ASEL Controller Operation Manual Seventh Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
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 (optional) For retention of position data, global variables/flags, error list, strings, etc. [2] Absolute-encoder backup battery (absolute specification) For retention of multi-rotation data of the encoder Since these batteries are not rechargeable, they will be eventually consumed.
CAUTION Optional System-Memory Backup Battery The ASEL controller can be used with the optional system-memory backup battery. Caution: When installing the system-memory backup battery, “Other parameter No. 20” must be set to “2.” Installing the system-memory backup battery will add the following functions to the controller: x Save SEL global data Data of global variables, flags and strings will be retained even after the main power is turned off.
Table of Contents Table of Contents Part 1 Installation .................................................................................................... 1 Chapter 1 Overview................................................................................................................................. 1 1. Introduction...................................................................................................................................... 1 2. Type ......................................
Table of Contents 3. How to Start a Program ................................................................................................................. 55 3.1 Starting a Program by Auto-Start via Parameter Setting ................................................... 56 3.2 Starting via External Signal Selection ................................................................................ 57 4. Drive-Source Recovery Request and Operation-Pause Reset Request ......................................
Table of Contents Chapter 3 Explanation of Commands ................................................................................................... 95 1. Commands .................................................................................................................................... 95 1.1 Variable Assignment .......................................................................................................... 95 1.2 Arithmetic Operation .............................................
Table of Contents Chapter 6 Pseudo-Ladder Task........................................................................................................... 250 1. Basic Frame ................................................................................................................................ 250 2. Ladder Statement Field ............................................................................................................... 251 3. Points to Note ............................................
Table of Contents 20. Conditional Jump......................................................................................................................... 288 21. Waiting Multiple Inputs ................................................................................................................ 289 22. How to Use Offset ....................................................................................................................... 290 23. Executing an Operation N times ......................
Table of Contents 5.1 Recognition of I/O Signals ............................................................................................... 324 5.2 Home Return.................................................................................................................... 325 5.3 Movements through Positions ......................................................................................... 326 Chapter 5 Teaching Mode ......................................................................
Table of Contents Appendix ................................................................................................................. 347 Battery Backup Function ................................................................................................................... 347 1. System-Memory Backup Battery................................................................................................. 347 2. Absolute-Data Backup Battery for Absolute Encoder ..................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Leve l Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Part 1 Installation Part 1 Installation Chapter 1 Overview Thank you for purchasing the ASEL Controller. Please read this manual carefully, and handle the product with due care and operate it correctly. Keep this manual in a safe place and reference relevant items when needed. When actually starting up your system or if you have encountered a problem, you should also refer to the manuals for the teaching pendant, PC software and other components used with the system, in addition to this manual.
Part 1 Installation 3. ASEL Controller Functions Part 1 Installation The functions provided by the ASEL controller are structured in the following manner.
Part 1 Installation This controller can be configured with one axis and two axes. Just like other conventional SEL controllers, this controller can be combined with various actuators. When connecting an actuator, be sure to use a dedicated cable. Duty (%) = Part 1 Installation x Turn on the I/O power before or simultaneously with the main power (control power + motor power). x Take the control power and motor power from the same power supply and turn on both powers simultaneously.
Part 1 Installation Part 1 Installation 4. System Setup Host system Conversion cable Panel unit Chapter 1 Overview Teaching pendant Dummy plug Emergency stop switch Enable switch 24-VDC power supply * Note on connecting the encoder cable to a controller of absolute specification Follow the steps below when connecting the encoder cable to a controller of absolute specification. If the specified steps are not followed, the absolute-data backup battery may be consumed quickly.
Part 1 Installation 5. Warranty Period and Scope of Warranty Part 1 Installation The ASEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty: 1. Warranty Period The warranty period shall be either of the following periods, whichever ends first: x 18 months after shipment from our factory x 12 months after delivery to a specified location 2.
Part 1 Installation Chapter 2 Specifications Chapter 2 Specifications Part 1 Installation 1. Controller Specifications Base specifications of this product Total output when maximum 30 W x 2 axes number of axes are connected Control power input 24 VDC r 10% Motor power input 24 VDC r 10% Resistance against Maximum 0.
Part 1 Installation 2. Name and Function of Each Part 2.1 Name of Each Part Part 1 Installation 2.1.
Part 1 Installation Chapter 2 Specifications Part 1 Installation 2.1.2 [14] Regenerative resistor connector [16] Motor power connector [13] [17] Axis 1 absolute-data backup battery connector [18 Axis 2 absolute-data backup battery connector Control power & system I/O connector [15] 2.1.
Part 1 Installation [1] Axis 1 motor connector (M1): This connector is used to connect the motor cable for axis 1. Motor Connector Specifications Connector name Maximum connection distance Connected cable Specification 2.5-mm pitch connector, 3 pins Cable-end connector M1 Remarks DF1E-3P-2.5DS (Hirose) Part 1 Installation Item Applicable connector DF1E-3S-2.
Part 1 Installation [4] Axis 1 encoder/sensor connector (PG1): This connector is used to connect the encoder cable for axis 1. It connects the encoder cable of the actuator constituting axis 1. Chapter 2 Specifications Part 1 Installation Encoder Connector Specifications Item Specification Remarks Applicable connector 2-mm pitch, doubleS18B-PHDRS-B (JST) row connector, 18 pins Cable-end connector PHDR-18VR (JST) Contact: SPHD-001TP0.
Housing: Contact: Controller end White/Red White/Yellow White/Blue Blue Drain wire and braided shield wire Red Black Red Black Drain Gray Gray (pressurewelded) Wire (“White/blue” and other designations under “Color” indicate band color/insulator color.) Yellow Blue White/Gray Green Purple Green Purple Orange Drain White/Purple White/Red White/Black Yellow White/Blue White/Gray Signal Serial White/Yellow Color ABZ Color XMP-18V (JST) X 1 BXA-001T-P0.
12 Housing: Contact: Controller end Cable model: Encoder cable (pressurewelded) Wire Drain Drain wire and braided shield wire (pressurewelded) Wire (“White/blue” and other designations under “Color” indicate band color/insulator color.
Part 1 Installation Axis 2 brake-release switch (BK2): This switch is used to forcibly release the electromagnetic brake of the actuator constituting axis 2. The specifications are the same as those of the axis 1 brake-release switch in [3]. [6] Axis 2 encoder/sensor connector (PG2): This connector is used to connect to the encoder cable for axis 2. The specifications are the same as those of the axis 1 encoder/sensor connector in [4].
Part 1 Installation I/O Interface List (Program mode) Pin No. Category Port No. 016 Program specification (PRG No. 1) 1-Red 2A 017 Program specification (PRG No. 2) 1-Orange 2B 018 Program specification (PRG No. 4) 1-Yellow 3A 019 Program specification (PRG No. 8) 1-Green 020 Program specification (PRG No. 10) 1-Blue 4A 021 Program specification (PRG No. 20) 1-Purple 4B 022 Program specification (PRG No.
Part 1 Installation [10] MANU/AUTO switch: AUTO (right) Teaching pendant/PC software operation (When the teaching connector is used) PC software operation (when the USB connector is used) Starting of an auto start program MANU AUTO Possible Not possible Possible Not possible Note) Not possible Possible Note) When this switch is set to the “MANU” side and the USB connector is used, the servo cannot be turned on unless a dummy plug or teaching pendant is connected to the TP connector.
Part 1 Installation Part 1 Installation [12] Teaching connector (TP): The teaching interface connects IAI’s teaching pendant or a PC (PC software) to enable operation and setting of your equipment from the teaching pendant/PC. The interface is a RS232C system based on a 26-pin, half-pitch I/O connector. The signal level conforms to RS232C, and a desired baud rate (maximum 115.2 kbps) can be selected based on the program. This connector can be used only when the mode switch is set to “MANU.
Part 1 Installation Teaching pendant & dedicated communication cable connector Item Specification I/O 1 SG Signal ground 2 Out EMGS DTR Emergency-stop status Power output (Standard IA-T-X/XD power supply (5 V)) Data terminal ready (Shorted to DSR) 3 Out VCC 4 5 In NC Not connected 6 NC Not connected 7 NC NC Not connected Power output (ANSI compliant IA-T-XA power supply (24 V)) Emergency-stop contact output, negative Power output (ANSI compliant IA-T-XA power supply (24 V)) Not conne
Part 1 Installation Part 1 Installation [13] System-memory backup This connector is used to install the system-memory backup battery. battery connector: [14] Control power & system I/O connector: This connector is used to input the 24-VDC control power and connect the emergency stop switch and enable switch. The power supply connected to this connector is used for the controller internal power, brake power, and so on, and not used as the motor drive source.
Part 1 Installation [16] Motor power connector: Item Applicable connector Connector name Input voltage Maximum input current Cable-end connector Applicable wire size Recommended strippedwire length MP Remarks MSTB2.5/2-GF-5.08 by Phoenix Contact MSTB2.5/2-STF-5.08 by Phoenix Contact AWG20 ~ 14 (0.5 ~ 2.0 sq) 7 mm 24 VDC r 10% 10.2 A 5.1 A per axis No.
Part 1 Installation Part 1 Installation Chapter 3 Installation and Wiring 1. External Dimensions (1) 2-axis specification (The same external dimensions also apply to the 1-axis specification.
Part 1 Installation 2-axis specification with battery Part 1 Installation (2) Chapter 3 Installation and Wiring 21
Part 1 Installation Part 1 Installation As for the use environment, this product can be used in an environment of pollution degree 2*1 or equivalent. *1 Pollution degree 2: Normally only non-conductive pollutants exist, which are expected to be temporarily conductive due to condensation. (EN60947-5-1) 2. Installation Environment (1) When installing and wiring the controller, do not block the ventilation holes provided for cooling.
Part 1 Installation 3. Heat Radiation and Installation Part 1 Installation Design the control panel size, controller layout and cooling method so that the ambient temperature around the controller will be kept at or below 40°C. Install the controller vertically on a wall, as illustrated below. The controller will be cooled by natural convection. Be sure to install the controller in the aforementioned direction and provide a minimum clearance of 50 mm above and below the controller.
Part 1 Installation 4. Noise Control Measures and Grounding Part 1 Installation The ASEL controller has no dedicated terminal to connect the FG to ground. Accordingly, provide grounding using the controller mounting screw. [1] Provide dedicated Class D grounding. The grounding wire should have a size of 2.0 to 5.5 mm2 or larger. Other equipment Controller Controller Other equipment Connect a cable of the largest possible size over the shortest possible distance.
Part 1 Installation Part 1 Installation (3) Noise sources and noise elimination There are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below: [1] AC solenoid valve, magnet switch, relay Measure --- Install a surge killer in parallel with the coil. Surge killer m Point Wire from each coil over the shortest distance.
Part 1 Installation Part 1 Installation Reference Circuit Diagram Controller Surge absorber Chapter 3 Installation and Wiring Solenoid valve 26
Part 1 Installation 5. Supply Voltage [1] [2] [3] [4] [5] Control power-supply current Rated motor power-input current Maximum motor power-input current Rated current ([1] + [2]) Maximum current ([1] + [3]) Part 1 Installation The supply voltage to the controller is 24 VDC r 10%. The power-supply current varies depending on the number of axes, as shown below. 1-axis specification 2-axis specification 1.2 A 1.7 A 3.4 A 5.1 A 10.2 A 2.9 A 4.6 A 6.3 A 11.
Part 1 Installation 6. Wiring Wiring the Control Power Supply, Emergency Stop Switch and Enable Switch Part 1 Installation 6.1 As shown to the left, insert the stripped end of each cable into the control power & system I/O connector, and tighten the screws with a screwdriver. Recommended cable size: 0.
Part 1 Installation 6.2 Wiring the Motor Power Cables Recommended cable size: 2 mm2 (AWG14) Recommended stripped-wire length: 7 mm Part 1 Installation As shown to the left, insert the stripped end of each cable into the motor power connector, and tighten the screws with a screwdriver. As shown to the left, tighten the screws to affix the connector.
Part 1 Installation Connecting the Actuator 6.3.1 Connecting the Motor Cable (M1/M2) Part 1 Installation 6.3 Connect the motor cable from the actuator to the applicable motor connector on the front face of the controller. 6.3.2 Connecting the Encoder Cable (PG1/PG2) Chapter 3 Installation and Wiring Connect the encoder cable from the actuator to the applicable encoder connector on the front face of the controller.
Part 1 Installation 6.4 Connecting the PIO Cable (I/O) Part 1 Installation Connect the supplied flat cable. Connect the opposite end (open end without connector) of the cable to a desired peripheral (host PLC, etc.). I/O flat cable (supplied): Model CB-DS-P10020 Chapter 3 Installation and Wiring No connector Flat cable (34 cores) No.
Part 1 Installation 6.4.1 I/O Connection Diagram Part 1 Installation (1) NPN specification (Program mode) Pin No. Category Port No. Function Cable color 1 - Brown External power supply 24 V Program specification (PRG No. 1) Program specification (PRG No. 2) Program specification (PRG No. 4) Program specification (PRG No. 8) Program specification (PRG No. 10) Program specification (PRG No. 20) Program specification (PRG No.
Part 1 Installation (2) PNP specification (Program mode) Category Port No. Function Cable color 1 - Brown External power supply 24 V Program specification (PRG No. 1) Program specification (PRG No. 2) Program specification (PRG No. 4) Program specification (PRG No. 8) Program specification (PRG No. 10) Program specification (PRG No. 20) Program specification (PRG No.
Part 1 Installation Part 1 Installation (3) NPN specification (Positioner mode) Pin No. Category Port No. Positioner mode Standard mode Product switching mode 2-axis independent mode Teaching mode DC-S-C1 compatible mode Position No. 1000 input 24-V input Chapter 3 Installation and Wiring Pin No. Category Port No.
Part 1 Installation (4) PNP specification (Positioner mode) Positioner mode Teaching mode DC-S-C1 compatible mode Position input 7 Axis 1 jog- Position No. 1000 input Position input 8 Axis 2 jog+ Product switching mode 2-axis independent mode Position input 10 Input 10 Position input 11 Input 11 Position input 12 Input 12 Position input 9 Axis 2 jog- 1 - Yellow Position input 13 Input 13 Position input 10 Inching (0.01 mm) 1 - Green Input 14 Position input 11 Inching (0.
Part 1 Installation Part 1 Installation 6.5 External I/O Specifications 6.5.1 NPN Specification (1) Input part External Input Specifications (NPN Specification) Item Input voltage Input current ON/OFF voltage Insulation method External devices Specification 24 VDC r10% 7 mA per circuit ON voltage --- 16.0 VDC min. OFF voltage --- 5.0 VDC max. Photocoupler insulation [1] No-voltage contact (minimum load of approx.
Part 1 Installation (2) Output part External Output Specifications (NPN Specification) External devices Note) Specification 24 VDC 100 mA per point, 400 mA per 8 ports Note) 0.1 mA max. per point Photocoupler insulation [1] Miniature relay [2] Sequencer input unit TD62084 (or equivalent) Part 1 Installation Item Load voltage Maximum load current Leakage current Insulation method 400 mA is the maximum total load current of output port Nos. 300 to 307.
Part 1 Installation 6.5.2 PNP Specification Part 1 Installation (1) Input part External Input Specifications (PNP Specification) Item Input voltage Input current Specification ON/OFF voltage Insulation method External devices 24 VDC r10% 7 mA per circuit ON voltage --- 8 VDC max. OFF voltage --- 19 VDC min. Photocoupler insulation [1] No-voltage contact (minimum load of approx.
Part 1 Installation (2) Output part External Output Specifications (PNP specification) External devices Note) Specification 24 VDC 100 mA per point, 400 mA per 8 ports Note) 0.1 mA max. per point Photocoupler insulation [1] Miniature relay [2] Sequencer input unit TD62784 (or equivalent) Part 1 Installation Item Load voltage Maximum load current Leakage current Insulation method 400 mA is the maximum total load current of output port Nos. 300 to 307.
Part 1 Installation 6.6 Connecting the Teaching Pendant/PC (Software) (TP) (Optional) Part 1 Installation The ASEL controller’s teaching connector (TP) is a small, half-pitch connector. If you are using a teaching pendant or PC software cable, connect the cable to a connector conversion cable, and then connect the conversion cable to the teaching connector on the controller. 6.
Part 1 Installation 6.7.1 Explanation of Codes Displayed on the Panel Unit (Optional) (1) Application Priority (*1) Part 1 Installation Display Description Control power cut off 1 System-down level error 2 Writing data to the flash ROM. 3 Emergency stop is being actuated (except during the update mode).
Part 1 Installation Part 1 Installation Display Priority (*1) Description 9 Ready status (auto mode) (Program mode) 9 Ready status (manual mode) (Program mode) 9 Operating in positioner mode; “No.” indicates positioner mode number. 9 Ready status (auto mode) (Positioner mode) 9 Ready status (manual mode) (Positioner mode) Chapter 3 Installation and Wiring (*1) The priority increases as the number decreases.
Part 1 Installation (2) Core Display Priority (*1) Description 1 Cold-start level error 1 Cold-start level error 1 Operation-cancellation level error 1 Operation-cancellation level error 2 Message level error 2 Message level error 2 Application update mode 2 Application update is in progress. 2 Application update has completed. 2 Hardware test mode process 2 Clearing the application flash ROM. 2 Application flash ROM has been cleared.
Part 1 Installation Part 1 Installation 6.7.2 Current Monitor and Variable Monitor By setting other parameter Nos. 49 and 50 appropriately, the optional panel unit can be used to monitor either current levels or variables. (1) Current monitor Currents of up to four axes having continuous axis numbers can be monitored. Parameter settings Other parameter No. 49 = 1 Other parameter No. 50 = Smallest axis number among the axes to be monitored Example) If other parameter No.
Part 1 Installation When data is written to the flash ROM or a software reset (restart) is executed after the parameter values have been input, the panel window will show the content of the global integer variable, instead of “ready status” or “program run number.” The far-left segment digit should read “U.” Display example) 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.
Part 1 Installation Part 1 Installation 6.8 Installation Method for the Absolute-Data Backup Battery The ASEL controller does not come with a holder or any other dedicated piece for installing the absolutedata backup battery. The user must affix the battery using tie-bands. Example of installation As shown to the left, guide tie-bands through the controller and tie the ends to make loose loops. Chapter 3 Installation and Wiring Guide the batteries into the tie-band loops.
Part 1 Installation 6.9 Installing the System-Memory Backup Battery (Optional) Part 1 Installation As shown to the left, install the supplied battery holder on the left side face of the controller. Insert the battery into the holder. Chapter 3 Installation and Wiring Connect the battery connector. Pay attention to the connector orientation. (The connector hook should face the right side.
Part 1 Installation Chapter 4 Operation Part 1 Installation 1. Startup (1) (2) (3) (4) Connect the motor cable and encoder cable to the controller. Connect the PIO connector to the host PLC using the supplied flat cable. Execute an emergency stop. Connect the PC or teaching pendant. Set the AUTO/MANU switch to the “MANU” side. (5) Supply the 24-V PIO power through the flat cable. (6) Turn on the control power and motor power at the same time. (They should be taken from the same power supply.
Part 1 Installation 1.1 Power ON Sequence The PIO power must be turned on before the control power, in order to perform checks during initialization and self-diagnosis and apply a hardware latch upon detection of an error. Taken from the same power supply. Control power Part 1 Installation x Although separate inputs are provided for the control power and motor power, they should be supplied from the same power-supply terminal. x Turn on the PIO power first.
Part 1 Installation Part 1 Installation 2. How to Perform Absolute Reset (Absolute Specification) If the ASEL controller experiences any abnormal absolute-encoder battery voltage or the battery or encoder cable is disconnected, an encoder battery error will generate. In this case, you must perform an absolute reset. This chapter explains how to perform an absolute reset using the PC software.
Part 1 Installation (6) The main window of the X-SEL PC software opens. Click OK to close the error message. Part 1 Installation (7) From the Monitor menu, select Error Detail to check the condition of the present error. If the controller is experiencing an encoder battery error, the displayed window should look like the one shown below (an absolute encoder is used for axis 2 in this example). After checking the error detail, close the Error Detail window.
Part 1 Installation (8) From the Controller menu, select Absolute Reset. Part 1 Installation (9) When the Warning dialog box appears, click OK. (10) The Absolute Reset dialog box appears. Click here to select the axis you want to perform an absolute reset for. Chapter 4 Operationg 1 (11) Click Encoder Rotation Data Reset 1. When the Warning dialog box appears, click Yes.
Part 1 Installation (12) Another Warning dialog box is displayed. Click Yes again. Part 1 Installation (13) After the controller has finished processing encoder rotation data reset 1, the red arrow will move to the next item. Click the following processing buttons in this order (the arrow will move to the next one after each processing is completed): 1. Controller Error Reset 2. Servo ON 3. Home Return 4. Servo OFF Encoder rotation data reset 2 is performed with the servo turned on.
Part 1 Installation Part 1 Installation (14) When the Confirmation dialog box appears, click Yes to restart the controller. (Note) If you continue to operate the controller without resetting the software or reconnecting the power, the following errors may generate: Error No. C70: ABS coordinate non-confirmation error Error No.
Part 1 Installation 3. How to Start a Program The former two methods are “starting from the teaching pendant” and “starting from the PC software.” These methods provide simple means of checking the operation. For details on “starting from the teaching pendant,” read the operation manual for the optional teaching pendant. For “starting from the PC software,” read the applicable explanation in the manual supplied with the PC software.
Part 1 Installation 3.1 Starting a Program by Auto-Start via Parameter Setting Part 1 Installation Other parameter No. 7 (Auto program start setting) = 1 (Standard factory setting) This parameter is set using the teaching pendant or PC software. Set an auto-start program number Reset the controller Chapter 4 Operationg Automatically starting the program Set the number of the program you wish to start automatically in other parameter No. 1 (auto-start program number).
Part 1 Installation 3.2 Starting via External Signal Selection Select a desired program number externally and then input a start signal. Part 1 Installation (1) Flow chart Controller External device Power ON Power ON Ready output READY signal confirmed? READY signal ON N Y When the READY signal (Output port No. 301) turns ON, the RDY lamp (green) on the controller front panel will illuminate.
Part 1 Installation [2] Timing chart Part 1 Installation [1] Program start Ready output Program number input External start input Program 1 Program 2 T1: T2: T3: Duration after the ready output turns ON until input of external start signal is permitted T1 = 10 msec min. Duration after the program number is input until input of external start signal is permitted T2 = 50 msec min. Input duration of external start signal T3 = 100 msec min.
Part 1 Installation 4. Drive-Source Recovery Request and Operation-Pause Reset Request [2] How to request a drive-source recovery A drive-source recovery request can be issued using one of the following methods: x Set the input function specification value “17” in the I/O parameter corresponding to the desired input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and “I/O Parameters.”) Input the ON edge to the input port of the specified number.
Part 1 Installation Part 1 Installation 5. Controller Data Structure The controller data consists of parameters as well as position data and application programs used to implement SEL language. ASEL Controller Data Structure Main SEL language Chapter 4 Operationg Parameters Position data Application programs The user must create position data and application programs. The parameters are predefined, but their settings can be changed in accordance with the user’s system.
Part 1 Installation 5.1 How to Save Data For important data, always write to the flash memory so that they will not be lost. 5.1.1 Factory Settings: When the System-Memory Backup Battery is Not Used Part 1 Installation The flow to save data in the ASEL controller is illustrated below.
Part 1 Installation 5.1.2 When the System-Memory Backup Battery (Optional) is Used Part 1 Installation Change the setting of other parameter No. 20 to 2 (System-memory backup battery installed).
Part 1 Installation 5.2 Points to Note Point to note when saving parameters to a file The encoder parameters are stored in the EEPROM of the actuator’s encoder itself (unlike other parameters, they are not stored in the EEPROM of the controller). The encoder parameters will be read from the encoder’s EEPROM to the controller when the power is turned on or upon software reset.
Part 1 Installation Part 1 Installation Chapter 5 Maintenance x 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. x The standard inspection interval is six months to one year. If the environment warrants, however, the interval should be shortened. 1. Inspection points x Check to see if the supply voltage to the controller is inside the specified range.
Part 1 Installation 3. Replacement Procedure for System-Memory Backup Battery (Optional) Backing up the system memory x Position data x SEL global data (flags, integer/real variables, string variables) x Error list Part 1 Installation If the optional system-memory backup battery is installed in the ASEL controller and “Other parameter No.
Part 1 Installation Battery Replacement Procedure Part 1 Installation [1] Remove the battery connector and pull out the battery. Chapter 5 Maintenanceg [2] Insert a new battery into the holder and plug in the battery connector. The connector hook should face the right side. (8) When the replacement of system-memory backup battery is complete, confirm that the battery is installed securely and then turn on the controller power. (9) Revert “Other parameter No.
Part 1 Installation 4. Replacement Procedure for Absolute-Data Backup Battery (Optional) Part 1 Installation The replacement procedure is different depending on which error is present (No. A23, 914, CA2), or if no error is present at all, when the battery is replaced. x If no error is present, perform steps (1) to (4). x If an absolute-data backup battery voltage-low warning (Error No. A23) has been issued, perform steps (1) to (11). x If an absolute-data backup battery voltage error (Error No.
Part 1 Installation Part 1 Installation (4) Turn on the controller power. (5) Start the PC software on a PC connected to the controller. From the Controller menu, select Absolute Reset. (6) When the Warning dialog box appears, click OK. Warning (7) The Absolute Reset dialog box appears. Chapter 5 Maintenanceg (8) Set the address number corresponding to the axis whose battery has just been replaced. Note) Do not click Encoder Rotation Data Reset 1. (9) Click Encoder Error Reset.
Part 2 Programs Part 2 Programs Chapter 1 SEL Language Data 1. Values and Symbols Used in SEL Language Part 2 Programs 1.1 List of Values and Symbols Used The various functions required in a program are represented by values and symbols.
Part 2 Programs z If the optional system-memory backup battery is installed, data of global variables and flags will be retained even after the controller power is turned off. (Other parameter No. 20 must be set to “2.” Refer to 5.1.2, “When the System Memory Backup Battery is Used” in Chapter 5 of Part 1.) Chapter 1 SEL Language Data Part 2 Programs z The variables and flags in the local range will be cleared when the program is started.
Part 2 Programs 1.3 Virtual I/O Ports (1) Virtual input ports Port No.
Part 2 Programs (2) Virtual output ports Port No.
Part 2 Programs 1.4 Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Global flags will be retained (backed up by battery) even after the power is turned off. Local flags will be cleared when the power is turned off.
Part 2 Programs 1.5 Variables Part 2 Programs (1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” Variables can be used in many ways, such as putting in or taking out a value and performing addition or subtraction. A variable can be used in many ways, such as: Putting in a value (1234), Taking out a value (456), or Adding a value (+1).
Part 2 Programs (2) Types of variables Variables are classified into two types, as follows: Part 2 Programs [1] Integer variables These variables cannot handle decimal places.
Part 2 Programs Part 2 Programs [3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,” then “1234” will be put in variable box 2. Command Operand 1 Operand 2 LET 1 1234 1 2 3 4 Put in.
Part 2 Programs 1.6 Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a book you want to reference frequently. A tag is a destination specified in a jump command “GOTO.” Part 2 Programs Tag Operand 1 TAG Tag number (Integer between 1 and 256) Chapter 1 SEL Language Data Command They are used only in each program.
Part 2 Programs 1.7 Subroutines Part 2 Programs By taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the same processing can be performed with fewer steps. (A maximum of 15 nests are accommodated.) They are used only in each program.
Part 2 Programs 1.8 Symbols In the ASEL 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 PSEL teaching pendant or “Symbol Edit Window” in the operation manual for PSEL PC software.
Part 2 Programs 1.10 Axis Specification Part 2 Programs 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 1 2 How axis is stated Axis 1 Axis 2 Chapter 1 SEL Language Data The axis numbers stated above can also be expressed using symbols. Use axis number if you wish to specify only one of multiple axes.
Part 2 Programs (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) Axis 2 1 0 Part 2 Programs Axis number Used Not used (Lower) Axis 1 1 0 [Example] When axes 1 and 2 are used Axis 2 11 Axis 1 10 (In this case, the 0s are needed to indicate the position of axis 2.) Indirect specification of axis pattern in a variable The axis pattern is considered a binary value, and a converted decimal value is assigned to a variable.
Part 2 Programs SEL language consists of a position part (position data = coordinates, etc.) and a command part (application program). Part 2 Programs 2. Position Part As position data, coordinates, speeds, accelerations and decelerations are set and stored. *1, 2 1 ~ 2000/mmsec r 2000000.000 mm Chapter 1 SEL Language Data Position No. 1 2 3 Axis 1 Axis 2 Speed *2 Standard 0.3 G *2 Standard 0.3 G Acceleration Deceleration 1498 1499 1500 *1 Varies depending on the actuator model.
Part 2 Programs 3. Command Part The primary feature of SEL language is its very simple command structure. Since the structure is simple, there is no need for a compiler (to translate into computer language) and high-speed operation is possible via an interpreter (the program runs as commands are translated). SEL language Structure The table below shows the structure of one command step.
Part 2 Programs 3.2 Extension Condition Part 2 Programs Conditions can be combined in a complex manner.
Part 2 Programs Chapter 2 List of SEL Language Command Codes 1. By Function Once an “actuator control declaration” command is executed in a program, the command will remain valid as long as the program is running. To change the values (in operand 1, operand 2, etc.) already set by the “actuator control declaration” command, the necessary parts of the program must be set again. In other words, the values set by the last executed command will prevail.
Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Part 2 Programs Category Program control Chapter 2 List of SEL Language Command Codes Task management Position operation Actuator control declaration 86 C
Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category Structural DO Multibranching Operand 2 Output Function Page SV Operation axis pattern Prohibited PE Servo [ON, OF] Optional HOME Home-retu
Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Part 2 Programs Category System information acquisition Zone Chapter 2 List of SEL Language Command Codes Communica tion String operation 88 Condition Comm
Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category Command Operand 1 Operand 2 Output Function Page Optional ARCH Position number Position number PE Arch motion 216 Optional ACHZ Axis numbe
Part 2 Programs 2.
Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Operand 1 Operand 2 Output Function 124 Prohibited Prohibited Prohibited CP End subroutine ELSE 186 Prohibited Prohibited Prohibited CP EOR 106 Op
Part 2 Programs Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Command Page Condition O OFAZ OFST OPEN OR 220 150 200 105 Optional Optional Optional Optional OTHE 192 OUT OUTB OUTR OVRD Offset amount
Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Operand 1 Operand 2 Output Function Part 2 Programs Command Page Condition Q QRTN 160 Optional 201 Optional 129 SCHA SCMP 0 or 1 Prohibited CP Set
Part 2 Programs Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Command Page Condition Operand 1 TAG 122 Prohibited Declaration tag number Prohibited Output Function CP Declare jump destination ZR Ta
Part 2 Programs Chapter 3 Explanation of Commands 1. Commands 1.1 Variable Assignment Part 2 Programs z LET (Assign) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration LET Variable number Data Output (Output, flag) ZR Assign the value specified in operand 2 to the variable specified in operand 1. The output will turn ON when 0 is assigned to the variable specified in operand 1.
Part 2 Programs Part 2 Programs z TRAN (Copy) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] Chapter 3 Explanation of Commands [Example 2] Command, declaration Command, Operand 1 Operand 2 declaration TRAN Variable number Variable number Output (Output, flag) ZR Assign the content of the variable specified in operand 2 to the variable specified in operand 1.
Part 2 Programs z CLR (Clear variable) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration CLR Variable number Variable number Output (Output, flag) ZR Part 2 Programs Extension condition (LD, A, O, AB, OB) Clear the variables from the one specified in operand 1 through the other specified in operand 2. The contents of the variables that have been cleared become 0.
Part 2 Programs 1.2 Arithmetic Operation Part 2 Programs z ADD (Add) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration ADD Variable number Output (Output, flag) Data ZR Add the content of the variable specified in operand 1 and the value specified in operand 2, and assign the result to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Part 2 Programs z MULT (Multiply) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration MULT Variable number Data Output (Output, flag) ZR Part 2 Programs Extension condition (LD, A, O, AB, OB) Multiply the content of the variable specified in operand 1 by the value specified in operand 2, and assign the result to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration MOD Variable number Data Output (Output, flag) ZR [Function] Assign, to the variable specified in 1, the remainder obtained by dividing the content of the variable specified in operand 1 by the value specified in operand 2. The output will turn ON when the operation result becomes 0.
Part 2 Programs 1.3 Function Operation z SIN (Sine operation) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SIN Variable number Data Output (Output, flag) ZR [Function] Assign the sine of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0. The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300 to 399 or 1300 to 1399.
Part 2 Programs Part 2 Programs z TAN (Tangent operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration TAN Variable number Data Output (Output, flag) ZR [Function] Assign the tangent of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Part 2 Programs z SQR (Root operation) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration SQR Variable number Output (Output, flag) Data ZR Part 2 Programs Extension condition (LD, A, O, AB, OB) Assign the root of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0. [Example 1] SQR 1 4 Assign the root of 4 (2) to variable 1.
Part 2 Programs 1.4 Logical Operation Part 2 Programs z AND (Logical AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Variable number AND Data Output (Output, flag) ZR Assign the logical AND operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.
Part 2 Programs z OR (Logical OR) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Variable number OR Data Output (Output, flag) ZR Assign the logical OR operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1. The output will turn ON when the operation result becomes 0. [Example 1] LET OR 1 1 204 170 Assign 204 to variable 1.
Part 2 Programs Part 2 Programs z EOR (Logical exclusive-OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Variable number EOR Data Output (Output, flag) ZR Assign the logical exclusive-OR operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.
Part 2 Programs 1.5 Comparison Operation z CP (Compare) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Variable number CP Data Output (Output, flag) EQ GT LT NE GE LE [Function] The output will be turned ON if the comparison result of the content of the variable specified in operand 1 and the value specified in operand 2 satisfies the condition. The value in the variable does not change.
Part 2 Programs 1.6 Timer Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] TIMW 1.5 [Example 2] LET TIMW 1 *1 108 Command, declaration Command, Operand 1 Operand 2 declaration TIMW Time Prohibited Output (Output, flag) TU Stop the program and wait for the time specified in operand 1. The setting range is 0.01 to 99, and the unit is second. The output will turn ON when the specified time has elapsed and the program proceeds to the next step.
Part 2 Programs z TIMC (Cancel timer) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration TIMC Program number Prohibited Output (Output, flag) CP [Function] Cancel a timer in other program running in parallel. (Note) Timers in TIMW, WTON, WTOF and READ commands can be cancelled.
Part 2 Programs Part 2 Programs z GTTM (Get time) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] Chapter 3 Explanation of Commands [Example 2] 110 Command, declaration Command, Operand 1 Operand 2 declaration GTTM Variable number Prohibited Output (Output, flag) CP Read system time to the variable specified in operand 1. The time is specified in units of 10 milliseconds. The time obtained here has no base number.
Part 2 Programs 1.7 I/O, Flag Operation z BT (Output port, flag operation) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration BT Output, flag Output (Output, flag) (Output, flag) CP Reverse the ON/OFF status of the output ports or flags from the one specified in operand 1 through the other specified in operand 2. BT Part 2 Programs Extension condition (LD, A, O, AB, OB) Switch the status to ON.
Part 2 Programs Part 2 Programs z BTPN (Output ON pulse) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Output port, flag CP BTPN Timer setting Turn ON the specified output port or flag for the specified time. When this command is executed, the output port or flag specified in operand 1 will be turned ON and then the program will proceed to the next step.
Part 2 Programs z BTPF (Output OFF pulse) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Output port, flag CP BTPF Timer setting Turn OFF the specified output port or flag for the specified time. When this command is executed, the output port or flag specified in operand 1 will be turned OFF and then the program will proceed to the next step.
Part 2 Programs Part 2 Programs z WT (Wait for I/O port, flag) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WT I/O, flag Output (Output, flag) (Time) TU [Function] Wait for the I/O port or flag specified in operand 1 to turn ON/OFF. The program can be aborted after the specified time by setting the time in operand 2. The setting range is 0.01 to 99 seconds.
Part 2 Programs z IN (Read I/O, flag as binary) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration IN I/O, flag Output (Output, flag) I/O, flag CC Read the I/O ports or flags from the one specified in operand 1 through the other specified in operand 2, to variable 99 as a binary.
Part 2 Programs Part 2 Programs z INB (Read I/O, flag as BCD) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration INB I/O, flag BCD digits CC Read the I/O ports or flags from the one specified in operand 1 for the number of digits specified in operand 2, to variable 99 as a BCD.
Part 2 Programs z OUT (Write output, flag as binary) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration OUT Output (Output, flag) Output, flag Output, flag CC Write the value in variable 99 to the output ports or flags from the one specified in operand 1 through the other specified in operand 2.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs z OUTB (Write output, flag as BCD) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration OUTB Output (Output, flag) Output, flag BCD digits CC Write the value in variable 99 to the output ports or flags from the one specified in operand 1 for the number of digits specified in operand 2 as a BCD.
Part 2 Programs z FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration [Function] Optional Format type FMIO Prohibited CP Set the data format for reading or writing I/O ports and flags with an IN, INB, OUT or OUTB command. (1) Operand 1 = 0 (Default status when a FMIO command has not been executed) Data is read or written without being reversed.
Part 2 Programs (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eight bits and lower eight bits are reversed every 16 bits.
Part 2 Programs [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h OUT(B) command IN(B) command Part 2 Programs OUT(B) command Variable 99 4660 (IN/OUT command) 1234 (INB/OUTB command) IN(B) command (I/O, flag number upper) (I/O, flag number lower) FMIO = 0 00h 00h 12h 34h 0000 0000 0000 0000 0001 0010 0011 0100 FMIO = 1 00h 00h 34h 12h 0000 0000 0000 0000 0011 0100 0001 0010 FMIO = 2 12h 34h 00h 00h 0001 0010 0011 0100 0000 0000 0000 0000 FMIO = 3 34h 12h 0
Part 2 Programs 1.8 Program Control Part 2 Programs z GOTO (Jump) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Tag number CP GOTO Prohibited [Function] Jump to the position of the tag number specified in operand 1. (Note) A GOTO command is valid only within the same program. [Example 1] TAG : : : GOTO 1 Set a tag. 1 Jump to tag 1.
Part 2 Programs z EXSR (Execute subroutine) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration EXSR Subroutine Prohibited number [Function] Execute the subroutine specified in operand 1. A maximum of 15 nested subroutine calls are supported. (Note) This command is valid only for subroutines within the same program. [Example 1] [Example 2] EXSR : : EXIT BGSR : : : EDSR 1 Execute subroutine 1. 1 Start subroutine 1.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration EDSR 124 Prohibited Prohibited Output (Output, flag) CP Declare the end of a subroutine. This command is always required at the end of a subroutine. Thereafter, the program will proceed to the step next to the EXSR that has been called. [Example 1] Refer to the section on EXSR command.
Part 2 Programs 1.9 Task Management z EXIT (End program) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration EXIT Prohibited Prohibited Output (Output, flag) CP [Function] End the program. If the last step has been reached without encountering any EXIT command, the program will return to the beginning.
Part 2 Programs Part 2 Programs z EXPG (Start other program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration EXPG Program number (Program number) Output (Output, flag) CC [Function] Start the programs from the one specified in operand 1 through the other specified in operand 2, and run them in parallel. Specification in operand 1 only is allowed. [Example 1] EXPG 10 12 Start program Nos.
Part 2 Programs z ABPG (Abort other program) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration ABPG Operand 1 Operand 2 Program number (Program number) Output (Output, flag) CC [Function] Forcibly end the programs from the one specified in operand 1 to the other specified in operand 2. Specification in operand 1 only is allowed.
Part 2 Programs z SSPG (Pause program) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Part 2 Programs Optional Command, declaration Optional SSPG Command, declaration Operand 1 Operand 2 Program number (Program number) Output (Output, flag) CC [Function] Pause the program from the one specified in operand 1 through the other specified in operand 2, at the current step. Specification in operand 1 only is allowed.
Part 2 Programs z RSPG (Resume program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration RSPG Program number (Program number) Output (Output, flag) CC Resume the programs from the one specified in operand 1 through the other specified in operand 2. Specification in operand 1 only is allowed. (Note 1) Resuming a program will also resume the operation the program had been executing before the pause.
Part 2 Programs 1.10 Position Operation Part 2 Programs z PGET (Read position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Chapter 3 Explanation of Commands [Example 1] [Example 2] 130 Command, declaration Command, Operand 1 Operand 2 declaration PGET Axis number Position number Output (Output, flag) CC Read to variable 199 the data of the axis number specified in operand 1 in the position data specified in operand 2.
Part 2 Programs z PPUT (Write position data) Input condition (I/O, flag) Optional Optional [Function] [Example 1] PPUT Axis number Position number Output (Output, flag) CP Write the value in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2. LET PPUT [Example 2] Command, declaration Command, Operand 1 Operand 2 declaration LET LET LET PPUT 199 2 150 3 Assign 150 to variable 199. Write the content of variable 199 (150) to axis 2 at position 3.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PCLR Position number Position number Output (Output, flag) CP Clear the position data from the one specified in operand 1 through the other specified in operand 2. Once the data has been deleted, the position data field no longer contains any data; it does not store a value of “0.000.
Part 2 Programs z PCPY (Copy position data) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PCPY Position number Position number Output (Output, flag) CP Copy the position data specified in operand 2 to the position number specified in operand 1. [Example 1] PCPY 20 10 Copy the data of position No. 10 to position No. 20. [Example 2] LET LET PCPY 1 2 *1 20 10 *2 Assign 20 to variable 1. Assign 10 to variable 2.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PRED Axis pattern Position number Output (Output, flag) CP Read the current position of the axis specified in operand 1 to the position specified in operand 2. [Example 1] PRED [Example 2] The axis pattern can be specified indirectly using a variable.
Part 2 Programs z PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration [Function] [Example] Optional PRDQ Axis number Variable number CP Read the current position of the axis number specified in operand 1 to the variable specified in operand 2. The current position can be obtained more quickly than when a PRED command is used.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PTST Axis pattern Position number Output (Output, flag) CC Check if valid data is contained in the axis pattern specified in operand 1 at the position number specified in operand 2. If the data specified by the axis pattern is not available (the position data field on the teaching pendant shows “X.
Part 2 Programs z PVEL (Assign speed data) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PVEL Speed Position number Output (Output, flag) CP [Function] Write the speed specified in operand 1 to the position number specified in operand 2. (Note) If a negative value is written with a PVEL command, an alarm will generate when that position is specified in a movement operation, etc. Exercise caution.
Part 2 Programs Part 2 Programs z PACC (Assign acceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PACC Acceleration Position number Output (Output, flag) CP [Function] Write the acceleration specified in operand 1 to the position number specified in operand 2. (Note) Range check is not performed for a PACC command. Be careful not to exceed the limit set for each actuator.
Part 2 Programs z PDCL (Assign deceleration data) Input condition (I/O, flag) Optional Optional [Function] [Example 1] Command, declaration Command, Operand 1 Operand 2 declaration PDCL Deceleration Position number Output (Output, flag) CP Assign the deceleration data specified in operand 1 to the deceleration item in the position data specified in operand 2. The deceleration is set in G and may include up to two decimal places. PDCL 0.3 3 Assign 0.3 to the deceleration data at position No.
Part 2 Programs Part 2 Programs z PAXS (Read axis pattern) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PAXS Variable number Position number Output (Output, flag) CP Store the axis pattern at the position specified in operand 2 to the variable specified in operand 1. [Example 1] PAXS 1 99 Read the axis pattern at position 99 to variable 1.
Part 2 Programs z PSIZ (Check position data size) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PSIZ Variable number Prohibited Output (Output, flag) CP Part 2 Programs Extension condition (LD, A, O, AB, OB) Set an appropriate value in the variable specified in operand 1 in accordance with the parameter setting. x When “Other parameter No.
Part 2 Programs Part 2 Programs z GVEL (Get speed data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] No. 1 2 y y y 10 y y Command, declaration Command, Operand 1 Operand 2 declaration GVEL Variable number Position number Output (Output, flag) CP Obtain speed data from the speed item in the position data specified in operand 2, and set the value in the variable specified in operand 1. GVEL Axis 1 50.
Part 2 Programs z GACC (Get acceleration data) Input condition (I/O, flag) Optional Optional [Function] [Example] No. 1 2 y y y 10 y y Command, declaration Command, Operand 1 Operand 2 declaration GACC Variable number Position number Output (Output, flag) CP Obtain acceleration data from the acceleration item in the position data specified in operand 2, and set the value in the variable specified in operand 1. GACC Axis 1 50.000 100 10 Set the acceleration data at position No.
Part 2 Programs Part 2 Programs z GDCL (Get deceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] No. 1 2 y y y 10 y y Command, declaration Command, Operand 1 Operand 2 declaration GDCL Variable number Position number Output (Output, flag) CP Obtain deceleration data from the deceleration item in the position data specified in operand 2, and set the value in the variable specified in operand 1. GDCL Axis 1 50.
Part 2 Programs 1.11 Actuator Control Declaration z VEL (Set speed) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration VEL Speed Prohibited Output (Output, flag) CP [Function] Set the actuator travel speed in the value specified in operand 1. The unit is mm/s. The maximum speed will vary depending on the model of the actuator connected. Set a speed not exceeding the applicable maximum speed.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] Command, declaration Command, Operand 1 Operand 2 declaration OVRD Speed ratio Prohibited Output (Output, flag) CP Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient setting). The speed ratio is set in a range from 1 to 100%. A speed command specifying a speed below 1 mm/sec can be generated using OVRD.
Part 2 Programs z ACC (Set acceleration) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ACC Acceleration Prohibited Output (Output, flag) CP Part 2 Programs Extension condition (LD, A, O, AB, OB) [Function] Set the travel acceleration of the actuator. The maximum acceleration will vary depending on the load and model of the actuator connected. The acceleration is set in G and may include up to two decimal places.
Part 2 Programs Part 2 Programs z DCL (Set deceleration) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration DCL Deceleration Prohibited Output (Output, flag) CP [Function] Set the travel deceleration of the actuator. The maximum deceleration will vary depending on the load and model of the actuator connected. The deceleration is set in G and may include up to two decimal places.
Part 2 Programs z SCRV (Set sigmoid motion ratio) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration SCRV Ratio Output (Output, flag) Prohibited CP Part 2 Programs Extension condition (LD, A, O, AB, OB) Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1. The ratio is set as an integer in a range from 0 to 50 (%).
Part 2 Programs Part 2 Programs z OFST (Set offset) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional OFST Axis pattern Output (Output, flag) Offset value CP [Function] Reset the target value by adding the offset value specified in operand 2 to the original target value when performing the actuator movement specified in operand 1. The offset is set in mm, and the effective resolution is 0.001 mm.
Part 2 Programs z DEG (Set arc angle) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration DEG Angle Prohibited Output (Output, flag) CP [Function] Set a division angle for the interpolation implemented by a CIR (move along circle) or ARC (move along arc) command. When CIR or ARC is executed, a circle will be divided by the angle set here to calculate the passing points. The angle is set in a range from 0 to 120 degrees.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] HOME BASE HOME 1 2 1 [Example 2] LET BASE 1 *1 152 Command, declaration Command, Operand 1 Operand 2 declaration BASE Axis number Prohibited Output (Output, flag) CP Count the axes sequentially based on the axis number specified in operand 1 being the first axis. A BASE command can be used with PRED, PRDQ, AXST, actuator-control and zone commands.
Part 2 Programs z GRP (Set group axes) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration GRP Axis pattern Prohibited Output (Output, flag) CP Allow only the position data of the axis pattern specified in operand 1 to become valid. The program assumes that there are no data for other axes not specified.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs z HOLD (Hold: Declare axis port to pause) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration HOLD (Input port, global flag) (HOLD type) Output (Output, flag) CP Declare an input port or global flag to pause while a servo command is being executed.
Part 2 Programs z CANC (Cancel: Declare axis port to abort) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration CANC (Input port, global flag) Output (Output, flag) (CANC type) CP Declare an input port or global flag to abort while a servo command is being executed. When operation is performed on the input port or global flag specified in operand 1, the current servo processing will be aborted.
Part 2 Programs Part 2 Programs z VLMX (Specify VLMX speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration VLMX Prohibited Prohibited Output (Output, flag) CP [Function] Set the actuator travel speed to the VLMX speed (normally maximum speed). Executing a VLMX command will set the value registered in “Axis-specific parameter No. 29, VLMX speed” as the travel speed.
Part 2 Programs z DIS (Set division distance at spline movement) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration DIS Distance Prohibited Output (Output, flag) CP Set a division distance for the interpolation implemented by a PSPL (move along spline) command. When a PSPL command is executed, a passing point will be calculated at each distance set here and the calculated passing points will be used as interpolation points.
Part 2 Programs Part 2 Programs z POTP (Set PATH output type) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] POTP 0 or 1 Prohibited Output (Output, flag) CP Set the output type in the output field to be used when a PATH or PSPL command is executed. When a PATH or PSPL command is executed, the output will operate as follows in accordance with the setting of the POTP command.
Part 2 Programs z PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration [Function] Optional PAPR Distance Speed CP Set the operation to be performed when a PUSH command is executed.
Part 2 Programs Part 2 Programs z QRTN (Set quick-return mode) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] QRTN 0 or 1 Prohibited Output (Output, flag) CP Set and cancel the quick-return mode. (1) QRTN [Operand 1] = 0 (Normal mode) Positioning is deemed complete when all command pulses have been output and the current position is inside the positioning band.
Part 2 Programs 1.12 Actuator Control Command SV (Turn ON/OFF servo) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration SV Axis pattern Prohibited Output (Output, flag) Part 2 Programs Extension condition (LD, A, O, AB, OB) PE Turn ON/OFF the servos of the axes specified by the axis pattern in operand 1. SV Turn ON the servo. Turn OFF the servo. ON OF [Example 1] SVON 11 Turn ON the servos of axes 1 and 2.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs HOME (Return to home) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration HOME Axis pattern Prohibited Output (Output, flag) PE [Function] Perform home return of the axes specified by the axis pattern in operand 1. The servo of each home-return axis will turn ON automatically.
Part 2 Programs z MOVP (Move PTP by specifying position data) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration MOVP Position number Prohibited Output (Output, flag) PE Move the actuator to the position corresponding to the position number specified in operand 1, without interpolation (PTP stands for “Point-to-Point”). The output will turn OFF at the start of axis movement, and turn ON when the movement is complete.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs z MOVL (Move by specifying position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration MOVL Position number Prohibited Output (Output, flag) PE Move the actuator to the position corresponding to the position number specified in operand 1, with interpolation.
Part 2 Programs z MVPI (Move via incremental PTP) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Position number MVPI Output (Output, flag) Prohibited PE Move the actuator, without interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1. The output will turn OFF at the start of axis movement, and turn ON when the movement is complete.
Part 2 Programs Part 2 Programs z MVLI (Move via incremental interpolation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration MVLI Position number Output (Output, flag) Prohibited PE Move the actuator, with interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1.
Part 2 Programs z MOVD (Move via direct value specification) Input condition (I/O, flag) Optional Optional [Function] Command, declaration MOVD Command, declaration Operand 1 Operand 2 Output (Output, flag) Target position (Axis pattern) PE Move the axis specified by the axis pattern in operand 2, to the target position corresponding to the value specified in operand 1. If operand 2 is not specified, all axes will be moved.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs z MVDI (Move relatively via direct value specification) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional MVDI Travel distance (Axis pattern) Output (Output, flag) PE Move the axis specified by the axis pattern in operand 2 from its current position by the travel distance corresponding to the value specified in operand 1.
Part 2 Programs z PATH (Move along path) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional PATH Start position number End position number Output (Output, flag) PE Move continuously from the position specified in operand 1 to the position specified in operand 2. The output type in the output field can be set using an actuator-declaration command POTP. Increasing the acceleration will make the passing points closer to the specified positions.
Part 2 Programs Part 2 Programs z JW (Jog) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Chapter 3 Explanation of Commands (Note 1) Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Axis pattern PE JW Input, output, flag number The axes in the axis pattern specified in operand 1 will move forward or backward while the input or output port or flag specified in operand 2 is ON or OFF.
Part 2 Programs z STOP (Stop movement) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration STOP Axis pattern Prohibited Output (Output, flag) CP Part 2 Programs Extension condition (LD, A, O, AB, OB) [Function] Decelerate and stop the axes specified by the axis pattern in operand 1. (Note 1) A STOP command can be used with all active servo commands other than a SVOF command.
Part 2 Programs Part 2 Programs z PSPL (Move along spline) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PSPL Start position number End position number Output (Output, flag) PE Continuously move from the specified start position to end position via interpolation along a spline-interpolation curve.
Part 2 Programs z PUSH (Move by push motion) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PUSH Target position number Output (Output, flag) Prohibited PE Perform push-motion operation until the target position specified in operand 1 is reached.
Part 2 Programs [Example] PAPR MOVP PUSH 100 2 10 20 Part 2 Programs Set the push-motion approach distance to 100 mm and push-motion approach speed to 20 mm/sec. Move from the current position to position No. 2. Perform push-motion movement from position Nos. 2 to 10. The diagram below describes a push-motion movement based on the position data shown in the table below: Chapter 3 Explanation of Commands Position No. 1 2 y y y y 10 y y Position data display in PC software Axis 2 Vel Acc Axis 1 50.
Part 2 Programs z PTRQ (Change push torque limit parameter) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PTRQ Axis pattern Ratio Output (Output, flag) CC [Function] Change the push torque limit parameter of the axis pattern specified in operand 1 to the value in operand 2. Operand 2 is set as an integer (unit: %). A PTRQ command temporarily rewrites “Driver parameter No. 38: Push torque limit at positioning.
Part 2 Programs Part 2 Programs z CIR2 (Move along circle 2 (arc interpolation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration CIR2 Passing position 1 number Passing position 2 number Output (Output, flag) PE Move along a circle originating from the current position and passing positions 1 and 2, via arc interpolation.
Part 2 Programs z ARC2 (Move along circle 2 (arc interpolation)) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration ARC2 Passing position number End position number Output (Output, flag) PE Move along an arc originating from the current position, passing the specified position and terminating at the end position, via arc interpolation.
Part 2 Programs Part 2 Programs z CHVL (Change speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration CHVL Axis pattern Output (Output, flag) Speed CP [Function] Change the speed of the axes operating in other task. When a CHVL command is executed, the speed of the axes specified in operand 1 will change to the value specified in operand 2.
Part 2 Programs z ARCD (Move along arc via specification of end position and center angle (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional ARCD End position number Center angle PE [Function] Move along an arc originating from the current position and terminating at the end position, via arc interpolation.
Part 2 Programs Part 2 Programs z ARCC (Move along arc via specification of center position and center angle (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional ARCC Center position number Center angle PE [Function] Move along an arc originating from the current position by keeping a specified radius from the center position, via arc interpolation.
Part 2 Programs z PBND (Set positioning band) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PBND Axis pattern Output (Output, flag) Distance CP Set the position complete width for the axes in the axis pattern specified in operand 1. The distance in operand 2 is set in mm. As a rule, positioning is deemed complete when all command pulses have been output and the current position is inside the positioning band.
Part 2 Programs Part 2 Programs z CIR (Move along circle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional CIR Passing position 1 number Passing position 2 number Output (Output, flag) PE [Function] Move along a circle originating from the current position and passing the positions specified in operands 1 and 2. Therefore, reversing the settings of operands 1 and 2 will implement a circular movement in the reverse direction.
Part 2 Programs z ARC (Move along arc) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ARC Passing position number End position number Output (Output, flag) PE Move along an arc from the current position to the position specified in operand 2, by passing the position specified in operand 1. The output will turn OFF at the start of arc movement, and turn ON when the movement is complete.
Part 2 Programs 1.13 Structural IF Part 2 Programs z IF (Structural IF) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] (Note) 184 Chapter 3 Explanation of Commands IF Variable number Data Output (Output, flag) CP Compare the content of the variable specified in operand 1 with the value specified in operand 2, and proceed to the next step if the condition is satisfied.
Part 2 Programs z IS (Compare strings) Extension condition (LD, A, O, AB, OB) Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Optional Column number CP Optional [Function] IS Column number, character literal Compare the character strings in the columns specified in operands 1 and 2, and proceed to the next step if the condition is satisfied.
Part 2 Programs Part 2 Programs z ELSE (Else) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration ELSE Prohibited Prohibited Output (Output, flag) CP An ELSE command is used arbitrarily in conjunction with an IF or IS command to declare the command part to be executed when the condition is not satisfied. [Example 1] Refer to the sections on IF and IS.
Part 2 Programs 1.14 Structural DO z DW (DO WHILE) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration DW Variable number Data Output (Output, flag) CP Compare the content of the variable specified in operand 1 with the value specified in operand 2, and execute the subsequent commands up to EDDO while the condition is satisfied.
Part 2 Programs Part 2 Programs z ITER (Repeat) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration ITER Prohibited Prohibited Output (Output, flag) CP Forcibly switch the control to EDDO while in a DO loop. [Example 1] DWEQ 600 1 0 : ITER : EDDO Repeat the commands up to an EDDO command while variable 1 contains “0.
Part 2 Programs 1.15 Multi-Branching z SLCT (Start selected group) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SLCT Prohibited Prohibited Output (Output, flag) CP [Function] Branch to the step next to any WH or WS command that exists before an EDSL command and whose condition is satisfied, or to the step next to an OTHE command if none of the conditions are satisfied.
Part 2 Programs Part 2 Programs z WH (Select if true; variable) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Chapter 3 Explanation of Commands WH Variable number Data Output (Output, flag) CP This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next W command or an OTHE or EDSL command when the comparison result of the content of the variable specified in operand 1 with the value specified
Part 2 Programs z WS (Select if true; character) Extension condition (LD, A, O, AB, OB) [Function] Output (Output, flag) Prohibited Column number CP WS Column number, character literal This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next W command or an OTHE or EDSL command when the comparison result of the character strings in the columns specified in operands 1 and 2 satisfies the condition.
Part 2 Programs Part 2 Programs z OTHE (Select other) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration OTHE Prohibited Prohibited Output (Output, flag) CP This command is used between SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied. [Example 1] Refer to the sections on SLCT, WH and WS.
Part 2 Programs 1.16 System Information Acquisition z AXST (Get axis status) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration AXST Variable number Output (Output, flag) Axis number CP [Function] Store in the variable specified in operand 1 the status (axis error number) of the axis specified in operand 2. (Note 1) (Note 2) If the obtained result is “0,” it means no axis error is present.
Part 2 Programs Part 2 Programs z PGST (Get program status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PGST Variable number Program number Output (Output, flag) CP [Function] Store in the variable specified in operand 1 the status (program error number) of the program specified in operand 2. (Note 1) (Note 2) If the obtained result is “0,” it means no program error is present.
Part 2 Programs z SYST (Get system status) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SYST Variable number Prohibited Output (Output, flag) CP [Function] Store the system status (top-priority system error number) in the variable specified in operand 1. (Note 1) (Note 2) (Note 3) If the obtained result is “0,” it means no system error is present. Since the error lists are written in hexadecimals, they must be converted to decimals.
Part 2 Programs 1.17 Zone Part 2 Programs z WZNA (Wait for zone ON, with AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZNA Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to become ON (inside zone) with respect to the zone specified in operand 1.
Part 2 Programs z WZNO (Wait for zone ON, with OR) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Zone number WZNO Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become ON (inside zone) with respect to the zone specified in operand 1. (Note 1) (Note 2) The zone status of axes not yet completing home return will remain OFF (outside zone).
Part 2 Programs Part 2 Programs z WZFA (Wait for zone OFF, with AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZFA Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
Part 2 Programs z WZFO (Wait for zone OFF, with OR) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZFO Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
Part 2 Programs 1.18 Communication Part 2 Programs z OPEN (Open channel) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration OPEN Channel number Output (Output, flag) Prohibited CP Open the channel specified in operand 1. The specified channel will be enabled to send/receive hereafter. Prior to executing this command, a SCHA command must be used to set an end character.
Part 2 Programs z READ (Read) Input condition (I/O, flag) Optional Optional [Function] [Example] Command, declaration Command, Operand 1 Operand 2 declaration READ Channel number Column number Output (Output, flag) CC Read a character string from the channel specified in operand 1 to the column specified in operand 2. Read will end when the character specified by a SCHA command is received. Either a local or global column may be specified.
Part 2 Programs (Note) A READ command must be executed before the other side sends the end character. SCHA OPEN READ 10 0 0 CLOS 0 2 Part 2 Programs Other side Chapter 3 Explanation of Commands x Return code of the READ command The return code is stored in a local variable. The variable number can be set by “Other parameter No. 24.” The default variable number is 99.
Part 2 Programs z TMRW (Set READ/WRIT timeout value) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Read timer setting CP TMRW (Write timer setting) [Function] Set the timeout to be applied to a READ/WRIT command. With the ASEL controller, a write timer setting cannot be specified.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs Read completes successfully within 30 seconds o Variable No. 1 = 0 Timeout occurs o Variable No. 1 = 1 * The return code of READ command may not be limited to 0 or 1. The variable to store the return code can be set in “Other parameter No. 24.” Refer to the explanation of READ command for details.
Part 2 Programs z WRIT (Write) Input condition (I/O, flag) Optional Optional [Function] [Example] Command, declaration Command, Operand 1 Operand 2 declaration WRIT Channel number Column number Output (Output, flag) CC (Note 1) Write the character string in the column specified in operand 2 to the channel specified in operand 1. The operation will end when the character specified by a SCHA command is written. Either a local or global column can be specified.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SCHA Character code Prohibited Output (Output, flag) CP [Function] Set the end character to be used by a READ or WRIT command. Any character from 0 to 255 (character code used in BASIC, etc.) can be specified.
Part 2 Programs 1.19 String Operation z SCPY (Copy character string) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional SCPY Command, declaration Operand 1 Operand 2 Column number Column number, character literal Output (Output, flag) CC [Function] Copy the character string in the column specified in operand 2 to the column specified in operand 1. Copy will be performed for the length set by a SLEN command.
Part 2 Programs z SCMP (Compare character strings) Part 2 Programs Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Optional SCMP Command, declaration Operand 1 Operand 2 Column number Column number, character literal Output (Output, flag) EQ [Function] Compare the column specified in operand 1 with the column specified in operand 2. Comparison will be performed for the length set by a SLEN command.
Part 2 Programs z SGET (Get character) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional SGET Command, declaration Operand 1 Operand 2 Variable number Column number, character literal Output (Output, flag) CP Part 2 Programs Optional Command, declaration [Function] Assign one character from the column specified in operand 2 to the variable specified in operand 1. If a character-string literal is specified in operand 2, the first character will be assigned.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SPUT Column number Data Output (Output, flag) CP [Function] Set the data specified in operand 2 in the column specified in operand 1. [Example] Chapter 3 Explanation of Commands Part 2 Programs z SPUT (Set character) 210 SPUT 5 10 Set 10 (LF) in column 5. LET LET SPUT 1 2 *1 100 50 *2 Assign 100 to variable 1.
Part 2 Programs z STR (Convert character string; decimal) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Column number STR Data Output (Output, flag) CC [Function] Copy to the column specified in operand 1 a decimal character string converted from the data specified in operand 2. The data will be adjusted to the length set by a SLEN command. If the data exceeds the specified length, it will be cut off at the length set by a SLEN command.
Part 2 Programs Part 2 Programs z STRH (Convert character string; hexadecimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Column number STRH Data Output (Output, flag) CC [Function] Copy to the column specified in operand 1 a hexadecimal character string converted from the data specified in operand 2. Only the integer part will be adjusted to the length set by a SLEN command.
Part 2 Programs z VAL (Convert character string data; decimal) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional VAL Command, declaration Operand 1 Operand 2 Variable number Column number, character literal Output (Output, flag) CC Part 2 Programs Optional Command, declaration [Function] Convert the decimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
Part 2 Programs Part 2 Programs z VALH (Convert character string data; hexadecimal) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional VALH Variable number Column number, character literal Output (Output, flag) CC [Function] Convert the hexadecimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
Part 2 Programs z SLEN (Set length) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SLEN Character string length Prohibited Output (Output, flag) CP Part 2 Programs Extension condition (LD, A, O, AB, OB) [Function] Set the length to be processed by a string command. This must always be set before using the following commands: SCMP SCPY ISXX WSXX STRH VAL, VALH STR Decimal part is invalid. Decimal part is invalid.
Part 2 Programs 1.20 Arch-Motion-Related Part 2 Programs z ARCH (Arch motion) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional ARCH Position number Output (Output, flag) Position number PE Perform arch motion from the current point and move to the specified points. x Move to the points specified in operand 1, via arch motion.
Part 2 Programs x The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, one of the following operations will be performed depending on how the arch-trigger point and Z point are set. If the resulting operation is undesirable, change the arch trigger and/or Z point to improve the efficiency of movement.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ACHZ Axis number Prohibited Output (Output, flag) CP Specify the axis number representing the arch-motion Z direction. The axis number specified in operand 1 will be set as the axis number representing the arch-motion Z direction. If the output field is specified, the output will turn ON after this command is executed.
Part 2 Programs z ATRG (Set arch triggers) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ATRG Position number Output (Output, flag) Position number CP Set the arch triggers used for arch motion. (This setting becomes valid when an ARCH command is executed.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration OFAZ Offset value Prohibited Output (Output, flag) CP Set the offset in the arch-motion Z-axis direction. The value specified in operand 1 will be set as the offset in the arch-motion Z-axis direction. The offset amount is set in mm and the effective resolution is 0.001 mm.
Part 2 Programs 1.21 Palletizing-Related z BGPA (Declare start of palletizing setting) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration BGPA Palletizing number Prohibited Output (Output, flag) CP Declare the start of a palletizing setting. Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will be enabled.
Part 2 Programs Part 2 Programs z PAPI (Set palletizing counts) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PAPI Count Count Output (Output, flag) CP Set counts in the palletizing-axis directions. The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count specified in operand 2 will apply to the PY-axis direction.
Part 2 Programs z PASE (Declare palletizing axes) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PASE Axis number Axis number Output (Output, flag) CP Set the two axes to be used in palletizing (PX and PY-axes). The axis specified in operand 1 will be set as the preferential axis (PX-axis). The axis specified in operand 2 will be set as the PY-axis. This command is used in conjunction with PAPT and PAST.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PAST (Position number) Prohibited Output (Output, flag) CP Set the reference point used in palletizing. If a value is set in operand 1, that position number specified in operand 1 will be used to store the reference point data.
Part 2 Programs Output (Output, flag) CP Set palletizing positions in 3-point teaching. It can also be used to set palletizing positions in 4-point teaching, in which case the pallet plane can be set to any quadrilateral other than a square, rectangle or parallelogram.
Part 2 Programs Part 2 Programs x If the valid axis pattern does not match the point data for 3-point teaching or 4-point teaching, an error “CB0, Mismatched valid axes for palletizing 3-point teaching data” will generate. If a PAPS command is executed after specifying the applicable axes using a GRP command, only the point data corresponding to the specified axes, among all axes whose point data is valid, will be used as palletizing point data.
Part 2 Programs z PSLI (Set zigzag) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PSLI Offset amount (Count) Output (Output, flag) CP Set a zigzag palletizing. The value specified in operand 1 will be set as the offset amount for even-numbered rows. The count specified in operand 2 will be set as the count for even-numbered rows. (Refer to “Palletizing Setting” – “Zigzag setting” under "How to Use.
Part 2 Programs 1.22 Palletizing Calculation Command Chapter 3 Explanation of Commands Part 2 Programs z PTNG (Get palletizing position number) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PTNG Palletizing number Variable number Output (Output, flag) CP Assign the palletizing position number for the palletizing number specified in operand 1 to the variable specified in operand 2.
Part 2 Programs z PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional PDEC Palletizing number Prohibited CC Decrement by 1 the palletizing position number for the palletizing number specified in operand 1. If the decremented value is considered normal as a palletizing position calculated under the current palletizing setting, the value will be updated.
Part 2 Programs Chapter 3 Explanation of Commands Part 2 Programs z PARG (Get palletizing angle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PARG Palletizing number Axis number Output (Output, flag) CP Obtain the palletizing angle.
Part 2 Programs 1.23 Palletizing Movement Command z PMVP (Move to palletizing points via PTP) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PMVP Palletizing number Prohibited Output (Output, flag) Part 2 Programs Extension condition (LD, A, O, AB, OB) PE Move to the calculated palletizing points via PTP. The axes will move to the palletizing points specified in operand 1, via PTP.
Part 2 Programs Optional Optional PMVL Palletizing number Prohibited Move to the calculated palletizing points via interpolation. The axes will move to the palletizing points specified in operand 1, via interpolation. Executing this command will not increment the palletizing position number by 1.
Part 2 Programs 1.24 Building of Pseudo-Ladder Task z CHPR (Change task level) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration CHPR 0 or 1 Prohibited Output (Output, flag) CP [Function] Specify “1” (User HIGH) if you wish the target task to be processed before other tasks. This command can also be used with non-ladder tasks.
Part 2 Programs Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited Command, declaration Command, Operand 1 Operand 2 declaration TSLP Time Prohibited Output (Output, flag) CP [Function] Set the time during which the applicable task will sleep, in order to distribute the processing time to other tasks. If the task level is set to User HIGH, this command must always be specified. The applicable task will sleep during the set time.
Part 2 Programs 1.25 Extended Command Optional Optional ECMD 1 Axis number Output (Output, flag) CC [Function] Store the motor current value (percentage of the rated current) corresponding to the “axis number” specified in operand 2, in variable 99.
Part 2 Programs Part 2 Programs z ECMD5 (Get axis operation status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ECMD 5 Axis number Output (Output, flag) CC [Function] Store the status of the axis specified in operand 2, in variable 99. The axis status is indicated by the ON/OFF level of each bit, as shown below.
Part 2 Programs z ECMD20 (Get parameter value) Command, declaration Command, Operand 1 Operand 2 declaration Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional ECMD 20 Variable number CC [Function] Store the value of the specified parameter in variable 99, using the data stored in the three consecutive variables starting from the one corresponding to the variable number specified in operand 2. If variable No. n is set in operand 2, the data in variable No.
Part 2 Programs Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC] Part 2 Programs (1) By running a program with continuous movement commands input in a series of continuous program steps, you can allow the actuators to perform operations continuously without stopping between steps.
Part 2 Programs [Example 1] (POTP = 1) POTP 1 600 601 602 603 604 605 606 Timing Turn ON as P1 approaches. Turn ON as P2 approaches. Turn ON as P3 approaches. Turn ON as P11 approaches. Turn ON as P21 approaches. Turn ON as P22 approaches. Turn ON when P23 operation is complete.
Part 2 Programs Part 2 Programs 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration/deceleration is different between points. The locus can be fine-tuned by changing the acceleration/deceleration, but different acceleration/deceleration settings between points will prevent smooth transition of speeds when moving from one position to another.
Part 2 Programs Chapter 5 Palletizing Function (2-axis Specification) The SEL language used by the ASEL Controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizing. Part 2 Programs 1. How to Use Use palletizing commands in the following steps: (1) Palletizing setting Set palletizing positions, arch motion, etc., using palletizing setting commands.
Part 2 Programs (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below are available. The encircled numbers indicate the order of palletizing and are called “palletizing position numbers.” Part 2 Programs Pattern 1 Preferential axis (PXaxis) Pattern 2 Preferential axis (PXaxis) (PY-axis) Start point Start point (PY-axis) Fig. 1 PAPN 2 When pattern 2 is selected (Setting is not necessary if pattern 1 is selected.
Part 2 Programs A. 3-point teaching method When three points are taught from position No. 11 Position No. 11 [1]: Start point (First palletizing position) Position No. 12 [3]: Palletizing position corresponding to the end point in the PX-axis direction Position No. 13 [10]: Palletizing position corresponding to the end point in the PY-axis direction The encircled numbers indicate palletizing position numbers (palletizing order).
Part 2 Programs B. Method to set palletizing positions in parallel with the actuators Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a position data field and specify the applicable position number using a PAST command, as shown below. Part 2 Programs Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-axis directions.
Part 2 Programs (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when evennumbered rows are placed. “Even-numbered rows” refer to the rows occurring at the even numbers based on the row placed first representing the first row. Part 2 Programs Zigzag count: Number in the even-numbered rows. Two in the diagram below.
Part 2 Programs 3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown below: Part 2 Programs (1) Palletizing position number Commands --- PSET, PINC, PDEC, PTNG Number showing the ordinal number of a palletizing point. (In Fig. 1 given in the explanation of palletizing pattern, the encircled numbers are palletizing position numbers.
Part 2 Programs 4. Palletizing Movement Palletizing movement commands are used to move the actuator to palletizing points. Part 2 Programs (1) Movement commands to palletizing point --- PMVP, PMVL Position coordinates of a two-dimensionally placed palletizing point are calculated and movement is performed using the calculated point as the end point. (The axes will move to the palletizing point of the palletizing position number specified in the executed command.
Part 2 Programs 5. Program Examples Chapter 5 Palletizing Function (2-axis Specification) Part 2 Programs (1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching) The example below specifies movement only and does not cover picking operation. PY-axis end-point coordinates Position No. 4 (69, 143) Reference point Position No. 2 (70, 70) PX-axis end-point coordinates Position No. 3 (152, 71) z 248 Picking position Position No.
Part 2 Programs (2) Simple program example (two-axis specification) using PAPS, PAPT and PAST The example below specifies movement only and does not cover picking operation. Part 2 Programs Chapter 5 Palletizing Function (2-axis Specification) Reference point Position No. 11 (70, 70) z Picking position Position No.
Part 2 Programs Pseudo-Ladder Task With the ASEL Controller, a pseudo-ladder task function can be used depending on the command and extension condition. The input format is shown below. Note that this function must be used by expert engineers with a full knowledge of PLC software design. 1.
Part 2 Programs 2. Ladder Statement Field [2] Ladder commands OUTR TIMR Part 2 Programs [1] Extension conditions LOAD LD AND A OR O AND BLOCK AB OR BLOCK OB All of the above extension conditions can be used in non-ladder tasks. Ladder output relay (Operand 1 = Output, flag number) Ladder timer relay (Operand 1 = Local flag number, Operand 2 = Timer setting (sec)) 3. Points to Note x This system only processes software ladders using an interpreter.
Part 2 Programs 4. Program Example OUTR314 Part 2 Programs 8 9 10 11 12 13 14 TIMR900 15 0.5 SEC Extension condition E LD Chapter 6 Pseudo-Ladder Task LD A O LD A LD A OB AB A LD LD LD 252 N N N N N Input condition Cnd 7001 Command Cmnd CHPR TPCD TAG Operand 1 Operand 1 1 1 1 15 OUTR TIMR 314 900 7001 7001 7001 TSLP GOTO EXIT 3 1 Operand 2 Operand 2 8 9 10 11 12 13 14 0.
Part 2 Programs Chapter 7 Application Program Examples 1. Operation by Jog Command [Doll-Picking Game Machine] Part 2 Programs (1) Overview of the system This system is a doll-picking game machine consisting of axis-1 and axis-2 actuators. Pushbutton switches corresponding to the two axes are provided on an external operation switch box, and these switches are used to move the actuators to a desired position to grab and pick up dolls inside the case.
Part 2 Programs (2) Explanation of the operation Part 2 Programs 1. 2. 3. 4. 5. 6. 7. Wait for the axis-1 movement pushbutton switch to turn ON. The X-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF. Wait for the axis-2 movement pushbutton switch to turn ON. The Y-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF. Output a start command to the hand control unit. Wait for an operation completion input from the hand control unit.
Part 2 Programs (3) ASEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 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 5 JFWN 1 6 WTON 17 7 JFWN 10 8 BTON 307 9 WTON 18 10 BTOF 307 11 JBWF 11 12 GOTO 1 16 17 18 Wait for input from axis-1 movement switch. Move forward while axis-1 movement switch is ON. Wait for input from axis-2 movement switch.
Part 2 Programs 2. Operation by Point Movement Command [Riveting System] Part 2 Programs (1) Overview of the system This system is a riveting system consisting of an XY-table operated by axis-1 and axis-2 actuators and a riveter. By setting a load on the XY-table at the operation home and turning on the start switch, rivets will be driven at the three points specified on the load.
Part 2 Programs (2) Explanation of the operation Part 2 Programs [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 load riveting position No. 1 (P2) moves to the riveting position on the XY-table, and a riveting command is output to the riveter. [4] When the riveter completes the riveting operation and a completion signal is input, riveting position Nos.
Part 2 Programs (3) ASEL Controller application program Part 2 Programs Step Cmnd Operand 1 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 5 LET 1 6 BTOF 600 Clear completion flag. 7 WTON 16 Wait for start command. 8 TAG 2 9 MOVL *1 Move to load counter position. 10 BTON 307 Riveting command turns ON. 11 WTON 17 Wait for riveting to complete. 12 BTOF 307 Riveting command turns OFF.
Part 2 Programs Chapter 8 Real-Time Multi-Tasking 1. SEL Language Part 2 Programs The ASEL Controller allows integrated control of actuators and peripherals with a single controller using its 32-bit RISC CPU and high-speed real-time operating system. There is no need to learn various languages for different units, such as robot language for robots and sequencer language for peripherals. Since SEL language is the only language used, an efficient system can be designed.
Part 2 Programs 2. Multi-Tasking Part 2 Programs “Multi-tasking” operation may not be a familiar term, but it is widely used in computer programming to refer to parallel processing. Simply put, multi-tasking means running several programs in parallel. Take a screw-tightening robot, for example. In general, a screw-tightening robot consists of axis-1 and axis-2 actuators and a screw-tightening machine (up/down air cylinder, etc.).
Part 2 Programs 3. Difference from a Sequencer The microcomputer scans the enter program and outputs only where the condition is satisfied. Real-time OS Program 1 Program 2 Program n Programmed in steps The programmer need not worry about running all programs in parallel, which is controlled by the realtime operating system.
Part 2 Programs Part 2 Programs 4. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency-stop recovery type” = 0 “Other parameter No. 11, Safety-gate open recovery type” = 0 “Other parameter No. 12, Recognition type during automatic operation” = 0 An emergency stop is actuated by turning the emergency-stop contact b input to OFF, and released by turning the input to ON.
Part 2 Programs 5. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The representative methods are explained below. External start Program Single-tasking Multi-tasking EXIT command EXPG command First, the program switching methods are largely divided into switching by external start and switching by application program. (1) External start method Part 2 Programs Program switching Refer to Chapter 4, 2.
Part 2 Programs Chapter 9 Example of Building a System Part 2 Programs 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) Controller IAI’s actuator with 300-mm stroke x 2 IAI’s ASEL controller 2. Operation (1) Tighten six screws at 30-mm pitches on axes 1 and 2. 1. The actuators move to a screw-tightening position. 2.
Part 2 Programs 3. Overview of the Screw-Tightening System This system consists of axis-1 and axis-2 actuators, Z-axis cylinder, screw-tightening device and parts feeder, and tightens the screws fed by the parts feeder at the specified positions on the load.
Part 2 Programs Chapter 9 Example of Building a System Pin No. Category Port No. 1A P24 1B 016 2A 017 2B 018 3A 019 3B 020 4A 021 4B 022 5A 023 5B 000 6A 001 6B 002 7A 003 Input 7B 004 8A 005 8B 006 9A 007 9B 008 10A 009 10B 010 11A 011 11B 012 12A 013 12B 014 13A 015 13B 300 14A 301 14B 302 15A 303 Output 15B 304 16A 305 16B 306 17A 307 17B N 266 Function External power supply 24 V Program specification (PRG No. 1) Program specification (PRG No. 2) Program specification (PRG No.
Part 2 Programs 5.
Part 2 Programs (2) Main program Screw-tightening program No. 1 Application program Chapter 9 Example of Building a System Part 2 Programs Comment Extension Input condition condition AND, OR I/O, flag 1 2 3 4 5 6 7 Output condition Operand Operand Output Command 1 2 port, flag EXPG 2 HOME 11 VEL 100 ACC 0.
Part 2 Programs Chapter 10 Example of Building a System 1. Position Table Part 2 Programs Position Table Up to 1,500 position points can be registered in the ASEL controller. Positions are registered using the PC software or teaching pendant. (Example of 2-axis system) Specify a number, and the actuator will move to the position registered for the specified number in the program. Axis 1 to Axis 2: Enter the target position of each axis for each position number. Vel: Set a speed.
Part 2 Programs 2. Programming Format The ASEL controllers support programs consisting of up to 2,000 steps. Programs are edited using the PC software or teaching pendant. Chapter 10 Example of Building a System Part 2 Programs Program Edit Screen (PC Software) No.: B: Step number Set a breakpoint (this field becomes editable during online edit). Click the “B” field in the line where you want to set a breakpoint. Once a breakpoint has been set, “B” is shown in the line.
Part 2 Programs 3. Positioning to Five Positions Description Flowchart Start Homing x Homing must be performed and a speed must be set, before the actuator can be operated. x The actuator moves to the position data coordinates specified by the respective move commands. x With the absolute specification, homing (HOME command) is not required. Part 2 Programs Move the actuator to positions 1 through 5 at a speed of 100 mm/sec after homing. Use of only 1 axis is assumed.
Part 2 Programs 4. How to Use TAG and GOTO Part 2 Programs Description Use GOTO and TAG commands to repeat the same operation within the program or to jump to a desired step if a condition is satisfied. A TAG command can be written in a step either before or after a GOTO command. Example of Use 1 Repeat the same operation. Steps to be repeated Chapter 10 Example of Building a System Repeated. Example of Use 2 Skip steps. Jump.
Part 2 Programs 5. Moving Back and Forth between Two Points Description Flowchart Start Homing x The actuator moves back and forth between P1 and P2 indefinitely. x Use of only 1 axis is assumed. x Enter TAG in the first of the steps to be repeated, and enter GOTO in the last of the steps to be repeated. Part 2 Programs Moves back and forth between two points.
Part 2 Programs 6. Path Operation Part 2 Programs Description Move continuously through four arbitrary points without stopping (PATH movement). The actuator moves along the path shown at right, without stopping at P2 and P3. Compared with MOVP and MOVL, this command does not require the actuator to position exactly at P2 and P3, and thus the movement tact time can be reduced.
Part 2 Programs 7. Output Control during Path Movement Description How to Use Before executing a PATH command, declare a POTP command to specify signal output during movement. If a given output or global flag is specified in the output field of the PATH command, the output or flag specified in the output field will turn ON as the actuator approaches, via path movement, the position specified in the PATH command. Part 2 Programs In spray operation, etc.
Part 2 Programs 8. Circle/Arc Operation Part 2 Programs Description The actuator moves along a two-dimensional circle or arc. How to Use To specify a circle, specify three points the actuator will pass. To specify an arc, specify the starting point, passing point and end point. Example of Use 1 Circle Chapter 10 Example of Building a System x Specify “CIR2 2 3” after the actuator has moved to P1.
Part 2 Programs 9. Home Return Completion Output Description Part 2 Programs Output a signal to confirm completion of homing (incremental specification). With the ASEL controller, a home return completion signal can be output using an I/O parameter. However, the following explains how to output a home return completion signal within a program using a general-purpose output. Once turned ON, a general-purpose output will remain ON even after the current program ends or other program is started.
Part 2 Programs 10. Axis Movement by Input Waiting and Completion Output Part 2 Programs Description How to perform input waiting and output a processing completion signal is explained. Flowchart Start Input 10 Move to P1 Output 303 ON Chapter 10 Example of Building a System Input 11 Output 303 OFF Move to P2 Output 304 ON End of program Application program 278 Example of Use The actuator waits until input port 10 turns ON, and then moves to P1.
Part 2 Programs 11. Changing the Moving Speed Description Part 2 Programs Change the moving speed. How to Use With the ASEL controller, the speed can be set using the following two methods: a: Use a VEL command within the application program b: Use a speed setting in the position data table Example of Use Application program Position data Position at 100 mm --- The actuator moves at 100 mm/sec. Position at 200 mm --- The actuator moves at 500 mm/sec.
Part 2 Programs 12. Changing the Speed during Operation Part 2 Programs Description Use a PATH command to change the speed while the actuator is moving. For example, this command is useful in a paint dispensing application where the application volume changes in the middle. Example of Use The actuator moves through linear sections a, b and c at 50 mm/sec, 20 mm/sec and 50 mm/sec, respectively, without stopping (PATH movement).
Part 2 Programs 13. Local/Global Variables and Flags Description Example of Use Part 2 Programs The internal variables and flags used in the SEL language are classified into local and global types. The data range used commonly by all programs is called the global range, while the data range used only by each program is called the local range.
Part 2 Programs 14. How to Use Subroutines Part 2 Programs Description A subroutine is a group of steps that are called and executed several times within a program. Subroutines are used to reduce the number of program steps and make the program easy to read. Up to 99 subroutines can be used in one program. Up to 15 subroutine calls can be nested.
Part 2 Programs 15. Pausing the Operation Description How to Use A pause interruption operation can be executed to a moving axis (to decelerate the axis to a stop) by declaring a HOLD command within the program. While HOLD is input, the actuator pauses (decelerates to a stop, if currently moving) against all moving commands in the same program. Part 2 Programs Use a declaration command HOLD to pause the moving axis temporarily via external input.
Part 2 Programs 16. Canceling the Operation 1 (CANC) Part 2 Programs Description Use a declaration command CANC to decelerate the moving axis to a stop and cancel the remaining operation. How to Use While CAN is input, all movement commands in the same program are cancelled. Example of Use CANC command Chapter 10 Example of Building a System Cancel the movement commands if input port 15 turns ON (declaration). * Declare this command in a step before the movement commands you want to cancel.
Part 2 Programs 17. Canceling the Operation 2 (STOP) Description Decelerate the moving axis to a stop and cancel the remaining operation. (STOP) Execute a STOP command from other program to forcibly stop the operation (in the multi-tasking mode). Specify the axis you want to stop using an axis pattern. Input port 15 ON Part 2 Programs How to Use The operation within this range is cancelled.
Part 2 Programs 18. Movement by Position Number Specification Part 2 Programs Description Load externally input BCD codes as position numbers to execute movements. Example of Use Use an INB command to load a position number as a BCD code from an input port. A position number can be specified using a value consisting of up to three digits.
Part 2 Programs 19. Movement by External Position Data Input Description Receive target position data as absolute values from a host device to execute movements. Part 2 Programs Example of Use Use an INB command to load position data as a BCD code from an input port. Each BCD value should consist of four digits, with the last digit indicating a decimal place. The moving axis is axis 1. Example: If a BCD of “1234” is received, the axis will move to the position at 123.4 mm. Note: When using input port Nos.
Part 2 Programs 20. Conditional Jump Part 2 Programs Description Select the destination to jump to via GOTO using the external input, output and/or internal flag statuses as a condition. The controller waits for multiple inputs, and performs processing according to the received input(s). Example of Use 1 If input 10 turns ON, the actuator will jump to TAG 1. If it turns OFF, the actuator will proceed to the next processing. Execute GOTO 1 if input 10 turns ON.
Part 2 Programs 21. Waiting Multiple Inputs Description Point A WTON command permits processing only when the specified input is received. The controller cannot wait for multiple inputs. Part 2 Programs The controller waits for multiple different inputs and performs processing upon reception of any of these inputs. Example of Use Inputs 10 and 11 are monitored, and the actuator will proceed to the next step when either input is received (OR logic).
Part 2 Programs 22. How to Use Offset Chapter 10 Example of Building a System Part 2 Programs Description With an OFST command, an offset can be specified for position data when you want to shift (offset) all teaching points by several millimeters because the actuator was not installed exactly in the specified position or for other reasons. An OFST command can also be used to perform pitch feed. (Refer to 24, “Constant-pitch Feed.
Part 2 Programs 23. Executing an Operation N times Description Part 2 Programs Execute a specific operation n times. Example of Use The actuator moves back and forth between P1 and P2 ten times, and then the program ends. Use a CPEQ command to compare the number of times the movement has been actually repeated, against 10. It is assumed that homing has been completed. Application program Chapter 10 Example of Building a System Reference The same operation can also be performed using a DWEQ command.
Part 2 Programs 24. Constant-pitch Feed Part 2 Programs 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 Start Initial setting Start input Move Increment pitch variable Example of Use Use an OFST command to perform pitch feed. The number of times the actuator has been fed is counted by a counter variable. The X-axis is fed in the positive direction.
Part 2 Programs 25. Jogging Description Part 2 Programs The slider moves forward or backward while an input is ON or OFF. Instead of an input, an output or global flag can be used as a cue. The slider will move directly to the next step if the specified input does not satisfy the condition when the command is executed. Regardless of the input status, the slider will stop upon reaching the soft limit, and the command in the next step will be executed.
Part 2 Programs 26. Switching Programs Part 2 Programs Description Use EXPG/ABPG commands to switch programs using a program. Example of Use 1 Start program 2 once the processing of program 1 is completed, and then end program 1. Program 1 Program 2 Example of Use 2 Start a program via an external signal, and then end the other program. Chapter 10 Example of Building a System Program 1 Program 2 If program 2 is started while program 1 is running, program 1 will be aborted.
Part 2 Programs 27. Aborting a Program Description Caution Part 2 Programs Abort a program currently running. Execute an ABPG command (command to abort other program) from other program in the multi-tasking mode. * If the target program was executing a movement command, the actuator immediately decelerates to a stop and the program ends. Example of Use Main program (Prg. 1) The abort control program starts. Abort control program (Prg. n) Wait for an abort input. Prg. 1 is aborted. The program ends.
Part 3 Positioner Mode Part 3 Positioner Mode Part 3 Positioner Mode In the positioner mode, position data is input in the MANU mode and positioning operation based on input data is performed in the AUTO mode (the controller modes are switched using the AUTO/MANU switch). If the controller mode is changed to MANU while positioning is performed in the AUTO mode, the controller will maintain the servo ON or OFF status that was effective prior to the mode change.
Part 3 Positioner Mode 2. Number of Positions Supported in Each Mode Note) Number of positions Maximum 1,500 positions Total 1,500 positions for all products (The same number of position data sets is used for each product.) 13 input bits are divided into position-number input bits for axis 1 and positionnumber input bits for axis 2.
Part 3 Positioner Mode Part 3 Positioner Mode 4. Interface List of All PIO Patterns Pin No. Category 1A P24 Positioner mode Standard mode Product switching mode 2-axis independent mode Teaching mode DS-S-C1 compatible mode 24-V input Cable color 1-Brown 1B 16 Position input 10 Input 10 Position input 7 Axis 1 jog- Position No.
Part 3 Positioner Mode Chapter 2 Standard Mode The standard mode provides a PIO pattern of greatest general utility among all positioner modes accessible in the ASEL controller. 1. I/O Interface List Category Port No.
Part 3 Positioner Mode 2. Parameters To use the controller in the standard mode, set other parameter No. 25 to “1.” Position numbers are specified as binary codes according to the factory setting. To change the input mode to BCD, set a value “other than 0” in other parameter No. 25. Chapter 2 Standard Mode Part 3 Positioner Mode No.
Part 3 Positioner Mode Cancellation (*CANC) If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns ON thereafter. Servo ON (SON) The servo remains on while this signal is ON. To operate the actuator using the start input/home return input, the servo ON input signal must be ON.
Part 3 Positioner Mode Part 3 Positioner Mode Interpolation (LINE) With the 2-axis specification, input of the position signal and start signal while this signal is ON will cause the two axes to perform interpolation operation (the two axes will start simultaneously and arrive at the target position simultaneously). To perform interpolation operation, turn ON the interpolation input signal before turning ON the start input signal.
Part 3 Positioner Mode 4. Details of Each Output Signal Home return complete (HEND) This signal is OFF when the power is input, and will turn ON when the home-return operation initiated by input of the home-return signal is completed. Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is input again.
Part 3 Positioner Mode 5. Timing Chart Part 3 Positioner Mode 5.1 Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec]. For example, when an input signal is turned ON, the controller will recognize that the signal is ON after elapse of 6 [msec].
Part 3 Positioner Mode 5.2 Home Return Timings associated with home-return operation are illustrated below. Start Input Home return Part 3 Positioner Mode Servo ON Alarm Ready Output Positioning complete Home return complete Home return in progress Timing Chart of Home-return Operation (Standard Positioner Mode) Perform home-return operation by following the procedure explained below. * Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through positions are illustrated below. Part 3 Positioner Mode Start Input Servo ON Position input Alarm Ready Chapter 2 Standard Mode Output Positioning complete Home return complete Servo ON status Timing Chart of Movement through Positions (Standard Positioner Mode) Ti: At least 6 msec Operate the actuator to move through positions by following the procedure explained below.
Part 3 Positioner Mode * To perform push-motion or interpolation operation, turn ON the applicable input signal before turning ON the start input signal. Turn the operation signal OFF after the start input signal has turned OFF. * While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be turned off only when the positioning complete output signal is ON.
Part 3 Positioner Mode Chapter 3 Product Switching Mode Part 3 Positioner Mode In addition to position numbers, product numbers can also be specified in this mode. Sixteen bits of inputs 1 through 16 are divided into position number inputs and product number inputs. In other words, the actuator can be moved to different positions for different products by specifying the same position number. 1. I/O Interface List Pin No. 1A P24 Port No.
Part 3 Positioner Mode 2. Parameters The following parameters must be set in the product switching mode.
Part 3 Positioner Mode Part 3 Positioner Mode 3. Details of Each Input Signal Start (CSTR) Movement to the position corresponding to the position data of the specified product will start upon detection of the OFF o ON leading edge of this signal. Product numbers and position numbers are specified by the 16-bit binary code consisting of inputs 1 through 16. Before movement is started, the target position, speed and acceleration/deceleration must be set as position data.
Part 3 Positioner Mode Cancellation (*CANC) If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns ON thereafter. Home return (HOME) The actuator will start home-return operation upon detection of the OFF ON edge of this signal. Once the home return is complete, the HEND signal will be output.
Part 3 Positioner Mode Push motion (PUSH) The actuator will perform push-motion operation if the position signal and start signal are input while this signal is ON. To perform push-motion operation, turn ON the push-motion input signal before turning the start input signal ON. A push-motion operation command is specified using two successive position data points. If the “start” input signal is turned ON while the “push-motion” input signal is ON for position No.
Part 3 Positioner Mode 4. Details of Each Output Signal Home return complete (HEND) This signal is OFF when the power is input, and will turn ON when the home-return operation initiated by input of the home-return signal is completed. Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is input again.
Part 3 Positioner Mode 5. Timing Chart Part 3 Positioner Mode 5.1 Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec]. For example, when an input signal is turned ON, the controller will recognize that the signal is ON after elapse of 6 [msec].
Part 3 Positioner Mode 5.2 Home Return Timings associated with home-return operation are illustrated below. Start Input Home return Part 3 Positioner Mode Servo ON Alarm Ready Output Positioning complete Home return complete Servo ON status Timing Chart of Home-return Operation (Standard Positioner Mode) Perform home-return operation by following the procedure explained below. * Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through positions are illustrated below. Part 3 Positioner Mode Start Input Servo ON Product/ position input Alarm Ready Output Positioning complete Chapter 3 Product Switching Mode Home return complete Servo ON status Timing Chart of Movement through Positions (Standard Positioner Mode) Ti: At least 6 msec Operate the actuator to move through positions by following the procedure explained below.
Part 3 Positioner Mode * To perform push-motion or interpolation operation, turn ON the applicable input signal before turning ON the start input signal. Turn the operation signal OFF after the start input signal has turned OFF. * While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be turned off only when the positioning complete output signal is ON.
Part 3 Positioner Mode Chapter 4 2-axis Independent Mode Part 3 Positioner Mode With the 2-axis specification, each axis can be controlled separately in this mode. A set of signals, such as the start input signal and positioning complete output signal, are provided for each axis.
Part 3 Positioner Mode 2. Parameters The following parameters must be set in the 2-axis independent mode.
Part 3 Positioner Mode 3. Details of Each Input Signal Chapter 4 2-axis Independent Mode Part 3 Positioner Mode Position inputs 1 through 13 (PC1 through 13) Thirteen bits of PC1 through 13 are divided into position-number specification bits for axis 1 and positionnumber specification bits for axis 2. Example) Assume that the parameters are set as follows: Other parameter No. 71 = 0 (Binary) “Position-number input mode specification” Other parameter No.
Part 3 Positioner Mode Axis 2 start (CSTR2) Axis 2 will start moving to the position corresponding to the specified position data for axis 2 upon detection of the OFF o ON leading edge of this signal. Position numbers are specified using, among the 13 bits of PC1 through 13, the remainder of the bits excluding those used for axis 1. Other specifications are the same as those explained under “Start 1 (CSTR1).
Part 3 Positioner Mode Chapter 4 2-axis Independent Mode Part 3 Positioner Mode Axis 1 servo ON (SON1) The servo for axis 1 will remain ON while this signal is ON. To operate the actuator using the start input/home return input, the servo ON input signal must be ON. If the servo ON input signal is OFF, these operation commands will not be accepted. (Only the commands will be ignored, and no error will generate.
Part 3 Positioner Mode Axis 1 home return complete (HEND1) This signal is OFF while the power is input. It will turn ON at the following timings: [1] The home-return operation has completed in connection with the first movement command issued with the start signal. [2] The home-return operation has completed following an input of the home return signal. Once this signal turns ON, it will not turn OFF until the input power is cut off or the axis 1 home return signal (HOME1) is input again.
Part 3 Positioner Mode 5. Timing Chart Part 3 Positioner Mode 5.1 Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec]. For example, when an input signal is turned ON, the controller will recognize that the signal is ON after elapse of 6 [msec].
Part 3 Positioner Mode 5.2 Home Return Timings associated with home-return operation are illustrated below. The figures in parentheses indicate port numbers for axis 2. Start Home return Part 3 Positioner Mode Input Servo ON Alarm Ready Output Positioning complete Home return complete Home return in progress Timing Chart of Home-return Operation (Standard Positioner Mode) Perform home-return operation by following the procedure explained below.
Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through positions are illustrated below. The figures in parentheses indicate port numbers for axis 2.
Part 3 Positioner Mode Chapter 5 Teaching Mode In addition to normal positioning operation, jogging, inching and teaching can be performed in this mode. A dedicated input is used to switch to the teaching mode, where the actuator can be moved using I/Os and the achieved position can be written to the position data table. Position data input via teaching will be lost when the power is turned off.
Part 3 Positioner Mode 1. I/O Interface List Part 3 Positioner Mode Pin No. 1A Category P24 Signal name External power supply 24 V Signal symbol P24 Function overview Cable color 1-Brown 1B 016 Axis 1 jog- JOG1- 2A 017 Axis 2 jog+ JOG2+ 2B 018 Axis 2 jog- KPG2- 3A 019 Inching (0.01 mm) 1C001 Axis 1 will move in the negative direction while this signal is ON. Axis 2 will move in the positive direction while this signal is ON.
Part 3 Positioner Mode 2. Parameters To use the controller in the teaching mode, set other parameter No. 25 to “4.” Position numbers are specified as binary codes according to the factory setting. To change the input mode to BCD, set a value “other than 0” in other parameter No. 25. No. Function 25 Operation mode type 4: Teaching mode 71 Positioner mode parameter 1 Position-number input mode specification (0: Binary, z 0: BCD) * Default value: 0 (Binary) 3.
Chapter 5 Teaching Mode Part 3 Positioner Mode Part 3 Positioner Mode Servo ON (SON) The servo remains on while this signal is ON. Use this signal if servo ON/OFF control is required as part of the safety circuit for the entire system to be provided on the PLC side. To operate the actuator using the start input/jog input, the servo ON input signal must be ON. If the servo ON input signal is OFF, these operation commands will not be accepted. (Only the commands will be ignored, and no error will generate.
Part 3 Positioner Mode Inching (IN001 through 1) These signals are used to specify the inching distance for inching operation performed in the teaching mode. The four bits of IN001 through 1 indicate different inching distances, as follows: IN001: 0.01 mm, IN01: 0.1 mm, IN05: 0.5 mm, IN1: 1 mm The actuator will perform inching operation when a jog movement command is input while the bit or bits corresponding to a given inching distance is/are ON (if all four bits are OFF, the actuator will jog).
Part 3 Positioner Mode Chapter 5 Teaching Mode Part 3 Positioner Mode 4. Details of Each Output Signal Positioning complete (PEND) This signal indicates that the actuator reached the target position and the positioning has completed. The signal will turn ON when the servo has turned on after the main power was input, and the controller becomes ready. Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
Part 3 Positioner Mode Servo ON output (SVON) This signal will turn ON when the servo turns on. Issue a movement command after the servo ON output signal has turned ON. System battery error This signal will turn ON when the voltage of the optional system-memory backup battery drops to a specified level. Part 3 Positioner Mode Absolute battery error On a controller of absolute specification, this signal will turn ON when the voltage of the absolute-data backup battery drops to a specified level.
Part 3 Positioner Mode 5. Timing Chart Part 3 Positioner Mode 5.1 Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec]. For example, when an input signal is turned ON, the controller will recognize that the signal is ON after elapse of 6 [msec].
Part 3 Positioner Mode 5.2 Home Return In the teaching mode, no dedicated home-return input is available. Home return will be performed when the start signal is input after specifying a desired position in a condition where home return is not yet completed. Timings associated with home-return operation are illustrated below.
Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through positions are illustrated below. Start Part 3 Positioner Mode Input Servo ON Position input Alarm Ready Output Positioning complete Home return complete Servo ON status Chapter 5 Teaching Mode Timing Chart of Movement through Positions (Standard Positioner Mode) Ti: At least 6 msec Operate the actuator to move through positions by following the procedure explained below.
Part 3 Positioner Mode 5.4 Timings in the Teaching Mode 303: Home return complete 014: Teaching mode specification Part 3 Positioner Mode 305: Teaching mode output 015, 016: Axis 1 jog 017, 018: Axis 2 jog 003 through 013: Command positions Position 1 000: Current position write 302: Write complete T1: At least 20 msec. T1 represents the time after the position-information write input signal turns ON, until writing of the current position starts.
Part 3 Positioner Mode Chapter 6 DS-S-C1 Compatible Mode In this mode, the same I/O assignments used by the conventional controller model DS-S-C1 are used. As added functions, the cancellation (CANC) input, interpolation setting input, system battery error output, and absolute battery error output are available, and the number of positions has been increased. Part 3 Positioner Mode 1. I/O Interface List Pin No. 1A Port No. P24 Signal name External power supply 24 V 1B 016 Position No.
Part 3 Positioner Mode 2. Parameters To use the controller in the DS-S-C1 compatible mode, set other parameter No. 25 to “16.” Other parameter No. 25 = 16, “DS-S-C1 compatible mode” 3. Details of Each Input Signal Part 3 Positioner Mode Start (CSTR) The actuator will start moving to the position corresponding to the specified position data upon detection of the OFF o ON leading edge of this signal. Position numbers are specified using a 13-bit BCD code consisting of PC1 through 1000.
Part 3 Positioner Mode Cancellation (CANC) If this signal turns ON while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns OFF thereafter. Part 3 Positioner Mode CPU reset (CPRES) This input signal is used to restart the controller. If an error occurs, identify and eliminate the cause, and then turn this signal ON.
Part 3 Positioner Mode 4. Details of Each Output Signal Ready (RDY) This signal will turn ON when the initialization has completed successfully after the main power was input, and the controller enters the mode where it can control the actuator. This signal will turn OFF when an error of cold level or higher generates. Use this signal as a condition to start control on the PLC side.
Part 3 Positioner Mode 5. Timing Chart Part 3 Positioner Mode 5.1 Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec]. For example, when an input signal is turned ON, the controller will recognize that the signal is ON after elapse of 6 [msec].
Part 3 Positioner Mode 5.2 Home Return In the DS-S-C1 compatible mode, no dedicated home-return input is available. Home return will be performed when the start signal is input after specifying position No. 0. The positioning complete output signal is OFF after the power is input when home return is not yet completed. Timings associated with home-return operation are illustrated below.
Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through positions are illustrated below.
Appendix Part 3 Positioner Mode Chapter 6 DS-S-C Compatible Mode 345
Appendix ~ List of Applicable Actuator Specifications Slider type Load capacity Stroke (mm) and maximum speed (mm/sec) *1 Horizontal Vertical Rated acceleration Horizontal Vertical Appendix Type List of Applicable Actuator Specifications Rod type Type Stroke (mm) and maximum speed (mm/sec) *1 Type Stroke (mm) and maximum speed (mm/sec) *1 Maximum push force Load capacity Horizontal Vertical Rated acceleration Horizontal Vertical Arm type Thrust Load capacity Horizontal Verti
Appendix Appendix Battery Backup Function The ASEL controller uses the following two batteries. x System-memory backup battery (optional) The optional battery is available for backing up position data, SEL program variables and other data. Each battery is explained in details. Appendix x Absolute-data backup battery A separate battery is used to retain the absolute encoder’s rotation data, so that the motor rotation data can be retained/refreshed when the controller power is cut off.
Appendix To replace the system-memory backup battery, disconnect the battery connector on the top face of the controller, and change the battery in the battery holder with a new battery. It is recommended that you set a replacement schedule and replace the battery regularly. Appendix The battery must be replaced as soon as the controller’s battery voltage monitor function generates a battery voltage low alarm. After an alarm is detected, a battery error will occur in approx.
Appendix 2. Absolute-Data Backup Battery for Absolute Encoder If the ASEL controller is to drive/control an absolute type actuator, an absolute-data backup battery must be installed in the controller. An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from the absolute-data backup battery, even when the controller’s control power is not supplied.
Appendix The absolute encoder backup specifications are shown in the table below. Appendix List of Absolute Encoder Backup Functions Battery type AB-5 (by IAI) Battery voltage 3.
Appendix Parameter Utilization Functions not initially available on the controller can be added, or dedicated functions can be assigned to input/output ports, by changing the values of corresponding parameters. Before changing a given parameter, always read the applicable section in the parameter list. 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.
Appendix 1. Utilization Examples of I/O Parameters Appendix I/Os include general-purpose inputs/outputs and dedicated inputs/outputs. General-purpose inputs/outputs are used by the user in SEL programs for sending/receiving ON/OFF signals to/from peripherals, among others. Dedicated inputs are turned ON/OFF externally to activate specific functions. Dedicated outputs turn ON or OFF in specific conditions. (Dedicated outputs cannot be turned ON/OFF in SEL programs.
Appendix Example 1) How to set input port No. 5 as an input to forcibly release the brake for axis 1 Change the input function specification value of I/O parameter No. 35, which corresponds to input port No. 5, to “22” (Axis 1 forced brake-release input). I/O parameter No. 35 = 22 Example 2) How to set output port No. 307 as a servo-ON status output for axis 1 Change the output function specification value of I/O parameter No. 53, which corresponds to output port No.
Appendix Parameter Utilization Appendix (2) Explanation of input function specification values Input function specification value 0: General-purpose input The applicable input can be used freely in programs as a generalpurpose input. Input function specification value 1: Program start signal (BCD) (ON edge) The applicable signal is set as a program start signal. Once set, the signal can start the BCD program number specified by input function setting values 9 through 15.
Appendix Input function specification value 9: Start-program number specification bit 1 (least significant bit) This bit specifies the least significant bit of a program number. Note: Start-program number specification bits x (input function setting values 9 through 15) cannot be assigned discontinuously from the least significant bit or in descending order from the least significant bit.
Appendix Input function specification value 22: Axis 1 forced brake release Forcibly release the brake (axis 1). Note: This function is effective only when the brake switch is tilted down (NOM). Input function specification value 24 ~ 27: For future expansion Not used. Parameter Utilization Appendix Input function specification value 23: Axis 2 forced brake release Forcibly release the brake (axis 2). Note: This function is effective only when the brake switch is tilted down (NOM).
Appendix (3) Explanation of output function specification values Output function specification value 1: Operation-cancellation level or higher error output (ON) The signal will turn ON when an error of operation-cancellation level or higher generates. Output function specification value 2: Operation-cancellation level or higher error output (OFF) The signal will turn OFF when an error of operation-cancellation level or higher generates.
Appendix Output function specification value 13: All-valid-axes home-return complete (coordinate confirmed) output A signal will be output when all valid axes have completed home return. Appendix Output function specification value 14: All-valid-axes preset home coordinate output A signal will be output when all valid axes have completed home return. The value set by axis-specific parameter No. 12, “Home preset value” is used as the home position.
Appendix 2. Utilization Examples of Axis-specific Parameters The following functions can be added to, or changed from the factory-set functions, by changing the values of the corresponding axis-specific parameters. Before changing a given parameter, always read the applicable section in the parameter list.
Appendix Change the home return direction Axis-specific parameter No. 6, “Coordinate/physical-operation direction selection” No. Parameter name Default value Input range Unit 6 Coordinate/physical-operation direction selection 1 0~1 None Appendix z Setting method A desired direction of home-return operation can be selected.
Appendix About the home-return method Axis-specific parameter No. 10, “Home-return method” No. Parameter name Default value Input range Unit 10 Home-return method 0 0~5 None z Setting method Set a desired method to perform home return. Appendix z Set value 0: Search phase Z after end search The actuator performs normal home-return operation. Home-return command The actuator moves at low speed in the direction selected by axis-specific parameter No. 6. The actuator hits the mechanical end.
Appendix Set a home preset Appendix Axis-specific parameter No. 12, “Home preset value” No. Parameter name Default value Input range Unit 12 Home preset value 0 -99999999 ~ 99999999 0.001 mm z Explanation of setting Set a value indicating where the actuator should be upon completing home return. (Normally, the actuator should be at 0-mm coordinate upon completing home return.) z Set value Unit: 0.001 mm Example 1: “Do not set” a home preset value Home return complete o [0.000] mm is displayed.
Appendix Set a home offset Axis-specific parameter No. 21, “Offset travel distance at home return” No. Parameter name Default value Input range Unit 21 Offset travel distance at home return 1000 -99999999 ~ 99999999 0.001 mm Ɣ Set value Setting unit: 0.001 mm Example: Set the offset to 0.
Appendix Home return is desired in vertical installation No. Parameter name Default value 39 Push torque limit at home return 120 Input range Unit 0 ~ 150 % Ɣ Explanation of setting In case home return completes in front of the proper position because of the sliding resistance being increased in vertical installation due to how to affix the unit or the condition of load, check the value set in this parameter and adjust it if necessary.
Appendix Apply length measurement correction Axis-specific parameter No. 44, “Length measurement correction” No. Parameter name Default value Input range Unit 44 Length measurement correction 0 -99999999 ~ 99999999 0.001 mm/1 M Appendix z Explanation of setting Adjust the difference between the actual distance traveled and the measured distance, for the commanded travel distance. Example: Move the actuator from 0 mm to 1000 mm by specifying a position.
Appendix Zone output A signal can be output when the actuator has entered a desired zone specified by the user. Three parameters must be set to specify a zone. A zone is set for each axis. Appendix No. Parameter name Default value Input range Unit 86 Zone 1 MAX 0 -99999999 ~ 99999999 0.001 mm 87 Zone 1 MIN 0 -99999999 ~ 99999999 0.001 mm 88 Zone 1 output number 0 0 ~ 899 None Axis-specific parameter No. 86, “Zone 1 MAX” Set the maximum limit of the zone, in units of 0.001 mm.
Appendix The zone output function allows four zones (zones 1 through 4) to be set for each axis. No. Parameter name Default value Input range Unit Zone 1 MAX 0 -99999999 ~ 99999999 0.001 mm 87 Zone 1 MIN 0 -99999999 ~ 99999999 0.001 mm 88 Zone 1 output number 0 0 ~ 899 None 89 Zone 2 MAX 0 -99999999 ~ 99999999 0.001 mm 90 Zone 2 MIN 0 -99999999 ~ 99999999 0.001 mm 91 Zone 2 output number 0 0 ~ 899 None 92 Zone 3 MAX 0 -99999999 ~ 99999999 0.
368 7 6 5 4 3 2 1 Action A desired input port can be set as a restart input. The I/O-board error monitor can be disabled to suppress error generation. Pa rameter se ttin g Oper ation/outco me A desired input port can be set as an error reset input. A desired input port can be set as a home return input. Perform home return using an external input signal. Home return will be performed at the ON edge of the specified port. (The servo must be turned ON first.
14 13 12 11 10 9 8 Action Program numbers to be specified can be input as binary codes using the ports set as start-program number specification bits 1 through 7.
370 20 19 18 17 16 15 The minimum and maximum output port numbers can be set to specify a range of outputs whose condition is to be retained. A PIO processing program to be started in these conditions can be set. The program number of the applicable PIO processing program, and the minimum and maximum output port numbers indicating the range of processed outputs, are set by parameters. Start a program when the emergency stop input turns ON or the safety gate opens.
25 24 23 22 Action Continue to operate the actuator after an emergency stop has been reset (= resume actuator operation from immediately before the emergency-stop input signal turned ON). When an emergency-stop input signal is ON, all programs remain active and only programs involving actuator operation will be stopped. (When an emergency stop is actuated, all programs in which actuator operations are not specified will remain active.
Appendix 4. Servo Gain Adjustment Appendix 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 is affixed, specific load condition, and so on, and therefore the parameters relating to servo adjustment are disclosed to allow the customer to take quick actions should adjustment become necessary.
Appendix z Speed loop integral gain Driver parameter number 44 Unit Input range --- 1 to 3276700 Default value (reference) 1667 This parameter determines the level of response with respect to a speed control loop. Decreasing the setting results in lower response to the speed command and decreases the reactive force upon load change. If the setting is too low, compliance with the position command drops and the positioning time increases as a result.
Appendix List of Parameters If you have purchased the PC software, we recommend that you back up the parameters immediately after the controller is delivered and when the system incorporating the controller is started. Since a number of customizing settings use parameters, you should back up the parameters regularly as you back up the programs. To make the new parameters effective, write them to the flash ROM and then execute a software reset or reconnect the power.
Appendix 1. I/O Parameters 1.1 No.
Appendix I/O Parameters No.
Appendix I/O Parameters Default value (Reference) 0 Parameter name 54 62 Output function selection 308 Output function selection 309 Output function selection 310 Output function selection 311 Output function selection 312 Output function selection 313 Output function selection 314 Output function selection 315 For future expansion 63 For future expansion 0 0 ~ 299 64 ~ For future expansion 67 68 (For expansion) 0 0 ~ 299 55 56 57 58 59 60 61 Input range Unit Remarks 0 ~ 99 Output function
Appendix I/O Parameters 83 (PC/TP SIO reservation) Default value (Reference) 0 84 (PC/TP SIO reservation) 0 85 (PC/TP SIO reservation) 0 86 (PC/TP SIO reservation) 0 87 (PC/TP SIO reservation) 0 88 (PC/TP SIO reservation) 0 89 (PC/TP SIO reservation) 0 90 Usage of SIO channel 0 opened to user (AUTO mode) 0 0~9 153 0 ~ 255 0 0~5 8 7~8 1 1~2 0 0~2 0: None 1: Odd 2: Even 0 0~1 0: Forcibly enable receive after send 1: Do not forcibly enable receive at send 0 0 ~ 999 App
Appendix I/O Parameters No.
Appendix I/O Parameters 259 Input function selection 024 Default value (Reference) 0 260 Input function selection 025 0 0 ~ 99 261 Input function selection 026 0 0 ~ 99 262 Input function selection 027 0 0 ~ 99 263 Input function selection 028 0 0 ~ 99 264 Input function selection 029 0 0 ~ 99 265 Input function selection 030 0 0 ~ 99 266 Input function selection 031 0 0 ~ 99 267 Output function selection 316 0 0 ~ 99 268 Output function selection 317 0 0 ~ 99 269 Ou
Appendix 1.
Appendix (2) Output Function List Appendix Output function specification value 0 1 Operation-cancellation level or higher error output (ON) 2 Operation-cancellation level or higher error output (OFF) Operation-cancellation level or higher error + emergency stop output (ON) Operation-cancellation level or higher error + emergency stop output (OFF) READY output (PIO trigger program operation enabled) 3 4 5 6 Remarks * The following output functions cannot be assigned at the same time: • Operation-ca
Appendix 2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks ~ 1 Valid axis pattern 2 Default override 3 ~ 8 (For expansion) 0000B 100 00B ~ 11111111B 1 ~ 100 An OFF bit indicates that no driver is installed. Used if not specified in program. (Invalid for SIO operation) (For expansion) 0 11 Default acceleration 30 0H ~ FFFFFFFFH 1 ~ 200 0.01 G 12 Default deceleration 30 1 ~ 200 0.
Appendix Parameters Common to All Axes No. Parameter name 25 (Acceleration/deceler ation at home return (old)) Acceleration/decelera tion specification type Master axis type 26 Appendix 27 28 Selection of inching o jog auto-switching prohibition 29 All-axis setting bit pattern 1 30 Default division angle 31 Default division distance Arch-trigger startpoint check type Safety speed in manual mode 32 List of Parameters 33 Default value (Reference) 30 0 0 0 Input range Unit 1 ~ 300 0.
Appendix 3.
Appendix Axis-Specific Parameters Appendix No Default value Input range (Reference) 1000 0 ~ 99999 Unit 26 (Phase-Z evacuation distance at absolute home return (old)) 27 Maximum motor speed 5000 28 1000 29 Maximum operating speed of each axis VLMX speed Reference only 1 ~ 9999 1000 1 ~ 9999 mm/s 30 Servo ON check time 150 0 ~ 5000 msec 31 Offset travel speed at home return Actual distance between phase Z and end 3 1 ~ 500 mm/sec -1 -1 ~ 99999 0 0 ~ 99999 32 33 Remarks 0.
Appendix Axis-Specific Parameters No 57 Default value (Reference) Push-abort deviation ratio at 5000 positioning Parameter name Input range Unit 1 ~ 99999 58 Positioning band 100 1 ~ 9999 59 27 1 ~ 9999 60 Allowable deviation error ratio (Maximum speed pulse ratio) Position gain 30 1 ~ 9999 61 FAG 0 0 ~ 999 62 Synchro FB gain 77 0 ~ 1000 63 Stop special output range 1 0 ~ 9999 Pulse 64 Stop special output value 1 0 ~ 999 DRVVR 65 Mating synchro-axis number 0 0~8 66 Mo
Appendix Axis-Specific Parameters No 84 Appendix Default value (Reference) 5 Input range Unit Remarks 0 ~ 100 mm/sec Maximum travel speed for synchronization position correction of slave axis. Valid only with a synchro slave axis. * Note: Not limited by the safety speed. 15 1 ~ 300 0.
Appendix 4. Driver Parameters No.
Appendix Driver parameters No.
Appendix Driver parameters Current control word 3 56 Current control word 4 0H 57 Current control word 5 0H 58 Current control word 6 0H 59 Current control word 7 0H 60 Current control word 8 0H (For expansion) 0H For future expansion 0H 61 ~ 67 68 ~ 97 Parameter name Input range Unit Remarks Reference only Reference only Reference only Reference only 0000H ~ FFFFH 00000000H ~ FFFFFFFFH 00000000H ~ FFFFFFFFH Reference only Appendix 55 Default value (Reference) 0H No.
Appendix 5. Encoder Parameters No.
Appendix 6. I/O Devices No.
Appendix 7. Other Parameters No. 1 List of Parameters Appendix 2 Parameter name Auto-start program number I/O processing program number at operation/program abort Default value (Reference) 0 Input range 0 0 ~ 64 The start trigger is determined from the “I/O processing program start type at operation/program abort.” (Note: This program will be started before confirming an abort of other programs.
Appendix Other Parameters No. 12 Parameter name Automatic operation recognition type 13 ~ (For expansion) 19 20 System-memory backup battery installation function type Default value (Reference) 0 Input range 0~2 0: Not installed (SEL global data/error lists cannot be recovered from the flash ROM) 1: Not installed (SEL global data/error lists can be recovered from the flash ROM) 2: Installed * When the power is turned on without battery installed, point data can be copied from the flash ROM.
Appendix Other Parameters List of Parameters Appendix No.
Appendix Other Parameters No.
Appendix Other Parameters No. 49 Parameter name Panel 7-segment display data type Default value (Reference) 0 Input range Unit 0~9 Remarks 0: Display controller status 1: Display motor current indicator The current pattern of each axis is displayed instead of “ready status” or “program run number.” “Minimum indicator-displayed axis number” (far-right column) is specified by “Other parameter No. 50.
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) Password With safety speed Without safety speed [2] Edit Safety speed Not required. { { Not required.
400 Axis-specific parameter No. 68, Mode selection for linear movement axis 0 (Normal mode) Axis-specific parameter No. 1, Axis operation type 0 (Linear movement axis) Invalid Invalid Axis-specific Axis-specific parameter parameter No. 67, ShortNo. 66, Mode cut control selection for selection for rotational rotational movement movement axis axis { ABS { INC Permitted encoder processing method Counter range Expression of current position (approx.
Secret level Message level Operation-cancellation level PC TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP PC TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core System error assignment source MAIN application MAIN core 400 ~4CF 4D0 ~ 4DF 4E0 ~ 4EF 4F0 ~ 4FF - AA0 ~ ACF AD0 ~ AFF 200 ~ 24F 250 ~ 29F 2A0 ~ 2CF 2D0 ~ 2FF
Error level Operation-cancellation level Cold-start level 402 CE0 ~ CEF CF0 ~ CFF PC TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core CD0 ~ CDF MAIN core FF0 ~ FBF FC0 ~ FCF - EC0 ~ EDF EE0 ~ EFF 600 ~ 6CF 6D0 ~ 6DF 6E0 ~ 6EF 6F0 ~ 6FF D00 ~ D8F D90 ~ DAF DB0 ~ DCF DD0 ~ DDF DE0 ~ DF
210 20F 20E 20D 20C 20B 20A 209 208 207 206 203 An update command was received other than in the update mode. The name of the update program file selected in the update mode is invalid. Select the correct file and repeat the updating procedure from the beginning. The time data is invalid. Check the data. The control constant table ID is not supported. Check the data. The message of the control constant table change/query command contains error. Check the message that has been sent.
404 Flash busy reset timeout Control constant table management information mismatch error Control constant table ID error Encoder control constant error (power-source voltage control) Encoder power-source voltage calculation error Speed control parameter calculation error 407 408 409 40A 40B Error name 406 Error No. Appendix Description, action, etc. An encoder control constant relating to power-source voltage control is invalid.
405 Driver IPM15V voltage low error Driver current detection A/D offset over error Driver error 626 627 628 Driver error Driver-side detection synchronous communication error 625 62F Undefined driver error 624 Driver error Driver error detail code acquisition error 623 62E Driver synchronous communication toggle error 615 Driver error Driver synchronous communication LRC error 614 Driver error Driver synchronous communication driver read error 613 62D Dynamic brake ON/OFF timeout e
406 Speed control parameter setting command timeout error ABZ encoder logic error Encoder/motor control constant table flash ROM status error Encoder/motor control constant table checksum error ABZ encoder specification error ABZ encoder magnetic-pole sensor signal logic error Encoder control constant error Motor control constant error Encoder power-source voltage control parameter error Speed loop parameter error Encoder resolution division error Encoder/motor combination mismatch error (encoder resol
Unsupported encoder ID error Unsupported encoder error (main information) Unsupported motor error (main information) Unsupported motor error (driver information) Current detection circuit type mismatch error 65A 65B 65C 65D 65E The torque limit logic is invalid. Check driver parameter Nos. 38, 39, 40, etc. Axis movement was detected while initializing the ABZ encoder counter following power on.
408 SCI LRC error (slave communication) Slave communication target ID error Slave communication block number error 66C 66D 66E 66B 66A 669 668 667 666 663 664 665 662 661 660 Appendix The block number of slave communication is invalid. The target ID of slave communication is invalid. The message LRC of slave communication is invalid. Description, action, etc.
Target board type error Encoder control data error Motor control data error Magnetic-pole detection parameter error I/O function specification error Axis operation error in system semi-locked (encoder stopped) status Motor overcurrent error Driver error Driver error Driver error Driver error Driver error Driver error Driver error Driver error Driver error 671 672 680 682 683 690 691 692 693 694 695 696 697 698 699 (Driver error for future expansion) (Driver error for future e
410 Maintenance information 3 Maintenance information 4 Maintenance information 5 DRV status 820 (TO_SELECTEDDATA) 815 820 Ethernet control status 1 80F 814 Power OFF status during data write to flash ROM 809 813 Power OFF status during slave parameter write 808 Maintenance information 2 Drive-source cutoff relay ER status 807 812 SCIF receive ER status due to other factor (SEL reception) 806 Ethernet control status 2 SCIF receive ER status (SEL reception) 805 Maintenance information
411 Step number error Symbol-definition table number error Point number error Variable number error Flag number error I/O port/flag number error Command error (IAI protocol HT reception) Message conversion error (IAI protocol HT reception) PC/TP servo-movement command acceptance-enable input OFF error Multiple-program simultaneous start inhibition error Absolute-data backup battery voltage error System-memory backup battery voltage-low warning Abnormal system-memory backup battery voltage Abso
412 The header in the received message is invalid. Invalid header position (message is 9 bytes or less) is suspected, among other reasons. The station number in the received message is invalid. The ID in the received message is invalid.
Parameter change value error Parameter type error Parameter number error Card-parameter buffer read error Card-parameter buffer write error Parameter change refusal error during operation Card manufacturing/function information change refusal error Parameter change refusal error during servo ON Non-acquired card parameter change error Device number error Memory initialization type specification error Unit type error SEL write data type specification error Flash-ROM write refusal error during pr
414 Direct monitor prohibition error during flash ROM write P0/P3-area direct monitor prohibition error Point-data count specification error Symbol-record count specification error Variable-data count specification error Error-detail query type 1 error Error-detail query type 2 error Monitoring data type error Monitoring-record count specification error Monitoring-operation special command register busy error Parameter register busy error at issuance of slave command Software reset refusal error during op
Refusal error during write Driver monitor type mismatch error A6E A6F Software reset refusal error during write A6A P0/P3/FROM-area direct write prohibition error Data change refusal error during operation A69 A6D Fieldbus not ready A63 PC/TP start command refusal error in AUTO mode Fieldbus error (HERROR-BLINK) A62 Fieldbus error (FBRS link error) Fieldbus error (HERROR-ON) A61 A6B Fieldbus error (LERROR-BLINK) A60 A LERROR-ON was detected.
416 Ethernet non-open error Ethernet multiple WRIT execution error Ethernet job busy error Ethernet non-initialization device use error B1D B1E B1F B20 Absolute reset specification error B1A Ethernet non-closed socket open error Unit type error B19 Ethernet in-use-by-other-task error Device number error B18 B1B Parameter register busy error at issuance of slave command B17 B1C SEL operand specification error B16 Home-sensor pull-out timeout error B11 Input-port debug filter type err
DW/IF/IS/SL no pair-end error DW/IF/IS/SL pair-end mismatch error C0C C0D Tag non-definition error C0B The same subroutine number is defined at multiple locations. Subroutine non-definition error C07 Subroutine duplicate-definition error Executable step non-detection error C06 Tag duplicate-definition error Program first-step BGSR error C05 C08 Program entry point non-detection error C04 The branching command syntax is invalid.
418 The number of LDs processed simultaneously exceeds the limit value. There is not enough LD when expansion condition A or O is used.
BCD display digit range error Program number error Step number error Blank step shortage error Axis number error Axis pattern error Operating-axis addition error during command execution Base axis number error Zone number error Point number error I/O port/flag number error Flag number error Tag number error Subroutine number error User-open communication channel number error Parameter number error Variable number error String number error String-variable data count specification error String-variable del
420 SEL-SIO in-use error SCIF unopen error Delimiter non-definition error SIO1 invalid usage OPEN error SEL program/source symbol checksum error Symbol definition table checksum error Point data checksum error Backup SRAM data destruction error Invalid flash-ROM SEL global data/error list error Flash-ROM SEL global data/error list duplication error Flash-ROM erase count over error for SEL global data/error lists Timing limit over error (Flash ROM erase) Flash-ROM verify error (Flash ROM erase) Flash-RO
Movement error during absolute data acquisition Maximum installable axes over error Servo-OFF axis use error Home-return incomplete error Absolute coordinate non-confirmation error Synchro slave-axis command error Overrun error Target-locus soft limit over error Actual-position soft limit over error Motion-data-packet generation logic error Movement-point count over error Handling-packet overflow error Motion-data-packet overflow error C6C C6D C6E C6F C70 C71 C72 C73 C74 C75 C76 C77 C78 Error
422 Axis operation type error Speed specification error C88 C8F SEL unsupported function error C87 Point deletion error during command execution Driver servo ready OFF error C86 C8E Non-installed driver error C85 Circle/arc calculation error In-use axis servo OFF error C84 C8D The specified acceleration/deceleration is invalid.
Card parameter write error Servo calculation overflow error Abnormal absolute-data backup battery voltage (Driver analysis) Abnormal absolute-data backup battery voltage (Main analysis) Slave setting data out-of-range error Slave error response Stop deviation overflow error Palletizing number error Setting error of even-numbered row count for palletizing zigzag Setting error of palletizing pitches Setting error of placement points in palletizing-axis directions C99 C9A C9B C9C C9D C9E CA1 CA2 CA3 CA4
424 Excessive valid axes for palletizing 3-point teaching data Mismatched valid axes for palletizing 3-point teaching data Offset setting error at palletizing 3-point teaching BGPA/EDPA pair-end mismatch error Arch-motion Z-axis non-declaration error BGPA non-declaration error during palletizing setting Palletizing point error Arch-trigger non-declaration error No 3-point teaching setting error at palletizing angle acquisition PX/PY-axis indeterminable error at palletizing angle acquisition Refer
Palletizing reference-point/valid-axis mismatch error CCF Arch end-point/trigger reversing error CCC Drive-source cutoff axis use error Arch start-point/trigger reversing error CCB Error axis use error Arch top/end-point reversing error CCA CCE Arch trigger Z-axis pattern non-detection error CC9 The PX/PY(/PZ)-axes set by PASE/PCHZ are not valid in the axis pattern of the reference-point data set by PAST. An attempt was made to use an axis currently generating an error.
426 D13 D14 D15 D17 D18 D19 D1A D1B D1C D1D D1E D1F Error No.
Encoder rotation reset error Encoder alarm reset error Encoder ID error Encoder configuration mismatch error Motor configuration mismatch error Fieldbus error (FBMIRQ timeout) Fieldbus error (FBMIRQ reset) Fieldbus error (FBMBSY) Fieldbus error (BSYERR) Window lock error (LERR) Fieldbus error (Min busy) Fieldbus error (MinACK timeout) Fieldbus error (MoutSTB timeout) D23 D24 D25 D26 D50 D51 D52 D53 D54 D55 D56 D57 Description, action, etc. A FBMIRQ timeout was detected.
428 Overrun error No remote-mode control support board error D68 Hardware unsupported function error Motor/encoder configuration information mismatch error D67 D6B Fieldbus error (Mailbox response) D5E D6A Fieldbus error (FBRS link error) D5D External terminal block overcurrent or power-supply error Fieldbus error (Access-privilege open error) D5C Option use permission error Fieldbus error (Access-privilege retry over) D5B D70 Fieldbus error (TOGGLE timeout) D5A D69 Fieldbus error (DP
Logic error Optional password error DMA address error SCIF send-buffer overflow error SCI send-buffer overflow error SCIF receive-buffer overflow error SCI receive-buffer overflow error Receive timeout error (Slave communication) SCI overrun error (Slave communication) SCI framing error (Slave communication) SCI parity error (Slave communication) SCI CRC error (Slave communication) SCIF communication mode error SCI communication mode error SCI receive-data-register full wait timeout error SCI overrun error
430 Header error (Slave communication) Card ID error (Slave communication) Response type error (Slave communication) Command type error (Slave communication) Target type error No target error EEPROM error (EWEN/EWDS not permitted) Read compare mismatch error during EEPROM write Abnormal response error when sending EEPROM information acquisition command Maximum receive size over error when sending EEPROM information acquisition command Receive-data checksum error when sending EEPROM information acquisition
Phase-Z count parameter error Synchro parameter error Driver special command ACK-timeout error Drive unit error (DRVESR) Encoder error (DRVESR) Driver CPU error (DRVESR) Servo control error (DRVESR) Command error (DRVESR) Motor temperature error (DRVESR) Servo ON/OFF timeout error Brake ON/OFF timeout error Pole sense non-detection error Detection OFF error upon pole sense completion Hold-at-stop servo job error Servo packet error Servo-control-right management array number error Length conversion paramete
432 AC-power overvoltage error Motor-power overvoltage error Emergency-stop status requiring reset recovery (not error) Abnormal 24-V I/O power source Safety-gate open status requiring reset recovery (not error) Shutdown factor indeterminable error DO output current error Drive-source cutoff relay error Encoder configuration information outside supported function information range Motor configuration information outside supported function information range Encoder resolution mismatch error E66 E6
Unsupported card error Priority auto-assignment card non-detection error Card mismatch error I/O slot card error Resolution parameter error Driver ready OFF factor indeterminable error Fieldbus error (FBVCCER) Fieldbus error (FBPOWER) Power error (Other) SCIF open error in non-AUTO mode (Servo in use) SEL program flash-ROM status error Symbol definition table flash-ROM status error Point data flash-ROM status error Parameter flash-ROM status error E81 E82 E83 E84 E85 E86 E87 E88 E89 E
434 A TMU0 interruption error was detected. Installed flash ROM type mismatch (Application) Undefined NMI error FB2 FB8 The sum of 4 bytes does not match between the corresponding sections after FROM o SDRAM program copy. The flash ROM type anticipated in the software does not match the flash ROM type actually installed. Check the combination of software and hardware. An undefined NMI interruption occurred.
Invalid code sector block ID error Code sector block ID erase count over A83 A84 Flash verify error A7D Write-source data buffer address error (Odd-numbered address) Flash timing limit over error (Erase) A82 Flash timing limit over error (Write) A7B A7C Write-destination offset address error (Odd-numbered address) Motorola S write address over error A7A A81 Motorola S load address error A79 Sector count specification error Motorola S checksum error A78 A80 Motorola S record type error
436 Message conversion error (Core detection) Updating target non-specification error (Core detection) Updating system code error (Core detection) Updating unit code error (Core detection) Updating device number error (Core detection) A88 A89 A8A A8B A8C Flash busy reset timeout (Core detection) Unit type error (Core detection) Drive error (Driver detection) Encoder error (Driver detection) Driver CPU error (Driver detection) Servo control error (Driver detection) Command error (Driver dete
Exception occurrence error while BL = 1 (Other than NMI) Bit exception reset due to command/data TLB duplication Undefined exception/interruption error AC-power cutoff detection error Abnormal standby power detection error Regenerative resistance temperature error AC-power overvoltage error Motor-power overvoltage error FROM-write bus width error FROM write protect error SDRAM write/read test error Application-update SCIF send-queue overflow error EA0 EA1 EA2 EA3 EA4 EA5 EA6 EA7 EA8 EA9 EAA EAB Er
438 Error name A read/write error of the FPGA. Flash ROM malfunction. The busy status of the flash ROM is not reset. FPGA read/write test error (Core) Flash busy reset timeout (Core detection) EB1 EB2 A FPGA boot watchdog was detected. The core program may not be running properly. Excessive data is received from outside. (Confirm that a PC and IAI’s update tool are used to update the application.) The flash ROM type anticipated in the software does not match the flash ROM type actually installed.
Appendix Troubleshooting of ASEL Controller After the optional panel unit was connected, the panel window began displaying an error number every time an error generates. When the power is turned on, normally “rdy” or “Ardy” will be displayed. “P01” or other code will be displayed while a program is running. When an error generates, the panel window will show “EA1D” or other code starting with “E.” (Some errors do not begin with “E.
440 DC power cutoff Emergency stop (This is not an error.) Safety gate open Defective phase-Z position error Abnormal absolute-data backup battery voltage Stop deviation overflow error Deviation overflow error ErG enb C9C 914 CA2 CA5 C6b Error name dCF Error No. Operation is mechanically disabled. The PG cable was disconnected from the controller. Absolute reset has not been executed after the initial setup. The voltage of the absolute-data backup battery has dropped.
The encoder cable is disconnected. The motor coil is damaged. Encoder received-data error Motor overcurrent error Encoder receive timeout error Speed loop underrun error Shutdown relay ER status d06 690 d19 d18 807 Replace the encoder cable. Remove the motor cover and apply cleaning air spray for OA equipment, etc., over the cord wheel. If the problem persists, replace/readjust the encoder.
442 Troubleshooting of ASEL Controller Appendix
Trouble Report Sheet Company name TEL IAI agent Serial number Date: Reported by axis(es) Appendix [1] Number of axes Trouble Report Sheet Department (Ext) FAX Purchase date Manufacture date Type [2] Type of problem 1. Disabled operation 4. Error 2. Position deviation 3. Runaway machine Error code = 5. Other ( ) [3] Problem frequency and condition Frequency = Condition [5] Operating direction 1. Horizontal year(s) and Trouble Report Sheet [4] When did the problem occur? 1.
Change History Revision Date Description of Revision First edition September 2007 Change History August 2008 Third edition June 2010 Fourth edition Added "Please Read Before Use" on the first page after the cover. Deleted "Precautions on Safety" before the table of contents and added "Safety Guide" on the first page after the table of contents. Inserted the attached "Introductory Text on Installation Environment" as the preceding sentence of 2, "Installation Environment" on page 22.
Manual No.: ME0165-7A (February 2013) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
