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IAI X-SEL Operation Manual

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

Summary of X-SEL

  • Page 1

    Operation manual seventh edition x-sel controller p/q type.

  • Page 3

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

  • 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 drive-source cutoff relay error (detection of fused relay: e6d) as a condition limited to x-sel-p type controllers of standard single-phase specification, a “drive-source cutoff relay error (e6d)” may generate if the power is turned off and then turned on again (reconnected) too quickly. Thi...

  • 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 x-...

  • Page 7: Table of Contents

    Intelligent actuator table of contents table of contents safety guide.................................................................................................................... 1 part 1 installation................................................................................................

  • Page 8

    Intelligent actuator table of contents 1.1 connection diagram for p type (standard specification) ................................................ 68 1.2 connection diagram for q type (global specification).................................................... 69 1.3 startup procedure....................

  • Page 9

    Intelligent actuator table of contents 1. Values and symbols used in sel language .................................................................. 121 1.1 list of values and symbols used................................................................................... 121 1.2 i/o ports .............

  • Page 10

    Intelligent actuator table of contents 1.24 extended commands..................................................................................................... 292 chapter 3 key characteristics of actuator control commands and points to note......................... 298 1. Continuous movement com...

  • Page 11

    Intelligent actuator table of contents 8. Circle/arc operation ....................................................................................................... 354 9. Home return completion output ................................................................................... 355 10. Axis...

  • Page 12

    Intelligent actuator table of contents 6. I/o devices ..................................................................................................................... 436 7. Other parameters............................................................................................................

  • Page 13

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

  • Page 14

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

  • Page 15

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

  • Page 16

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

  • Page 17

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

  • Page 18

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

  • Page 19

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

  • Page 20: Ce Mark

    Pre-8 intelligent actuator ce mark 1. Ec directives the ec directives are a new set of directives issued by the european commission that are intended to protect the health and safety of users and consumers of products distributed within the eu (european union) zone, while ensuring free movements of ...

  • Page 21

    Pre-9 intelligent actuator 200-vac three- phase power bus control panel circuit breaker earth leakage breaker surge protector three- phase noise filter ring core clamp filters encoder cable motor cable actuator controller system i/os brake 24-vdc power supply emergency stop switch 3. Peripheral conf...

  • Page 22

    Pre-10 intelligent actuator single-phase power supply specification p type (standard specification) q type (global specification) 200-vac single- phase power bus control panel circuit breaker earth leakage breaker surge protector single- phase noise filter ring core clamp filters encoder cable motor...

  • Page 23

    Pre-11 intelligent actuator (1) environment use your x-sel-p/q controller in an environment conforming to pollution degree 2 or 1 as specified in iec 60664-1. Example) install the controller in a control panel having a structure resistant to intrusion of water, oil, carbon, dust, etc (ip54). (2) pow...

  • Page 24

    Pre-12 intelligent actuator (5) three-phase noise filter install a noise filter in the three-phase ac power line. Supplier: densei-lambda model: mc1320 [fig. 1] external view of noise filter (three-phase specification) (6) single-phase noise filter install a noise filter in the single-phase ac power...

  • Page 25

    Pre-13 intelligent actuator (7) ring core install a ring core on the secondary side of the noise filter. Supplier: nec tokin model: esd-r-25 [fig. 3] external view of ring core shape/dimensions esd-r series.

  • Page 26

    Pre-14 intelligent actuator (8) clamp filter a install the following noise filter to the control power ac cable and motor cable (if there are multiple axes, connect to the cables of all axes). Supplier: tdk model: zcat3035-1330 [fig. 4] external view of clamp filter (9) clamp filter b install the fo...

  • Page 27

    Pre-15 intelligent actuator resin case lead wire (10) surge protector install a surge protector on the primary side of the noise filter. Supplier: okaya electric industries model: r av-781bxz-4 (three-phase) r av-781bwz-4 (single-phase) external dimensions [fig. 6] external view of surge protect...

  • Page 28

    Pre-16 intelligent actuator (11) cables the restrictions and cautions regarding the cables are summarized below. A) all cables connected to the x-sel-p/q controller, such as the motor cable, encoder cable and various network cables, must be kept to a length below 30 m. B) for the brake power cable, ...

  • Page 29

    Pre-17 intelligent actuator prohibited handling of cables caution when designing an application system using actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section expl...

  • Page 30

    Pre-18 intelligent actuator 7. Do not let the cable get tangled or kinked in a cable bearer or flexible tube. When bundling the cable, keep a certain degree of flexibility (so that the cable will not become too taut when bent). 8. Do not cause the cables to occupy more than 60% of the space in the c...

  • Page 31

    1 intelligent actuator introuduction introduction thank you for purchasing the x-sel 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...

  • Page 32

    2 intelligent actuator 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 ...

  • Page 33

    3 intelligent actuator part 1 installation part 1 installation caution chapter 1 safety precautions the x-sel 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 peripherals. In other words, the x-s...

  • Page 34

    4 intelligent actuator part 1 installation chapter 2 warranty period and scope of warranty the x-sel controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty: 1. Warranty period the warranty period shall be either of the following periods, w...

  • Page 35

    5 intelligent actuator part 1 installation chapter 3 installation environment and selection of auxiliary power devices 1. Installation environment (1) when installing and wiring the controller, do not block the ventilation holes provided for cooling. (insufficient ventilation will not only prevent t...

  • Page 36

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

  • Page 37

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

  • Page 38

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

  • Page 39

    9 intelligent actuator part 1 installation [3] surge absorber with both the global specification and standard specification, the motor drive part of the x-sel controller has no built-in surge absorber to protect the equipment against surge noises that may generate in the controller due to lightning,...

  • Page 40

    10 intelligent actuator part 1 installation peripheral configurations three-phase power supply specification p type (standard specification) q type (global specification) 200-vac three- phase power bus control panel circuit breaker earth leakage breaker surge protector three- phase noise filter ring...

  • Page 41

    11 intelligent actuator part 1 installation peripheral configurations single-phase power supply specification p type (standard specification) q type (global specification) 200-vac single- phase power bus control panel circuit breaker earth leakage breaker surge protector single- phase noise filter r...

  • Page 42

    12 intelligent actuator part 1 installation 4. Noise control measures and grounding (1) wiring and power source pe on the power terminal block is used for protective grounding. Provide class d grounding from this terminal. Use a grounding cable with a wire size of 1.0 mm 2 (#awg17) or more, which sh...

  • Page 43

    13 intelligent actuator part 1 installation (3) noise sources and noise elimination there are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below: a. Ac solen...

  • Page 44

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

  • Page 45

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

  • Page 46

    16 intelligent actuator part 1 installation q type (global specification), 4 axes q type (global specification), 4 axes with expansion i/o board and brake unit.

  • Page 47

    17 intelligent actuator part 1 installation (1) fg terminal this terminal is used to ground fg on the enclosure. The enclosure is connected to pe in the ac input part inside the controller. Fg terminal specifications item description m4 3-point sems screw, 5 mm name fg cable size 2.0 to 5.5 mm 2 min...

  • Page 48

    18 intelligent actuator part 1 installation (3) ac-power input connector a 200-vac, single-phase or three-phase input connector consisting of six terminals including motor power terminals, control power terminals and a pe terminal. Note) take note that the single-phase input specification and three-...

  • Page 49

    19 intelligent actuator part 1 installation (6) encoder/axis-sensor connector this connector is used to connect the actuator encoder and axis sensors such as ls, creep and ot. * ls, creep and ot sensors are optional. Encoder/axis-sensor connector specifications item description details connector hal...

  • Page 50

    20 intelligent actuator 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 connector name m1 to 6 motor connector cable ...

  • Page 51

    21 intelligent actuator 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 a rs232c system based on a 25-pin, d-sub ...

  • Page 52

    22 intelligent actuator part 1 installation interface specifications of teaching serial interface item no. Direction signal name details 1 fg frame ground 2 out txd transmitted data 3 in rxd received data 4 out rts request to send 5 in cts clear to send 6 out dsr equipment ready 7 sg signal ground 8...

  • Page 53

    23 intelligent actuator part 1 installation (10) system i/o connector this i/o connector is used to control the safety actions of the controller. With the global specification, a safety circuit conforming to a desired safety category of up to level 4 can be configured using this connector and an ext...

  • Page 54

    24 intelligent actuator part 1 installation (11) panel window this window consists of a 4-digit, 7-segment led display and five led lamps that indicate the status of the equipment. For the information shown on the display, refer to 2, “explanation of codes displayed on the panel window” or the “erro...

  • Page 55

    25 intelligent actuator part 1 installation the functions are at the time of shipment. The functions assigned to port nos. 000 to 015, 300 to 310, 313 and 314 can be changed via i/o parameters. (refer to nos. 30 to 56, no. 59 and 60 in 1, “i/o parameters,” of appendix, “list of parameters.”) i/o int...

  • Page 56

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

  • Page 57

    27 intelligent actuator part 1 installation (19) brake-power input connector this connector is used to input the drive power for the actuator brake. 24 vdc must be supplied externally. If the specified brake power is not supplied, the actuator brake cannot be released. Be sure to supply the brake po...

  • Page 58

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

  • Page 59

    29 intelligent actuator part 1 installation 2.2 core display priority (*1) description 1 ac power is cut off (including momentary power failure or drop in power- source voltage). 1 cold-start level error 1 cold-start level error 1 operation-cancellation level error 1 operation-cancellation level err...

  • Page 60

    30 intelligent actuator part 1 installation 2.3 current monitor and variable monitor other parameter nos. 49 and 50 can be set up to monitor currents or variables on the panel window (main application version 0.09 or later). (1) current monitor currents of up to four axes having continuous axis numb...

  • Page 61

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

  • Page 62

    32 intelligent actuator part 1 installation chapter 5 specifications 1. Controller specifications 1.1. P type (standard 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 i...

  • Page 63

    33 intelligent actuator 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 teaching pendant or pc softwa...

  • Page 64

    34 intelligent actuator part 1 installation 1.2 q 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 230 vac  10% motor power input...

  • Page 65

    35 intelligent actuator 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, released at 45 v (steady state...

  • Page 66

    36 intelligent actuator part 1 installation 2. External i/o specifications 2.1. Npn specification (1) input part external input specifications (npn specification) item specification input voltage 24 vdc 10% input current 7 ma per circuit on/off voltage on voltage --- 16.0 vdc min. Off voltage --- 5...

  • Page 67

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

  • Page 68

    38 intelligent actuator part 1 installation 2.2. Pnp specification (1) input part external input specifications (pnp specification) item specification input voltage 24 vdc 10% input current 7 ma per circuit on/off voltage on voltage --- 8 vdc max. Off voltage --- 19 vdc min. Insulation method photo...

  • Page 69

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

  • Page 70

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

  • Page 71

    41 intelligent actuator part 1 installation table 2. Motor drive powers and output losses (p/q types) control power supply external power source internal consumption [va] external consumption [va] internal consumption [va] external consumption [va] quantity base part 31.4 1 driver per board 6.26 1 t...

  • Page 72

    42 intelligent actuator 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 actuator for axis 4: 60 w sta...

  • Page 73

    43 intelligent actuator part 1 installation 4. External dimensions 4.1 p/q type (three-phase standard specification, single-phase global specification, single- phase standard specification) 4-axis controller external views of enclosures for various 4-axis controllers are shown below (the external en...

  • Page 74

    44 intelligent actuator part 1 installation fig. 4-3 p/q type 4-axis controller with expansion i/o board (incremental specification) (three-phase standard specification, single-phase global specification, single-phase standard specification) fig. 4-4 p/q type 4-axis controller with expansion i/o boa...

  • Page 75

    45 intelligent actuator part 1 installation 4.2 p/q type (standard specification) 6-axis controller (three-phase standard specification, single-phase global specification, single-phase standard specification) external views of enclosures for various 6-axis controllers are shown below (the external e...

  • Page 76

    46 intelligent actuator part 1 installation fig. 4-7 p/q type 4-axis controller with expansion i/o board (incremental specification) (three-phase standard specification, single-phase global specification, single-phase standard specification) fig. 4-8 p/q type 6-axis controller with expansion i/o boa...

  • Page 77

    47 intelligent actuator part 1 installation 4.3 q type (three-phase global specification) 4-axis controller external views of enclosures for various 4-axis controllers are shown below (the external enclosure dimensions are the same for 1-axis to 4-axis controllers). Fig. 4-9 q type 4-axis controller...

  • Page 78

    48 intelligent actuator part 1 installation fig. 4-11 q type 4-axis controller with expansion i/o board (incremental specification) fig. 4-12 q type 4-axis controller with expansion i/o board + absolute brake unit.

  • Page 79

    49 intelligent actuator part 1 installation 4.4 q type (three-phase global specification) 6-axis controller external views of enclosures for various 6-axis controllers are shown below (the external enclosure dimensions are the same for 5-axis and 6-axis controllers). Fig. 4-13 q type 6-axis controll...

  • Page 80

    50 intelligent actuator part 1 installation fig. 4-15 q type 6-axis controller with expansion i/o board (incremental specification) (three-phase global specification) fig. 4-16 q type 6-axis controller with expansion i/o board + absolute brake unit (three-phase global specification).

  • Page 81

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

  • Page 82

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

  • Page 83

    53 intelligent actuator part 1 installation with the p 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 of the controller. The rdyo...

  • Page 84

    54 intelligent actuator part 1 installation 3. Safety circuit for q type (global specification) controller the global controller has no internal drive-source cutoff circuit so that the user can configure a desired drive-source cutoff circuit externally to the controller to conform to the required sa...

  • Page 85

    55 intelligent actuator part 1 installation terminal assignments pin no. Signal name overview details 9 det in to fused-contact detection circuit external contact error input (paired with no. 18) connected to the fused-contact detection contacts of the safety circuit. 8 in emergency-stop detection i...

  • Page 86

    56 intelligent actuator part 1 installation  em1/emg2, enb1/enb2 emg1 (line+)/(line-) and emg2 (line+)/(line-) are redundant emergency-stop control lines. Enb1 (line+)/(line-) and enb2 (line+)/(line-) are redundant enabling control lines. Use these lines to cut off the external drive source. Since ...

  • Page 87

    57 intelligent actuator part 1 installation q type x-sel 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 mushroom emergency- stop swit c...

  • Page 88

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

  • Page 89

    59 intelligent actuator part 1 installation 4. Safety circuit timing charts for q-type sel controller safety circuit timing charts for q-type sel controller are shown below. The timings covered by the timing charts are as follows: [1], “power on,” [2], “emergency stop,” [3], “power on during emergen...

  • Page 90

    60 intelligent actuator part 1 installation [2] emergency stop  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware error is not detected).  i/o parameter no. 44 = 0...

  • Page 91

    61 intelligent actuator part 1 installation [3] power on during emergency stop virtually the same timing chart is applicable when the power is turned on without enable input.  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the ha...

  • Page 92

    62 intelligent actuator part 1 installation [4] enable input  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware error is not detected).  i/o parameter no. 44 = 0: ...

  • Page 93

    63 intelligent actuator part 1 installation [5] system-shutdown level error  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware error is not detected).  i/o paramet...

  • Page 94

    64 intelligent actuator part 1 installation [6] cold-start level error  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware error is not detected).  i/o parameter no...

  • Page 95

    65 intelligent actuator part 1 installation [7] operation-cancellation level error  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware error is not detected).  i/o ...

  • Page 96

    66 intelligent actuator part 1 installation [8] power on (combined with drive-source cutoff reset input)  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware error is...

  • Page 97

    67 intelligent actuator part 1 installation [9] emergency stop (combined with drive-source cutoff reset input)  i/o parameter no. 24, bits 0 to 3 = 0: the rdyout output (system i/o) is sysrdy (pio trigger program can be run) and the hardware is normal (emergency stop is not actuated and hardware er...

  • Page 98

    68 intelligent actuator 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 chapter 8). 1.1 connection...

  • Page 99

    69 intelligent actuator part 1 installation 1.2 connection diagram for q 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-sensor cables. (after the ca...

  • Page 100

    70 intelligent actuator 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 not connected properly...

  • Page 101

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

  • Page 102

    72 intelligent actuator part 1 installation 2.2 pnp specification pin no. Category port no. Function 1 - +24-v input 2 000 program start 3 001 general-purpose input 4 002 general-purpose input 5 003 general-purpose input 6 004 general-purpose input 7 005 general-purpose input 8 006 general-purpose i...

  • Page 103

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

  • Page 104

    74 intelligent actuator 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 function selections 000 to 01...

  • Page 105

    75 intelligent actuator part 1 installation (2) assignment example of output function selection given below is an example of assigning output function selection 300 (error output) whose function has been set by i/o parameter no. 46, “output function selection 300,” to a different output port. Use i/...

  • Page 106

    76 intelligent actuator part 1 installation (4) use example given below is a setting example of system i/o assignments: input port no. 16 = program start signal (on edge) (bcd specification) input port no. 17 = servo on signal input port nos. 18 to 23 = program number specified for program start inp...

  • Page 107

    77 intelligent actuator part 1 installation 3. Multi-point dio board this board is a multi-point dio board equipped with 48 input points and 48 output points for use with xsel controllers. 3.1 overview 3.1.1 features [1] one board provides a total of 96 input/output points. Multiple inputs/outputs o...

  • Page 108

    78 intelligent actuator part 1 installation 3.3 external interface specifications 3.3.1 terminal assignment for external dio interface overview of multi-point dio interface specifications item overview remarks applicable connector half-pitch flat connector, 100 pins hif6-100pa-1.27ds (hirose) connec...

  • Page 109

    79 intelligent actuator part 1 installation 3.4 connection cables for multi-point io board cable 1 cable 2 category pin no. Color port no. Function category pin no. Color port no. Function - 1 brown-1 - external power supply 24 vdc for pin nos. 2 to 25/51 to 74 51 brown-1 300 alarm output 2 red-1 00...

  • Page 110

    80 intelligent actuator part 1 installation 3.5 connection cables for multi-point io board model: cb-x-pioh020 socket: hif6-100d-1.27r (hirose) flat cable (50 cores) ul2651 awg28x2 cable 1 (pins 1 to 50) open end without connector cable 2 (pins 51 to 100).

  • Page 111

    81 intelligent actuator part 1 installation 3.6 input/output circuits 3.6.1 input input specifications item specification (common to pnp/npn specifications) external power-supply voltage dc24v  10% input current 7 ma max. Per point leak current 1 ma max. Per point input circuit  npn specification ...

  • Page 112

    82 intelligent actuator part 1 installation 3.6.2 output output specifications item specification output element transistor array npn specification: td62084af by toshiba corporation pnp specification: td62784af by toshiba corporation external power-supply voltage dc24  10% maximum load current 50 m...

  • Page 113

    83 intelligent actuator 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 x-sel controller is abnormal or when the battery or encoder cable is disconnected...

  • Page 114

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

  • Page 115

    85 intelligent actuator part 1 installation (8) from the [controller (c)] menu, select [absolute reset (a)]. (9) when a [warning] dialog box is displayed, click the [ok] button. (10) the [abs. Encoder reset] dialog box will be displayed. Click here to select the axis you wish to perform an absolute ...

  • Page 116

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

  • Page 117

    87 intelligent actuator part 1 installation (15) when the [confirmation] dialog box is displayed, click the [yes] button and restart the controller. (note) commencing the operation without first executing a software reset or reconnecting the power may generate the following errors: error no. C70: ab...

  • Page 118

    88 intelligent actuator part 1 installation 2. How to perform absolute reset on zr unit (absolute type only) under certain conditions such as when the zr unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an e...

  • Page 119

    89 intelligent actuator part 1 installation 2.2 starting the absolute reset menu (ball-screw spline adjustment window) (1) start the ball-screw spline adjustment window from the pc software. (2) the ball-screw spline adjustment window starts. When a linear movement axis number is selected, “rotation...

  • Page 120

    90 intelligent actuator part 1 installation 2.3 absolute reset (ball-screw spline adjustment) procedure (1) select a “linear movement axis number” which will be used to perform an absolute reset (ball-screw spline adjustment). (2) click the [reset encoder multi-rotation data 1 (linear movement axis,...

  • Page 121

    91 intelligent actuator part 1 installation (3) when the dialog box appears, click the [yes (y)] button. (4) when the dialog box appears, click the [yes (y)] button..

  • Page 122

    92 intelligent actuator part 1 installation (5) click the [reset controller error] button. (6) click the [servo on (linear movement axis, rotational movement axis)] button..

  • Page 123

    93 intelligent actuator part 1 installation (7) click the [stand by in tentative reference posture (linear movement axis)] button.  be careful because the linear movement axis (z-axis) returns to its home. (8) jog the rotational movement axis (r-axis) to the reference posture position (refer to the...

  • Page 124

    94 intelligent actuator part 1 installation (9) click the [servo off (linear movement axis, rotational movement axis)] button. (10) press the emergency stop switch (emergency stop button on the pc cable). (11) release the brake. Release the brake using the switch on the controller side..

  • Page 125

    95 intelligent actuator part 1 installation (12) set the plate and pin constituting the adjustment jig, as shown below, to affix the robot in the reference posture. Installation method [1] insert the ball-screw spline into the hole in the jig from below. [2] cause the d-cut surface of the ball-screw...

  • Page 126

    96 intelligent actuator part 1 installation (13) click the [confirm] button. (14) click the [reset encoder multi-rotation data 2 (rotational movement axis)] button..

  • Page 127

    97 intelligent actuator part 1 installation (15) when the dialog box appears, click the [yes (y)] button. (16) when the dialog box appears, click the [yes (y)] button..

  • Page 128

    98 intelligent actuator part 1 installation (17) click the [automatically refresh home preset value (required) (rotational movement axis)] button. (18) remove the adjustment jig. (19) lock the brake (on the front panel of the controller). (20) cancel the emergency stop (by releasing the emergency st...

  • Page 129

    99 intelligent actuator part 1 installation (22) click the [servo on (linear movement axis, rotational movement axis)] button. (23) click the [stand by in tentative reference posture (linear movement axis) (rotational movement axis  0)] button.  be careful because the rotational movement axis (r-a...

  • Page 130

    100 intelligent actuator part 1 installation (24) click the [servo off (linear movement axis, rotational movement axis)] button. (25) click the [reset encoder multi-rotation data 3 (linear movement axis)] button..

  • Page 131

    101 intelligent actuator part 1 installation (26) when the dialog box appears, click the [yes (y)] button. (27) click the [automatically refresh home preset value (required) (linear movement axis)] button, and then click “x” in the top right-hand corner of the window to close the window. Warning  t...

  • Page 132

    102 intelligent actuator part 1 installation (28) closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the following screen. Click the [yes] button. (29) when all data has been written to the flash rom, the following screen appears. Click the [yes] button..

  • Page 133

    103 intelligent actuator part 1 installation chapter 9 maintenance  routine maintenance and inspection are necessary so that the system will operate properly at all times. Be sure to turn off the power before performing maintenance or inspection.  the standard inspection interval is six months to ...

  • Page 134

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

  • Page 135

    105 intelligent actuator part 1 installation battery replacement procedure 1) remove the 7-segment led panel from the controller. Slide the panel upward and pull it toward you to remove. 2) press the center of the battery using a finger, as shown. The battery will come off from the holder. 3) instal...

  • Page 136

    106 intelligent actuator part 1 installation (8) when the replacement of system-memory backup battery is complete, confirm that the battery is installed securely and then turn on the controller power. (9) revert “other parameter no. 20, backup-battery installation function type” to the value recorde...

  • Page 137

    107 intelligent actuator part 1 installation 4. Replacement procedure for absolute-data backup battery the replacement procedure will vary depending on if errors are present at the time of replacement and if so, which errors are present (no.A23, 914, ca2).  if no error is present, perform steps (1)...

  • Page 138

    108 intelligent actuator part 1 installation (6) turn on the controller power. (7) set the absolute-data backup battery enable/disable switch to the top (enb) position. (note) this operation is not required if no error has generated or when an a23 error has generated. (8) turn off the controller pow...

  • Page 139

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

  • Page 140

    110 intelligent actuator part 2 operation 1. Starting a program by auto-start via parameter setting i/o parameter no. 33 (input function selection 003) = 1 (default factory setting) set the number of the program you wish to start automatically in other parameter no. 1 (auto-start program number). Se...

  • Page 141

    111 intelligent actuator part 2 operation 2. Starting via external signal selection (1) flow chart when the ready signal turns on, the rdy lamp (green) on the controller front panel will illuminate. Input a desired program number as a bcd code from the external device. Input a start signal from the ...

  • Page 142

    112 intelligent actuator part 2 operation (2) timing chart ready output program number input external start input program 1 program 2 t1: duration after the ready output turns on until input of external start signal is permitted t1 = 10 msec min. T2: duration after the program number is input until ...

  • Page 143

    113 intelligent actuator part 2 operation 3. Drive-source recovery request and operation-pause reset request (1) drive-source recovery request 1) how to request a drive-source recovery a drive-source recovery request can be issued using one of the following methods:  set i/o parameter no. 44 to “1”...

  • Page 144

    114 intelligent actuator part 3 controller data structure part 3 controller data structure the controller data consists of parameters as well as position data and application programs used to implement sel language. X-sel controller data structure the user must create position data and application p...

  • Page 145

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

  • Page 146

    116 intelligent actuator 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 written to the flash memory. The controlle...

  • Page 147

    117 intelligent actuator part 3 controller data structure 2. When the system-memory backup battery is not used 2.1 controller without expanded memory other parameter no. 20 = 0 (system-memory backup battery not installed) the programs, parameters, symbols and positions are read from the flash memory...

  • Page 148

    118 intelligent actuator 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 flash memory at restart. The data in the m...

  • Page 149

    119 intelligent actuator part 3 controller data structure 3. Points to note point to note when transferring data and writing to the flash memory never turn off the main power while data is being transferred or written to the flash memory. The data will be lost and the controller operation may be dis...

  • Page 150

    120 intelligent actuator part 3 controller data structure note on increased number of parameters on a controller with expanded memory (with gateway function), the number of parameters has increased. Number of parameters without expanded memory with expanded memory i/o 400 600 all-axis 300 400 axis-s...

  • Page 151

    121 intelligent actuator part 3 controller data structure chapter 2 x-sel language data 1. Values and symbols used in sel language 1.1 list of values and symbols used the various functions required in a program are represented by values and symbols. Function global range local range remarks input po...

  • Page 152

    122 intelligent actuator 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.)  the variables and flags in the loc...

  • Page 153

    123 intelligent actuator part 3 controller data structure 1.3 virtual i/o ports (1) virtual input ports port no. Function 7000 always off 7001 always on 7002 voltage low warning for system-memory backup battery 7003 abnormal voltage of system-memory backup battery 7004 (for future expansion = use st...

  • Page 154

    124 intelligent actuator part 3 controller data structure (2) virtual output ports port no. Function 7300 latch cancellation output for a latch signal indicating that all-operation-cancellation factor is present (7011) (latch is cancelled only when operation-cancellation factor is no longer present)...

  • Page 155

    125 intelligent actuator part 3 controller data structure 1.4 flags contrary to its common meaning, the term “flag” as used in programming means “memory.” flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Flags are divided into global flags (nos. 600 to 899) ...

  • Page 156

    126 intelligent actuator part 3 controller data structure 1.5 variables (1) meaning of variable “variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” variables can be used in many ways, such as putting in or taking out a value and performi...

  • Page 157

    127 intelligent actuator part 3 controller data structure (2) types of variables variables are classified into two types, as follows: 1) integer variables these variables cannot handle decimal places. [example] 1234 integer variable number 200 to 299 1200 to 1299 can be used in all programs “global ...

  • Page 158

    128 intelligent actuator part 3 controller data structure 3) variables with “*” (asterisk) (indirect specification) an “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,” then “1234” w...

  • Page 159

    129 intelligent actuator part 3 controller data structure 1.6 tags the term “tag” means “heading.” tags are used in the same way you attach labels to the pages in a book you want to reference frequently. A tag is a destination specified in a jump command “goto.” command operand 1 tag tag number (int...

  • Page 160

    130 intelligent actuator part 3 controller data structure 1.7 subroutines by taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the same processing can be performed with fewer steps. (a maximum of 15 nests are accommodated.) they are used only in each p...

  • Page 161

    131 intelligent actuator part 3 controller data structure 1.8 symbols in the x-sel controller, values such as variable numbers and flag numbers can be handled as symbols. For the method to edit symbols, refer to “editing symbols” in the operation manual for x-sel teaching pendant or “symbol edit win...

  • Page 162

    132 intelligent actuator part 3 controller data structure 1.10 axis specification axes can be specified based on axis number or axis pattern. (1) axis numbers and how axes are stated each of multiple axes is stated as follows: axis number how axis is stated 1 axis 1 2 axis 2 3 axis 3 4 axis 4 5 axis...

  • Page 163

    133 intelligent actuator part 3 controller data structure (2) axis pattern whether or not each axis will be used is indicated by “1” or “0.” (upper) (lower) axis number axis 6 axis 5 axis 4 axis 3 axis 2 axis 1 used 1 1 1 1 1 1 not used 0 0 0 0 0 0 [example] when axes 1 and 2 are used axis 2 000011 ...

  • Page 164

    134 intelligent actuator part 3 controller data structure x-sel language consists of a position part (position data = coordinates, etc.) and a command part (application program). 2. Position part as position data, coordinates, speeds, accelerations and decelerations are set and stored. Position no. ...

  • Page 165

    135 intelligent actuator part 3 controller data structure 3. Command part the primary feature of sel language is its very simple command structure. Since the structure is simple, there is no need for a compiler (to translate into computer language) and high-speed operation is possible via an interpr...

  • Page 166

    136 intelligent actuator part 3 controller data structure 3.2 extension condition conditions can be combined in a complex manner. (sel language) command extension condition input condition command operand 1 operand 2 output condition 1 a condition 2 a condition 3 command operand 1 operand 2 command ...

  • Page 167

    137 intelligent actuator part 4 commands part 4 commands chapter 1 list of sel language command codes 1. By function variables can be specified indirectly in the operand 1, operand 2 and output fields. Symbols can be input in the condition, operand 1, operand 2 and output fields. The input items in ...

  • Page 168

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

  • Page 169

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

  • Page 170

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

  • Page 171

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

  • Page 172

    142 intelligent actuator 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, ne: operand 1  operand 2, gt: operand...

  • Page 173

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

  • Page 174

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

  • Page 175

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

  • Page 176

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

  • Page 177

    147 intelligent actuator 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 x-sel controller p/q/px/qx rc gateway function.” operation type in the output field cc: command was exe...

  • Page 178

    148 intelligent actuator part 4 commands chapter 2 explanation of commands 1. Commands 1.1 variable assignment  let (assign) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional let v...

  • Page 179

    149 intelligent actuator part 4 commands  clr (clear variable) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional clr variable number variable number zr [function] clear the variabl...

  • Page 180

    150 intelligent actuator part 4 commands 1.2 arithmetic operation  add (add) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional add variable number data zr [function] add the conten...

  • Page 181

    151 intelligent actuator part 4 commands  mult (multiply) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mult variable number data zr [function] multiply the content of the vari...

  • Page 182

    152 intelligent actuator part 4 commands  mod (remainder of division) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional mod variable number data zr [function] assign, to the variab...

  • Page 183

    153 intelligent actuator part 4 commands 1.3 function operation  sin (sine operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sin variable number data zr [function] assig...

  • Page 184

    154 intelligent actuator part 4 commands  tan (tangent operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional tan variable number data zr [function] assign the tangent of the...

  • Page 185

    155 intelligent actuator part 4 commands  sqr (root operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sqr variable number data zr [function] assign the root of the data ...

  • Page 186

    156 intelligent actuator part 4 commands 1.4 logical operation  and (logical and) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional and variable number data zr [function] assign th...

  • Page 187

    157 intelligent actuator part 4 commands  or (logical or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional or variable number data zr [function] assign the logical or operation re...

  • Page 188

    158 intelligent actuator part 4 commands  eor (logical exclusive-or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional eor variable number data zr [function] assign the logical exc...

  • Page 189

    159 intelligent actuator part 4 commands 1.5 comparison operation  cp (compare) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) eq ne gt ge optional optional cp variable number data lt le [funct...

  • Page 190

    160 intelligent actuator part 4 commands 1.6 timer  timw (timer) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional timw time prohibited tu [function] stop the program and wait for ...

  • Page 191

    161 intelligent actuator part 4 commands  timc (cancel timer) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional timc program number prohibited cp [function] cancel a timer in other...

  • Page 192

    162 intelligent actuator part 4 commands  gttm (get time) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gttm variable number prohibited cp [function] read system time to the va...

  • Page 193

    163 intelligent actuator part 4 commands 1.7 i/o, flag operation  bt (output port, flag operation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional bt  output, flag (output, f...

  • Page 194

    164 intelligent actuator part 4 commands  btpn (output on pulse) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional btpn output port, flag timer setting cp [function] turn on the sp...

  • Page 195

    165 intelligent actuator part 4 commands  btpf (output off pulse) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional btpf output port, flag timer setting cp [function] turn off the ...

  • Page 196

    166 intelligent actuator part 4 commands  wt (wait for i/o port, flag) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wt  i/o, flag (time) tu [function] wait for the i/o por...

  • Page 197

    167 intelligent actuator part 4 commands  in (read i/o, flag as binary) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional in i/o, flag i/o, flag cc [function] read the i/o ports or...

  • Page 198

    168 intelligent actuator part 4 commands  inb (read i/o, flag as bcd) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional inb i/o, flag bcd digits cc [function] read the i/o ports or...

  • Page 199

    169 intelligent actuator part 4 commands  out (write output, flag as binary) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional out output, flag output, flag cc [function] write the...

  • Page 200

    170 intelligent actuator part 4 commands  outb (write output, flag as bcd) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional outb output, flag bcd digits cc [function] write the va...

  • Page 201

    171 intelligent actuator part 4 commands  fmio (set in, inb, out, outb command format) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional fmio format type prohibited cp [function] s...

  • Page 202

    172 intelligent actuator part 4 commands (4) operand 1 = 3 data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eight bits and lower eight bits are reversed every 16 bits. (i/o, flag number upper) (i/o, flag number lower) 01234567h  67h 45h 23h ...

  • Page 203

    173 intelligent actuator part 4 commands [example 2] variable 99 = 00001234h (decimal: 4660, bcd: 1234) 00001234h variable 99 4660 (in/out command) 1234 (inb/outb command) (i/o, flag number upper) (i/o, flag number lower) fmio = 0 00h 00h 12h 34h 0000 0000 0000 0000 0001 0010 0011 0100 fmio = 1 00h ...

  • Page 204

    174 intelligent actuator part 4 commands 1.8 program control  goto (jump) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional goto tag number prohibited cp [function] jump to the pos...

  • Page 205

    175 intelligent actuator part 4 commands  exsr (execute subroutine) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional exsr subroutine number prohibited cp [function] execute the su...

  • Page 206

    176 intelligent actuator part 4 commands  edsr (end subroutine) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited edsr prohibited prohibited cp [function] declare the end of a ...

  • Page 207

    177 intelligent actuator part 4 commands 1.9 task management  exit (end program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional exit prohibited prohibited cp [function] end the ...

  • Page 208

    178 intelligent actuator part 4 commands  expg (start other program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional expg program number (program number) cc [function] start the ...

  • Page 209

    179 intelligent actuator part 4 commands  abpg (abort other program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional abpg program number (program number) cc [function] forcibly e...

  • Page 210

    180 intelligent actuator part 4 commands  sspg (pause program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sspg program number (program number) cc [function] pause the progra...

  • Page 211

    181 intelligent actuator part 4 commands  rspg (resume program) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional rspg program number (program number) cc [function] resume the prog...

  • Page 212

    182 intelligent actuator part 4 commands 1.10 position operation  pget (read position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pget axis number position number cc [f...

  • Page 213

    183 intelligent actuator part 4 commands  pput (write position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pput axis number position number cp [function] write the valu...

  • Page 214

    184 intelligent actuator part 4 commands  pclr (clear position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pclr position number position number cp [function] clear the ...

  • Page 215

    185 intelligent actuator part 4 commands  pcpy (copy position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pcpy position number position number cp [function] copy the po...

  • Page 216

    186 intelligent actuator part 4 commands  pred (read current position) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pred axis pattern position number cp [function] read the cu...

  • Page 217

    187 intelligent actuator part 4 commands  prdq (read current axis position (1 axis direct)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional prdq axis number variable number cp th...

  • Page 218

    188 intelligent actuator part 4 commands  ptst (check position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptst axis pattern position number cc [function] check if vali...

  • Page 219

    189 intelligent actuator part 4 commands  pvel (assign speed data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pvel speed position number cp [function] write the speed specif...

  • Page 220

    190 intelligent actuator part 4 commands  pacc (assign acceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pacc acceleration position number cp [function] write th...

  • Page 221

    191 intelligent actuator part 4 commands  pdcl (assign deceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pdcl deceleration position number cp [function] assign t...

  • Page 222

    192 intelligent actuator part 4 commands  paxs (read axis pattern) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional paxs variable number position number cp [function] store the ax...

  • Page 223

    193 intelligent actuator part 4 commands  psiz (check position data size) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional psiz variable number prohibited cp [function] set an app...

  • Page 224

    194 intelligent actuator part 4 commands  gvel (get speed data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gvel variable number position number cp [function] obtain speed da...

  • Page 225

    195 intelligent actuator part 4 commands  gacc (get acceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gacc variable number position number cp [function] obtain a...

  • Page 226

    196 intelligent actuator part 4 commands  gdcl (get deceleration data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional gdcl variable number position number cp [function] obtain d...

  • Page 227

    197 intelligent actuator part 4 commands 1.11 actuator control declaration  vel (set speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional vel speed prohibited cp [function] set...

  • Page 228

    198 intelligent actuator part 4 commands  ovrd (override) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ovrd speed ratio prohibited cp [function] reduce the speed in accordance...

  • Page 229

    199 intelligent actuator part 4 commands  acc (set acceleration) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional acc acceleration prohibited cp [function] set the travel accelera...

  • Page 230

    200 intelligent actuator part 4 commands  dcl (set deceleration) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional dcl deceleration prohibited cp [function] set the travel decelera...

  • Page 231

    201 intelligent actuator 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 [function] set the ratio of sig...

  • Page 232

    202 intelligent actuator part 4 commands  ofst (set offset) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ofst axis pattern offset value cp [function] reset the target value by...

  • Page 233

    203 intelligent actuator part 4 commands  deg (set arc angle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional deg angle prohibited cp [function] set a division angle for the inte...

  • Page 234

    204 intelligent actuator part 4 commands  base (specify axis base) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional base axis number prohibited cp [function] count the axes sequen...

  • Page 235

    205 intelligent actuator part 4 commands  grp (set group axes) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional grp axis pattern prohibited cp [function] allow only the position d...

  • Page 236

    206 intelligent actuator part 4 commands  hold (hold: declare axis port to pause) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional hold (input port, global flag) (hold type) cp [f...

  • Page 237

    207 intelligent actuator part 4 commands  canc (cancel: declare axis port to abort) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional canc (input port, global flag) (canc type) cp ...

  • Page 238

    208 intelligent actuator part 4 commands  vlmx (specify vlmx speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional vlmx prohibited prohibited cp [function] set the actuator trav...

  • Page 239

    209 intelligent actuator part 4 commands  dis (set division distance at spline movement) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional dis distance prohibited cp [function] set...

  • Page 240

    210 intelligent actuator part 4 commands  potp (set path output type) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional potp 0 or 1 prohibited cp [function] set the output type in ...

  • Page 241

    211 intelligent actuator part 4 commands  papr (set push-motion approach distance, speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional papr distance speed cp [function] set th...

  • Page 242

    212 intelligent actuator part 4 commands  qrtn (set quick-return mode) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional qrtn 0 or 1 prohibited cp [function] set and cancel the qui...

  • Page 243

    213 intelligent actuator part 4 commands 1.12 actuator control command  sv (turn on/off servo) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sv axis pattern prohibited pe [fu...

  • Page 244

    214 intelligent actuator part 4 commands  home (return to home) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional home axis pattern prohibited pe [function] perform home return of ...

  • Page 245

    215 intelligent actuator part 4 commands  movp (move ptp by specifying position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional movp position number prohibited pe [function...

  • Page 246

    216 intelligent actuator part 4 commands  movl (move by specifying position data) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional movl position number prohibited pe [function] mo...

  • Page 247

    217 intelligent actuator 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 prohibited pe [function] move the a...

  • Page 248

    218 intelligent actuator 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 number prohibited pe [function] ...

  • Page 249

    219 intelligent actuator part 4 commands  path (move along path) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional path start position number end position number pe [function] move...

  • Page 250

    220 intelligent actuator part 4 commands  jw (jog) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional j w axis pattern input, output, flag number pe [function] the axes in the a...

  • Page 251

    221 intelligent actuator part 4 commands  stop (stop movement) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional stop axis pattern prohibited cp [function] decelerate and stop the ...

  • Page 252

    222 intelligent actuator part 4 commands  pspl (move along spline) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pspl start position number end position number pe [function] co...

  • Page 253

    223 intelligent actuator part 4 commands  push (move by push motion) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional push target position number prohibited pe [function] perform ...

  • Page 254

    224 intelligent actuator part 4 commands [example] papr 100 20 movp 2 push 10 set the push-motion approach distance to 100 mm and push-motion approach speed to 20 mm/sec. Move from the current position to position no. 2. Perform push-motion movement from position nos. 2 to 10. The diagram below desc...

  • Page 255

    225 intelligent actuator part 4 commands  ptrq (change push torque limit parameter) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptrq axis pattern ratio cc [function] change t...

  • Page 256

    226 intelligent actuator part 4 commands  cir2 (move along circle 2 (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional cir2 passing position 1 number passing po...

  • Page 257

    227 intelligent actuator part 4 commands  arc2 (move along circle 2 (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arc2 passing position number end position...

  • Page 258

    228 intelligent actuator part 4 commands  cirs (move three-dimensionally along circle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional cirs passing position 1 number passing posi...

  • Page 259

    229 intelligent actuator part 4 commands  arcs (move three-dimensionally along arc) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arcs passing position number end position numb...

  • Page 260

    230 intelligent actuator part 4 commands  chvl (change speed) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional chvl axis pattern speed cp [function] change the speed of the axes o...

  • Page 261

    231 intelligent actuator part 4 commands  arcd (move along arc via specification of end position and center angle (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional opti...

  • Page 262

    232 intelligent actuator part 4 commands  arcc (move along arc via specification of center position and center angle (arc interpolation)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional o...

  • Page 263

    233 intelligent actuator part 4 commands  pbnd (set positioning band) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pbnd axis pattern distance cp [function] set the position co...

  • Page 264

    234 intelligent actuator part 4 commands  cir (move along circle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional cir passing position 1 number passing position 2 number pe [func...

  • Page 265

    235 intelligent actuator part 4 commands  arc (move along arc) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arc passing position number end position number pe [function] move ...

  • Page 266

    236 intelligent actuator part 4 commands 1.13 structural if  if (structural if) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional if variable number data cp [function] compare th...

  • Page 267

    237 intelligent actuator part 4 commands  is (compare strings) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional is column number column number, character literal cp [function] c...

  • Page 268

    238 intelligent actuator part 4 commands  else (else) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited else prohibited prohibited cp [function] an else command is used arbitra...

  • Page 269

    239 intelligent actuator part 4 commands 1.14 structural do  dw (do while) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional dw variable number data cp [function] compare the con...

  • Page 270

    240 intelligent actuator part 4 commands  iter (repeat) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional iter prohibited prohibited cp [function] forcibly switch the control to ed...

  • Page 271

    241 intelligent actuator part 4 commands 1.15 multi-branching  slct (start selected group) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional slct prohibited prohibited cp [function...

  • Page 272

    242 intelligent actuator part 4 commands  wh (select if true; variable) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited wh variable number data cp [function] this command i...

  • Page 273

    243 intelligent actuator part 4 commands  ws (select if true; character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited ws column number column number, character literal c...

  • Page 274

    244 intelligent actuator part 4 commands  othe (select other) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited othe prohibited prohibited cp [function] this command is used be...

  • Page 275

    245 intelligent actuator part 4 commands 1.16 system information acquisition  axst (get axis status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional axst variable number axis num...

  • Page 276

    246 intelligent actuator part 4 commands  pgst (get program status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pgst variable number program number cp [function] store in the...

  • Page 277

    247 intelligent actuator part 4 commands  syst (get system status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional syst variable number prohibited cp [function] store the system ...

  • Page 278

    248 intelligent actuator part 4 commands 1.17 zone  wzna (wait for zone on, with and) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzna zone number axis pattern cp [function] ...

  • Page 279

    249 intelligent actuator part 4 commands  wzno (wait for zone on, with or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzno zone number axis pattern cp [function] wait for th...

  • Page 280

    250 intelligent actuator part 4 commands  wzfa (wait for zone off, with and) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzfa zone number axis pattern cp [function] wait for ...

  • Page 281

    251 intelligent actuator part 4 commands  wzfo (wait for zone off, with or) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional wzfo zone number axis pattern cp [function] wait for t...

  • Page 282

    252 intelligent actuator 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 prohibited cp [function] open...

  • Page 283

    253 intelligent actuator part 4 commands  read (read) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional read channel number column number cc [function] read a character string from...

  • Page 284

    254 intelligent actuator part 4 commands (note1) a read command must be executed before the other side sends the end character. (note2) channel nos. 31 to 34 (available with the ethernet option) cannot be specified for dummy read (operand 2: 0). Scha 10 open 1 read 1 2 other side clos 1  return cod...

  • Page 285

    255 intelligent actuator part 4 commands  tmrw (set read/writ timeout value) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional tmrw read timer setting (write timer setting) cc [fun...

  • Page 286

    256 intelligent actuator 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) [function] write the characte...

  • Page 287

    257 intelligent actuator part 4 commands  scha (set end character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scha character code prohibited cp [function] set the end charac...

  • Page 288

    258 intelligent actuator part 4 commands 1.19 string operation  scpy (copy character string) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scpy column number column number, cha...

  • Page 289

    259 intelligent actuator part 4 commands  scmp (compare character strings) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional scmp column number column number, character literal eq ...

  • Page 290

    260 intelligent actuator part 4 commands  sget (get character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sget variable number column number, character literal cp [function]...

  • Page 291

    261 intelligent actuator part 4 commands  sput (set character) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional sput column number data cp [function] set the data specified in ope...

  • Page 292

    262 intelligent actuator part 4 commands  str (convert character string; decimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional str column number data cc [function] copy to the...

  • Page 293

    263 intelligent actuator part 4 commands  strh (convert character string; hexadecimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional strh column number data cc [function] copy ...

  • Page 294

    264 intelligent actuator part 4 commands  val (convert character string data; decimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional val variable number column number, characte...

  • Page 295

    265 intelligent actuator part 4 commands  valh (convert character string data; hexadecimal) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional valh variable number column number, ch...

  • Page 296

    266 intelligent actuator part 4 commands  slen (set length) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional slen character string length prohibited cp [function] set the length t...

  • Page 297

    267 intelligent actuator part 4 commands 1.20 palletizing-related  bgpa (declare start of palletizing setting) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional bgpa palletizing nu...

  • Page 298

    268 intelligent actuator part 4 commands  papi (set palletizing counts) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional papi count count cp set counts in the palletizing-axis dir...

  • Page 299

    269 intelligent actuator part 4 commands  pase (declare palletizing axes) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pase axis number axis number cp set the two axes to be u...

  • Page 300

    270 intelligent actuator part 4 commands  past (set palletizing reference point) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional past (position number) prohibited cp set the refe...

  • Page 301

    271 intelligent actuator part 4 commands  paps (set palletizing points) for 3-point & 4-point teaching command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional paps position number (palle...

  • Page 302

    272 intelligent actuator part 4 commands  if palletizing positions are set by means of 4-point teaching and a certain level of palletizing precision is required in a condition where all four points used in the setting of palletizing positions are known to be on a plane, it is recommended that palle...

  • Page 303

    273 intelligent actuator part 4 commands when the point data of any component other than the pz-axis component is the same between any two points among the three points other than the end point (in the above figure, the point data of a component other than the pz-axis component is the same between t...

  • Page 304

    274 intelligent actuator part 4 commands  psli (set zigzag) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional psli offset amount (count) cp set a zigzag palletizing. The value spec...

  • Page 305

    275 intelligent actuator part 4 commands  pchz (declare palletizing z-axis) only when there are at least three axes. Command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pchz (axis nu...

  • Page 306

    276 intelligent actuator part 4 commands  ptrg (set palletizing arch triggers) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptrg position number position number cp set the arc...

  • Page 307

    277 intelligent actuator part 4 commands  pext (set palletizing composition) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pext (position number) prohibited cp set palletizing ...

  • Page 308

    278 intelligent actuator part 4 commands  achz (declare arch-motion z-axis) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional achz axis number prohibited cp specify the axis number...

  • Page 309

    279 intelligent actuator part 4 commands  atrg (set arch triggers) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional atrg position number position number cp set the arch triggers u...

  • Page 310

    280 intelligent actuator part 4 commands  aext (set arch-motion composition) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional aext (position number) prohibited cp set arch-motion ...

  • Page 311

    281 intelligent actuator part 4 commands 1.21 palletizing calculation command  ptng (get palletizing position number) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ptng palleti...

  • Page 312

    282 intelligent actuator part 4 commands  pdec (decrement palletizing position number by 1) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pdec palletizing number prohibited cc ...

  • Page 313

    283 intelligent actuator part 4 commands  parg (get palletizing angle) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional parg palletizing number axis number cp obtain the palletizi...

  • Page 314

    284 intelligent actuator part 4 commands 1.22 palletizing movement command  pmvp (move to palletizing points via ptp) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pmvp palleti...

  • Page 315

    285 intelligent actuator part 4 commands  pmvl (move to palletizing points via interpolation) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pmvl palletizing number (position nu...

  • Page 316

    286 intelligent actuator part 4 commands  pach (palletizing-point arch motion) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional pach palletizing number position number pe perform ...

  • Page 317

    287 intelligent actuator part 4 commands  the pz-axis coordinate of the end point will become the pz-axis component of the position coordinates of the palletizing point, if any, plus the palletizing z-axis offset. If there is no pz component, the pz-axis coordinate of the end point will become the ...

  • Page 318

    288 intelligent actuator part 4 commands  arch (arch motion) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional arch position number position number pe perform arch motion from the ...

  • Page 319

    289 intelligent actuator part 4 commands  the arch-motion z-axis will come down after a rise-process command value is output. Therefore, the operation may follow the locus in fig. 5 given in the aforementioned explanation of pach command, depending on the settings of arch-trigger points and z point...

  • Page 320

    290 intelligent actuator part 4 commands 1.23 building of pseudo-ladder task  chpr (change task level) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional chpr 0 or 1 prohibited cp [...

  • Page 321

    291 intelligent actuator part 4 commands  tslp (task sleep) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) prohibited prohibited tslp time prohibited cp [function] set the time during which the a...

  • Page 322

    292 intelligent actuator part 4 commands 1.24 extended commands  ecmd1 (get motor current value (as percentage of rated current)) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ...

  • Page 323

    293 intelligent actuator part 4 commands  ecmd2 (get home sensor status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 2 axis number cc this command is supported by contro...

  • Page 324

    294 intelligent actuator part 4 commands  ecmd3 (get overrun sensor status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 3 axis number cc this command is supported by con...

  • Page 325

    295 intelligent actuator part 4 commands  ecmd4 (get creep sensor status) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 4 axis number cc this command is supported by contr...

  • Page 326

    296 intelligent actuator part 4 commands  ecmd250 (set torque limit/”torque limit over” detection time) command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ecmd 250 integer variable ...

  • Page 327

    297 intelligent actuator part 4 commands * when reverting the conditions to their defaults [example2] let 290 3 set the target axis pattern (axes 1 and 2) in integer variable 290. Let 291 1000 set a steady-state torque limit (maximum limit set for each axis) in integer variable 291. Let 292 20000 cl...

  • Page 328

    298 intelligent actuator part 4 commands chapter 3 key characteristics of actuator control commands and points to note 1. Continuous movement commands [path, cir, arc, pspl, cir2, arc2, arcd, arcc, cirs, arcs] (1) by running a program with continuous movement commands input in a series of continuous...

  • Page 329

    299 intelligent actuator part 4 commands path 21 23 312 [example 3] if an input condition is specified, the output will turn on upon completion of operation in the step before the one in which the input condition is specified. Output field timing potp 1 308 turn on as p1 approaches. 309 turn on as p...

  • Page 330

    300 intelligent actuator part 4 commands 2. Path/pspl commands when executing a path or pspl command, pay attention to the locus because it will change if the acceleration/deceleration is different between points. The locus can be fine-tuned by changing the acceleration/deceleration, but different a...

  • Page 331

    301 intelligent actuator part 4 commands chapter 4 palletizing function the sel language used by the x-sel controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizi...

  • Page 332

    302 intelligent actuator part 4 commands (2) palletizing pattern --- command: papn select a pattern indicating the palletizing order. The two patterns illustrated below are available. The encircled numbers indicate the order of palletizing and are called “palletizing position numbers.” fig. 1 papn 2...

  • Page 333

    303 intelligent actuator part 4 commands a. 3-point teaching method to set the palletizing positions by 3-point teaching, store desired positions in position data fields as three continuous position data and then specify the first position number using a paps command. This method allows you to set t...

  • Page 334

    304 intelligent actuator part 4 commands b. Method to set palletizing positions in parallel with the actuators palletizing reference point: store the position data of the start point (palletizing position no. 1) in a position data field and specify the applicable position number using a past command...

  • Page 335

    305 intelligent actuator part 4 commands (5) zigzag setting --- command: psli use a psli command to set a zigzag layout as shown below. Zigzag offset: offset amount in the preferential-axis direction, which will be applied when even- numbered rows are placed. “even-numbered rows” refer to the rows o...

  • Page 336

    306 intelligent actuator part 4 commands (7) palletizing arch-motion setting (a) palletizing z-direction axis number --- command: pchz (b) palletizing z-axis offset --- command: ofpz (c) palletizing composition --- command: pext composition data refers to position data of any additional axis you wis...

  • Page 337

    307 intelligent actuator part 4 commands 3. Palletizing calculation the items that can be operated or obtained using palletizing calculation commands are shown below: (1) palletizing position number commands --- pset, pinc, pdec, ptng number showing the ordinal number of a palletizing point. (in fig...

  • Page 338

    308 intelligent actuator part 4 commands 4. Palletizing movement palletizing movement commands include those used to move to a palletizing point and one used to move to an end point specified by position data. (1) movement commands to palletizing point --- pmvp, pmvl, pach position coordinates of a ...

  • Page 339

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

  • Page 340

    310 intelligent actuator part 4 commands 5. Program examples (1) simple program example (two-axis specification) using paps (set by 3-point teaching) the example below specifies movement only and does not cover picking operation. Step e n cnd cmnd operand 1 operand 2 pst comment 1 bgpa 1 start setti...

  • Page 341

    311 intelligent actuator part 4 commands (2) simple program example (two-axis specification) using papt, past and pase the example below specifies movement only and does not cover picking operation. Step e n cnd cmnd operand 1 operand 2 pst comment 1 bgpa 1 start setting palletizing no. 1. 2 papi 3 ...

  • Page 342

    312 intelligent actuator part 4 commands (3) simple program example using paps (set by 3-point teaching) the example below specifies movement only and does not cover picking operation. Step e n cnd cmnd operand 1 operand 2 pst comment 1 bgpa 1 start setting palletizing no. 1. 2 3 papi 5 7 palletizin...

  • Page 343

    313 intelligent actuator part 4 commands step e n cnd cmnd operand 1 operand 2 pst comment 31 movp 8 move to picking position. 32 33 tag 1 beginning of loop processing 34 pach 1 9 palletizing arch motion 35 z point specified by position no. 9 36 arch 8 9 arch motion 37 z point specified by position ...

  • Page 344

    314 intelligent actuator part 4 commands schematic diagram of placement-point positions based on the above program  the number shown at the top right of each circle indicates a palletizing position number.  count in px-axis direction = 5, count in py-axis direction = 7  zigzag offset: 20  zigzag...

  • Page 345

    315 intelligent actuator part 4 commands (4) simple program example using pase, papt and past the example below specifies movement only and does not cover picking operation. Step e n cnd cmnd operand 1 operand 2 pst comment 1 bgpa 1 start setting palletizing no. 1. 2 3 papi 5 7 palletizing counts: 5...

  • Page 346

    316 intelligent actuator part 4 commands step e n cnd cmnd operand 1 operand 2 pst comment 31 tag 1 beginning of loop processing 32 pach 1 9 palletizing arch motion 33 z point specified by position no. 9 34 arch 8 9 arch motion 35 z point specified by position no. 9 36 pinc 1 600 increment palletizi...

  • Page 347

    317 intelligent actuator part 4 commands schematic diagram of placement-point positions based on the above program  the number shown at the top right of each circle indicates a palletizing position number.  count in px-axis direction = 5, count in py-axis direction = 7  pitch in px-axis direction...

  • Page 348

    318 intelligent actuator part 4 commands chapter 5 pseudo-ladder task with the x-sel controller, a pseudo-ladder task function can be used depending on the command and extension condition. The input format is shown below. Note that this function must be used by expert engineers with a full knowledge...

  • Page 349

    319 intelligent actuator part 4 commands 2. Ladder statement field (1) extension conditions ld load a and o or ab and block ob or block all of the above extension conditions can be used in non-ladder tasks. (2) ladder commands outr ladder output relay (operand 1 = output, flag number) timr ladder ti...

  • Page 350

    320 intelligent actuator part 4 commands 4. Program example extension condition input condition command operand 1 operand 2 output e n cnd cmnd pst ld 7001 chpr 1 tpcd 1 tag 1 ld 8 a n 9 o 10 ld n 11 a 12 ld 13 a n 14 ob ab outr 314 a 15 timr 900 0.5 ld 7001 tslp 3 ld 7001 goto 1 ld 7001 exit outr31...

  • Page 351

    321 intelligent actuator part 4 commands chapter 6 application program examples 1. Operation by jog command [doll-picking game machine] (1) overview of the system this system is a doll-picking game machine consisting of axis-1 and axis-2 actuators. Pushbutton switches corresponding to the two axes a...

  • Page 352

    322 intelligent actuator 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 pushbutton switch to turn on. 4. The y-a...

  • Page 353

    323 intelligent actuator part 4 commands (3) x-sel controller application program step e n cnd cmnd operand 1 operand 2 pst comment 1 home 11 axes 1 and 2 return to home (servo on). 2 vel 400 set speed to 400 mm/s. 3 tag 1 4 wton 16 wait for input from axis-1 movement switch. 5 jfwn 1 16 move forwar...

  • Page 354

    324 intelligent actuator part 4 commands 2. Operation by point movement command [riveting system] (1) overview of the system this system is a riveting system consisting of an xy-table operated by axis-1 and axis-2 actuators and a riveter. By setting a load on the xy-table at the operation home and t...

  • Page 355

    325 intelligent actuator 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 the load and a riveting command is...

  • Page 356

    326 intelligent actuator part 4 commands (3) x-sel 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). 5 let 1 2 set 2 in load counter....

  • Page 357

    327 intelligent actuator part 4 commands 3. Palletizing operation [palletizing system] (1) overview of the system this system is a palletizing system consisting of axis-1 and axis-2 actuators and a z-axis air cylinder. It clamps a load at the load feed point and transfers it onto a pallet, and repea...

  • Page 358

    328 intelligent actuator part 4 commands (2) explanation of the operation 1. Move to the standby point and wait for a start input. 2. Move to the load feed point after a start input is received. 3. The z-axis comes down and the air chuck clamps the load. 4. The z-axis rises and moves to above the pa...

  • Page 359

    329 intelligent actuator part 4 commands (3) x-sel 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 clear variable. 6 let 301 0 clear...

  • Page 360

    330 intelligent actuator part 5 multi-tasking part 5 multi-tasking chapter 1 real-time multi-tasking 1. Sel language the x-sel controller allows integrated control of actuators and peripherals with a single controller using its 32-bit risc cpu and high-speed real-time operating system. There is no n...

  • Page 361

    331 intelligent actuator part 5 multi-tasking 2. Multi-tasking “multi-tasking” operation may not be a familiar term, but it is widely used in computer programming to refer to parallel processing. Simply put, multi-tasking means running several programs in parallel. Take a screw-tightening robot, for...

  • Page 362

    332 intelligent actuator part 5 multi-tasking 3. Difference from a sequencer the parallel processing method has evolved from the traditional method of using a sequence control circuit consisting of relays to a more recent one using a sequencer equipped with a microcomputer. Since a microcomputer bas...

  • Page 363

    333 intelligent actuator 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, recognition type during automatic operati...

  • Page 364

    334 intelligent actuator part 5 multi-tasking 5. Program switching various methods are available to switch between programs, depending on the purpose of programs. The representative methods are explained below. External start program switching program single-tasking exit command multi-tasking expg c...

  • Page 365

    335 intelligent actuator 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 axes 1 and 2) iai’s 60-w servo motor with...

  • Page 366

    336 intelligent actuator part 5 multi-tasking 3. Overview of the screw-tightening system this system consists of axis-1 and axis-2 actuators, z-axis cylinder, screw-tightening device and parts feeder, and tightens the screws fed by the parts feeder at the specified positions on the load. Axis 1 axis...

  • Page 367

    337 intelligent actuator part 5 multi-tasking 4. Hardware (1) i/o assignments i/o connector (50-pin) pin no. Category port no. Function cable color 1 - +24-v input brown – 1 2 000 program start red – 1 3 001 general-purpose input orange – 1 4 002 general-purpose input yellow – 1 5 003 general-purpos...

  • Page 368

    338 intelligent actuator part 5 multi-tasking (2) layout diagram pin no. Category port no. Function 1 - general-purpose: nc, compact: +24-v input 2 000 program start 3 001 general-purpose input 4 002 general-purpose input 5 003 general-purpose input 6 004 general-purpose input 7 005 general-purpose ...

  • Page 369

    339 intelligent actuator part 5 multi-tasking 5. Software (1) control flow chart main program: screw-tightening machine program 1 start program 2 align home start screw tightening (pushbutton) move z-axis air cylinder down start screw tightening screw tightening complete z-axis air cylinder up 6 scr...

  • Page 370

    340 intelligent actuator part 5 multi-tasking (2) main program screw-tightening program no. 1 application program extension condition input condition command output condition comment and, or i/o, flag command operand 1 operand 2 output port, flag comment 1 expg 2 start program 2. 2 home 11 align hom...

  • Page 371

    341 intelligent actuator appendix appendix  actuator specification list (note 1) the figure in each elongated circle indicates the maximum speed for the applicable stroke(s). (note 2) the load capacity is based on operation at the rated acceleration. (note 3) rcs2-r**7 series actuators cannot be us...

  • Page 372

    342 intelligent actuator appendix (note 1) the figure in each elongated circle indicates the maximum speed for the applicable stroke(s). (note 2) the load capacity is based on operation at the rated acceleration. Stroke (mm) and maximum speed (mm/sec) (note 1) load capacity (note 2) horizontal model...

  • Page 373

    343 intelligent actuator appendix (note 1) the figure in each elongated circle indicates the maximum speed for the applicable stroke(s). (note 2) the load capacity is based on operation at the rated acceleration. (note 3) rcs-rb75 series actuators cannot be used as axis 5 or 6. Model stroke (mm) and...

  • Page 374

    344 intelligent actuator appendix (note 1) the figure in each elongated circle indicates the maximum speed for the applicable stroke(s). (note 2) the load capacity is based on operation at the rated acceleration. Model stroke (mm) and maximum speed (mm/sec) (note 1) load capacity (note 2) rated acce...

  • Page 375

    345 intelligent actuator appendix (note 1) the figure in each elongated circle indicates the maximum speed for the applicable stroke(s). (note 2) the load capacity is based on operation at the rated acceleration. Model stroke (mm) and maximum speed (mm/sec) (note 1) load capacity (note 2) rated acce...

  • Page 376

    346 intelligent actuator appendix (note 1) the maximum speed may not be reached with short stroke models. (note 2) the actual value may vary depending on the operating condition. (note 3) lsa type actuators cannot be used as axis 5 or 6. Lsa ( l inear typ e ) model stroke (mm) horizontal (kg) load c...

  • Page 377

    347 intelligent actuator appendix  how to create a program 1. Position table position table with p/q-type x-sel 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...

  • Page 378

    348 intelligent actuator appendix 2. Programming format program edit screen (pc software) with x-sel 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 a...

  • Page 379

    349 intelligent actuator appendix 3. Positioning to five positions description move the actuator to positions 1 through 5 at a speed of 100 mm/sec after homing. Use of only 1 axis is assumed. Flowchart  homing must be performed and a speed must be set, before the actuator can be operated.  the act...

  • Page 380

    350 intelligent actuator appendix 4. How to use tag and goto description use goto and tag commands to repeat the same operation within the program or to jump to a desired step if a condition is satisfied. A tag command can be written in a step either before or after a goto command. Example of use 1 ...

  • Page 381

    351 intelligent actuator appendix 5. Moving back and forth between two points description moves back and forth between two points. Flowchart  the actuator moves back and forth between p1 and p2 indefinitely.  use of only 1 axis is assumed.  enter tag in the first of the steps to be repeated, and ...

  • Page 382

    352 intelligent actuator appendix 6. Path operation description move continuously through four arbitrary points without stopping (path movement). The actuator moves along the path shown at right, without stopping at p2 and p3. Compared with movp and movl, this command does not require the actuator t...

  • Page 383

    353 intelligent actuator appendix 7. Output control during path movement description in spray operation, etc., output control may be required while the actuator is moving. The x-sel controller can output signals while the actuator is moving with a path command. How to use before executing a path com...

  • Page 384

    354 intelligent actuator appendix 8. Circle/arc operation description the actuator moves along a two-dimensional circle or arc. How to use to specify a circle, specify three points the actuator will pass. To specify an arc, specify the starting point, passing point and end point. Example of use 1 ci...

  • Page 385

    355 intelligent actuator appendix 9. Home return completion output description output a signal to confirm completion of homing (incremental specification). With the x-sel controller, a home return completion signal can be output using an i/o parameter. However, the following explains how to output a...

  • Page 386

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

  • Page 387

    357 intelligent actuator appendix 11. Changing the moving speed description change the moving speed. How to use with the x-sel 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 examp...

  • Page 388

    358 intelligent actuator appendix 12. Changing the speed during operation description use a path command to change the speed while the actuator is moving. For example, this command is useful in a paint dispensing application where the application volume changes in the middle. Example of use the actu...

  • Page 389

    359 intelligent actuator 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 pro...

  • Page 390

    360 intelligent actuator appendix 14. How to use subroutines description a subroutine is a group of steps that are called and executed several times within a program. Subroutines are used to reduce the number of program steps and make the program easy to read. Up to 99 subroutines can be used in one...

  • Page 391

    361 intelligent actuator appendix 15. Pausing the operation description use a declaration command hold to pause the moving axis temporarily via external input. How to use a pause interruption operation can be executed to a moving axis (to decelerate the axis to a stop) by declaring a hold command wi...

  • Page 392

    362 intelligent actuator appendix 16. Canceling the operation 1 (canc) description use a declaration command canc to decelerate the moving axis to a stop and cancel the remaining operation. How to use while can is input, all movement commands in the same program are cancelled. Example of use canc co...

  • Page 393

    363 intelligent actuator appendix 17. Canceling the operation 2 (stop) description decelerate the moving axis to a stop and cancel the remaining operation. (stop) how to use execute a stop command from other program to forcibly stop the operation (in the multi-tasking mode). Specify the axis you wan...

  • Page 394

    364 intelligent actuator appendix 18. Movement by position number specification description load externally input bcd codes as position numbers to execute movements. Example of use use an inb command to load a position number as a bcd code from an input port. A position number can be specified using...

  • Page 395

    365 intelligent actuator appendix 19. Movement by external position data input description receive target position data as absolute values from a host device to execute movements. Example of use use an inb command to load position data as a bcd code from an input port. Each bcd value should consist ...

  • Page 396

    366 intelligent actuator appendix 20. Outputting coordinates description read the current actuator coordinate in real time and output the reading from an output port as bcd data. Example of use use a prdq command to load the current coordinate position of axis 1. The current coordinate data of axis ...

  • Page 397

    367 intelligent actuator appendix 21. Conditional jump description select the destination to jump to via goto using the external input, output and/or internal flag statuses as a condition. The controller waits for multiple inputs, and performs processing according to the received input(s). Example o...

  • Page 398

    368 intelligent actuator appendix 22. Waiting multiple inputs description the controller waits for multiple different inputs and performs processing upon reception of any of these inputs. Point a wton command permits processing only when the specified input is received. The controller cannot wait fo...

  • Page 399

    369 intelligent actuator appendix 23. How to use offset description with an ofst command, an offset can be specified for position data when you want to shift (offset) all teaching points by several millimeters because the actuator was not installed exactly in the specified position or for other reas...

  • Page 400

    370 intelligent actuator appendix 24. Executing an operation n times description execute a specific operation n times. Example of use the actuator moves back and forth between p1 and p2 ten times, and then the program ends. Use a cpeq command to compare the number of times the movement has been actu...

  • Page 401

    371 intelligent actuator appendix 25. Constant-pitch feed description feed the actuator by a specified pitch n times from a reference point. The pitch and number of repetitions are specified by variables in advance. Flowchart example of use use an ofst command to perform pitch feed. The number of ti...

  • Page 402

    372 intelligent actuator appendix 26. Jogging description the slider moves forward or backward while an input is on or off. Instead of an input, an output or global flag can be used as a cue. The slider will move directly to the next step if the specified input does not satisfy the condition when th...

  • Page 403

    373 intelligent actuator 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...

  • Page 404

    374 intelligent actuator appendix 28. Aborting a program description abort a program currently running. Execute an abpg command (command to abort other program) from other program in the multi-tasking mode. Caution * if the target program was executing a movement command, the actuator immediately de...

  • Page 405

    375 intelligent actuator appendix  battery backup function the x-sel 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-memor...

  • Page 406

    376 intelligent actuator appendix to replace the system-memory backup battery, open the panel window on the front side of the controller and replace the coin-type battery in the battery holder. It is recommended that the battery be replaced regularly in accordance with the power-on frequency/duratio...

  • Page 407

    377 intelligent actuator appendix 2. Absolute-data backup battery if the x-sel 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 ...

  • Page 408

    378 intelligent actuator appendix the x-sel 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...

  • Page 409

    379 intelligent actuator appendix  expansion i/o board (optional) type: ia-103-x-32 type: ia-103-x-16 pin no. Category port no. Function pin no. Port no. Function 1 - +24-v input 1 - +24-v input 2 32 general-purpose input 2 32 general-purpose input 3 33 general-purpose input 3 33 general-purpose in...

  • Page 410

    380 intelligent actuator appendix  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 capacities of conn...

  • Page 411

    381 intelligent actuator appendix  synchro function 1. Common items (applicable to both the absolute specification and incremental specification) synchro axes consist of a master axis and a slave axis. The axis with the smaller axis number becomes the master axis. A combination of master-axis and s...

  • Page 412

    382 intelligent actuator appendix  absolute reset of a synchro controller if you have specified the synchro specification at the time of order, the controller has been shipped with their parameters set for the synchro specification. To perform an absolute reset, however, the parameters must be chan...

  • Page 413

    383 intelligent actuator appendix 2. Position adjustment of synchro-axis sliders the positions of synchro-axis sliders are adjusted (physically adjusted for parallelism). (1) with the axes and controller not connected by cables (main controller power is off), adjust the relative positioning of the m...

  • Page 414

    384 intelligent actuator appendix (3) perform an absolute reset using the special procedure (forced reset by ignoring the on-screen instructions) as explained below: 1. Perform “encoder rotation data reset 1” for the slave axis. 2. Perform “encoder rotation data reset 1” through “encoder rotation da...

  • Page 415

    385 intelligent actuator appendix (4) enter the value of the slave axis recorded in (1) in “axis-specific parameter no. 83, abs synchro slave-axis coordinate initialization cancellation.”  select [transfer to controller]  [write to flash rom]  [restart controller] (software reset). (5) set home p...

  • Page 416

    386 intelligent actuator appendix 3. Enter the calculation result obtained in step 2 above in the slave-axis field of “axis-specific parameter no. 12, home preset value.”  select [transfer to controller]  [write to flash rom]  [restart controller] (software reset). (6) turn on the servo and check...

  • Page 417

    387 intelligent actuator 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 se...

  • Page 418

    388 intelligent actuator appendix  multiple-slider near-miss detection (collision prevention) function * applicable versions: x-sel-pq controllers of main application version 0.51 or later teaching pendant main application (ia-t-x, ia-t-xd) version 1.41 or later teaching pendant main application (i...

  • Page 419

    389 intelligent actuator appendix related parameters (axis-specific parameters) no. Parameter name default value input range unit remarks 104 target axis specification for multiple-slider near-miss detection 0h 0h to ffffffffh bits 0 to 3: mating axis number of near-miss detection target (on the pos...

  • Page 420

    390 intelligent actuator appendix  general-purpose rs232 (2-channel rs232 unit) (1) specifications the 2-channel rs232 unit is a dedicated d-sub, 9-pin rs232 interface. This unit can be used when a general-purpose rs232 device is connected. Rs232 connector specifications item overview details appli...

  • Page 421

    391 intelligent actuator appendix (3) parameter settings the sio channel numbers and specifications are set as follows based on the factory settings for applicable parameters: the details are set based on the following parameters: channel 1  i/o parameter nos. 201 to 203 channel 2  i/o parameter n...

  • Page 422

    392 intelligent actuator 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...

  • Page 423

    393 intelligent actuator appendix (4) programs [1] string processing commands a string refers to a character string. This controller uses global strings and local strings. Global strings are common strings that can be read or written from any program. Local strings are valid only in the program in w...

  • Page 424

    394 intelligent actuator appendix [3] explanation of strings characters sent per the aforementioned transmission format are stored in a “string,” which, simply put, is a dedicated container for characters. Strings are divided into global strings that can be read or written in all programs, and local...

  • Page 425

    395 intelligent actuator appendix [4] determination of transmission format in this example of application program, three types of transmission formats are used including home return command, movement command and movement completion. These formats are determined as specified below. Take note that the...

  • Page 426

    396 intelligent actuator appendix [5] processing procedure the processing procedure to be followed when programming this application example is explained below: a. Set “lf” as a character indicating the end of a character string (terminator character). B. Open channel 1 of the rs232 unit so that thi...

  • Page 427

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

  • Page 428

    398 intelligent actuator appendix 1. I/o parameters no. Parameter name default value (reference) input range unit remarks 1 i/o port assignment type 1 0 to 20 0: fixed assignment 1: automatic assignment (priority: network i/f module  slot 1 (standard i/o) ~; * ports are assigned only for the instal...

  • Page 429

    399 intelligent actuator appendix no. Parameter name default value (reference) input range unit remarks 13 expanded i/o3 error monitor (i/o4) 1 0 to 5 0: do not monitor 1: monitor 2: monitor (do not monitor errors relating to 24-v i/o power source) 3: monitor (monitor only errors relating to 24-v i/...

  • Page 430

    400 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 25 i/o setting bit pattern 2 (global specification) 0h 0h to fffffff fh bits 0 to 3: for future expansion bits 4 to 7: for future expansion 26 to 27 (for expansion) 0 28 i/o ready o...

  • Page 431

    401 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 31 input function selection 001 0 0 to 5 0: general-purpose input 1: software reset signal (1secon) * if continued operation is specified as the action upon emergency stop, enable t...

  • Page 432

    402 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 38 input function selection 008 1 0 to 5 0: general-purpose input, 1: program number specified for program start note: the assignment changes depending on the value set in “i/o para...

  • Page 433

    403 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 45 input function selection 015 0 0 to 5 0: general-purpose input 1: home return of all valid axes (on edge) (servo on must be executed first = i/o parameter no. 32, axis-specific p...

  • Page 434

    404 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 51 output function selection 305 0 0 to 5 0: general-purpose output 1: for future expansion 2: output when axis-1 servo is on (system monitor task output) 3: for future expansion no...

  • Page 435

    405 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 59 output function selection 313 0 0 to 5 0: general-purpose output 1: system-memory backup battery voltage-low warning level or lower note: the port number assigned to this functio...

  • Page 436

    406 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 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...

  • Page 437

    407 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 100 sio system use (sp3) (expanded) 28100010h 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) bits 24 to 27: data length (7...

  • Page 438

    408 intelligent actuator 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 h/l byte swap selection (0: do not swap, 1: swap) * the number of used ports and number of occup...

  • Page 439

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

  • Page 440

    410 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 144 iai protocol b/tcp: own port number (manu mode) 64511 1025 to 65535 145 channel 31 opened to user (tcp/ip): own port number 64512 1025 to 65535 146 channel 32 opened to user (tc...

  • Page 441

    411 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 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) ...

  • Page 442

    412 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 204 attribute 4 of sio channel 1 opened to user (standard mount) 00000000h 0h to ffffffffh 205 attribute 5 of sio channel 1 opened to user (standard mount) 00000000h 0h to ffffffffh...

  • Page 443

    413 intelligent actuator 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-...

  • Page 444

    414 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 223 attribute 11 of sio channel 2 opened to user (standard mount) 00000000h 0h to ffffffff h 224 attribute 12 of sio channel 2 opened to user (standard mount) 00000000h 0h to ffffff...

  • Page 445

    415 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 292 port number assigned to input function selection 009 -1 -1 to 3999 specify the port number to be assigned to the function of i/o parameter no. 39, “input function selection 009....

  • Page 446

    416 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 299 port number assigned to output function selection 300 0 0 to 6999 specify the port number to be assigned to the function of i/o parameter no. 46, “output function selection 300....

  • Page 447

    417 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 312 port number assigned to output function selection 313 0 0 to 6999 specify the port number to be assigned to the function of i/o parameter no. 59, “output function selection 313....

  • Page 448

    418 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 325 port number assigned to output function selection 310 (area 2) 0 0 to 6999 specify the port number to be assigned to the function of i/o parameter no. 341, “output function sele...

  • Page 449

    419 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 336 output function selection 305 (area 2) 0 0 to 5 0: general-purpose output 1: reserved by the system. 2: axis 1 servo currently-on output (system-monitored task output) 3: reserv...

  • Page 450

    420 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 381 unaffected general- purpose output area 2 number (max) when all operations/programs are aborted 0 0 to 6999 (main application version 0.64 or later/f-rom 32-mbit version only) 3...

  • Page 451

    421 intelligent actuator 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 41...

  • Page 452

    422 intelligent actuator appendix i/o parameters no. Parameter name default value (reference) input range unit remarks 512 input port number for forced release of rc axis 1 brake 0 0 to 3999 when the applicable port turns on, the brake will be released forcibly. (beware of dropping axis.) * invalid,...

  • Page 453

    423 intelligent actuator appendix 2. Parameters common to all axes no. Parameter name default value (reference) input range unit remarks to 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. ...

  • Page 454

    424 intelligent actuator appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 28 selection of inching  jog auto-switching prohibition 0 reference only 0: execute auto-switching (continuous button on timer), 1: prohibited * referenced by the pc...

  • Page 455

    425 intelligent actuator appendix parameters common to all axes no. Parameter name default value (reference) input range unit remarks 103 driver initialization communication type setting (axes 1 to 4) 0h reference only bits 0 to 7: driver initialization communication type of axis 1 bits 8 to 15: dri...

  • Page 456

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

  • Page 457

    427 intelligent actuator appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 24 push stop check time at home return 700 1 to 5000 msec 25 push stop check time at positioning 500 1 to 5000 msec 26 (phase-z evacuation distance at absolute home return ...

  • Page 458

    428 intelligent actuator 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: select...

  • Page 459

    429 intelligent actuator appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 65 mating synchro-axis number 0 0 to 8 must be input for both axes. (of the axis pair, the axis with the smaller axis number becomes the master axis. Both axes must have th...

  • Page 460

    430 intelligent actuator appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 87 zone 1 min 0 -99999999 to 99999999 0.001 mm valid only when max > min. * must be inside the range for at least 3 msec. 88 zone 1 output number 0 0 to 899 physical output...

  • Page 461

    431 intelligent actuator appendix axis-specific parameters no parameter name default value (reference) input range unit remarks 108 positioning control switching band for synchro slave axis 5000 1 to 99999 0.001 mm effective only when specified for the synchro slave axis. * related information: axis...

  • Page 462

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

  • Page 463

    433 intelligent actuator 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 ...

  • Page 464

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

  • Page 465

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

  • Page 466

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

  • Page 467

    437 intelligent actuator appendix 7. Other parameters no. Parameter name default value (reference) input range unit remarks 1 auto-start program number 0 0 to 64 (f-rom 16-mbit version) 0 to 128 (main application version 0.52 or later/f-rom 32- mbit version only) (invalid if “0” is set) 2 i/o proces...

  • Page 468

    438 intelligent actuator appendix other parameters no. Parameter name default value (reference) input range unit remarks 11 enable switch (deadman/enable switch) recovery type 0 0 to 2 0: abort operations/programs 1: recovery after reset 2: operation continued (only during automatic operation. * ope...

  • Page 469

    439 intelligent actuator appendix other parameters no. Parameter name default value (reference) input range unit remarks 36 pc/tp data protect setting (program) 0h 0h to ffffffff h bits 0 to 3: protect type (0: read/write, 1: read only, 2: no read/write) bits 4 to 7: protect release method (0: speci...

  • Page 470

    440 intelligent actuator appendix other parameters no. Parameter name default value (reference) input range unit remarks 38 pc/tp data protect setting (symbol, parameter) 0h 0h to ffffffff h bits 0 to 3: protect type (parameter) (0: read/write, 1: read only, 2: no read/write) bits 4 to 7: protect re...

  • Page 471

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

  • Page 472

    442 intelligent actuator appendix other parameters no. Parameter name default value (reference) input range unit remarks 49 panel 7-segment display data type 0 0 to 9 0: display controller status 1: display motor current indicator the current pattern of each axis is displayed instead of “ready statu...

  • Page 473

    443 intelligent actuator appendix 8. Manual operation types the selectable operation types will vary depending on the setting of the “manual operation type” parameter (other parameter no. 21). (1) pc software 1. Setting = 0 (always enable edit and sio/pio start) functions operation type password edi...

  • Page 474

    Appendi x intelli gent a ctuat or 444 9. Use examples of key parameters you can add functions to those available under the factory settings or set dedicated functions to i/o ports, by changing the parameter values. Before changing a parameter, be sure to read the corresponding section in the list of...

  • Page 475

    Appendi x intelli gent a ctuat or 445 description action parameter setting manipulation/operation want to execute home return using an external input signal. Input port no. 15 can be used as an home return input. I/o parameter no. 45 = 1 home return will be executed at the on edge of input port no. ...

  • Page 476

    Appendi x intelli gent a ctuat or 446 description action parameter setting manipulation/operation want to output signal when all valid axes are at their home. Output port no. 304 can be set as a signal indicating that all valid axes are at their home. Note: do not use a home command when the control...

  • Page 477

    Appendi x intelli gent a ctuat or 447 description action parameter setting manipulation/operation want to start programs while emergency-stop signal is input or the safety gate is open. Programs to be started are i/o processing or calculation programs that do not command actuator operation (pio proc...

  • Page 478

    Appendi x intelli gent a ctuat or 448 description action parameter setting manipulation/operation want to continue actuator operation after the emergency stop is reset (want to resume actuator operation from the part stopped due to emergency stop input). Programs other than the one commanding actuat...

  • Page 479

    Appendi x intelli gent a ctuat or 449 description action parameter setting manipulation/operation want to output signal when the actuator enters a specified area (zone). A desired actuator zone can be set for each axis. A desired output port to turn on when the axis enters the zone can be set for ea...

  • Page 480

    Appendi x intelli gent a ctuat or 450  combination table of x-sel linear/rotary control parameters permitted encoder processing method axis-specific parameter no. 1, axis operation type axis-specific parameter no. 68, mode selection for linear movement axis axis-specific parameter no. 66, mode sele...

  • Page 481

    Appendi x intelli gent a ctuat or 451  error level control program run (application only) error level system error assignment source error no. (hex) display (7- segment display, etc.) error list (application only) error led output (main only) other parameter no. 4 = 0 other parameter no. 4 = 1 erro...

  • Page 482

    Appendi x intelli gent a ctuat or 452 program run (application only) error level system error assignment source error no. (hex) display (7- segment display, etc.) error list (application only) error led output (main only) other parameter no. 4 = 0 other parameter no. 4 = 1 error reset (application o...

  • Page 483

    Appendi x intelli gent a ctuat or 453  error list (main application) (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 200 encoder parameter data version mismatch warning the version of encoder parameter data is not supported ...

  • Page 484

    Appendi x intelli gent a ctuat or 454 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 400 mounted-sio unopen error (s) an attempt was made to use a channel that is not open. 401 mounted-sio in-use error an attempt was made to...

  • Page 485

    Appendi x intelli gent a ctuat or 455 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 413 prohibited command execution error during tracking operation an attempt was made to execute a command which is prohibited during tracki...

  • Page 486

    Appendi x intelli gent a ctuat or 456 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 430 ubm management area checksum error corrupted flash rom data. Save the user-data backup memory to the flash rom. 431 ubm data checksum e...

  • Page 487

    Appendi x intelli gent a ctuat or 457 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 601 emg logic error a broken pin in the controller is suspected 602 enb logic error a broken pin in the controller is suspected 603 drive-s...

  • Page 488

    Appendi x intelli gent a ctuat or 458 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 622 mounted-sio undefined control command receive error an undefined control command was received from the mounted-sio. 623 driver error de...

  • Page 489

    Appendi x intelli gent a ctuat or 459 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 63e abz encoder magnetic-pole sensor signal logic error check if the encoder cable is connected. 63f encoder control constant error the enc...

  • Page 490

    Appendi x intelli gent a ctuat or 460 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 65a unsupported encoder id error the encoder is not supported. No encoder control constant record is available that corresponds to the enco...

  • Page 491

    Appendi x intelli gent a ctuat or 461 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 667 invalid driver initialization communication line specification error at specification of valid axis initialization communication line c...

  • Page 492

    Appendi x intelli gent a ctuat or 462 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 684 expanded data access error (upon reception under iai protocol) an attempt was made to read data which cannot be read (expanded position...

  • Page 493

    Appendi x intelli gent a ctuat or 463 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 6ad rc-axis control command logic error invalid rc-axis control logic 6ae mounted-sio operation mode specification error an invalid operati...

  • Page 494

    Appendi x intelli gent a ctuat or 464 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 801 scif overrun status (iai protocol reception) communication failure. Check for noise, connected equipment and communication setting. 802...

  • Page 495

    Appendi x intelli gent a ctuat or 465 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 81e mounted-sio m-receive temporary queue overflow status (sel reception) the temporary receive queue in the main cpu overflowed. Excessive...

  • Page 496

    Appendi x intelli gent a ctuat or 466 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. 900 blank step shortage error there are not enough blank steps to save step data. Provide enough blank steps needed to save step data. 901 ...

  • Page 497

    Appendi x intelli gent a ctuat or 467 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A0b flash-rom verify error error erasing/writing the flash rom a0c flash-rom ack timeout error erasing/writing the flash rom a0d head secto...

  • Page 498

    Appendi x intelli gent a ctuat or 468 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A23 absolute-data backup battery voltage-low warning (main analysis) the voltage of the absolute-data backup battery is low. Check the batt...

  • Page 499

    Appendi x intelli gent a ctuat or 469 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A40 data change refusal error during flash rom write data cannot be changed while the flash rom is being written. A41 duplicate flash-rom w...

  • Page 500

    Appendi x intelli gent a ctuat or 470 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A5e i/o-port/flag count specification error the specified number of i/o ports/flags is invalid. A5f fieldbus error (lerror-on) a lerror-on ...

  • Page 501

    Appendi x intelli gent a ctuat or 471 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. B00 scha setting error the setting of scha command is invalid. B01 tpcd setting error the setting of tpcd command is invalid. B02 slen sett...

  • Page 502

    Appendi x intelli gent a ctuat or 472 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. B1d ethernet non-open error an attempt was made to use a channel not opened by own task. B1e ethernet multiple writ execution error writ co...

  • Page 503

    Appendi x intelli gent a ctuat or 473 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C07 subroutine non-definition error the subroutine specified for call is not defined. C08 subroutine duplicate-definition error the same su...

  • Page 504

    Appendi x intelli gent a ctuat or 474 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C1f input-condition cnd shortage error the necessary input condition is not found when an expansion condition is used. C21 input-condition ...

  • Page 505

    Appendi x intelli gent a ctuat or 475 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C40 string-variable delimiter non-detection error delimiter cannot be detected in the string variable. C41 string-variable copy size over e...

  • Page 506

    Appendi x intelli gent a ctuat or 476 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C5b timing limit over error (flash rom write) error writing the flash rom c5c flash-rom verify error (flash rom write) error writing the fl...

  • Page 507

    Appendi x intelli gent a ctuat or 477 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C71 synchro slave-axis command error a command was issued to the synchro slave axis. C72 overrun error the overrun sensor was actuated. C73...

  • Page 508

    Appendi x intelli gent a ctuat or 478 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. C89 acceleration/deceleration specification error the specified acceleration/deceleration is invalid. C8b circle/arc calculation logic erro...

  • Page 509

    Appendi x intelli gent a ctuat or 479 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Ca5 stop deviation overflow error movement may have occurred during stopping due to external force or operation may have been restricted du...

  • Page 510

    Appendi x intelli gent a ctuat or 480 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Cbb reference-point/px-axis end-point duplication error at palletizing angle acquisition angle cannot be calculated because the reference p...

  • Page 511

    Appendi x intelli gent a ctuat or 481 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D01 encoder eeprom-write timeout error the encoder is faulty or failure occurred in the encoder communication. D02 encoder eeprom-read time...

  • Page 512

    Appendi x intelli gent a ctuat or 482 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D20 driver error (refer to error no. Ca1.) d22 encoder rotation reset error the encoder is faulty or has turned. D23 encoder alarm reset er...

  • Page 513

    Appendi x intelli gent a ctuat or 483 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D58 fieldbus error (init timeout) an init timeout was detected. Check the statuses of monitor leds on the front panel of the board by refer...

  • Page 514

    Appendi x intelli gent a ctuat or 484 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D68 no remote-mode control support board error hardware supporting remote-mode control is not installed, although remote- mode control (aut...

  • Page 515

    Appendi x intelli gent a ctuat or 485 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. D87 absolute data parity error invalid parity of absolute track signal. There is a possibility of encoder failure, broken encoder cable, et...

  • Page 516

    Appendi x intelli gent a ctuat or 486 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E1e zone parameter error a value other than an output port/global flag number (“0” is acceptable) or duplicate numbers may be input in axis...

  • Page 517

    Appendi x intelli gent a ctuat or 487 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E39 no encoder eeprom error the encoder is not equipped with eeprom. E3a absolute encoder error absolute encoder is specified illegally. E3...

  • Page 518

    Appendi x intelli gent a ctuat or 488 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E5b detection off error upon pole sense completion the motor-magnetic-pole detection status bit (psenex) is turned off after completion of ...

  • Page 519

    Appendi x intelli gent a ctuat or 489 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E74 encoder division ratio mismatch error the encoder division ratio in the system’s axis-specific parameter and that of the installed enco...

  • Page 520

    Appendi x intelli gent a ctuat or 490 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E8a sel program flash-rom status error data is not written to the flash rom correctly or written in an old, incompatible application versio...

  • Page 521

    Appendi x intelli gent a ctuat or 491 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Ff0 to f00 shutdown error (hi_sysdwn () definition) a shutdown error (hi_sysdwn () definition) was detected. F03 to f58 shutdown error (os ...

  • Page 522

    Appendi x intelli gent a ctuat or 492  error list (main core) (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A70 scif overrun error communication error. Check for noise, connected equipment and communication setting. (when ...

  • Page 523

    Appendi x intelli gent a ctuat or 493 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. A85 from write request error before erase is complete when updating, a flash-rom write command was received before a flash-rom erase comman...

  • Page 524

    Appendi x intelli gent a ctuat or 494 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. E90 core code flash-rom status error the core program is invalid. Contact the manufacturer. E91 application code flash-rom status error the...

  • Page 525

    Appendi x intelli gent a ctuat or 495 (in the panel window, the three digits after “e” indicate an error number.) error no. Error name description, action, etc. Eac servo control underrun error a servo control underrun error was detected. Ead boot error a fpga boot watchdog was detected. The core pr...

  • Page 526

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

  • Page 527

    Appendi x intelli gent a ctuat or 497 troubleshooting (causes and countermeasures for key errors) error no. Error name cause countermeasure acf ac power cutoff momentary power failure has occurred or the voltage has dropped. 100 v is input while the controller’s voltage specification is 200 v. Check...

  • Page 528

    Appendi x intelli gent a ctuat or 498 error no. Error name cause countermeasure 914 ca2 abnormal absolute-data backup battery voltage the pg cable was disconnected from the controller. Absolute reset has not been executed after the initial setup. The voltage of the absolute-data backup battery has d...

  • Page 529

    Appendi x intelli gent a ctuat or 499 error no. Error name cause countermeasure d18 speed loop underrun error the driver cpu board was damaged due to noise in the encoder cable. Replace the board and implement noise control measures. 807 shutdown relay er status the transistor on the power-supply bo...

  • Page 530

    500 appendix intelligent actuator servo gain adjustment since the servo has been adjusted at the factory in accordance with the standard specification of the actuator, the servo gain need not be changed in normal conditions of use. However, vibration or noise may occur depending on how the actuator ...

  • Page 531

    501 appendix intelligent actuator  speed loop integral time constant (parameter list 1) driver card parameter number unit input range default (reference) 44 - 1 to 1000 30 this parameter determines the level of response with respect to a speed control loop. Increasing the setting too much results i...

  • Page 532

    502 appendix intelligent actuator trouble report sheet trouble report sheet date: company name department reported by tel (ext) fax iai agent purchase date serial number manufacture date [1] number of axes  axis(es) 1 = 2 = type 3 = 4 = 5 = 6 = 7 = 8 = [2] type of problem 1. Disabled operation 2. P...

  • Page 533

    503 intelligent actuator change history revision date description of revision feburuary 2008 march 2009 april 2010 june 2010 first edition second edition third edition fourth edition fifth edition sixth edition • deleted “by toshiba battery” from the description of the system backup battery cr2032. ...

  • Page 535: Iai (Shanghai) Co., Ltd.

    Catalog no.: me0148-7a head office: 2690 w. 237th street, torrance, ca 90505 tel (310) 891-6015 fax (310) 891-0815 chicago office: 1261 hamilton parkway, itasca, il 60143 tel (630) 467-9900 fax (630) 467-9912 atlanta office: 1220 kennestone circle, suite 108, marietta, ga 30066 tel (678) 354-9470 fa...