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- Operation Manual
IAI X-SEL Operation Manual - page 256
234
Part 4 Commands
Chapter 2 Explanation of Commands
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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
Alert indication 7khvdihw\suhfdxwlrqvduhglylghglqwr³'dqjhu´³:duqlqj´³&dxwlrq´dqg³1rwlfh´dffruglqjwrwkh zduqlqjohyhodviroorzvdqgghvfulehglqwkh2shudwlrq0dqxdoiruhdfkprgho /hyho 'hjuhhri'dqjhudqg'dpdjh 6\pero 'dqjhu 7klvlqglfdwhvdqlpplqhqwo\kd]dugrxvvlwxdwlrqzklfkliwkh surgxfwlvqrwkdqgohgfruuhfwo\zloou...
Page 14
" #!*''i%!&%$(%#&""*)%&&q'!%&" #!!( 4i9;a@5''%")%',.
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Page 16
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Page 17
#"%'!'c&"%& ('"! : &(%'"%'%'"!!('"!&(%'"%%'(&"'%"(' ; %'"!!(!#%'"%!*" (&'!"'(&"%%#%"(*'"('#% &&"! #%"'! (&'!"''' #'&"!"'''#%" &%&('!%" !,!!"#%'"!"% "'%(&!"'!'%'"!!(&+(%" '&"#"*%%!', = "!'!'&"'%'"!!(%&(''"!*'"('!"'"%'#(%#"&" "'"!"% #%") !' 6,"()#(%&'&"'*%c ''!'&'(#"'#%"('!'%!!!,"'% '%&&(%'"(#' #% '%&...
Page 19: Table of Contents
Table of contents introduction ........................................................................................................................1 part 1 installation ...........................................................................................................3 chapter 1 safety p...
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Part 2 operation ........................................................................................................111 chapter 1 operation ......................................................................................................................... 111 1. Starting a program by auto...
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1.13 structural if ............................................................................................................ 243 1.14 structural do .......................................................................................................... 246 1.15 multi-branching ....................
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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...
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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!'"!'%"%&!"' &!&(&'#%"""%*'...
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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...
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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...
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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...
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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...
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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...
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14 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! 4 %% !,!"&&"(%&('&"!"))& !'&*'&!%,&%"#%'(%"!%! *!(!&,&' o"&%" '%'&! !'(&!' &(%&"*c &"!")) !'&*'%, &(%888!&'&(%%!#%*''" &"!")) !'&*'%, &(%888 !&'"!#%*''"'% !'"#',!"%!*''" #', !%('"!!'!"!%)%"%'...
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15 part 1 installation chapter 3 installation environment and selection of auxiliary power devices %':!&''"! %!%('% "!'%"% q(%&"%% q"!")) 7;= 9 :99 9.
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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.
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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.
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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!%!%')%&&'...
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19 part 1 installation chapter 4 name and function of each part. %':!&''"! 4 ;998&!8#&"%'%8#&!#('"!!'"%"!&&'!"&+ '% !&!(! "'"%#"*%'% !&"!'%"#"*%'% !&! I'% ! O"'5 !"''''&!8#&!#(''"!!'%8#& !#(''"!%)#!!"!'%$(% "'"%8 %)#"*%&"(%&'!%',#"!," &*''% ! " ('"! "#%)!''%&""!"''"('&"!!'"%*!' "!'%"%&%)!#"*% "*%"!!...
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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...
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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(#+" ...
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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...
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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!'...
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30 part 1 installation chapter 4 name and function of each part. %':!&''"! ;; "% , %"%',46:5 &%#'"! : #"*%&('"4!(! " !'%,#"*%(%"%%"#!#"*%8 &"(%)"'5 : "8&'%')%%"% : "8&'%')%%"% : #%'"!8!'"!)%%"% : #%'"!8!'"!)%%"% ; &&)%%"% ; &&)%%"% ; ##'"!(#' " ; ##'"!(#'&!#%"%&& ; ##'"!(#'&" #' ; k%*%'&' "#%"&& ; %...
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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!"'%#% '...
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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...
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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...
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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" + ( '"'"...
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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....
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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" + ( '"'"(%%!'""('...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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 ...
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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...
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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...
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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...
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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 ...
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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...
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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&"(%('"%(')!...
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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...
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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...
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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...
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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:...
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63 part 1 installation chapter 6 safety circuit %':!&''"! %'(,'& ' !%'#*!'#"*%&'(%!"!*'"('!!#(' #% '%o";='&9'" #%"% !%(!5!'%*%&!"% 4 %!,&'"# &!"''('!%*%%%"%&!"'''5 #% '%o"==f9c %)8&"(%('"%&'!#('&!"'(& #% '%o"=@f ('#('(!'"! !%%"%""8&'%')"%%&!"'#%&!'5 ;998"!'%"#"*%&(##, q(&&(&'%'(#" "('#('&!C"%'o" ,"(...
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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;...
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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&,...
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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...
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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&,&'...
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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&"(%('"%...
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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&"(...
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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...
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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...
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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 ...
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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 %"% '...
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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 :;...
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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...
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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...
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77 part 1 installation chapter 7 system setup %':!&''"! 4;5 &&! !'+ #""('#('(!'"!&'"! J)!"*&!+ #"&&!!"('#('(!'"!&'"! ,#% '%o"=?`('#('(!'"!&'"! % '%o"=?`('#('(!'"!&'"! 4%%"%"('#('5"%'&%%'"##!+`n&'"% '%&b q''"('#('#"%'!( %"%"('#('(!'"!&'"! !( %&&!'""('#('(!'"!&'"! ,"(&'` #"%'o" "%!,'&!"%"('#('(!'"!&'"...
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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''!& ...
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79 part 1 installation chapter 7 system setup %':!&''"! ('8#"!'"% &"%& ('8#"!'"%$(##*'=a!#('#"!'&!=a"('#('#"!'&"%(&*'sqin "!'%"%& '(%& : !"%#%")&'"'"b?!#('"('#('#"!'& ('#!#('&"('#('&","(%sqin"!'%"%!"!'%"*'&!"%"%!=a!#('#"!'& !=a"('#('#"!'& ; q(##"%'!!'%&"o!Oo',#& l(&',"(!*'(%%!'"%&,"(!&"&'&%!'%""!"'*...
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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&...
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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!%#...
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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.
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83 part 1 installation chapter 7 system setup %':!&''"! !#('('#('%('& !#(' !#(''"!& ' q#'"!4" "!'"ooo'"!&5 i+'%!#"*%8&(##,)"' ;= :91 !#('(%%!' @ +#%#"!' n(%%!' : +#%#"!' !#('%(' oo'"! O'"! !'%!%(' !'%!%(' i+'%!#"*%&(##, i+'%!#"*%&(##, !#(''% ! !#(''% !.
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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'"! !'%! %(' %...
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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...
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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...
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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& (''"!.
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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"%!,'&%)"&'#*# >...
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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 ...
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90 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! ; k"*'"%"% &"('&'"!U!'4&"(',#!,5 !%%'!"!'"!&&(&*!'u(!'&"!!''"'"!'%"%"%'%&'' &"(' !"%''%,)"'&!"% "%!"%&!&"!!'!!"%''%,%%"%* !%'!&"('%&'*%$(% ;: %#%!"%&"('&' !'u(!'!&"('%&'%"% %" '8&%*!(&' !' !(...
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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!'(&' !'...
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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(''"!.
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93 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4 4=5 r!'""+##%&'t&(''"!.
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94 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4>5 '&'"!'%"%i%%"%(''"! 4?5 'q%)"o4n!%+&"'+&5(''"!.
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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('&(%.
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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&'%&'%(&!'&*'"!'"!'%"%&.
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97 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4:;5q''#'!#!"!&''('!'(&' !'&&"*!"*'"+'%""'!'%%! #"&'(% !&''"! '" : !&%''8&%*!!'"'"!'%" "* ; (&'8('&(%"'8&%*!'""!'''&(% = '!'&%*'"&(%'"!'"'8&%*! 6 ''&' "!% '''(&' !'&)%''"'8&%*!!'''8('&(% !&(%...
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98 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4: 4:=5'i!"%"''"!'&';4"'+&5(''"!.
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99 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4:>5r!'""+##%&'t&(''"! 4:?5r!'""+##%&'t&(''"!.
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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(''"!.
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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%'(%!&'"'&".
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102 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4;=5'q%)"84n!%+&"'+&5(''"! 4;>5'i!"%"''"!'&'.
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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%!! !"'''!"'""*!'*"%#%"(%"%%', ,%&('!#"&'"! !'.
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104 part 1 installation chapter 8 how to perform an absolute encoder reset (absolute specification) %':!&''"! 4;a5"&!'8&%*!(&' !'*!"*""*!'8&%*!(&' !'"#!&' ""*!&%!'t&(''"! 4;b5r!'&!*%''!'"'&'""*!&%!##%&'t&(''"!.
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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 ...
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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...
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107 part 1 installation chapter 9 maintenance %':!&''"! ''%,# !'%"(% :5 ")'@8& !'ni#!%" '"!'%"% q'#!(#*%!#(''"*%,"('"% ") ;5 %&&'!'%"'''%,(&!!%&&"*! ''%,*" "%" '"% #"%'&4'7 %&"(!,"(5 =5 !&''#!!'"%!#"&'"!.
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108 part 1 installation chapter 9 maintenance %':!&''"! 4a5 r!'%# !'"&,&' 8 "%,(#''%,&" #'"!% '''''%,&!&' &(%,!'!'(%!"!'"!'%"%#"*% 4b5 )%'`'%#% '%o";9(#8''%,!&''"!(!'"!',#b'"')(%"%!&'#; '%!&%'&''!'"'"!'%"%!'!#%"% &*%' 6 "!% '''&*%'!#%"&&&" #' 4:95%"% &"'*%%&'4%&'%''"!'%"%5 4o"'5 " !!'"#%'"!*'"('%&'+...
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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"*'"%"% !...
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110 part 1 installation chapter 9 maintenance %':!&''"! 4?5 (%!"!'"!'%"%#"*% 4@5 q''&"('8'(#''%,!&&*''"''"#4io5#"&'"! 4o"'5&"#%'"!&!"'%$(%!"%%"%&!%'"%*!!; 4a5 (%!"'"!'%"%#"*%!!&''%&*'#!*''&%*&r!'&*'#!& !!&''(%!"!'#"*% 4b5 q'%''&"'*%"!!%" '"!'%"%45 !(&'&"('&'45 4:95r!R%!!""+&,'m(''"! R%!! 4::5&i!"%&'...
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111 part 2 operation chapter 1 operation part 2 operation part 2 operation chapter 1 operation how to start a program with the xsel controller, the stored programs can be started (run) using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the ...
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112 part 2 operation chapter 1 operation part 2 operation 1. Starting a program by auto-start via parameter setting i/o parameter no. 33 (input function selection 003) = 1 (default factory setting) set the number of the program you wish to start automatically in other parameter no. 1 (auto-start pro...
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113 part 2 operation chapter 1 operation %';#%'"! ; q'%'!)i+'%!Q!Q'"! 4:5 "*%' r!'it&!'(%!&o't #4%!5"!'"!'%"%%"!'#!* ( !' !#('&%#%"% !( %& "%" '+'%!) !#('&'%'&!%" '+'%!) r!'#%"% &%(!'!( %"' &'%'#%"% *&"*!!'i ,%"'"!'%"%%"!'#! ! %!,8&'"#&!*&!#('%" ' +'%!)"%"!'%"%%%"%"(%% '"!'%"%*'(%!"'&%)"#"*% 4t #*'(...
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114 part 2 operation chapter 1 operation %';#%'"! 4;5 !%' ,"('#(' %"% !( %!#(' i+'%!&'%' !#(' %"% : %"% ; :c (%'"!'%'%,"('#(''(%!&o(!'!#(' "+'%!&'%'&!% '' :f:9 & ! ;c (%'"!'%'#%"% !( %&!#('(!' !#('"+'%!&'%'&!% '' ;f>9 & ! &&o&&&&&&&&&&&&&&&&&&&&&&&&&o&&&&&&&&&&o&&&&&&&&&&&&&&&& &&o&&&&&&&&&&&&&&&&&&...
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115 part 2 operation chapter 1 operation %';#%'"! %)8q"(%")%,$(&'!#%'"!8(&&'$(&' 4:5 %)8&"(%%")%,%$(&' :5 k"*'"%$(&'%)8&"(%%")%, %)8&"(%%")%,%$(&'!&&((&!"!"'""*! '"&c q'#% '%o"=='"`:b4!#('&'"!(!'"!9:=f%)8&"(%('"%&'!#('5'! !#(''o'"!#('#"%'o":= q'%)8q"(%")%,$(&'45%" '"!'%"%45 !("!'&"'*% &%! Q''4"!'%"%...
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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...
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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 ...
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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...
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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:>! ''...
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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...
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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:.
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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...
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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...
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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...
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151 part 4 commands chapter 2 explanation of commands %'=" !& #'%; i+#!'"!"" !& : " !& :: %&&! !' ni4&&!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ni % !( % ' u (!'"! &&!')(!"#%!;'"')%!"#%!: "('#('*'(%!O*!9&&&!'"')%!"#%!: i+ #: ni : :9 &&!:9'")%: i+ #; ni : ; ...
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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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160 part 4 commands chapter 2 explanation of commands %'=" !& 4n"5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! % !( % ' u (!'"! &&!'""#%'"!%&('"'"!'!'"')%!"#%!: !')(!"#%!;'"')%!"#%!: "('#('*'(%!O*!'"#%'"!%&('" &9 i+ #: ni : ;9= &&!;9='")%: : :@9 &&!'""#%'"!%&('4;...
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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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166 part 4 commands chapter 2 explanation of commands %'=" !& :@ #%'"! 4('#('#"%'"#%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ('#(' 4('#(' 5 (!'"! )%&'o&''(&"'"('#('#"%'&"%&%" '"!!"#%!: '%"('"'%!"#%!; o q*''&''(&'"o q*''&''(&'" o )%&'&''(& i+ #: o (%!O"('#...
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167 part 4 commands chapter 2 explanation of commands %'=" !& o4('#('o#(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O ('#(' #"%' % &''! (!'"! (%!O'"('#('#"%'"%"%'' r!'&" !&+(''"('#('#"%'"%!"#%!:*'(%! O!'!'#%"% *#%"'"'!+'&'#"('#('#"%'"%*'(%! ('" ',(#"!#&"'' %&'...
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168 part 4 commands chapter 2 explanation of commands %'=" !& 4('#('#(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ('#(' #"%' % &''! (!'"! (%!'"('#('#"%'"%"%'' r!'&" !&+(''"('#('#"%'"%!"#%!:*'(%! !'!'#%"% *#%"'"'!+'&'#"('#('#"%'"%* '(%!O('" ',(#"!#&"'' %&''!!"#...
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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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170 part 4 commands chapter 2 explanation of commands %'=" !& o4&!%,5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O (!'"! '#"%'&"%&%" '"!!"#%!:'%"('"'%! "#%!;'")%bb&!%, ; @ ; ? ; > ; = ; ; ; ; : ; 9 !%, :> := : :; :: :9 b a !#('#"%'!( % o o o : 9 9 9 9 : 9 : !%, ...
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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 + ( "...
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173 part 4 commands chapter 2 explanation of commands %'=" !& 4r%'"('#('&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ('#(' '& (!'"! R%'')(!)%bb'"'"('#('#"%'&"%&%" '"!!"#%!: "%'!( %"'&!"#%!;& a> %bb ('#('#"%'!( % o o o 4o"':5 + ( "''&4 4o"';5 !( %""('#('#"%'&!&'...
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174 part 4 commands chapter 2 explanation of commands %'=" !& 4q'oo" !"% '5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! "% ' ',# %"' (!'"! Q'''"% '"%%!"%*%'!#"%'&!&*'!Oo"% " ! 4:5 #%!:f94('&''(&*!" !&!"'!+('5 '&%"%*%''!*'"('!%)%& 4!( %(##%5 4!( %"*%5 9:;?@ 9: ; ?...
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175 part 4 commands chapter 2 explanation of commands %'=" !& 4=5 #%!:f '&%"%*%''!'%'&(##%:?'&!"*%:?'&%%)%&)%, '&(##%''&!"*%''&%%)%&)%,:?'& 4!( %(##%5 4!( %"*%5 9:;?@ ?@ => ; 9:999:9: 99:999:: 9999999: %bb #"%'&''(&49f:fo5 #"%%,' 45" ! O45" ! 4o"'5" !&&(##"%'!&"'*%)%&"!;9=>"%'%!'!#!!' )%&"!:: i+ #: ...
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176 part 4 commands chapter 2 explanation of commands %'=" !& i+ #; %bbf9999:; 9999:; %bb =??94o" !5 :; 4!( %(##%5 4!( %"*%5 f9 99 99 :; 99999999 99999999 999:99:9 99::9:99 f: 99 99 99999999 99999999 99::9:99 999:99:9 f; :; 999:99:9 99::9:99 99999999 99999999 f 99::9:99 999:99:9 99999999 99999999 #"...
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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" !'"%!"('""%!'"!,"'&,!'+&&'"*...
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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...
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179 part 4 commands chapter 2 explanation of commands %'=" !& iq4i!&(%"('!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' iq %"' %"' (!'"! %'!"&(%"('! &" !&*,&%$(%''!"&(%"('! %'%'#%"% *#%"'"'&'#!+''"'isq''&! I+ #: %'"'&'"!"!Isq" !.
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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"& ...
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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!%...
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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"'"!,'...
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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"'"!...
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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...
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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'#"...
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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 ...
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187 part 4 commands chapter 2 explanation of commands %'=" !& n4%#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N "&'"! !( % "&'"! !( % (!'"! %'#"&'"!'%" '"!!"#%!:'%"('"'%! "#%!; %'*!'"!'"!*'"(''!*!"'9999#"&'"! ',*%ssss"!''!#!!'!!"!'&"'*% i+ #: n :9 ;9 %''%...
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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 ...
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189 part 4 commands chapter 2 explanation of commands %'=" !& i4(%%!'#"&'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I +& #''%! "&'"! !( % (!'"! '(%%!'#"&'"!"'+&!"#%!:'"'#"&'"!! "#%!; i+ #: i :: :9 '(%%!'#"&'"!&"+&:!;'"#"&'"!O" :9 i+ #; +''%!!!%',(&!)% r!'" !...
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190 part 4 commands chapter 2 explanation of commands %'=" !& p4(%%!'+"&'"!4:+&%'55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! P +& !( % % !( % &" !!!#('(&!'&"'*%")%&"!::9>"%'%"%'!#!!'")%&"!:9> "%'% (!'"! '(%%!'#"&'"!"'+&!( %!"#%!:'"')% !"#%!; (%%!'#"&'"!!"'! "%...
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191 part 4 commands chapter 2 explanation of commands %'=" !& q4#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q +& #''%! "&'"! !( % (!'"! )'&"!'!!'+''%!!"#%!:''#"&'"! !( %!"#%!; "('#('*'(%!O!"!"'','+''%!&)4' #"&'"!'&"!''!#!!'&"*`ssssb"%'#"&'"!'&!' &"'*%%!5...
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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 &'"#"&...
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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...
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194 part 4 commands chapter 2 explanation of commands %'=" !& n4&&!%'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N %'"! "&'"! !( % (!'"! &&!'%'"!'!"#%!:'"'%'"!' !'#"&'"! '!"#%!; %'"!&&'!J! ,!((#'"'*" #& i+ #: n 9 &&!9.
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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 : &&!...
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196 part 4 commands chapter 2 explanation of commands %'=" !& qu4#"&'"!'&y5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qu % !( % %"' (!'"! Q'!##%"#%')(!')%!"#%!:!"%!*'' #% '%&''! R!`'%#% '%o"; + ( !( %"#"&'"!'''!&'"%!'"!'%"%*&' 4%&&"*'%''%(&"%!"'5 r!`'%#% '%o"; ...
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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 :...
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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...
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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 >...
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200 part 4 commands chapter 2 explanation of commands %'=" !& ::: '('"%"!'%"%'"! In4q' " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! In q# %"' (!'"! Q'''('"%'%)!')(!"#%!: (!'& & + ( *)%,#!!"!' ""''('"%"!!'q' !"'+!'## + ( 4o"':5 #&!!"'(&!%%"%*!%' 4o"';5 ! ( &: & i+ ...
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201 part 4 commands chapter 2 explanation of commands %'=" !& 4)%%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q#%'" %"' (!'"! ('!"%!*''%'"!"#%!:4"!' &''!5%'"&&'!%!%" :'":991 " !,!"*: &!!%'(&! " ! '"%& ""'"#%'"!C:#(& & " ! '''!!%'c:#(&;>? & 4q ""'!&&"'("#%'"!!!"...
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202 part 4 commands chapter 2 explanation of commands %'=" !& 4q'%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! %'"! %"' (!'"! Q'''%)%'"!"''('"% + ( %'"!*)%,#!!"!'"! ""''('"% "!!' %'"!&&'!J! ,!((#'"'*" #& 4o"'5 '#"&'"!'"!'!&!"%'"!O%'"!&!"'&',! " !''('"%* ")&"!...
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203 part 4 commands chapter 2 explanation of commands %'=" !& n4q'%'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N %'"! %"' (!'"! Q'''%)%'"!"''('"% + ( %'"!*)%,#!!"!'"! ""''('"% "!!' %'"!&&'!J! ,!((#'"'*" #& 4o"'5 '#"&'"!'"!'!&!"%'"!O%'"!&!"'&',n" ! ''('"%* ")...
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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...
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205 part 4 commands chapter 2 explanation of commands %'=" !& q4q'"&'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q +& #''%! &' )( (!'"! &'''%')(,!'"&')(!"#%!;'"'"%!'%' )(*!#%"% !''('"% ") !'!"#%!: "&'&&'! !'')%&"('"!&999: !')"&' ,&"!&'"#%'"!%!&!"'+ !Q" !%"&&*'%...
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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!##%"#%')&"!!*('('" ',&"...
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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 : +&:%'(%!&...
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208 part 4 commands chapter 2 explanation of commands %'=" !& j4q'%"(#+&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! J +& #''%! %"' (!'"! "*"!,'#"&'"!'"'+''%!!"#%!:'"" ) #%"% &&( &'''%%!"'"%"'%+&!"' r! ('##%"% &%%(!& ('!"(&,&&!!+&*"*'& #"&'"! ''"(&'), "!'#%"% & ...
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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 !...
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210 part 4 commands chapter 2 explanation of commands %'=" !& o4!C%+"%''""%'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O 4!#('#"%' "5 4o ',#5 (!'"! %!!#('#"%'"%"'""%'*&%)"" !&!+(' r!"#%'"!%"% "!'!#('#"%'"%"!"#%!:' (%%!'&%)"#%"&&!*"%'4'+&% ")!',*%''" &'"#"%'#%"...
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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!"'...
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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...
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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...
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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 ...
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215 part 4 commands chapter 2 explanation of commands %'=" !& q4q')&"!&'!'! ") !'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q &'! %"' (!'"! Q')&"!&'!"%'!'%#"'"! # !',qn4 ")"!!5 " ! R!Qn" !&+('#&&!#"!'*(''&'!&' %!'('#&&!#"!'&*(&&!'%#"'"!#"!'& '&'!&&''"`9b!##%"#...
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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 "('#('#"...
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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 "'"!#...
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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 %'"!" !&(%%!',+('!'$(8%'(%! "...
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219 part 4 commands chapter 2 explanation of commands %'=" !& ok4%'"!"!'%"#% '%&'&'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ok +& #''%! % '% &'!( % (!'"! %"%'+''%!&'!"#%!:*"'!'(%)%'"!%$(!& %&'%!#% '%&*(&'"#%"% )%'"!"!'%" #%!: +''%!&&'"! Q#,:"%!+&"%*)%'"!"!...
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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+ #; +''%!!!...
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221 part 4 commands chapter 2 explanation of commands %'=" !& ki4'(%!'"" 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Ki +& #''%! %"' i (!'"! %"% " %'(%!"'+&,'+''%!!"#%!: &%)""" 8%'(%!+&*'(%!O('" ', "('#('*'(%!''&'%'"" %'(%!!'(%!O*!'" %'(%!& " #' 4o"'5 ""*!#(&""...
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222 part 4 commands chapter 2 explanation of commands %'=" !& 4"),,!#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! "&'"! !( % %"' i (!'"! ")''('"%'"'#"&'"!"%%"!!'"'#"&'"!!( %!"#%! :*'"('!'%#"'"!4&'!&"%`"!'8'"8"!'b5 "('#('*'(%!''&'%'"+& ") !'!'(%!O*!' ") !'&...
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223 part 4 commands chapter 2 explanation of commands %'=" !& n4"),,!#"&'"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N "&'"! !( % %"' i (!'"! ")''('"%'"'#"&'"!"%%"!!'"'#"&'"!!( %!"#%! :*'!'%#"'"! "('#('*'(%!''&'%'"+& ") !'!'(%!O*!' ") !'& " #' i+ #: in :99 q...
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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...
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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...
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226 part 4 commands chapter 2 explanation of commands %'=" !& k4")"!#'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! K q'%' #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!'!("(&,%" '#"&'"!!"#%!:'"'#"&'"!! "#%!; "('#('',#!'"('#('!&'(&!!'('"%8%'"!" ! !%&!'%'"!* '#&&!#"!'&"&...
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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...
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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'" +''%!!"&!"'*'"%&...
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229 part 4 commands chapter 2 explanation of commands %'=" !& qn4")"!!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qn q'%' #"&'"! !( % i! #"&'"! !( % i (!'"! "!'!("(&, ")%" '&'%'#"&'"!'"!#"&'"!)!'%#"'"!"! !8!'%#"'"!(%) "('#('',#!'"('#('!&'(&!!'('"%8%'"!" ! !)'&&...
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230 part 4 commands chapter 2 explanation of commands %'=" !& qk4"),#(& "'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qk %' #"&'"! !( % %"' i (!'"! %"% #(&8 "'"!"#%'"!(!'''%'#"&'"!!"#%!:&% +& ")!!"% "%" '#"&'"!"%!'"'#(&8 "'"!##%"&'%' #"&'"!&'% !," !'%*#(&8 "'...
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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 :...
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232 part 4 commands chapter 2 explanation of commands %'=" !& p4!#(&'"%$( '#% '%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! P +& #''%! '" (!'"! !'#(&'"%$( '#% '%"'+''%!!"#%!:'"')( !"#%!;#%!;&&'&!!'%4(!'c15 p" !' #"%%,%*%'&`%)%%#% '%o" #"&'"!!B 4o"':5 #(&'"%$( '...
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233 part 4 commands chapter 2 explanation of commands %'=" !& ;4")"!%;4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ; &&! #"&'"!: !( % &&! #"&'"!; !( % i (!'"! ")"!%"%!'!%" '(%%!'#"&'"!!#&&!#"&'"!&:!;) %!'%#"'"! %"''!%'"!"'%&'% !,')!#"&'"!' % "*&%&r4"*...
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234 part 4 commands chapter 2 explanation of commands %'=" !& ;4")"!%;4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! ; &&! #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!!%"%!'!%" '(%%!'#"&'"!#&&!'#"&'"!! '% !'!''!#"&'"!)%!'%#"'"! !%'"!*'))(&&"!'""*!#%"%'&c %"%...
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235 part 4 commands chapter 2 explanation of commands %'=" !& q4")'%8 !&"!,"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q &&! #"&'"!: !( % &&! #"&'"!; !( % i (!'"! ")"!%4'%8 !&"! ") !'5"%!'!%" '(%%!'#"&'"!! #&&!#"&'"!&:!;&$(!', %"''!%'"!"'%&'% !,')!#"&'"!' ")...
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236 part 4 commands chapter 2 explanation of commands %'=" !& q4")'%8 !&"!,"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q &&! #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!!%4'%8 !&"! ") !'5"%!'!%" '(%%!'#"&'"! #&&!'#"&'"!!'% !'!''!#"&'"! !%'"!*'))(&&"!'""*!#%"%'&c ...
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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...
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238 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%)'"!"!#"&'"!!!'%!4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I! #"&'"! !( % !'% ! I (!'"! ")"!!%"%!'!%" '(%%!'#"&'"!!'% !'!''!#"&'"! )%!'%#"'"! Q#,'!#"&'"!" ") !'!"#%!:!'!'%!"% ,' #"...
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239 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%)'"!"!'%#"&'"!!!'%!4%!'%#"'"!55 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! !'% #"&'"! !( % !'% ! I (!'"! ")"!!%"%!'!%" '(%%!'#"&'"!,#!%(&%" ' !'%#"&'"!)%!'%#"'"! Q#,'!'%#"&'"!!"#%!:!'!'%!"% ,'#"...
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240 part 4 commands chapter 2 explanation of commands %'=" !& o4q'#"&'"!!!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! O +& #''%! &'! (!'"! Q''#"&'"!" #'*'"%'+&!'+''%!!"#%!: &'!!"#%!;&&'! &%(#"&'"!!& " #'*!" !#(&&)!"('#('! '(%%!'#"&'"!&!&'#"&'"!!!%"%'&" !&'),"( ...
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241 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! &&! #"&'"!: !( % &&! #"&'"!; !( % i (!'"! ")"!%"%!'!%" '(%%!'#"&'"!!#&&!'#"&'"!&! "#%!&:!; %"%%)%&!'&''!&""#%!&:!;* # !'%(% ") !'! '%)%&%'"! "('#('*'...
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242 part 4 commands chapter 2 explanation of commands %'=" !& 4")"!%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! &&! #"&'"! !( % i! #"&'"! !( % i (!'"! ")"!!%%" '(%%!'#"&'"!'"'#"&'"!!"#%!;,#&&! '#"&'"!!"#%!: "('#('*'(%!''&'%'"% ") !'!'(%!O*!' ") !'& " #' %!%" ;c...
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243 part 4 commands chapter 2 explanation of commands %'=" !& :: 4q'%('(%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! % !( % ' (!'"! " #%'"!'!'"')%!"#%!:*'')(! "#%!;!#%"'"'!+'&'#'"!'"!&&'& '"!'"!&!"'&'&'#%"% *#%"'"'&'#!+''"'"%%"!! Inqi" !!,"%'"'&'#!+''"'"%%"!!I"...
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244 part 4 commands chapter 2 explanation of commands %'=" !& q4" #%&'%!&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % "( ! !( % %'%'% (!'"! " #%'%'%&'%!&!'"( !&!"#%!&:!;!#%"'" '!+'&'#'"!'"!&&'& '"!'"!&!"'&'&'#%"% *#%"'"'&'#!+''"'"%%"!! Inqi" !!,"%'"'...
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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 " ...
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246 part 4 commands chapter 2 explanation of commands %'=" !& ::= q'%('(% r4rkni5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! R % !( % ' (!'"! " #%'"!'!'"')%!"#%!:*'')(! "#%!;!+(''&(&$(!'" !&(#'"i*'"!'"!& &'& #%"% *#%"'"'&'#!+''"'"%%"!!I'"!'"!&!" "!%&'& ni" !!(&'...
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247 part 4 commands chapter 2 explanation of commands %'=" !& i4#'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I %"' %"' (!'"! "%,&*''"!'%"'"i*!""# i+ #: rip : 9 #''" !&(#'"!I" !* )%:"!'!&`9b c ?99 i c "%,&*''"!'%"'"!I" !! #%"% !( !'?99&o i i4i!Rkni5 " !%'"! I+'...
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248 part 4 commands chapter 2 explanation of commands %'=" !& ::> ('8%!! Qn4q'%'&'%"(#5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qn %"' %"' (!'"! %!'"'&'#!+''"!,rk"%rq" !''+&'&"%!Iqn " !!*"&"!'"!&&'&"%'"'&'#!+''"!Ki" !!"! "'"!'"!&%&'& qn" ! (&'""*,rkrq"%iqn" !...
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249 part 4 commands chapter 2 explanation of commands %'=" !& rk4q''%(d)%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' rk % !( % ' (!'"! &" !&(&'*!Qn!Iqn" !&'"+(''&(&$(!' " !&(#'"'!+'r" !"%!Ki"%iqn" !*!' " #%&"!%&('"'"!'!'"')%!"#%!:*'')( !"#%!;&'&&'"!'"! Rk ip #%!:...
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250 part 4 commands chapter 2 explanation of commands %'=" !& rq4q''%(d%'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' rq "( ! !( % "( ! !( % %'% '% (!'"! &" !&(&'*!Qn!Iqn" !&'"+(''&(&$(!' " !&(#'"'!+'r" !"%!Ki"%iqn" !*!' " #%&"!%&('"'%'%&'%!&!'"( !&!"#%!&:!; &'&&...
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251 part 4 commands chapter 2 explanation of commands %'=" !& ki4q'"'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' ki %"' %"' (!'"! &" !&(&'*!Qn!Iqn" !&'"%'" !'" +('*!!"!"'"!'"!&%&'& i+ #: %'"'&'"!&"!Qnrk!Rq iqn4i!&'%"(#5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! ...
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252 part 4 commands chapter 2 explanation of commands %'=" !& ::? Q,&' !"% '"!$(&'"! Sq4j'+&&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Sq % !( % +& !( % (!'"! Q'"%!')%!"#%!:'&''(&4+&%%"%!( %5"'+& !"#%!; 4o"':5 '"'!%&('&`9b' !&!"+&%%"%%&!' 4o"';5 q!'%%"%&'...
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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 '"('%%"%&'&%*%''!!+ ...
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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!'%%"%&'&%*%''!!+ &...
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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"(...
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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...
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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"...
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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...
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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...
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260 part 4 commands chapter 2 explanation of commands %'=" !& i45 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I !! !( % "( ! !( % (!'"! %'%&'%!%" '!!!"#%!:'"'"( !! "#%!; *!*!'%'%,qk" !&%) i'%""%""( ! , ','%'&" !&+('%'(%!"*&'"%!")% 4'"%,&''!C)%bb5r'%"%!"''" !*&+('...
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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"!'!('"%)...
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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...
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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...
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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" !&.
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265 part 4 commands chapter 2 explanation of commands %'=" !& ::b q'%!#%'"! Qt4"#,%'%&'%!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qt "( ! !( % "( ! !( % %'%'% (!'"! "#,'%'%&'%!!'"( !!"#%!;'"'"( !! "#%!: "#,*#%"% "%'!'&',qnio" ! %'%'%&!"#%!;"#,*#%"% "%'!'%!'"...
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266 part 4 commands chapter 2 explanation of commands %'=" !& q4" #%%'%&'%!&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % "( ! !( % %'%'% ip (!'"! " #%'"( !!"#%!:*''"( !!"#%!; " #%&"!*#%"% "%'!'&',qnio" ! %'%'%&!"#%!;" #%&"!*#%"% "%'!'% !'"''% i+ # q ...
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267 part 4 commands chapter 2 explanation of commands %'=" !& qji4j'%'%5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qji % !( % "( ! !( % %'%'% (!'"! &&!"!%'%%" '"( !!"#%!;'"')%! "#%!: %'%8&'%!'%&!"#%!;'%&'%'%*&&! I+ # qji : :99 &&!"!,'%" "( !:99'")%: ni : &&! Ni...
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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!'"!'!'" )...
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269 part 4 commands chapter 2 explanation of commands %'=" !& q4"!)%'%'%&'%!D 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q "( ! !( % ' (!'"! "#,'"'"( !!"#%!: %'%&'%!"!)%'%" '' !"#%!; '*(&''"'!'&',qnio" ! ''+&'!''*('"''!'&',qnio " ! '!'%'&!"!)%'*'!'!'&',qnio" !...
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270 part 4 commands chapter 2 explanation of commands %'=" !& qk4"!)%'%'%&'%!D+ 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Qk "( ! !( % ' (!'"! "#,'"'"( !!"#%!:+ %'%&'%!"!)%'%" ' '!"#%!; !,'!'%#%'*(&''"'!'&',qnio" ! ''+&'!''*('"''!'&',qnio " ! '!'%'&!"!)%'*'!'...
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271 part 4 commands chapter 2 explanation of commands %'=" !& n4"!)%'%'%&'%!'d 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! N % !( % "( ! !( % %'%'% (!'"! "!)%'' '!'"( !!"#%!;'"!%,!&&!' %&(''"')%!"#%!: "!)%&"!*#%"% "%'!'&',qnio" ! %'%8&'%!'%&!"#%!;"!)%&"!*#%"% "...
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272 part 4 commands chapter 2 explanation of commands %'=" !& nk4"!)%'%'%&'%!'d+ 5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Nk % !( % "( ! !( % %'%'% (!'"! "!)%''+ '!'"( !!"#%!;'"!%,!&&!' %&(''"')%!"#%!: "!)%&"!*#%"% "%'!'&',qnio" ! !,'!'%#%'*"!)%'*'' #%'!!"% ...
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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+ #...
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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...
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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!%%"%* !%' '"('#...
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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 '!!"'(&'"'%*' #%"%', '&%" !'"(& '&"...
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277 part 4 commands chapter 2 explanation of commands %'=" !& q4q'#'y!%%!#"!'5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! Q 4"&'"! !( %5 %"' q''%%!#"!'(&!#'y! )(&&'!"#%!:''#"&'"!!( %!"#%!:*(&'"&'"%'%%! #"!'' !")(&&'!"#%!:'#"&'"!8!( %&''!"%&'"%!%%!#"!''*" !) &" !...
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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#"!''!'#'&(%! !&!,$(%!"'%'!&$(%%'!"%#%"% !"#%!:,'#"&'"!!...
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279 part 4 commands chapter 2 explanation of commands %'=" !& #'y!#"&'"!&%&', !&"=8#"!''!!%'!)"#'y!#%&"!& %$(%!"!'"!*%"(%#"!'&(&!'&''!"#'y!#"&'"!&%!"*!'""! #!'&%" !''#'y!#"&'"!&&'!!"!8#!% !!% `:b&!"#%!;#'y!#"&'"!&*&',=8#"!''!4#!%',#5 ;45 #!&'% !,''%#"!'&!(!'&'%'#"!'!#"!'!S8+&%'"!!! #"!'!T8+&%'"!Q''!...
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280 part 4 commands chapter 2 explanation of commands %'=" !& r!'#"!''"!," #"!!'"'%'!'u8+&" #"!!'&'& '*!!, '*"#"!'& "!''%#"!'&"'%'!'!#"!' 4!'")(%'#"!''"" #"!!'"'%'!'u8+&" #"!!'&'& '*!'&'%'#"!'!'!#"!'!T8+&%'"!5 ')+''%!"'#"!''(&"% & ')+&!#'y! " !&+(''%,!!+&(&!J" !"!,'+& "!' )#"!'8'+&*(&&'&"(%"#'y!#"!'...
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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 "#%!;&!"''"(!'"%)!...
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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+&''*&%,%*" !) '&" !&+(...
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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...
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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#"!'""%!'&"...
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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'%'&" !&+('.
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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+"&'"!'!'#"!''!"#%!...
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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#"!''&*&'...
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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!#"&'"!!( %...
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289 part 4 commands chapter 2 explanation of commands %'=" !& i4% !'#'y!#"&'"!!( %,:5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I 'y! !( % %"' % !',:'#'y!#"&'"!!( %"%'#'y!!( %!"#%!: '% !')(&"!&%!"% 'y!#"&'"!('(!%'(%%!'#'y! &''!')(*(#'!"'')(*!"'(#' '"('#('&'"('#...
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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&' '#%%!'+&!'#,&+&*('('...
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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 ") !'!%'...
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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&!"' ...
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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!&'...
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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 #"!...
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295 part 4 commands chapter 2 explanation of commands %'=" !& k4% "'"!5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! K "&'"! !( % "&'"! !( % i %"% % "'"!%" '(%%!'#"!'! ")'"'#"!'& ")'"'#"!'&!"#%!:)% "'"! ") !'&!%'"!&"'%'!'%8 "'"!U8+&%'"!*!'%%&!%" '(%%!' #"!''"'&'%'...
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296 part 4 commands chapter 2 explanation of commands %'=" !& %8 "'"!U8+&*" "*!'%%&8#%"&&" !)(&"('#('%"%' "#%'"! ,""*'"(&!>)!!'"% !'"!+#!'"!"k" ! #!!"!'&''!&"%8'%%#"!'&!U#"!'!'&&!'%'%%&!U#"!' '"!%&'"#%'"!!, &"%'%8'%%!8#"!'''%&!,)+&'"'%'!''"'%8 "'"!U8 +&'!"#%'"!*&'%'!"%'##+&!'& !!%d('")'% '%%& %8'%%"...
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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'&&...
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298 part 4 commands chapter 2 explanation of commands %'=" !& qn4& " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 %"' %"' qn %"' (!'"! Q''' (%!*'##'&*!"%%'"&'%(''#%"&&! ' '""'%'&& ''&)&&''"&%kjk'&" ! (&'*,& ##'&*(%!'&'' ' !"#%!:&&'! & !##%"#%'' &''! (&'+ !"!''(&,&' 4o"% ,##%"...
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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&&'!%'!#!...
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300 part 4 commands chapter 2 explanation of commands %'=" !& i;4j'" &!&"%&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I ; +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=:"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!!'&")%&"!: (!'"! '!'...
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301 part 4 commands chapter 2 explanation of commands %'=" !& i " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=:"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!!'&")%&"!: (!'"! '!'"('#(''")%%(!&!&"%&...
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302 part 4 commands chapter 2 explanation of commands %'=" !& i=4j'%#&!&"%&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I = +& !( % &" !&&(##"%',"!'%"%&" !##'"!)%&"!9=:"%'% &" !!!'%(&!&"'*%")%&"!=99:"%'%oq'!#!!'&" )%&"!:9>"%'%"%3&&'!%'!#!!'&")%&"!: (!'"! '!'...
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303 part 4 commands chapter 2 explanation of commands %'=" !& i>4+&"#%'"!&''(&5 " !%'"! I+'!&"!"!'"! 4n5 !#('"!'"! 45 " ! %'"! #%!: #%!; ('#(' 4('#('5 #'"! #'"! I > +& !( % (!'"! Q'"%'&''(&"'+&!"#%!;!)%bb +&&''(&&!','o&'"'&&"*!"*"%!, '$(%)( (&'"!)%''"!%,)('"'% !'##&''(& %!( %bb @ ? > = ; : 9 q%)"+&!...
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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...
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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&&'!%'!#!...
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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 ')(&"'%"!&(')...
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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 "!'!("(& ") !'*!"')!!...
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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!...
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309 part 4 commands chapter 3 key characteristics of actuator control commands and points to note %'=" !& ; kqn" !& r!+('!K"%qn" !#,''!'"!'"'"(&(&'*!' %'"!%'"!&%!''*!#"!'& "(&!!8'(!,!!'%'"!%'"!('%!' %'"!%'"!&''!&'*!#"!'&*#%)!'& ""''%!&'"!"&*! ")!%" "!#"&'"!'"!"'% '%&%%!!%'"!%'"!'*!#"!'&!'#"&'"!!&'!&...
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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...
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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!#"&'"!&''!...
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312 part 4 commands chapter 4 palletizing function %'=" !& "&''#'y!#"&'"!&, "!'!("("&'"!'!'!,'%&'#"&'"!!( %(&!Q" ! & '""*&,"('"&''s8+&!T8+&&'%8 !&"!+&!"'#%*'' '('"%&!!"'%"&&!*'"'% !'+ #&"*!"*#"&'"!' !%&'"%!'%"!'!("("&'"!'& r!'%#"!'&%'('%" #"&'"!O":: "&'"!O":: cq'%'#"!'4%&'#'y!#"&'"!5 "&'"!O":; c'y!#...
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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!'('"%+&!( %#...
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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...
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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" #"&'"!&''!" !,#...
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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 ...
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317 part 4 commands chapter 4 palletizing function %'=" !& = 'y!") !' 'y! ") !'" !&!('"&(&'" ")'"#'y!#"!'!"!(&'" ")'" !!#"!',#"&'"!' 4:5 ") !'" !&'"#'y!#"!'888nk "&'"!""%!'&"'*"8 !&"!,"%'%8 !&"!,##'y!#"!'%(' ! ") !'%"% (&!'('#"!'&'!#"!'4+&* ")'"' #'y!#"!'"'#'y!#"&'"!!( %!'+('" !5 *"'('"%+&*%$(%'"" #...
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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!#"!' "&'...
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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...
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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 ...
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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 ? ...
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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...
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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"...
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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"(!'...
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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...
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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 :@ ;? :; ;: @ :...
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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...
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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&%#...
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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 :: :;...
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330 part 4 commands chapter 6 application program examples %'=" !& #'%? ##'"!%"% i+ #& : #%'"!,l"" ! "8!J ! 4:5 )%)*"'&,&' &&,&' &"8#! !"!&&'!"+&8:!+&8;'('"%&(&(''"! &*'&"%%"!!'"''*"+&%#%")"!!+'%!"#%'"!&*'"+!'& &*'&%(&'" ")''('"%&'"&%#"&'"!'"%!#(#"&!&'& +&; k!"!'%"(!' +&: k! N" +&8: ") !' #(&(''"!&*...
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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...
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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...
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333 part 4 commands chapter 6 application program examples %'=" !& ; #%'"!,"!'") !'" ! )'!Q,&' 4:5 )%)*"'&,&' &&,&' &%)'!&,&' "!&&'!"!St8'"#%',+&8:!+&8;'('"%&! %)'%,&''!*"%#%'"!'st8'''"#%'"!" !'(%!!"!'&'%'&*' %)'&*%)!'''%#"!'&"!'*"%#%' )'% r"%#%' st8' +&; +&: #%'"!"+ ",%.
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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 ...
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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)....
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336 part 4 commands chapter 6 application program examples %'=" !& 'y!#%'"! 'y!Q,&' 4:5 )%)*"'&,&' &&,&' 'y!&,&' "!&&'!"+&8:!+&8;'('"%&!U8+&%,!%' #&*"%#%'''*"%#%'#"!'!'%!&%&'"!'"#'!%#'&'&"#%'"!! &$(! 4#%'"!& # !',!"&'" !*'"('(&!#'y!(!'"!5 +&: +&; %,!% %( ' #%'"!"+.
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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...
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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 ...
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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...
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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:!+&;'('"%&!'"#%'"...
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341 part 5 multi-tasking chapter 1 real-time multi-tasking %'>('8&! %!%" q$(!% #%#%"&&! '"&)")%" ''%'"! '""(&!&$(!"!'%"%(' "!&&'!"%,&'" "%%!'"!(&!&$(!%$(##*' %"" #('% q! %"" #('%&,"*&"!#%"&&"%"&$(!"!'%"%('*' %"" #('% (&'&!'!'%#%"% '")##%!'#%#%"&&!"%'&%&"!&! ' &%$(%*&'"")%4' 5 %"" #('%&!&'!'%#%"% !"(...
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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...
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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! %';`...
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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...
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345 part 5 multi-tasking chapter 2 example of building a system %'>('8&! )%)*"'q%*8'!!Q,&' &&,&' "!&&'&"+&8:!+&8;'('"%&u8+&,!%&%*8''!!)!#%'&% !''!&'&%*&,'#%'&%''#"&'"!&"!'*"%#%' +&: +&; %'&% u8+&,!% q%*8''!!) r"% #%' #%'"!"+.
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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 ...
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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 ...
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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%*&&"%' %...
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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''!!&'%'#(&(''"! @...
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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...
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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.
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352 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! 4o"'&%&'('"%&!!"'(&&+&>"%? " !( % q'%"4 5! + ( &54o"':5 ,"#',4o"';5 ' %'"! K"%y"!' %' k"%y"!' %' 5 55 5/.
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353 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! " !( % q'%"4 5! + ( &54o"':5 ,"#',4o"';5 ' %'"! K"%y"!' %' k"%y"!' %' appendix.
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354 appendix ##!+ 4o"':5 (%!"!'%!'&' + ( "%'##&'%"4&5 4o"';5 #,"#',&&"!"#%'"!''%'%'"! " !( % q'%"4 5! + ( &54o"':5 ,"#',4o"';5 ' %'"! K"%y"!' %' k"%y"!' %'.
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355 appendix ##!+ 4o"':5 + ( ,!"'%*'&"%'&'%" "& 4o"';5 '()( ,)%,#!!"!'"#%'!"!'"! 4o"'"%? , " !( % q'%"4 5 k"%y"!'45 ,"#', %'45 %(&'4o5 + ( 4 &5 4o"':5 + ( %'"! 4j54o"';5 appendix.
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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 ...
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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...
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358 appendix ##!+ "&'"!!'")"&'"!& &%#'"! ")''('"%'"#"&'"!&:'%"(>'":99 &'%" %'(%! &""!,:+&&&&( "*%' k" %'(%! (&'#%"% ! (&'&'"%''('"%! "#%' '('"% ")&'"'#"&'"!'""%!'&,'%') ")" !& r''&"(''"!" %'(%!4ki" !5&!"'%$(% ##'"!#%"% "&'"!' q'%' k" %'(%! Q' ")'": ")'"; ")'" ")'"= ")'"> i!"#%"%.
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359 appendix ##!+ = k"*'"&j!J &%#'"! &j!J" !&'"%#''& "#%'"!*'!'#%"% "%'"( #'"&%&'# "!'"!&&'&j" !!*%''!!&'#'%"%"%'%j" ! I+ #"&: #''& "#%'"! I+ #"&; q#&'#& #' q'#&'"%#' l( # q'#&'"!"% appendix.
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360 appendix ##!+ > ")!!"%''*!*""!'& &%#'"! ")&!"%''*!'*"#"!'& "*%' '('"% ")&!"%''*!:!;!!', &""!,:+&&&&( i!'%j!'%&'"'&'#&'"%#'!!'%j!'&'" '&'#&'"%#' ##'"!#%"% "&'"!' q'%' k" %'(%! ")'": ")'";.
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361 appendix ##!+ ? '#%'"! &%#'"! ")"!'!("(&,'%"("(%%'%%,#"!'&*'"('&'"##! 4k ") !'5 '('"% ")&"!'#'&"*!'%'*'"('&'"##!' ;! " #%*'!N'&" !"&!"'%$(%' '('"%'"#"&'"!+',';! ' !%( &&( '""*!" !&+('*!''('"%& &'"##':c k;= '('"%* ")%" :'"=,#&&!#"!'&!%;! #"&'"!&,!%&!'%'"!5 i)!`k; '('"%*&' ")!'& *,&*!`k;=b&!#(' `k...
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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...
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363 appendix ##!+ a %%#%'"! &%#'"! '('"% ")&"!'*"8 !&"!%"%% k"*'"& ",%,'%#"!'&''('"%*#&&",!%,'&'%'!#"!' #&&!#"!'!!#"!' i+ #"&: % q#,`;; `;; ")"!'&%"*& "(&''('"%'" ")"(!'%"*&,`; i+ #"&; % q#,`;; %! %!%" !&!+('!"'"!,'*"8 !&"!,4'*!'*"'('"%+&5('&" '%8 !&"!,4 "!'%'('"%+&5 qc %8 !&"!% ") !' qc %8 !&"!% ")...
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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....
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365 appendix ##!+ :9 +&") !',!#('r'!!" #'"!('#(' &%#'"! K"*'"#%"% !#('*'!!"('#('#%"&&!" #'"!&!&+#! "*%' i+ #"& '('"%*'&(!'!#('#"%':9'(%!&o!'! ")&'": '('"%*'&(!'!#('#"%'::'(%!&o!'! ")&'"; ") !'" #'"!&!&"('#('%" !%" ##'"!#%"% q'%' !#(':9 ")'": ('#(' !#(':: ('#(' ")'"; ('#(' i!"#%"% appendix !%" ##'"!#...
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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...
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367 appendix ##!+ :; !!'q#(%!#%'"! &%#'"! &k" !'"!'*''('"%& ")! "%+ #'&" !&(&(!#!'!&!##'"!*%'##'"!)"( !&! ' i+ #"& '('"% ")&'%"(!%&'"!&!'>9 &;9 &!>9 &%'), *'"('&'"##!4k ") !'5 "&'"!' ##'"!#%"% `k:=b&'"!, ") !'" !%$(% %! !&"!%" "'%#%"% (&!Kn4!5" !4!' ('8 '&! "5 ##'"!*' q'"! Q'"! Q'"! Appendix.
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368 appendix appendix 13. Local/global variables and flags description the internal variables and flags used in the sel language are classified into local and global types. The data range used commonly by all programs is called the global range, while the data range used only by each program is call...
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369 appendix ##!+ := k"*'"&q(%"('!& &%#'"! &(%"('!&%"(#"&'#&''%!+('&)%' &*'!#%"% q(%"('!&% (&'"%('!( %"#%"% &'#&! '#%"% &,'"%#'"bb&(%"('!&! (&!"!#%"% #'":>&(%"('!&!!&' k"*'"& %&(%"('!&(&!'""*!" !&c isqc &(%"('! Jqc %'&'%'"&(%"('!4&'%'"%"(#"&'#&5 iqc %'!"&(%"('!4!"%"(#"&'#&5 i+ #"& ('"! L( #!%" *'!&(...
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370 appendix ##!+ :> (&!'#%'"! &%#'"! &%'"!" !Kn'"#(&' ")!+&' #"%%,)+'%!!#(' k"*'"& #(&!'%%(#'"!"#%'"!!+(''" ")!+&4'"%''+&'"&'"#5,%! Kn" !*'!'#%"% rkn&!#('''('"%#(&&4%'&'"&'"#(%%!', ")!5!&' ")! " !&!'& #%"% i+ #"& kn;9 %'"!'"+('#(&!%8#(%#"&!#(';9'(%!&o ##'"! T"(!,"!&'"!!#('#"%'!#%!:"'kn" ! &"""*&''(...
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371 appendix ##!+ :? !!'#%'"!:4o5 &%#'"! &%'"!" !O'"%'' ")!+&'"&'"#!!'% !!"#%'"! K"*'"& ro&!#(' ") !'" !&!'& #%"% %! I+ #"& o" ! !' ") !'" !&!#('#"%';9'(%!&o4%'"!5 6 %'&" !!&'#"%' ") !'" !&,"(*!''"! 6 ro&!#('"#%'"!" !&%!&$(!',*'&&"'%'!"#%'"! " !&4&(%"&&!!('"!#%"&&!5%+('&$(!', ('"! Q!+('"!"'&" ! &'!"...
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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;...
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373 appendix ##!+ :a ") !',"&'"!O( %q#'"! &%#'"! N"+'%!,!#('"&"&'"!!( %&'"+(' ") !'& i+ #"& &!O" !'""#"&'"!!( %&"%" !!#('#"%' #"&'"!!( %!(&!)("!&&'!"(#'"'%'& "*%' !#('&&! !' ('#(' "%' &%#'"! : q'%'!#(' :> "&'"!'"!: :? "&'"!'"!; :@ "&'"!'"!= :a "&'"!'"!A :b "&'"!'"!:9 ;9 "&'"!'"!;9 ;: "&'"!'"!=9 ;; "...
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374 appendix ##!+ :b ") !',i+'%!"&'"!'!#(' &%#'"! )'%'#"&'"!'&&"(')(&%" "&')'"+(' ") !'& i+ #"& &!O" !'""#"&'"!'&"%" !!#('#"%' i)(&"("!&&'""(%'&*''&''!'! # ")!+&&+&: i+ #c"`:; "*%' !#('&&! !' ('#(' "%' &%#'"! Q'%'!#(' ##'"!#%"% q'%' !'&''! Q'%'!#(' ") !' " #'"! ")'" #"&'"! ") !' " #'"!O.
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375 appendix ##!+ ;9 ('#(''!""%!'& &%#'"! '(%%!''('"%""%!'!%' !"('#(''%!%" !"('#('#"%'&' i+ #"& &p" !'""'(%%!'""%!'#"&'"!"+&: (%%!'""%!''"+&:&"('#('&''9;8&"!!'%)& "('#('%!&999'"bbbbb "('#('&&! !' ('#('#"%'o" &%#'"! ('#('#"%'o" &%#'"! !'c ##'"!#%"% 6r'p" !'(%%!'#"&'"!""%!'&*%''!'")%:9: q!'""%!'&%,')%...
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376 appendix ##!+ ;: "!'"!L( # &%#'"! Q''&'!'"!'"( #'")j(&!'+'%!!#('"('#('!"%!'%!&''(&&& "!'"! "!'%"%*'&"% ('#!#('&!#%"% %"&&!"%!'"'%)!#('4&5 i+ #"&: !#(':9'(%!&o''('"%*( #'"j:''(%!&''('"%*#%"'"'!+' #%"&&! 6!#(':9'(%!&o''('"%*#%"&&!!#%"% #%"&&! !#(':9'(%!&''('"%*#%"% #%"&&!!'! #%"% #%"&&! I+ #"&; "!...
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377 appendix ##!+ ;; r'!('#!#('& &%#'"! "!'%"%*'&"% ('#%!'!#('&!#%"% %"&&!(#"!%#'"!"!,"'&!#('& "!' ro" !#% '%"&&!"!,*!'!#('&%)"!'%"%!!"'*'"% ('#!#('& i+ #"& !#('&:9!;9% "!'"%!''('"%*#%"'"'!+'&'#*!'%!#('&%)4 "5 %"% %"% &&"*!!'& #'"!'%"%*'&"%!#('*'"('(&!Ro" ! & '"!&"(&*! ('#!#('"!'"!& (&'" ! !#(':9 !#...
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378 appendix ##!+ ; &%#'"! R'!Q" !!"&'!"%#"&'"!'*!,"(*!''"&'4"&'5'! #"!'&,&)% '%&(&''('"%*&!"'!&'+',!'#"&'"!"%"%"'% %&"!& !Q" !!&"(&'"#%"% #'4%'";>`"!&'!'8#'b5 ('"! !!"&'&!&''"&'##&'" ") !'" !&+(''%'%"!' "&'+('!"&'" !!,,!`9b !"&'"&!"'##,'""'%#%"% &4)! !' ('8'&! "5)!"&' (&'##'"#%"% &' (&'&'"%#%"% & !...
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379 appendix ##!+ ;= i+('!!#%'"!O' & &%#'"! I+('"#%'"!!' & i+ #"& '('"% ")&!"%''*!:!;'!' &!'!'#%"% !& &ip" !'"" #%'!( %"' &' ") !'&!'(,%#'!&':9 '&&&( ''" %'(%!&!" #' ##'"!#%"% %! & "#%'"!!&"#%"% (&!Rip" ! Appendix.
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380 appendix ##!+ ;> "!&'!'8#' &%#'"! ''('"%,#'!' &%" %%!#"!' #'!!( %"%#''"!&%,)%&!)! "*%' i+ #"& &!Q" !'"#%"% #' !( %"' &''('"%&!&"(!',"(!'% )% s8+&&!'#"&')%'"! "!' !Q" !##&'" ") !'" !& i+('!!Q" !"!"&!"' ")'+& ##'"!#%"% %! '!&" #%"% (&!"% n" ! Q'%' !'&''! Q'%'!#(' ") !% !'#' )% ##,"&' !% !' "(!'% "...
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381 appendix ##!+ ;? L"! &%#'"! &% ")&"%*%"%*%*!!#('&o"% !&'"!!#('!"('#('"%"!(&&( &%* ")%','"'!+'&'#'!#('"&!"'&'&,'"!'"!*!' " !&+(' %&&"'!#('&''(&'&%*&'"#(#"!%!'&"' '!'" !!'!+'&'# *+(' k"*'"& i+#!'"!"" !& +&: ")&"%*%*!#(';9&o +&: ")&"%*%*!#(';:& +&; ")&*%*!#(';;&o +&; ")&*%*!#('; i+ #"&: q'"#'+&*!&!...
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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...
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383 appendix ##!+ ;a "%'!%"% &%#'"! "%'#%"% (%%!',%(!!! I+('!J" !4" !'""%'"'%#%"% 5%" "'%#%"% !' ('8'&! " ('"! 6''%'#%"% *&+('! ") !'" !''('"% ',%'&'"&'"#! '#%"% !& i+ #"& !#%"% 4%:5 "%'"!'%"#%"% 4%!5 "%'"!'%"#%"% &'%'& r'"%!"%'!#(' %:&"%' #%"% !& 6j*&+('*''('"%*& ")!)" !''('"% ', %'&'"&'"#!'#%"% !&...
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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....
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385 appendix ##!+ e''%,# !'g "%#'&,&' 8 "%,(#''%,"#!'#!*!"*"!'%"!'&"'"!'%"%! %#'"!8',#''%,!'''%,"% '&%" !'''''%,%#%(%,!"%!*''#"*%8"!%$(!,(%'"!" '"!'%"% ''%, (&'%#&&""!&'"!'%"%3&''%,)"' "!'"%(!'"!!%'&''%, )"'"*% '%!% &''''%,%%"%*"(%!##%"+:9,&' !'' #%'(%";9' #"*%&&(##'"'"!'%"%"!'!("(&,!''%,%%"%"(%&''*...
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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...
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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...
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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...
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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...
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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...
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391 appendix ##!+ q,!%" (!'"! : " "!' &4##'" "' ' &"(' '"! ! !% !''"!5 q,!%" +& "!&&' " &'% +& ! &) +& +& *' ' & % +& !( % " & ' &'%+&r!'(!'&)%" !'"!" &'%8+&!&)8+&!( %&&&'!+&8 #% '%o"?> '!&,!%"+&&&'"%+&4'+&&!"'&,!%"+&`9b&&'5 i+ #5 ;8+& "!!'"! 4 &''!& " "'% #% '%& )%, #%', '*! ' &"(' '"! ! ' !% !' '"...
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392 appendix ##!+ &"(' &' " q,!%" "!'%"% ,"( ) ' &,!%" '"! ' ' ' " "%% ' "!'%"% & ! # *' '% #% '%& &' "% ' &,!%" '"! " #%"% ! &"(' %&' "*)% ' #% '%& (&' ! +#!'"! )! "* & & "! ' "#%'"! ! ' &"'*% ' "#%'"! !( "% ' &"'*% "% #%"% ! ! &"(' %&' : q,!%" +& q,!%" +& "!&&' " &'% +& ! &) +& +& *' ' & % +& !( %...
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393 appendix ##!+ ; "&'"! (&' !'"q,!%"8+&q%& #"&'"!& " &,!%"8+& &%& % (&' 4#,&, (&' "% #%& 5 4:5 r' ' +& ! "!'%"% !"' "!!' , & 4 ! "!'%"% #"*% & "5 (&' ' %') #"&'"!! " ' &'% +& ! &) +& ! "(# ' +& 4;5 #"&'"! (&' !' !!"' #%"% *' ' +& ! "!'%"% !"' "!!' , & 4*! % & $(## '5 ""* ' &'#& "*c : "(# ' &%& ! "...
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394 appendix ##!+ 4 &+#!"*c : %"% `i!"%"''"!'&':b"%'&)+& ; %"% `i!"%"''"!'&':b'%"(`i!"%"''"!'&';b"%' &'%+& ,""*!'"!8&%!!&'%('"!& %"% '& "#%'"!!&'#:!'!"& q''+&!( %"'&)+& i!"%"''"!'&': &%&"*%!!*!"*&* ,t&"!*!"*& "!"'&'"!'%"%i%%"%! &(&$(!'(''"!& q''+&!( %"' &'%+& i!"%"''"!'&': &%&"*%!!*!"*&* ,t&"!*!"*& ...
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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& ,,"(!%'(%%!'#"&'"!&...
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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 ' (%%!' #"&'"! " ' &'% +& )'& &!!', %" '' ...
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397 appendix ##!+ #"%'!' %#%'"! "% ! %"&& " 8+('"! " &"(' &' % , & '' ' &"(' %&' & %$(% '" +(' ! "% &( %&"!& & '%"( & %% "* "% ' +#!'"!& "% ' #%#%'"! ! #%"&& ! &( && : k" #%&' ! Q'# 4>5 & !"' !&&%, ' "!!'"! " ' ! !& & ! ' & "!'"! & *! ' ) & ""' 4' :&' &"(' %&'5 4"% %# !' &"!!'!&%' "% ''%, %# !'5 '% ...
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398 appendix appendix 5. Notes on use of the synchro function as a rule, the synchro function must be implemented by coupling the master-axis and slave-axis sliders using a bracket, etc. If the current position of the master axis is not aligned with that of the slave axis when the servo is turned on...
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399 appendix appendix vibration control function * applicable versions : xsel-p/q/pct/qct controller main application version 0.90 or later : pc software (ia-101-x-**) version 7.6.1.0 or later (note) this function cannot be set from a teaching pendant. Natural vibration (resonance) frequencies are a...
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400 appendix ##!+ ('"! & " )%'"! "!'%" "!''(&'&&%'"(&'!'8)%'"!"!'%" %'"! ")% , )%'"! "!'%" %'"! (& , "#%'"! " ! '('"% !%' ! ' & %'"! & ' "#%'! %'"! " ' '('"% %'"! !"' ")% , )%'"! "!'%" : %'"! !"' (& , "#%'"! " ! '('"% ; %'"! !%' ! %'"! %!' %" ' "#%'! %'"! " ' '('"% !!% !"' !%'! )%'"! ' !!"' #! )%'"!...
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401 appendix ##!+ %#%'"! %"(% ""* ' #%"(% "* '" &(% ! &' ## ' & "% ##,! '& (!'"! Q'# : q'# 9 q'# q'# ; q'# > q'# = % "#%'"! 4 ' )%'"! #! '5 )%'"! & !"' &(!', #! %'(%! '" qi; 4%)* ' !'(% )%'"! %$(!,5 "% &''! )%'"! "!'%" "!''(&'&&%'"(&'!'8)%'"!"!'%" "!% ' )%'"! '" #! "!% ' )%'"! '" #! & ")% , '& (!'"!...
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402 appendix ##!+ qi +&8#% '%& o" % '%&' !( % % '%! !' (')( !#('%! :>: ''!('"!%'%&'"!': ' :9 9'":999 :>; ''!('"!%'%&'"!'; ' :999 9'":999 :> o'(%)%'"!%$(!, ::999k u :9999 >99'" :>= : o"''%! ' b>>946:5 :'";9999 :>? ''!('"!%'%&'"!': ' :9 9'":999 :>@ ''!('"!%'%&'"!'; ' :999 9'":999 :>a o'(%)%'"!%$(!, ::...
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403 appendix ##!+ q'"##!''('"%#%'"! '('"%"#%'"!!&'"##!'*" '"&c!"% "#%'"!&'"#! %!,&'"# : o"% "#%'"!&'"# %'"!"!'%"&') cq'%'"!"#%'"!#!!(&''('"%'"%' '"&'"#"%!'"'#!(!%)%'"!"!'%" o"% #"&'"!"!'%"&')cq'%'"!"#%'"!#!!(&''('"%'"%' '"&'"#"%!'"'#!(!%!"% #"&'"!"!'%"4)%'"!"!'%"&!"'(&5 ; '&%)" !'"#%'"!#!! ','(%!"'&...
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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...
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405 appendix ##!+ '% '%&4+&8% '%&5 o" % '%! (' )( !#('%! !' %& :9= %'+& '"!"% ('#8&% !%8 && ''"! 9k 9k'"k '&9'" ''"!'%'4"!'#"&') &"'""%!'&,&' "' '%'+&5 '&='"@c '!+&!( %"!%8 && ''"!'%'4"!'!') &"'""%!'&,&' "' '%'+&5 6 '!+& (&'!'% "%+&4'#%' +&*''& %+&!( % " &' !+&"%' &""!)!!5 6 "%+&"!,!+&*"& %&"('"!!"'...
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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$(# !'%,45 > ! Qj q!%"(! ? ! '&'%,4q5 ...
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407 appendix ##!+ 4 q!!!( %&!'"!&%&'&""*&&"!''"%,&''!&"%## #% '%&c '&%&'&"!'""*!#% '%&c !!:#% '%o"&;9:'";9 !!;#% '%o"&;: % '%q''!&4%!5 o" % '%! (')( !#('%! !' ;9: ''%(':"q!!:"#!'"(&% 4&'!% "(!'5 ;a:9999:k 9k'" k o"! ;: ''%(':"q!!;"#!'"(&% 4&'!% "(!'5 ;a:9999:k 9k'" k o"! '&;a'"@?=c@?A>c::>;#&5 '&;='...
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408 appendix appendix no. Parameter name default value input range unit 202 attribute 2 of sio channel 1 opened to user (standard mount) 00000001h 0h to ffffffffh none 214 attribute 2 of sio channel 2 opened to user (standard mount) 00000001h 0h to ffffffffh none settings bits 28 to 31: for future e...
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409 appendix ##!+ 4=5 %"% & : q'%!#%"&&!" !& &'%!%%&'"%'%&'%!&"!'%"%(&&"&'%!&!"&'%!& j"&'%!&%" "!&'%!&''!%"%*%''!%" !,#%"% n"&'%!&%) "!,!'#%"% !*'##&'%!&!!!"'(&!!,"'%#%"% "%%!''"!"'&'%!&%&&!!( %!%!'%! J"&'%!&c n"&'%!&c:'";bb4;bb5 &!"%&'%!" !&!"% ,'&" !&%(&!&%" (!'"!*' +'%!$(# !' q%" (!'"!' (&'#%"&&&...
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410 appendix ##!+ %'%&&!'#%'"% !'"!'%!& &&"!"% '%&'"%!`&'%!B*& #,#(' &'"!'!%"%%'%& q'%!&%)!'""&'%!&''!%"%*%''!!#%"% &!"&'%!&'' !%"%*%''!"!,!#%"% !*'##&'%!&"% %!''"!"'&'%!&%&&!"( !!( %!%!'%! !%'%&&'"%!"( !" #%&!&'%! "&'"!&"&!&'%!%!',"( !!( %&!*"( !&%(&'"&'"%)!&' "%'%&!&'%,(&!" ! "%+ #%'%&'%!`kib!'!" ...
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411 appendix ##!+ = '% !'"!"'%!& &&"!"% ' !'&+ #"##'"!#%"% '%',#&"'%!& &&"!"% '&%(&!(!" %'(%!" ! ") !'" !! ") !'" #'"!&"% '&%'% !& "* !"''''&%"!,+ #&!'(&%!'% !"% '%, k" %'(%!" !"% ' &"% '&(&'"" !'"!'%"%%" ''"#%"% " %'(%! ") !'" !"% ' &"% '&(&'"" !'"!'%"%%" ''" ")+& ") !'" #'"!"% ' &"% '&&!'%" '"!'%"...
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412 appendix ##!+ > %"&&!#%"(% #%"&&!#%"(%'"""**!#%"% !'#'"!+ #&+#! "*c q'`nb&%'%!'!'!"%'%&'%!4'% !'"%%'%5 #!!!:"'q; '&!''"!!:&%)!'""&'%!&'%'!%" "( !: '%)'*&`ib''&"!)%''"!%,)(!'"!)%' )(&&'!)%:9*'#"&'"!'&&""!)%''"!%,)(!' "!)%')(&&'!#"&'"!O":%'%' ") !'&%%"('!'%' ") !'&" #'`mb&&!' ? ##'"!#%"% qi o" o 8...
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413 appendix ##!+ n&'"% '%& ,"()!,$(&'"!%%!!!'#% '%&"!''3&q&i!!%!Q'"! '%!!#% '%%"%'!*!"#% '%&''!& ,"()#(%&'&"'*%*%" !'',"((#'#% '%& ','%' "!'%"%&)%!*!'&,&' !"%#"%'!'"!'%"%&&'%'q!!( %"(&'" y! &''!&(% '%&,"(&"((#'#% '%&%(%,&,"((#'#%"% & " '!*#% '%&')*%'' '"'&!'!+('&"'*%%&'"% %"!!''#"*% &'&"*%+ #&"(')(...
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414 appendix ##!+ : % '%& o" % '%! (')( 4%!5 !#(' %! !' %& : #"%'&&! !'',# : 9'";9 9c+&&! !' :c('" '&&! !'4%"%',co'*"% "(q"': 4&'!%5]d6"%'&%&&!"!,"%'!&' "!!&"'&&'%'!%" &"':f"%&',%&"!&5 ; !#('#"%'&'%'!( % *'+&'!% &&! !'&4:5 999 8:'">bb 974('#"a54!)!'))(&&'5 *'+&'!% &&! !'&4:5 8:'">bb = !#('#"%'&'%'!(...
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415 appendix ##!+ o" % '%! (')( 4%!5 !#(' %! !' %& : "!'"%4=5 : 9'"> 9c"!"' "!'"% :c"!'"% ;c"!'"%4"!"' "!'"%%%"%&%'!'";=8#"*% &"(%5 6 q" +#'"!#, 6 94f"!"' "!'"%5"%;4f"!'"%4"!'"%"!,%%"%& %'!'";=8#"*%&"(%55&&'&,&' %%"% *!"'!%')!*!!!"% ',%'!'"';=8 #"*%&"(%"(%&k"*)%&(&$(!''( "('#('&%" ''"%*('",%(''" #%"...
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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&...
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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%)"...
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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"'...
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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?="%'%...
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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'"> ...
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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"+"!''"!"!"% )'"('#(' *'(!'#"*%...
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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...
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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 "!"'"%,!...
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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...
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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#%"'"""!!...
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426 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& :== #%"'""c*! #"%'!( %4o "5 ?=>:: :9;>'" ?>> :=> !! (&%45c*!#"%' !( % ?=>:; :9;>'" ?>> :=? !! (&%45c*!#"%' !( % ?=>: :9;>'" ?>> :=@ !! (&%45c*!#"%' !( % ?=>:= :9;>'" ?>> :=a !! (&%45c*!#"%' !( % ?=>:> :9;>'" ?>> 6 #"%'!'!"'c*,&&'(!$(!( %"%#"%'...
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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...
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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&...
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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...
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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...
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431 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& ;b; "%'!( %&&!'" !#('(!'"!&'"! 99b 8: 8:'" q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o" 6!'))(&&''(!'"!*&&!'"!#('#"%' o"b 6`%"% !( %"%#%"% &'%'b&! "%!#('(!'"!&'"!99b,!'% '%!!#(' #"%'!( %*"&nq"!'!&'!+'%)('"'nq "'#%"% !( %"%#%"% &'%' 4!##'"!)%&"!9?="%'%8 ;...
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432 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#(' %! !' %& ;bb "%'!( %&&!'" "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o"=?`('#('(!'"!&'"! 69&&''(!'"!*&&!'""('#('#"%'o" 4!##'"!)%&"!9?="%'%8 "!,5 "('#('(!'"!&'"! 9 9'"?Bbb q#,'#"%'!( %'"&&!'"'(!'"!" #% '%o"=@`('#('(!'"!&'"! 69&&''(!'"!*&&...
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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...
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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 "(...
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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 +&;&%)"(...
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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 #(%#"&"('#('%=...
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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...
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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 >:= !#('#"%'!( %"%...
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439 appendix ##!+ % '%& o" % '%! (')( 4%!5 !#('%! !' %& > #(&"%#"&'"! '!'"! 9 9'":> + ( +&!( %"%"'!'+"&'"!'%"% #(&"%!'(&%' "%,4!##'"!)%&"! 9b > #(&"%#"&'"! '!'"! 9 9'">:; o( %"#"&'"!'#"!'&"%"'!'+"&'"!' %"%#(&"%!'(&%' "%, 6 9!"%&"' 6 )("'%'!9&&''&%&"'%%&&" *'%"%!"''#(&"%&!&'4!##'"! )%&"!9b > &,!%"!"(...
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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!##'"!)%&...
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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...
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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...
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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 (...
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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...
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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 ...
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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...
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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...
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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 ...
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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...
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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...
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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...
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452 appendix ##!+ = %)%%% '%& o" % '%! (')( 4%!5 !#('%! !' %& : ,#4(##%54!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% ; ,#4 54!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% ,#4"*%54!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% = !('(%!'4!('(%! !"% '"!5 q# %! "!, "%(&' !',' !('(%% > !('(%!'4!('(%! !"% '"!5...
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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...
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454 appendix ##!+ %)%%% '%& o" % '%! (')( 4%!5 !#('%! !' %& ?:'" ?@ 4"%+#!&"!5 9k 9999k'" k ?A (%%!'"!'%"$(%, !"% '"!9: 9k %! "!, "%(&' !',' !('(%% ?B (%%!'"!'%"$(%, !"% '"!9; 9k %! "!, "%(&' !',' !('(%% @9 (%%!'"!'%"$(%, !"% '"!9 9k %! "!, "%(&' !',' !('(%% @: (%%!'"!'%"$(%, !"% '"!9= 9k %! "!, "%(...
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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...
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456 appendix ##!+ ? )& o" % '%! (')( 4%!5 !#('%! !' %& : ,#4(##%54!('(%! !"% '"!5 q# %!"!, "%(&' !',' !('(%% ; ,#4 54!('(%! !"% '"!5 q# %!"!, "%(&' !',' !('(%% ,#4"*%54!('(%! !"% '"!5 q# %!"!, "%(&' !',' !('(%% = !('(%!' 4!('(%!!"% '"!5 q# %!"!, "%(&' !',' !('(%% > !('(%!' 4!('(%!!"% '"!5 q# %!"!, "...
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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 &'%''%%&'% !%" '`#%"&&! #%"% &'%'',#'"#%'"!#%"% "...
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458 appendix ##!+ '%% '%& o" % '%! (')( 4%!5 !#('%! !' %& :: i!&*' 4 !! &*'5%")%,',# 9 9'"; 9c "%'"#%'"!%"% & :c ")%,'%%&' ;c #%'"!"!'!(4!,(%!('" '"#%'"! 6 #%'"!" !&%" '*"%'"!' &5 :; ('" '"#%'"! %"!'"!',# 9 9'" 9c %"% &%(!!!O8"#%'"!8!'"!'"%& !"'#%&!' :c %"% &%(!!!! "o8"#%'"!8 !'"!'"%&!"'#%&!' : '" :...
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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'":...
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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!&...
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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...
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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"'"%(%%!''"%'!%'"...
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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 &.
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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( %"#(...
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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...
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467 appendix ##!+ oinnjio : ; & i + #&" m ,% '%& t "(! (!'"!&'"'"&) (!%''"%, &'' !&"% &' '(!'"!&'"#"%'& ,! ! '# % '%)(& "%!!#% ' %&(%'"%' "%%"! ! &'"!!' n &'"% ' %& &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''"#%)!'%%"%&%'!'"' &'!% "%!"#'"!"%& 4) o ' 8n !'5 4r !''"#%"% '%"#% '"! * ! "% &%!"'* %'5 8"%...
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468 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''"+ ('" %'(% !(&!! +' %!!#('&! !#('#"%' o " : >!(&&! " %'(% !!#(' #% '% o "=> f : k " %'(%! * +(''' o "!#('#"%' o " : >4 q %)" o (&'+(' "% ! 5 r !''"!#('#%"% !( %&%" !#('#"%'&!!% , 4 (' &''!& !#('5 %"% !( %&!!#('%" !#('#"%' o "&@'" ...
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469 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''""('#('&! * ! ) +&%''%" ('#('#"%' o " &!!' !'') +&% ''%" o "'c"!"'(& k i " ! * !'"!'% "%& "'&" (' '"! #% '% o ">9 f : ('#('#"%' o " * '(%! O * ! ) +&%''%" r !''""('#('&! * ! ) +&) " #'" %'(%! ('#('#"%' o " &!!' !'') +&) " #'" %'(%!...
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470 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''"&'%'# %"% & * %! ,8 &'"#&! &!#('"%' &' , '&"#! %"% &'"&'%'% #%"&& !"% ( '"!#%"% &'' "!"'" !'(' "%"#%'"! 4#%"&&!#%"% &5 #%"&&!#%"% '"&'%'! &' q '!'## #% '%&&%#%"&&! #%"% & * & ! ( ! + ( #"%'!( %&!'!' "('#('#"%'&'* '#%"% * #%" && '%...
Page 493
471 appendix ##!+ oinnjio &%#' "! '"! % '%&'' ! ! #( '"!"#%' "! R !''""!'!('(' "%"#%'"! '%' %! ,&'"#&%&'4 * !' '"%&( '('"%"#% '"!%" ' #%'&'"##('" %! , &'"# !#('5%"% &"'%'!'"! " !!'('"%"#% '"!% ! %(!! ! * % ! ,8 &'"# &! & !#(' 4%"% &!"'" !!'('"% "#% '"!% !%(! !! * %! ,8 &'"#&! &!#(' #%"% " !! '('"% "...
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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...
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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...
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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...
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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...
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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...
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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 •...
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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 ...
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484 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' => (&"% !#('!! O " %%" % q #'"!"!#('!!&" #(&"%&&!) "%!! O "" ( '&' %!!! &&'&`!"'(&b!#% ' %&''!&!&" "! => !#('!!"(!'%% %%"% (%!#(& "%& ,!% "!" (& ") !' '*&'' #' '"%'"(!' %"#(& " %!#(' !! %"% ! &, ! %"!"(& ...
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485 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' =?A #%'"!" !%%"%'# (&" %&%) " 4&) ''"!5 ") !'" ! * &&&('"+&! &%)" 8&''(&&&( ") !'" !& '"+&!&%)" 8 o &''(& =?B (&"% &%)"!"! 8!'"!" !' '"!%%"% !%%" %"(%% '"!'%"%!' %! " (!'"!" " * !(&&! "!&%c : " (!'"!(%&4"...
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486 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' =@= (&"% ! )+&(&%%"% 4&) ''"!5 ") !' * & " !'" !!)+& =@> '%%"%' #(&" %'%"!' +('" ! "" * !%%"%& * %" (!! '%"!'' : + ( # && y%" ; !( %" !''' && &&'!;"% + &' + ( !( % o "!+&'!' o " * & = #&"&' %'#"!'&!"' y%"...
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487 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' >99 q )"%& *%'%%" % r %'!'"'&"&)"% (%"& )"%!& %!' (&'!&'&) "%& >9 : q )"%& *%'" #'"!' "('%%"% " #'"!" * %'!'"'&" &)"%"(! "' "!% (%" &)"%! & %!'(& '!&'& ) "%&"%")%'& %%"%!"(% * !%%"% o "? I ??9? =?>'" (%''...
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488 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' > : 9 (&"% %%"% !%%" %"(%% !#(&" %&&%%" %" (%&' !"%&"' *%"& !"'&(##"%' %%" % "&"#(&" %& '"!&"% ! '"'%%"%&' !";"' %%"%&'&@?C & %%"% &%%"% o "=b" (%%!#(&" %& % '"'' +#! ! '"%%"!! %%" % o " !"'%&&"!''(&!% #"...
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489 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' > : (&"% j %&'%% * %'%%"% '% %" ' j %&' %"!#(& " %&&!) "" * !(&&!"!&%c : " (!'"!(%&4"!'%"%!'%!" (! '"! (%&5('"!"&&"%' 8 %('%( '(%&' ; ! ##'"!% * %)%&"!!' #(& " % ##'"!% * % )%&"!%!"' "!&&'!' > : (&"% '%"!...
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490 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' >;= (&"% (!&(##"%' #'" !%%"% !%%" %"(%% '"!'%"%!' %! " (!'"!" " * !(&&! "!&%c : " (!'"!(%&4"!'%"%!'%!" (! '"! (%&5('"!"&&"%' 8 %('%( '(%&' ; ! ##'"!% * %)%&"!!' #(& " % ##'"!% * % )%&"!%!"' "!&&'!'4*%"! "...
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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) ...
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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> "%&% %%"% !"% "...
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493 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ?;; "(!' 8q (!!"!'% "" !% )%% "% !(!! "!'%" " ! * &%) %" ' "(!' 8q ?; %)%%%"%' " $(& '"!%% "% %)%%%" %" (%%('!%%"%'""(!"'$(% ?;= !!%) %%%"% %)%%%"%"(%% ?;> %)% 8& ''"!& ,! %"!"(&" (! '"!%% "% " (! ' "! (%...
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494 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ? I u !"% !' 8#" &!&"%& ! " %% "% '!"%& " !!' ? I !"%"!'%""!&'!'%%"% !"% "!'%""!&'!' & !) ?=9 "'"%"!'%" "!&'!'%%"% "'"%"!'%""!&'!'& !) ?= : i !"%#" * %8 &"(%)"'"!'%"#% '%%%"% % )%#% '% o "& ?=; q #""##% '...
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495 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ?> !&(##"%'!"%%%"% !"%& !"'&(##"%' o "!"%"!'%""!&'!'%"%&) '' "%%"!&'"'!"% '!&'!"% ?> !&(##"%'!"%%%"%4 ! ! "% ' "!5 !"%& !"' &(##"%' o "!"%" !'%""!&'!'%"%&) '' "%%"!&'"'!"%"%' %" % &!) '` "'"%!"% "!(%'"!!"...
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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 %)%'%'!"%...
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497 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ?A= i +#!'&&%%"%4#" !%#' "!(!%#%"'"" 5 ! '' #' * & '"%' * !!"'%4+#! # "&' "!' +#!#%"% !( %+#!&' #!( %'5 "!! ' &"' * % ' , !"'&(##"%''+#!' "!"'%&')% &"!" '" !!'&"' * % "% &(##"%'&' "!'%"% ?A> (!'"!&'"!#"%'...
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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...
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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...
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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...
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501 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"!'"!' b99 !&'#&"%'%%"% % %!"' ! "(!&'#& '"&)&'#'%")!"( !&'#&!'" &)&'#' b9 : q '#!( % %%"% &'#!( %&!) b9; q , " 8!'"! '!( % %%"% & , " 8! '"!'!( %&!) b9 "!'!( % %%"% #"!'!( %&!) b9= %!( % %%"% )%!( %&!) b9> !( %%...
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502 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' b; (&"% #% ' %!( %'"! %%"% !!) #% '%!( % * &* !%!"% *%'!#% ' %%" '"' #(&"% b;= (&"% #% ' %"(!' ' "!%%" % !!) #% '%"(!' * && #* ! % !"% *%'!#% ' %%" ' "' #(&"% b;> (&"% )!( %'"! %%"% !!) )!( % *&* !% !"% *...
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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 )"'"'...
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504 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' : a &&%%%"%4#%"'""% #'"!5 %! '%) &&&!) !)%#"&'"!4 && & b, ' &"%&&5 &&(' "!"'%%&"!& : b &&&''"!!( %%%"% 4#% "'""%#' "!5 &' '"!!( %!'% ) &&&!) : &&%%"%4#%"'""%#' "!5 !'% ) &&&!) : &&"!) %&"!%%"% '%!& '' &&"...
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505 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' % '%!( %%%"% #% '% !( %&!) % 8#% '%(%%% %"% i %%"%%!' % 8#% '%(% % 8#% '%(% * %' % %"% i %%"% * %'!'% 8#% ' %(% % '%!%(& %% "%(% !"#%'"! % '%& !!"' !(% ! "#% '"!4#% "% &%(!!!&%) "& ! (&'5 % !(' (%!(!'"!! ...
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506 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &% #'"!'"!' > (& %%"%('"&%)" o #%"&& !!" '#% ''(%!&%)" o * &'' #' >= (& %%"%('"(!&(##"%'(! '"! (!'"! &!" '&(##"%' >> (& %%"%('"+ (&) !('(%%(!'"! #%" && !!" '"#!'"(&%&"'%'!' !('(%%* &'' #' >? (& %%"%('"!) ' '&!) >@ %"...
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507 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ? %)% "!'"%' ,# & ' %%"% "!'"%' ,#&(##"%' , '&'!% "%"%&"!'#' ," "!' ! "%"&!"' '' "!'"% ',#"!' &"' * % &4&' "!' "!'"% &%!5 a i !'' ,#%%"% 4"%''"!5 (!'',#& #!' %) " ! && &!)"%!"' &(##"%' appendix.
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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...
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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-...
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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...
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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!...
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512 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' : !#(' 8"!'"! O &"%'%%"% !&&% ,!#(' " !' "!&!"'"(! * !!+ #!&"! "!'"!& (& ; : !#(' 8"!' "!(&%%"% * ' !#(' 8"! '"!#%"'" ! !#(' 8"!' "! #%" ' " !% " ''(&"! #('"!' "!& ;; !) " !#"& '"!%%"% * ' !#(' 8"!'"!#%"'...
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513 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' =9 q '%! 8)% '%!"! 8''"!%% "% '%!!"' ''!'&'%!)% = : q '%! 8)% "#, & y") %%%"% "#, & y "&'%!) %&'""% =; % '%"(!'!"! 8''"!%%"%(% !& '%!#%" &&! %'% 8&'%!!'& !"'! ! &'%!#%" &&! I + ('&'%! #%"&& !" !'%! !' !' ...
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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...
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515 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' @ : q ,! %"& ) 8+&" ! %%"% " ! * &&&( '"'& ,!%"& ) + & @; )%%(!%%"% ")%%(!&!&"% * &'(' @ %' 8"(&&"' '")%% %"% '%'#"&'"!"% ") !'" (&+ &&"' ' 6 !'&" q '"!#"&'"!' , !"'+&'"%' ## +& @= '( 8#"&'"!&"' '")%%%"% ...
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516 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' ab % '"! %'"!'"!%%"% % '"! % '"!& ! ) a %% (' "!"%% "% %('"!" &!) a %% (' "!%%"% "&'"!'' '!!"' ( &!% ") !' * & ' #"&'"!' a i "!''"! %%"%(%!" ! +('"! !#"!' ' * &' * "!'! ("("!' ") !' * &! ( ' a +&"#% '"! '...
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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 ...
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518 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%"% o " i %%"%! &%#'"! '"!' %! 8#" !' s8 +&! 8#" !' (# ' "!%%"%'# ' y! ! $(& ' "! !!!"'('(&' % %!#"!'" 8#"!''!&' & &' s8 +&! 8#"!''"'% '!' u8 +& " #"!!'!'(&% '!!'!!"'(' ' y! "' "! (' "! %%"% %# y""!' %" (' "! %%"%"%# ' y! "' "! " !)...
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519 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' 9 : i !"% ii 8*%'' "('%%"% !"% &(',"%(% "(%% !'!"%" (!'"! 9; i !"% ii 8%' "('%%"% !"% &(',"%(%" (%% ! '!"%" (!'"! 9 i !" % "( !'%%" % (',!" %"% ') !"%&& , "!' "!&&(' 9= i !" %" ! 8%)"('"! % &'%%" % ! " ...
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520 appendix ##!+ oinnjio 4!'#! *! "*''% '&'%` i b! '!%%"%! ( %5 i %%" % o " i %%" %! &%#'"! '"!' ;9 %) %%%"% 4 %'"%%" % o " : 5 ;; i !" %%"''"!% &'%%" % ! " % &(',"% &'(%! ; i !"% % %&'%%"% (',!"% ;= i !"%%%"% !"% &(',"%(%"(%% ! ' !"%" (!'"! ;> i !" % "! (%'" ! & ' %%" % ! " % "! (%'" ! !"% '"!&"('...
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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...
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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 %*%(!&(##"%'(...
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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@"%'"('#('!(...
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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...
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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=...
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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...
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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...
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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...
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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...
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537 appendix ##!+ oinnjio i %%" % o " i %%" %! ( & "( !'% &(% : a q #""#(!%%(!%%"% %)% "%*& (' " !"&!' !" % # '"%! # !'!" &"!'%" &(%& a9@ q ('"*!% , i &''(& '% ! & &'"%"!'#"*% 8&( ##," % 4'"* ' #"*% &" !! ' 5& # '"% appendix.
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538 appendix ##!+ q%)"j!(&' !' q!'&%)"&!(&''''"%,!"%!*''&'!%'"!"''('"% '&%)"!!!"'!!!"% "!'"!&"(& k"*)%)%'"!"%!"& ,"(%#!!"!"*''('"%&+""!'"!!&" "!!'%"%'#% '%&%'!'"&%)"(&' !'%&"&'""*'(&'" %'"'$( '"!&&"((&' !'" !&&%, %'(%,*'(&'" "&4*"&&%*"%&'%"&"!%'!''"'&'!% "5 )%'"!!"& ,"(%('"+'%!"!'"!& !'&&&'#% '%&&"*...
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539 appendix ##!+ q#n""#!'% "!&'!'4% '%n&':5 %)%%#% '% !( % !' !#('%! (' 4%%!5 == 8 :'":999 % '%'% !&')"%"!&*'%''""!'%"""# !%&!'&''!'"" (%&('&!"*%%"!&*''" !!%&&'%') "%(#"!"!'&''!&"*" #!*''#"&'"!" !&"%"#&!' #"&'"!!' !%&&&%&(' %&!'&''!'"" (!%&&''!!,"''('"%'"")%&""'"%"&'%&('!! !%& !)%'"! (%%!'n""#"!'%"...
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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...
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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 ...
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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.
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543.
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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...