo-axis soft interlock + output-port soft interlock) 300 0 to 6999 * important: outputs in th...

  • Page 445

    423 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& :99 q&,&' (&4q 4+#!5 ;a:999:9k 9k'" k '&;a'"@? =c@?A>c::>;#&5 '&;='";@c '!'4@"%a5 '&;9'"; '&:?'":bc %',',#49co"!:c;ci)!5 '&:;'":>c " (!'"! "49cq; q=a>56!,`9b!&'"%"% !!&"'%'!O"&:!; '&a'"::c )"#%'"!',#49cq=a>f"%, !%) ','%&! Q; ',"%&! :c "!"'"%,!...

  • Page 446

    424 appendix appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 120 network attribute 1 1h 0h to ffffffffh bits 0 to 3: cc-link remote register area bits 4 to 11: h/l byte swap selection (0: do not swap, 1: swap) network link error check timer value (10msec...

  • Page 447

    425 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& :;? O'*"%''%('@ @99@9k 9k'" k i'%!' &&" (!'"!''%(' '&9'":>c !' "(')(4 &5 '&:?'" :;@ o'*"%''%('a >9>9;:=k 9k'" k i'%!' &&" (!'"!''%(' '&9'"@c ooiwi 4!%"'5 4q''!"`9b%"'54&5 '&a'":>c "!!'"!%'%,!'%) 4#%"'""54&5 '&:?'"; '&;='" ' %&''!4&5 4#%"'"""!!...

  • Page 448

    426 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& :== #%"'""c*! #"%'!( %4o "5 ?=>:: :9;>'" ?>> :=> !! (&%45c*!#"%' !( % ?=>:; :9;>'" ?>> :=? !! (&%45c*!#"%' !( % ?=>: :9;>'" ?>> :=@ !! (&%45c*!#"%' !( % ?=>:= :9;>'" ?>> :=a !! (&%45c*!#"%' !( % ?=>:> :9;>'" ?>> 6 #"%'!'!"'c*,&&'(!$(!( %"%#"%'...

  • Page 449

    427 appendix appendix i/o parameters no. Parameter name default value (reference) input range s k r a m e r t i n u 201 attribute 1 of sio channel 1 opened to user (standard mount) 28100001h 0h to 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) * i...

  • Page 450

    428 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& ;9= ''%('="q !!:"#!'" (&%4&'!% "(!'5 99999999k 9k'" k ;9> ''%('>"q !!:"#!'" (&%4&'!% "(!'5 99999999k 9k'" k ;9? ''%('?"q !!:"#!'" (&%4&'!% "(!'5 99999999k 9k'" k ;9@ ''%('@"q !!:"#!'" (&%4&'!% "(!'5 99999999k 9k'" k ;9a ''%('a"q !!:"#!'" (&%4&...

  • Page 451

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

  • Page 452

    430 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& ;; !!;"#!'"(&% 4&'!% "(!'5 99999999k 9k'" k ;;= ''%(':;"q !!;"#!'"(&% 4&'!% "(!'5 99999999k 9k'" k ;;> '" ;a; 4"%+#!&"!5 9 ;a !#('(!'"!&'"! 999 8: 8:'" q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o" 6!'))(&&''(!'"!*&&!'"!#('#"%' o"9 4!##'"!)%&"!9?="%'%8 ;a...

  • Page 453

    431 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& ;b; "%'!( %&&!'" !#('(!'"!&'"! 99b 8: 8:'" q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o" 6!'))(&&''(!'"!*&&!'"!#('#"%' o"b 6`%"% !( %"%#%"% &'%'b&! "%!#('(!'"!&'"!99b,!'% '%!!#(' #"%'!( %*"&nq"!'!&'!+'%)('"'nq "'#%"% !( %"%#%"% &'%' 4!##'"!)%&"!9?="%'%8 ;...

  • Page 454

    432 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& ;bb "%'!( %&&!'" "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o"=?`('#('(!'"!&'"! 69&&''(!'"!*&&!'""('#('#"%'o" 4!##'"!)%&"!9?="%'%8 "!,5 "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o"=@`('#('(!'"!&'"! 69&&''(!'"!*&&...

  • Page 455

    433 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o">b`('#('(!'"!&'"! 69&&''(!'"!*&&!'""('#('#"%'o" 4!##'"!)%&"!9?="%'%8 "!,5 "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o"?9`('#('(!'"!&'"! 69&&''(!'"!*&&!'""('#('#"%'o" 4...

  • Page 456

    434 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& "%'!( %&&!'" "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o" 69&&''(!'"!*!"'&&!'"!,#"%' 4!##'"!)%&"!9?="%'%8 "!,5 "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o" 69&&''(!'"!*!"'&&!'"!,#"%' 4!##'"!)%&"!9?="%'%8 "!,5 "(...

  • Page 457

    435 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& 4%;5 9 9'"> 9c j!%8#(%#"&"('#(' :c +&:!8#"&'"!"('#('4'*"%#%'& && (%!#(&8 "'"!"#%'"!5 ;c +&:&%)"(%%!',8o"('#('4&,&' 8 "!'"%'&"('#('5 4!##'"!)%&"!9?="%'%8 9 9'"> 9c j!%8#(%#"&"('#(' :c +&;!8#"&'"!"('#('4'*"%#%'& && (%!#(&8 "'"!"#%'"!5 ;c +&;&%)"(...

  • Page 458

    436 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& #(%#"&"('#('%; !( %4s5*! "#%'"!%"% &% "%' 9 9'"?Bbb 4!##'"!)%&"!9?="%'%8 #(%#"&"('#('% !( %4o5*! "#%'"!%"% &% "%' 9 9'"?Bbb 4q % '%o"@95 4!##'"!)%&"!9?="%'%8 #(%#"&"('#('% !( %4s5*! "#%'"!%"% &% "%' 9 9'"?Bbb 4!##'"!)%&"!9?="%'%8 #(%#"&"('#('%=...

  • Page 459

    437 appendix appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 401 to 404 (for expansion) 0 405 to 406 (for expansion) 512 407 (for expansion) 1000 408 (for expansion) 4000 409 (for expansion) 1 410 (for expansion) 0 411 (for expansion) 1256 412 (for expan...

  • Page 460

    438 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& >:; !#('#"%'!( %"% "%%&"+& :% 9 9'" r!'###"%''(%!&o'%*%& "%,4*%"%"##!+&5 6!)94q#'"!"!#('#"%'o"9&!)5 4!##'"!)%&"!9?>"%'%8 >: "%%&"+& ;% 9 9'" r!'###"%''(%!&o'%*%& "%,4*%"%"##!+&5 6!)94q#'"!"!#('#"%'o"9&!)5 4!##'"!)%&"!9?>"%'%8 >:= !#('#"%'!( %"%...

  • Page 461

    439 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& > #(&"%#"&'"! '!'"! 9 9'":> + ( +&!( %"%"'!'+"&'"!'%"% #(&"%!'(&%' "%,4!##'"!)%&"! 9b > #(&"%#"&'"! '!'"! 9 9'">:; o( %"#"&'"!'#"!'&"%"'!'+"&'"!' %"%#(&"%!'(&%' "%, 6 9!"%&"' 6 )("'%'!9&&''&%&"'%%&&" *'%"%!"''#(&"%&!&'4!##'"! )%&"!9b > &,!%"!"(...

  • Page 462

    440 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& > +&:"!'%"''%('& 9 9'":9 46q % '%o"> 4!##'"!)%&"!9b > "!'%"!#('#"%'o" 9 9'";bb 4!##'"!)%&"!9b > "!'%""('#('#"%' o" 9 9'">bb 4!##'"!)%&"!9b >=9 (&"%+&; "!'%"''%(' 9 9'":9 46q % '%o"> 4!##'"!)%&"!9b >=: (&"%+&; "!'%"!#('#"%'o" 9 9'";bb 4!##'"!)%&...

  • Page 463

    441 appendix ##!+ % '%& o" % '%! (' )( 4%!5 !#('%! !' %& >?; (&"%+&b "!'%"!#('#"%'o" 9 9'";bb 4!##'"!)%&"!9b >? "!'%""('#('#"%'o" 9 9'">bb 4!##'"!)%&"!9b >?= (&"%+&:9 "!'%"''%(' 9 9'":9 46q % '%o"> 4!##'"!)%&"!9b >?> (&"%+&:9 "!'%"!#('#"%'o" 9 9'";bb 4!##'"!)%&"!9b >?? (&"%+&:9 "!'%""('#('#"%'o" 9 9...

  • Page 464

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

  • Page 465

    443 appendix appendix no. Parameter name default value (reference) input range unit remarks 24 minimum emergency deceleration 30 1 to 300 0.01 g restriction is made for each axis with the setting values above if each axis parameter no.136 “minimum emergency deceleration for each axis” is valid. 25 (...

  • Page 466

    444 appendix appendix no. Parameter name default value (reference) input range unit remarks 80 (for expansion) 0 ~ 81 reserved by system 15 1 to 999 0.01 g 82 reserved by system 30 1 to 999 0.01 g 83 reserved by system 1500 1 to 9999 mm/sec 84 reserved by system 1000 1 to 999999 0.001 mm/sec 85 rese...

  • Page 467

    445 appendix appendix no. Parameter name default value (reference) input range unit remarks 105 to 109 (for expansion) 0 ~ 110 reserved by system 4321h 0h to ffffffffh 111 reserved by system 543103h 0h to ffffffffh 112 reserved by system 0 0 ~ 2 113 reserved by system 0 -9999999 to 9999999 0.001 mm ...

  • Page 468

    446 appendix appendix 3. Axis-specific parameters no. Parameter name default value (reference) input range unit remarks 1 axis operation ty 0 0 to 1 0: linear movement axis, 1: rotational movement axis (angle control) 2 $&0;dffhohudwlrq 30 1 to 999 0.01g acceleration speed when acmx command is execu...

  • Page 469

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

  • Page 470

    448 appendix appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 52 synchro setting bit pattern 1 0 0h to ffffffffh * effective only when specified for the synchro slave axis. (main application version 0.62 or later) bits 8 to 11: selection of use ...

  • Page 471

    449 appendix appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 72 '5995riivhw 0 reference only drvvr (change prohibited) to maintain symmetry of the positive and negative sides. 73 drvvr – offset 0 reference only drvvr (change prohibited) to main...

  • Page 472

    450 appendix appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 102 synchronizing on/off switchover mating axis number 0 0 to 8 mutual input necessary (smaller axis number is to be the master axis in a pair.) only resolution related same character...

  • Page 473

    451 appendix appendix axis-specific parameters no. Parameter name default value (reference) input range unit remarks 142 coordinate direction selection for rotational movement axis linear movement axis ballscrew spline correction olqhdupryhphqwd[lv rotational movement axis) 0 0 to 1 0: positive coor...

  • Page 474

    452 appendix ##!+ = %)%%% '%& o" % '%! (')( 4%!5 !#('%! !' %& : ,#4(##%54!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% ; ,#4 54!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% ,#4"*%54!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% = !('(%!'4!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% > !('(%!'4!('(%! !"% '"!5...

  • Page 475

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

  • Page 476

    454 appendix ##!+ %)%%% '%& o" % '%! (')( 4%!5 !#('%! !' %& ?:'" ?@ 4"%+#!&"!5 9k 9999k'" k ?A (%%!'"!'%"$(%, !"% '"!9: 9k %! "!, "%(&' !',' !('(%% ?B (%%!'"!'%"$(%, !"% '"!9; 9k %! "!, "%(&' !',' !('(%% @9 (%%!'"!'%"$(%, !"% '"!9 9k %! "!, "%(&' !',' !('(%% @: (%%!'"!'%"$(%, !"% '"!9= 9k %! "!, "%(...

  • Page 477

    455 appendix ##!+ > i!"%% '%& o" % '%! (')( 4%!5 !#('%! !' %& : ,#4(##%54!('(%! !"% '"!5 q# %! "!, ; ,#4 54!('(%! !"% '"!5 q# %! "!, ,#4"*%54!('(%! !"% '"!5 q# %! "!, = !('(%!'4!('(%! !"% '"!5 q# %! "!, > !('(%!'4!('(%! !"% '"!5 q# %! "!, ? !('(%!'4!('(%! !"% '"!5 q# %! "!, @ !('(%!'4!('(%! !"% '"!5...

  • Page 478

    456 appendix ##!+ ? )& o" % '%! (')( 4%!5 !#('%! !' %& : ,#4(##%54!('(%! !"% '"!5 q# %!"!, "%(&' !',' !('(%% ; ,#4 54!('(%! !"% '"!5 q# %!"!, "%(&' !',' !('(%% ,#4"*%54!('(%! !"% '"!5 q# %!"!, "%(&' !',' !('(%% = !('(%!' 4!('(%!!"% '"!5 q# %!"!, "%(&' !',' !('(%% > !('(%!' 4!('(%!!"% '"!5 q# %!"!, "...

  • Page 479

    457 appendix ##!+ @ '%% '%& o" % '%! (')( 4%!5 !#('%! !' %& : ('"8&'%'#%"% !( % 9 9'"?= 48:?8' )%&"!5 9'":;a 4!##'"! )%&"!9>;"% '%8 ')%&"!"!,5 4!)`9b&&'5 ; #%"&&!#%"% !( %' "#%'"!#%"% "%' 9 9'"?= 48:?8' )%&"!5 9'":;a 4!##'"! )%&"!9>;"% '%8 ')%&"!"!,5 &'%''%%&'% !%" '`#%"&&! #%"% &'%'',#'"#%'"!#%"% "...

  • Page 480

    458 appendix ##!+ '%% '%& o" % '%! (')( 4%!5 !#('%! !' %& :: i!&*' 4 !! &*'5%")%,',# 9 9'"; 9c "%'"#%'"!%"% & :c ")%,'%%&' ;c #%'"!"!'!(4!,(%!('" '"#%'"! 6 #%'"!" !&%" '*"%'"!' &5 :; ('" '"#%'"! %"!'"!',# 9 9'" 9c %"% &%(!!!O8"#%'"!8!'"!'"%& !"'#%&!' :c %"% &%(!!!! "o8"#%'"!8 !'"!'"%&!"'#%&!' : '" :...

  • Page 481

    459 appendix ##!+ '%% '%& o" % '%! (')( 4%!5 !#('%! !' %& '#%"'' &''!4%"% 5 9k 9k'" k '&9'" %"''',#49c*%':c"!,;co" %*%'5 '&='"@c %"''%& '"49cq#"#%'"!5 '&a'"::c %"''%! + ( !( %4:3 5 '&:;'":>c %"''%! + ( !( %4:93 5 '&:?'":bc %"''%! ! ( !( %4:3 '&;9'"; %"''%! ! ( !( %4:93 5 6 %!,' 6 r''8 #%"% o"&:99'":...

  • Page 482

    460 appendix ##!+ '%% '%& o" % '%! (')( 4%!5 !#('%! !' %& &''!4q, " #% '%5 9k 9k'" k '&9'" %"''',#4% '%549c*%':c "!,;co"%*%'5 '&='"@c %"''%& '"4% '%549cq# "#%'"!5 '&a'"::c %"''',#4q, "549c*%':c "!,;co"%*%'5 '&:;'":>c %"''%& '"4q, "549cq# "#%'"!5 6 %!,' 9k 9k'" k =9 ii!"% '"! ',# a %! "!, 9c&&( :ci!&...

  • Page 483

    461 appendix appendix other parameters no. Parameter name default value (reference) input range unit remarks 46 other setting bit pattern 1 2001h 0h to ffffffffh bits 0 to 3: variable-value format type in response message to real-number/variable query (0: big endian with four upper/lower binaryconve...

  • Page 484

    462 appendix ##!+ '%% '%& o" % '%! (')( 4%!5 !#('%! !' %& =b !@8& !' ,'',# 9 9'"b 9c ,"!'%"%&''(& :c , "'"%(%%!'!'"% (%%!'#''%!"+&&,!&'" `%,&''(&b"%`#%"% %(!!( %b `! ( !'"%8,+&!( %b4%8%'"( !5 &,`'%#% '%o">9b 4!##'"!)%&"!99b"%'%5 9e"'"%(%%!''"%'!%'"415;> ;>e"'"%(%%!''"%'!%'"415>9 >9e"'"%(%%!''"%'!%'"...

  • Page 485

    463 appendix ##!+ a (&"%" "!% '%& o" % '%! (')( 4%!5 !#('%! !' %& : 4"%+#!&"!5 99999999k 9k'" k ; i'%"! ' %&&! !' 9k'" k '&;='" 49'"?=545 '&:?'"; 4:'"?=545 '&a'":>co( %"!:'& 49'"?=545 '&9'"@c!:'&y 4:'"?=545 6 q''% '%&"''`o( %"!9'&+ !9'&y7o( %"!:'&+!: '&yb*" ?="%&& ! ( %!, %'"! :'"bbb 99: j = + ( lj ...

  • Page 486

    464 appendix ##!+ b (&"%!#('!!% '%& o" % '%! (')( 4%!5 !#('%! !' %& : !!(& '" 9 9'"; 9co"'(& :c" !#(&!#('(%!&,!%"!Y"#%'"! ;cj!%8#(%#"(&!#(' ; (&!#(' " 9 9'"; 9c(&'%! :c(&'%!7&! ;c"%*%%)%(&'%! &%),&,&' : :'": 99:j ='" :99 4"%+#!&"!5 99999999k 9k'" k &.

  • Page 487

    465 appendix ##!+ :9 (&"%('#('!!% '%& o" % '%! (')( 4%!5 !#('%! !' %& : !!(& '" 9 9'": 9co"'(& :c(&8'%!%)%"!'%" ;c!+&"!'%" ; (&"('#(' " 9'"; 9'"; 9c(&'%! :c(&'%!7&! ;c"%*%%)%(&'%! (&"('#(' " #"%', 9'": 9'": 9c"&')" :co')" = 4"%+#!&"!5 99999999k 9k'" k > o( %"#(&% !"%%"''"! :? :'"bbbbbbbb #(& o( %"#(...

  • Page 488

    466 appendix ##!+ :: !(#%'"!,#& &'"#%'"!',#&*)%,#!!"!'&''!"'`!("#%'"!',#b#% '% 4'%#% '%o";:5 4:5 &"'*% :q''!F94*,&!'!Q&'%'5 (!'"!& #%'"!',# &&*"% i' q', l" ") "!'!("(& ") q #%"% &'%' #%"% &'%' r'&', o"'%$(% r'"('&', o"'%$(% ;q''!F:4q''!&'%'4*'#&&*"%55 (!'"!& #%'"!',# &&*"% i' q', l" ") "!'!("(& ") q...

  • Page 489

    467 appendix ##!+ oinnjio : ; & i + #&" m ,% '%& t "(! (!'"!&'"'"&) (!%''"%, &'' !&"% &' '(!'"!&'"#"%'& ,! ! '# % '%)(& "%!!#% ' %&(%'"%' "%%"! ! &'"!!' n &'"% ' %& &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''"#%)!'%%"%&%'!'"' &'!% "%!"#'"!"%& 4) o ' 8n !'5 4r !''"#%"% '%"#% '"! * ! "% &%!"'* %'5 8"%...

  • Page 490

    468 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''"+ ('" %'(% !(&!! +' %!!#('&! !#('#"%' o " : >!(&&! " %'(% !!#(' #% '% o "=> f : k " %'(%! * +(''' o "!#('#"%' o " : >4 q %)" o (&'+(' "% ! 5 r !''"!#('#%"% !( %&%" !#('#"%'&!!% , 4 (' &''!& !#('5 %"% !( %&!!#('%" !#('#"%' o "&@'" ...

  • Page 491

    469 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''""('#('&! * ! ) +&%''%" ('#('#"%' o " &!!' !'') +&% ''%" o "'c"!"'(& k i " ! * !'"!'% "%& "'&" (' '"! #% '% o ">9 f : ('#('#"%' o " * '(%! O * ! ) +&%''%" r !''""('#('&! * ! ) +&) " #'" %'(%! ('#('#"%' o " &!!' !'') +&) " #'" %'(%!...

  • Page 492

    470 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''"&'%'# %"% & * %! ,8 &'"#&! &!#('"%' &' , '&"#! %"% &'"&'%'% #%"&& !"% ( '"!#%"% &'' "!"'" !'(' "%"#%'"! 4#%"&&!#%"% &5 #%"&&!#%"% '"&'%'! &' q '!'## #% '%&&%#%"&&! #%"% & * & ! ( ! + ( #"%'!( %&!'!' "('#('#"%'&'* '#%"% * #%" && '%...

  • Page 493

    471 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''""!'!('(' "%"#%'"! '%' %! ,&'"#&%&'4 * !' '"%&( '('"%"#% '"!%" ' #%'&'"##('" %! , &'"# !#('5%"% &"'%'!'"! " !!'('"%"#% '"!% ! %(!! ! * % ! ,8 &'"# &! & !#(' 4%"% &!"'" !!'('"% "#% '"!% !%(! !! * %! ,8 &'"#&! &!#(' #%"% " !! '('"% "...

  • Page 494

    472 appendix ##!+ oinnjio &%#' "! '"! % '% &'' ! ! #( '"!"#%' "! R !''""('#('&! * !' '('"%!' %& % 4y "!5 &%'('"% y"!! &'"% +&&%"('#('#"%''"'(%! O * !' + &!'%&' y"!! &'"%+& + ( ""(% y"!&!& '4 y"!& : '"=5 +) (" y"! : c + & 8& # #% '% o "a? !)(" y"! : c + & 8& # #% '% o "a@ u "! : "(' #('#"%'!( %c + & ...

  • Page 495

    473 appendix appendix description action parameter setting manipulation/operation want to check if any misalignment to home position the system measures the amount to return from the mechanical end to the home position and compare with the stored initial value. To acquire the distance from the curre...

  • Page 496

    474 appendix appendix intelligent actuator combination t able of x sel linear/rot ary control paramet e rs permitted encod er processing method ax is-speci fi c parameter no. 1, ax is operatio n ty pe ax is-speci fi c parameter no. 68 , mo de sele ctio n for linear mov ement ax is ax is-speci fi c p...

  • Page 497

    475 appendix ##!+ oinnjio i %%"% n )"!'%" %"% %(!4 # #'"!"!, 5 i %%"% ) q ,&' %%"% &&! !' &"(% i %%"% o " 4kis 5 , 4@ 8 & !' , '5 i %%"%&' 4##'"! "! ,5 i %%"% ni "('#('4 o "! ,5 '% #% '% o "= f 9 '% #% '% o "= f : i %%"% %&' 4##'"! "! ,5 %& o ##'"! A99'"aa o "% ab9'"a a9'"a q%') a i 9'"a q #%%"%) #%...

  • Page 498

    476 appendix ##!+ oinnjio %"% %(!4 # #'"!"!, 5 i %%"% ) q ,&' %%"% &&! !' &"(% i %%"% o " 4kis 5 , 4@ 8 & !' , '5 i %%"%&' 4##'"! "! ,5 i %%"% ni "('#('4 o "! ,5 '% #% '% o "= f 9 '% #% '% o "= f : i %%"% %&' 4##'"! "! ,5 %& o ##'"! 99'"b o "% 9'" 9'" i 9'" o ##'"! 99'" o "% 9'" i 9'" i #%'"!8!'"!) ...

  • Page 499

    477 appendix appendix intelligent actuator error list (main appli cation) (in the panel window, the three digits aft er “e” indicate an error number.) error no. Error name description, ac tion, etc. 200 encoder par ameter data ver sion mismatc h w a rning t he version of encoder param eter data is n...

  • Page 500

    478 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. 224 rc-gateway status command error operation cannot be made in the current rc gateway condition. About rc gateway condition • gat...

  • Page 501

    479 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error n ame descr iption, a ction, etc. 413 prohibited com mand ex ecution error during tr acking op eration an attempt w as made to ex ecute a command which is pro hib...

  • Page 502

    480 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. 42f home confirmation pos itioning timeout error with a linear se mi-abs ol ute actuator, positioning for the pur pose of confirmi...

  • Page 503

    481 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. 430 ubm management area checksum error corrupt ed flas h rom data. Save the us er-data backup memor y to the flash rom. 431 ubm da...

  • Page 504

    482 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. 43a rc-gat e w ay st atus command error operation cannot be made in the current rc gateway condition. About rc gateway condition •...

  • Page 505

    483 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error n ame descr iption, a ction, etc. 447 no pos ition dat a generation pu lse i/o board a x is specific ation e rror puls e i/o board ax es for w hich position data ...

  • Page 506

    484 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' => (&"% !#('!! O " %%" % q #'"!"!#('!!&" #(&"%&&!) "%!! O "" ( '&' %!!! &&'&`!"'(&b!#% ' %&''!&!&" "! => !#('!!"(!'%% %%"% (%!#(& "%& ,!% "!" (& ") !' '*&'' #' '"%'"(!' %"#(& " %!#(' !! %"% ! &, ! %"!"(& ...

  • Page 507

    485 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' =?A #%'"!" !%%"%'# (&" %&%) " 4&) ''"!5 ") !'" ! * &&&('"+&! &%)" 8&''(&&&( ") !'" !& '"+&!&%)" 8 o &''(& =?B (&"% &%)"!"! 8!'"!" !' '"!%%"% !%%" %"(%% '"!'%"%!' %! " (!'"!" " * !(&&! "!&%c : " (!'"!(%&4"...

  • Page 508

    486 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' =@= (&"% ! )+&(&%%"% 4&) ''"!5 ") !' * & " !'" !!)+& =@> '%%"%' #(&" %'%"!' +('" ! "" * !%%"%& * %" (!! '%"!'' : + ( # && y%" ; !( %" !''' && &&'!;"% + &' + ( !( % o "!+&'!' o " * & = #&"&' %'#"!'&!"' y%"...

  • Page 509

    487 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' >99 q )"%& *%'%%" % r %'!'"'&"&)"% (%"& )"%!& %!' (&'!&'&) "%& >9 : q )"%& *%'" #'"!' "('%%"% " #'"!" * %'!'"'&" &)"%"(! "' "!% (%" &)"%! & %!'(& '!&'& ) "%&"%")%'& %%"%!"(% * !%%"% o "? I ??9? =?>'" (%''...

  • Page 510

    488 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' > : 9 (&"% %%"% !%%" %"(%% !#(&" %&&%%" %" (%&' !"%&"' *%"& !"'&(##"%' %%" % "&"#(&" %& '"!&"% ! '"'%%"%&' !";"' %%"%&'&@?C & %%"% &%%"% o "=b" (%%!#(&" %& % '"'' +#! ! '"%%"!! %%" % o " !"'%&&"!''(&!% #"...

  • Page 511

    489 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' > : (&"% j %&'%% * %'%%"% '% %" ' j %&' %"!#(& " %&&!) "" * !(&&!"!&%c : " (!'"!(%&4"!'%"%!'%!" (! '"! (%&5('"!"&&"%' 8 %('%( '(%&' ; ! ##'"!% * %)%&"!!' #(& " % ##'"!% * % )%&"!%!"' "!&&'!' > : (&"% '%"!...

  • Page 512

    490 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' >;= (&"% (!&(##"%' #'" !%%"% !%%" %"(%% '"!'%"%!' %! " (!'"!" " * !(&&! "!&%c : " (!'"!(%&4"!'%"%!'%!" (! '"! (%&5('"!"&&"%' 8 %('%( '(%&' ; ! ##'"!% * %)%&"!!' #(& " % ##'"!% * % )%&"!%!"' "!&&'!'4*%"! "...

  • Page 513

    491 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. 531 slave movement paramete r error there a re e rro rs in parameter settings (par amete rs for individual axes no. 167 and 1 68) ...

  • Page 514

    492 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' ?9 : i j "%%"% %"!#!! '"!'%"%& &(' ?9; io " %%"% %"!#!! '"!'%"%& &(' ?9 %) 8& "(%( '"% , i 4 in 5%%"% %) 8& "(% ('"% , , )(& ?9= "* % 8&(##, "%%, %%"% %, &''(&"'#" * %8 &(##, "%!!"'"!% ?9> "%&% %%"% !"% "...

  • Page 515

    493 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ?;; "(!' 8q (!!"!'% "" !% )%% "% !(!! "!'%" " ! * &%) %" ' "(!' 8q ?; %)%%%"%' " $(& '"!%% "% %)%%%" %" (%%('!%%"%'""(!"'$(% ?;= !!%) %%%"% %)%%%"%"(%% ?;> %)% 8& ''"!& ,! %"!"(&" (! '"!%% "% " (! ' "! (%...

  • Page 516

    494 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ? I u !"% !' 8#" &!&"%& ! " %% "% '!"%& " !!' ? I !"%"!'%""!&'!'%%"% !"% "!'%""!&'!' & !) ?=9 "'"%"!'%" "!&'!'%%"% "'"%"!'%""!&'!'& !) ?= : i !"%#" * %8 &"(%)"'"!'%"#% '%%%"% % )%#% '% o "& ?=; q #""##% '...

  • Page 517

    495 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ?> !&(##"%'!"%%%"% !"%& !"'&(##"%' o "!"%"!'%""!&'!'%"%&) '' "%%"!&'"'!"% '!&'!"% ?> !&(##"%'!"%%%"%4 ! ! "% ' "!5 !"%& !"' &(##"%' o "!"%" !'%""!&'!'%"%&) '' "%%"!&'"'!"%"%' %" % &!) '` "'"%!"% "!(%'"!!"...

  • Page 518

    496 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ??@ !)%)%!' y'"!" (! '"! !' "!%%"% ''"!")+ & !' y'"!" (!' "! ! !!!( %&!"' "% )+ & 8+% '% o " : `+''%!B o "& : 9 : ! : 9; `%)%! "%" (! '"!!!! &''!B! O "& : 9 : 9=`%)% !' y'"!" (!' "!' ,#&''!B ??A %)%'%'!"%...

  • Page 519

    497 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ?A= i +#!'&&%%"%4#" !%#' "!(!%#%"'"" 5 ! '' #' * & '"%' * !!"'%4+#! # "&' "!' +#!#%"% !( %+#!&' #!( %'5 "!! ' &"' * % ' , !"'&(##"%''+#!' "!"'%&')% &"!" '" !!'&"' * % "% &(##"%'&' "!'%"% ?A> (!'"!&'"!#"%'...

  • Page 520

    498 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name descr iption, action, etc. 6a8 rc-g a tew a y m a jor fault error the mounted- sio generated a m ajor fault. Ex ample: all valid rc-ax is have detache d (unc...

  • Page 521

    499 appendix appendix intelligent actuator in the panel window, the three di gits after “e” indicate an error number.) error no. Error name description, ac tion, etc. 801 scif overrun s tatus (iai protocol reception) communication failur e. Chec k for noise, connected equipm ent and c o mmunic ation...

  • Page 522

    500 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. 81e mounted-sio m-receive tem porar y queue overflo w status (sel recepti on) t he temporar y receiv e queue in the main cp u over...

  • Page 523

    501 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"!'"!' b99 !&'#&"%'%%"% % %!"' ! "(!&'#& '"&)&'#'%")!"( !&'#&!'" &)&'#' b9 : q '#!( % %%"% &'#!( %&!) b9; q , " 8!'"! '!( % %%"% & , " 8! '"!'!( %&!) b9 "!'!( % %%"% #"!'!( %&!) b9= %!( % %%"% )%!( %&!) b9> !( %%...

  • Page 524

    502 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' b; (&"% #% ' %!( %'"! %%"% !!) #% '%!( % * &* !%!"% *%'!#% ' %%" '"' #(&"% b;= (&"% #% ' %"(!' ' "!%%" % !!) #% '%"(!' * && #* ! % !"% *%'!#% ' %%" ' "' #(&"% b;> (&"% )!( %'"! %%"% !!) )!( % *&* !% !"% *...

  • Page 525

    503 appendix ##!+ oinnjio i %%"% o " i %%"%! &%#'"! '"!' 9 : q ,&' 8 "% ,(#''% , )"' 8" * * %! ! )"'" '& ,&' 8 "% , (#''% , &" * #'''% , 4")' ! ( ' 8 (#)"'5 9; !"% & ,&' 8 "% , (#''% , )"' )"'"'& ,&' 8 "% , (#''% , &" * #'''% , 4" * ' ! ( ' 8 (#)"'5 9 &" (' 8'(#''% ,)"' 8" * * %! !4%) % !, &&5 )"'"'...

  • Page 526

    504 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' : a &&%%%"%4#%"'""% #'"!5 %! '%) &&&!) !)%#"&'"!4 && & b, ' &"%&&5 &&(' "!"'%%&"!& : b &&&''"!!( %%%"% 4#% "'""%#' "!5 &' '"!!( %!'% ) &&&!) : &&%%"%4#%"'""%#' "!5 !'% ) &&&!) : &&"!) %&"!%%"% '%!& '' &&"...

  • Page 527

    505 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' % '%!( %%%"% #% '% !( %&!) % 8#% '%(%%% %"% i %%"%%!' % 8#% '%(% % 8#% '%(% * %' % %"% i %%"% * %'!'% 8#% ' %(% % '%!%(& %% "%(% !"#%'"! % '%& !!"' !(% ! "#% '"!4#% "% &%(!!!&%) "& ! (&'5 % !(' (%!(!'"!! ...

  • Page 528

    506 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' > (& %%"%('"&%)" o #%"&& !!" '#% ''(%!&%)" o * &'' #' >= (& %%"%('"(!&(##"%'(! '"! (!'"! &!" '&(##"%' >> (& %%"%('"+ (&) !('(%%(!'"! #%" && !!" '"#!'"(&%&"'%'!' !('(%%* &'' #' >? (& %%"%('"!) ' '&!) >@ %"...

  • Page 529

    507 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ? %)% "!'"%' ,# & ' %%"% "!'"%' ,#&(##"%' , '&'!% "%"%&"!'#' ," "!' ! "%"&!"' '' "!'"% ',#"!' &"' * % &4&' "!' "!'"% &%!5 a i !'' ,#%%"% 4"%''"!5 (!'',#& #!' %) " ! && &!)"%!"' &(##"%' appendix.

  • Page 530

    508 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. B00 scha setting e rror t h e s etting of scha command is inv ali d . B01 t pcd s etting error t h e s etting of t p cd command is...

  • Page 531

    509 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. B1c ethernet in- use-by -other-task error an attempt w a s made to open a channel alr eady opened by other task. B1d ethernet non-...

  • Page 532

    510 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. B28 vision s y stem i/ f initializ ation incom plete err or initia liz ation of the vision s y st em i/f is not y e t complete. Ch...

  • Page 533

    511 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' 9@ q (%"('!!"! 8!'"!%% "% &(%"('! "%&! " '! 9a q (%"('!(#' 8!'"!%%"% & &(%"('! !( % &!' (' # " '"!& 9 (#' 8!'"! %%"% & '!( % &!' ('# " '"!& 9 !"! 8!' "!%% "% ' &' ( #&'!' "!" j &'' !'&!"'! 9 r q qn # % 8!...

  • Page 534

    512 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' : !#(' 8"!'"! O &"%'%%"% !&&% ,!#(' " !' "!&!"'"(! * !!+ #!&"! "!'"!& (& ; : !#(' 8"!' "!(&%%"% * ' !#(' 8"! '"!#%"'" ! !#(' 8"!' "! #%" ' " !% " ''(&"! #('"!' "!& ;; !) " !#"& '"!%%"% * ' !#(' 8"!'"!#%"'...

  • Page 535

    513 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' =9 q '%! 8)% '%!"! 8''"!%% "% '%!!"' ''!'&'%!)% = : q '%! 8)% "#, & y") %%%"% "#, & y "&'%!) %&'""% =; % '%"(!'!"! 8''"!%%"%(% !& '%!#%" &&! %'% 8&'%!!'& !"'! ! &'%!#%" &&! I + ('&'%! #%"&& !" !'%! !' !' ...

  • Page 536

    514 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. C5b t iming limit over error (flash rom w rite) error w riting the flash rom c5c flash-rom ver if y error (flas h rom w rite) erro...

  • Page 537

    515 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' @ : q ,! %"& ) 8+&" ! %%"% " ! * &&&( '"'& ,!%"& ) + & @; )%%(!%%"% ")%%(!&!&"% * &'(' @ %' 8"(&&"' '")%% %"% '%'#"&'"!"% ") !'" (&+ &&"' ' 6 !'&" q '"!#"&'"!' , !"'+&'"%' ## +& @= '( 8#"&'"!&"' '")%%%"% ...

  • Page 538

    516 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ab % '"! %'"!'"!%%"% % '"! % '"!& ! ) a %% (' "!"%% "% %('"!" &!) a %% (' "!%%"% "&'"!'' '!!"' ( &!% ") !' * & ' #"&'"!' a i "!''"! %%"%(%!" ! +('"! !#"!' ' * &' * "!'! ("("!' ") !' * &! ( ' a +&"#% '"! '...

  • Page 539

    517 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, ac tion, etc. Ca5 stop devi ation overflo w error movement may have occurr ed during stopping due to exter nal force or operation may have been ...

  • Page 540

    518 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' %! 8#" !' s8 +&! 8#" !' (# ' "!%%"%'# ' y! ! $(& ' "! !!!"'('(&' % %!#"!'" 8#"!''!&' & &' s8 +&! 8#"!''"'% '!' u8 +& " #"!!'!'(&% '!!'!!"'(' ' y! "' "! (' "! %%"% %# y""!' %" (' "! %%"%"%# ' y! "' "! " !)...

  • Page 541

    519 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' 9 : i !"% ii 8*%'' "('%%"% !"% &(',"%(% "(%% !'!"%" (!'"! 9; i !"% ii 8%' "('%%"% !"% &(',"%(%" (%% ! '!"%" (!'"! 9 i !" % "( !'%%" % (',!" %"% ') !"%&& , "!' "!&&(' 9= i !" %" ! 8%)"('"! % &'%%" % ! " ...

  • Page 542

    520 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' ;9 %) %%%"% 4 %'"%%" % o " : 5 ;; i !" %%"''"!% &'%%" % ! " % &(',"% &'(%! ; i !"% % %&'%%"% (',!"% ;= i !"%%%"% !"% &(',"%(%"(%% ! ' !"%" (!'"! ;> i !" % "! (%'" ! & ' %%" % ! " % "! (%'" ! !"% '"!&"('...

  • Page 543

    521 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) error no. Error name description, a ction, etc. D58 f ieldbus error (init timeout) an init timeo u t w a s detecte d. Check the statuses of monitor leds on th e front panel of th...

  • Page 544

    522 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' ?A o "% "' 8 ""!'%" &(##"%'"% %%"% k %*%&(##"%' ! % "' 8 ""!'%"&!"'!&' '"(% "' 8 ""!'%"4 o 5& !#% '% o "@b ?B i +'%!'% !"")%(%%!'"%#"*% 8&(##,%%"% )%(%%!'"%#"*% 8&(## ,%%"%!' +'%!'% !" ? K %*%(!&(##"%'(...

  • Page 545

    523 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) . Ct e , n oit c a , n oit pir c s e d e m a n r or r e . O n r or r e d87 absolute data parity error invalid parity of absol ute track signal. There is a possi bility of encoder...

  • Page 546

    524 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' i: !'"('#('!( %%%"% (!'"('#('!( % &!) )("'%'!!"('#('#"%' !( %4`9b '5 ,!#('!#% '% o "&@9' " @ i:i u "!#% '%%%"% )("'%'!!"('#(' #"%'" !( %4`9b '5"% (# '!( %& ,!#('!+& 8 # % '% o "&a ab : b= !B@"%'"('#('!(...

  • Page 547

    525 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' i o "!"% ii %%"% !"% &!"'$( ##*' ii i &"('!"%%%"% &"('!"% & , i ! ! & ) 8" ! %%"%" '' !(!!&) 8" !%%"%"*&'' i qin #%"% #"!'#% '%& &''(&%%"% '& !"'*% ''!'"' &"%%',"%*%''!!!" !" #' ## '"!)%&"! I i % '%&( %...

  • Page 548

    526 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) . Ct e , n oit c a , n oit pir c s e d e m a n r or r e . O n r or r e e5b detection of f error upon pole sense completion the motor-m agneti c-pole detection stat us bit (psenex...

  • Page 549

    527 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) . Ct e , n oit c a , n oit pir c s e d e m a n r or r e . O n r or r e e74 encod er divi sion ratio mi smatch e rro r the en cod er division ratio in the system’ s axis-s pecifi ...

  • Page 550

    528 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' i a qin #%"% & 8 &''(&%%"% '&!"'*% ''!'"' &"%%', "%*%''!!!" !" #' ## '"!)%&"! I a q , "!'"!'& 8&''(&%%"% '&!" '*%''!'"' &"%%', "%*%''!!!" !" #' ## '"!)%&"! I a "!''& 8&'' (&%%"% '&!"'*%''!'"' &"%%', "%*...

  • Page 551

    529 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' 9'" 99 q ('"*!%%"%4 w &, &*!45!'"!5 &('"*!%%"%4 w &, &*!45!'"!5 *&'' 9 >a q ('"*!%%"%4 q %%"%5 &('"*!%%"%4 q %%"%5*&'' ?9 q ,&' 8"*!)%%"% 8#%"(%%%"% &,&' 8"*!)%%"% 8#%"(%%%"%*&'' ? : !'%#%'% 8'&!'&%%"% ...

  • Page 552

    530 appendix ##!+ oinnjio i %%"% n &' 4 o "%54!'#!*!"*''%'&'%` i b!'!%%"%!( %5 i %%" % o " i %%" %! &%#'"! '"!' @9 q ")%%(! %%" % " (! ' "!%%"% " %!" &"! ! ' $ (# !'! " (! ' "!&''!4 r !(#'!' ## '"!"!!''" !(& 3&(#''""5 @ : q % ! %%" % " (! ' "!%%"% " %!" &&" %' &" !! ' " (! ' "!"!!'$( # !'!" (! '"! &...

  • Page 553

    531 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) . Ct e , n oit c a , n oit pir c s e d e m a n r or r e . O n r or r e a85 from write reque st error before e ra s e is complete when updating, a flash-rom write co mmand wa s re...

  • Page 554

    532 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' i b9 "%" & 8 &'' (&%%" % " %# %" % &!) "!' '' !( '(%% i b : ##'"!"& 8&''(&%%"% ## ' "!#%"% &!)"!' '' !( '(%% i b; "%"&( %%"% "%#%"% &!) "!''' !('(%% i b ##'"!"&( %%"% ## ' "!#%"% &!) "!' '' !( '(%% i b=...

  • Page 555

    533 appendix appendix intelligent actuator (in the panel window, the three di gits after “e” in dicate an error nu mber.) . Ct e , n oit c a , n oit pir c s e d e m a n r or r e . O n r or r e eac servo control underru n error a serv o control underrun erro r w as dete cted. Ead boot erro r a fpga b...

  • Page 556

    534 appendix appendix troubleshooting of xsel controller the xsel 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 r...

  • Page 557

    535 appendix ##!+ oinnjio %"(&""'!4(&&!"(!' % &(%&"% m , i %%"%&5 i %%" % o " i %%" %! ( & "( !'% &(% #"*% (' " " !'%,#"*%(%&"(%%"% ')"' &%"## : 99&!#(' *'"!'%"% 3&)"' '"! &;99 '#"*% 8&"( %)"' '&''"'"!'%"% 3& "!( %&` 8: b '#"*%'"!& : 99'&''&` 8;b '#"*%'"!& ;99 i %j i % !,&' "# 4 &&!"' !%%"%5 i %!, 8...

  • Page 558

    536 appendix appendix intelligent actuator error no. E rror name cause c ounterm e asure 914 ca2 abnorm al a bsolute-data backup battery voltage the pg ca ble was di scon n ected from the controller. Absolute re set has not been executed after the initial setup. The voltage of the absolute-data back...

  • Page 559

    537 appendix ##!+ oinnjio i %%" % o " i %%" %! ( & "( !'% &(% : a q #""#(!%%(!%%"% %)% "%*& (' " !"&!' !" % # '"%! # !'!" &"!'%" &(%& a9@ q ('"*!% , i &''(& '% ! & &'"%"!'#"*% 8&( ##," % 4'"* ' #"*% &" !! ' 5& # '"% appendix.

  • Page 560

    538 appendix ##!+ q%)"j!(&' !' q!'&%)"&!(&''''"%,!"%!*''&'!%'"!"''('"% '&%)"!!!"'!!!"% "!'"!&"(& k"*)%)%'"!"%!"& ,"(%#!!"!"*''('"%&+""!'"!!&" "!!'%"%'#% '%&%'!'"&%)"(&' !'%&"&'""*'(&'" %'"'$( '"!&&"((&' !'" !&&%, %'(%,*'(&'" "&4*"&&%*"%&'%"&"!%'!''"'&'!% "5 )%'"!!"& ,"(%('"+'%!"!'"!& !'&&&'#% '%&&"*...

  • Page 561

    539 appendix ##!+ q#n""#!'% "!&'!'4% '%n&':5 %)%%#% '% !( % !' !#('%! (' 4%%!5 == 8 :'":999 % '%'% !&')"%"!&*'%''""!'%"""# !%&!'&''!'"" (%&('&!"*%%"!&*''" !!%&&'%') "%(#"!"!'&''!&"*" #!*''#"&'"!" !&"%"#&!' #"&'"!!' !%&&&%&(' %&!'&''!'"" (!%&&''!!,"''('"%'"")%&""'"%"&'%&('!! !%& !)%'"! (%%!'n""#"!'%"...

  • Page 562

    540 appendix ##!+ %"(#"%'q' %"(#"%'q' 'c " #!,! #%' !' #"%', in 4i+'5 s !' (%&' q%!( % !('(%' : o( %"+& +&4&5 :f ;f ,# =f >f ?F @f af ; ,#"#%" : &"#%'"! ; "&'"!)'"! = i%%"% i%%"%"f > '% 4 5 %$(!,f "!'"! = r!'#%" "(%h : ''%'&,&' *&&'(# ; '%"#%'!"%*4#%'!"(%&c ,%4&5! "!'4&55 > #%'!%'"! : k"%y"!' ; k"%y...

  • Page 563

    541 change history appendix change history revision date description of revision december 2010 ninth edition p.1: added g (quasi-absolute) to the encoder type in the type specification table. P.217, p.363: added a note regarding the home return operation of the linear servo actuator lsas-n10/n15 of ...

  • Page 564

    542 change history appendix revision date description of revision may 2014 september 2014 eighteenth edition applied for ct4 pick & rotary axis nineteenth edition caution added to mvpi and mvli commands, etc. Appendix.

  • Page 565

    543.

  • Page 566

    Manual no.: me0148-19a (september 2014) the information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2014. Sep. Iai corporation. All rights reserved. 14.09.000 head office: 577-1 obane shimizu-ku shizuoka city shizuoka 424-0103, japa...