Teaching Pendant (Super SEL DS Controller Type) Operating Manual Intelligent Actuator, Inc.
This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please contact IA Technical Support. For Central and East Coast Time Zones, please call our Itasca, IL office at 1-800-944-0333 or FAX 630-467-9912. For Mountain and Pacific Time Zones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday thru Friday from 8:00 AM to 5:00PM. Intelligent Actuator Intelligent Actuator, Inc. U.S.
1. Foreword Thank you very much for purchasing the Teaching Pendant for the IA Super SEL • DS Controller type. Without knowing beforehand how to correctly use or operate the controller, not only will the user be unable to take full advantage of all the functions built into this product but he might inadvertently cause damage to the controller or shorten its life. Please read this manual carefully to acquire an understanding of the proper method of handling and operating the controller.
Table of Contents 1. Foreword .............................................................................................................................................................. 1 2. Before You Begin ............................................................................................................................................... 4 3. Safety Precautions ....................................................................................................................................
Table of Contents 10. Explanation of Each Function Screen ...................................................................................................... 49~71 10.1 Program Mode ........................................................................................................................................... 10.1-1 Position Edit Screen .................................................................................................................... 10.1-2 Program Edit Screen ...............
2. Before You begin ! A Word of Caution Q Please read this manual carefully to operate the controller properly. R You are not allowed to use or reproduce this manual or any portion thereof without permission. S We cannot accept any responsibility for possible damage resulting from the use of this manual. T We reserve the right to change the information contained in this manual without prior notice.
3. Safety Precautions Safety Precautions Please follow the following safety precautions when operating your IA system: (1) Any operation not specifically addressed in this manual should not be attempted. If you have any questions, please contact your IA sales representative or contact IA technical support at: 1-800-736-1712. (2) Use only IA cables when connecting IA actuators and controllers. IA cables are matched for use with IA actuators and are specially designed to withstand repeated bending.
4. Warranty Period and Scope Warranty Period and Scope The Super SEL controller undergoes stringent testing before it is shipped from our factory. IAI provides the following warranty. 1. Warranty Period The warranty period is 12 months from the date the unit is shipped to the customer. 2.
5. Teaching Pendant Function and Specification 5.1 Main Operational Keys and Functions ➀ ➁ ➂ ➃ ➄ ➇ ➅ ➆ ➀ LCD Display 4 lines with a 20 character per line capacity display. Shows program and motion status. ➁ EMERGENCY STOP Whenthe emergency stop button is pressed, servos will disengage and all programmable outputs will be turned OFF. To release the emergency stop, press Restart (F1) on the LCD Display.
5. Teaching Pendant Function and Specification 5.2 Specification It em Des c r ip t io n Ambient Temperature & Humidity Temperature: 0~40°C Humidity: 85% RH or less Operating Environment Free of corrosive gas, no excessive dust Unit Weight 500G Cable Length 2m Display 5.3 LCD Display with 20 X 4 RS232C Connector (D-Sub 25 DTE Special*) For the E • G Type Pin No . Sig n al Name Pin No . Sig n al Name 1 FG 14 NC 2 TXD 15 NC 16 NC 3 RXD 4 (RTS) 17 NC 5 (CTS) 18 +6.
5. Teaching Pendant Function and Specification 5.4 RS232C Connector (D-Sub 25 DTE Special*) for the DS Type Pin No . Sig n al Name Pin No . Sig n al Name 1 FG 14 NC 2 TXD 15 NC 3 RXD 16 NC 4 (RTS) 17 NC 5 (CTS) 18 +6.2V Output 6 DSR 19 ENABLE 7 SG 8 NC 20 DTR 9 NC * * ) 10 NC 11 NC * * * 12 EMG S2 13 EMG S1 * 21 NC 22 NC 23 EMG.SW Emergency Stop SW 24 NC 25 OV (+6.
6. Main Function Keys Above the LCD Display *Alphabetical order Nu mb er Key Co mman d Name Co mman d c o n t en t 1 Acc Acceleration 2 All All All 3 And And And (Logical product) 4 Aprg Application Program Program edit screen 5 Axis Axis 6 Axis + Axis Plus 7 Axis- Axis Minus Subtract 1 from axis No.
6.
7. Programming SEL Language Structure The SEL programming consists of a position and application program (command) section. 7.1 Position Program In the position section, we have coordinates, velocity and acceleration. *1, 2 1~1500 mm/sec *2 Standard 0.3G ±9999.999mm Position Velocity Acceleration Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 No. 1 2 3 4 1997 1998 1999 2000 *1 *2 Varies according to the actuator model.
7. Programming 7.2 Commands The outstanding feature of the SEL language is the simplicity of its command structure which eliminates the need for a compiler and allows high speed operation with just an interpreter. 7.2-1 SEL Language Structure One step of the command has the following structure.
7. Programming 7.
8. Examples of Simple Operation Procedure In this chapter, we will design a program which draws a 5 sided shape. It will pass through 6 points (➀ and ➅ share the same position), taught by a 2-axes (X,Y) actuator. Y ➁ 100 50 ➀ /➅ ➂ ➃ ➄ 0 Origin 50 100 X Position data ➀ ~ ➅ * Please finish reading the rest of the operational procedure before moving ➀~ ➅.
8. Examples of Simple Operation Procedure 8.1 Creating a Position Data First, we will input data for 6 points to draw a 5 sided shape, similar to the position data list shown below: Position Data • list* No. Acc Vel 1 2 3 4 5 6 xxxx xxxx xxxx xxxx xxxx xxxx x.xx x.xx x.xx x.xx x.xx x.xx Axis (1) 0 50 100 100 0 0 Axis (2) 50 100 50 0 0 50 *This is a printout of the controller position data which we will create in this section. LCD Display: SEL Teach Teaching V2.
8. Examples of Simple Operation Procedure Program Mode Screen: Prog Press the F1 Key (Posi). Posi F1 Aprg F2 F3 F4 Position (Position Data) Edit Screen: Posi Press the F1 Key (Mdi - manual data input). Mdi Teac F1 F2 Step Etc F3 F4 Position data Axis 1 Axis 2 Position Number Input Mode: Mdi - 1 No XXXXX.XXX 1 [1] - 2 XXXXX.XXX Inc Dec Clr Del F1 F2 F3 F4 Screen explanation: Mdi - 1 No 1 Position # [1] - 2 Axis Name Axis # No.
8. Examples of Simple Operation Procedure Q Data input for point 1 Mdi 1 No XXXXX.XXX Wrt F1 Can F2 1 [1] - 2 XXXXX.XXX Clr F3 Etc Input the number 0 and press the Return Key. 0.000 will display, and the axis number and name will change to 2. Then, the cursor position will move to the position data for the axis 2. F4 * It is possible to input position data up to for integer 4 digits before the decimal point and 3 digits after. The range depends on the type of the machine.
8. Examples of Simple Operation Procedure Mdi 50.000 Wrt F1 Mdi 2 No Can F2 50.000 Wrt F1 F1 Mdi 100.000 Wrt F1 Mdi 100.000 Wrt F1 Clr F3 2 No Can F2 Mdi 3 No XXXXX.XXX Wrt 2 [2] 2 XXXXX.XXX Since the cursor position moves to the position data for the axis 2, input 100 and press the Return Key. Etc F4 Using the F1 Key (Wrt) to establish, then, advance the Position No. to 3. 1 [1] 2 100.
8. Examples of Simple Operation Procedure Mdi - 4 No XXXXX.XXX Wrt 1 [1] Can Clr F1 F2 F3 Mdi - 4 No 100.000 Wrt - 2 XXXXX.XXX ④ Data input for point 4 Input 100 into the position data for axis 1, then press the Return Key. Etc F4 Input 0 into the position data for the axis 2, then press the Return Key. 2 [2] - 2 XXXXX.XXX Can Clr F1 F2 F3 Mdi - 4 No 100.000 Etc F4 Press the F1Key (Wrt), and advance the Position No. to 5. Wrt F1 Can F2 1 [1] - 2 0.
8. Examples of Simple Operation Procedure Mdi - 5 No 0.000 Wrt Clr F2 F3 - 6 No XXXXX.XXX Wrt Clr F2 F3 - 6 No 0.000 Wrt 2 [2] - Can F1 Wrt F1 1 [1] - Can Clr F2 F3 - 7 No XXXXX.XXX Wrt F1 F3 1 [1] Can Clr F2 F3 Press the F1 Key (Wrt), and advance the Position No. to 6. 2 0.000 Etc F4 2 XXXXX.XXX ➅Data input for point 6 Input 0 into the position data for axis 2, and then press the Return Key. Etc F4 2 XXXXX.XXX Clr F2 Mdi - 6 No 0.
8. Examples of Simple Operation Procedure Push the ESC key to return to the Position Edit Screen. Mdi - 7 No XXXXX.XXX 1 [1] - 2 XXXXX.XXX Wrt Clr F1 Can F2 F3 Etc F4 Push the ESC key again to dsiplay the Program Mode Screen. Posi Mdi F1 Teac Step Etc F2 F3 F4 Push the ESC key again to return to the Mode Selection Screen. Prog * Pressing the ESC key further will not change the screen. Posi Aprg F1 F2 F3 F4 This concludes the basic position data input.
8. Examples of Simple Operation Procedure 8.2 Creating an application program 8.2-1 In this section, we will create an application program which will move the position data location that was created in the previous section. Application program • list * Line 1 2 3 4 5 6 7 8 9 A/O N (1) OP-CODE HOME V EL MOVL MOVL MOVL MOVL MOVL MOVL EXIT OPERAND1 11 100 1 2 3 4 5 6 OPERAND2 POST COMMENT * This is a printout of the application program which we will create (input) in this section.
8. Examples of Simple Operation Procedure Select the F1 Key (PROG) from the Mode Selection Screen. Mode Select Prog F1 Play F2 Parm Test F3 F4 Select the F2 Key (Aprg) from the Program Mode Screen. Prog Posi F1 Aprg F2 F3 F4 Select the F1 Key (Edit) from the Application Program Edit Screen. Aprg Edit F1 Edit ABPG F1 Edit ABPG F1 Copy F2 1- 1 ACC F2 1- 1 ACC F2 F3 F4 [ 0] ADD AND F3 F4 [ 0] ADD F3 AND After the screen changes to program No.
8. Examples of Simple Operation Procedure Edit 1 - 1 _ HOME F1 [ 0] IN INB JBWF F2 F3 F4 Edit 1 - 1 Home [ 0] HOME IN INB JBWF F1 F2 F3 F4 Retrieval is performed either by the DEC / - Key or INC /. Key. Continue pressing either of the Keys until the target command displays. Since HOME is displayed in the display window, in this example, select the F1 (HOME) Key. HOME is displayed on the command input location.
8. Examples of Simple Operation Procedure Select the F4 Key (Wrt), and advance to Step No.2. Edit 1- 1 HOME 11 [ F1 Edit 1_ F2 2 0] Clr Wrt F3 F4 [ HOME IN F1 Continuously press either the DEC / - Key or INC / . Key, and retrieve VEL. 1] F2 INB JBWF F3 F4 In this example, select the F2 Key (VEL). Edit 1_ 2 [ TIMW VEL F1 F2 1] WTOF [Note: In some cases, the displayed function key location (F1~F4) of VEL may differ.] WTON F3 F4 Press the Return Key.
8. Examples of Simple Operation Procedure Press the Return Key. Edit 1VEL 2 Or F1 F2 2 Clr Not F3 F4 [ Press the F4 Key, and advance to Step No.3. 1] 100 F1 Edit 1_ 1] 100 And Edit 1VEL [ F2 3 TIMW F1 F1 Not F3 F4 [ VEL WTON F3 [ MOVL F2 Continuously press the DEC / - Key until MOVL is displayed. 2] WTOF F2 Edit 1 - 3 _ MOD Clr F4 In this example, select the F2 Key (MOVL).
8. Examples of Simple Operation Procedure Press the Return Key 3 times. Edit 1MOVL 3 1_ * BS Clr F1 F2 F3 Edit 1MOVL 3 1 [ 2] [ 2] Clr F1 F2 F4 F3 Wrt F4 Edit 1_ 4 MOD MOVL MOVP F1 F2 F3 F4 Edit 1MOVL 4 [ 1] * [ BS MULT [Note: In some cases, the displayed function key location (F1 ~F4) of MOVL may differ.] Press the Return Key 3 times, and select the F4 Key (Wrt). The screen will advance to Step No.5.
8. Examples of Simple Operation Procedure Edit 1MOVL 5 [ BS F1 F2 MOD F1 * F1 Edit MOVL * F1 6 Clr F3 [ MOVL 6 F4 In this example, select the F2 Key (MOVL), and select the Return Key. Input 4 for position No. into operand 1. 5] MOVP F2 Edit 1MOVL 4] 3_ * Edit 1_ Press the Return Key 3 times, and select the F4 Key (Wrt). The screen will advance to Step No. 6. MULT F3 [ F4 Press the Return Key 3 times, and select the F4 Key (Wrt). The screen will advance to Step No. 7.
8. Examples of Simple Operation Procedure Edit 1MOVL 8 6_ * BS F1 ? Press the Return Key 3 times, and select the F4 Key (Wrt). The screen will advance to Step No. 9. Continuously press the DEC/ - Key until EXIT displays. In this example, select the F3 Key (EXIT) and then, press the Return Key. 7] Clr F2 F3 [Note: In some cases, the displayed function key location (F1 ~F4) of the EXIT may differ.] F4 EXIT ends a program.
8. Examples of Simple Operation Procedure 8.2-2 How to input another program as a continuation [Continuation from P.30] Edit _ EDSR 1-10 EOR F1 Edit Inc Inc F1 9] EXIT F2 F3 [ 1-10 Dec F1 Edit [ F2 2-1 F4 Clr Etc F3 F4 By pressing the ESC Key once more will change the screen into Program No. Input Mode Screen. Therefore, either do a direct number, or by pressing the F1 Key (Inc), the Program No.will turn into 2, allowing you to create another program.
9. Operation 9.1 Program Operation In this section, we will operate the program which was created in the previous chapter. Select the F2 Key (Play) from the Mode Selection Screen. Mode Select Prog Play F1 F2 Parm Test F3 F4 Select the F1 Key (Prog). Play Prog Posi F1 F2 Play 1- 1 HOME 11 Inc (Note: The left screen will only be displayed for the DS type. For the Super SEL type, the screen will shift directly to the screen below.
9. Operation Play 1 ERR_STEP Posi Play F1 F2 Play 1- 1 HOME 11 Inc F1 When the operation is done by EXIT, this screen will be displayed. Press the ESC Key. [ProgStatus] [NONE] Stat Etc F3 F4 [ Dec [STOP] By continuously pressing the ESC Key, the screen will display the Mode Selection Screen.
9. Operation 9.2 Application Program Changes 9.2-1 Setting a continuous movement in a program (Ins: insert, Del: delete) In this section, we will set a continuous movement in a program using commands TAG and GOTO. ? GOTO refers to jump. By setting TAG before jump, you can repeat and skip a program. Select the F1 Key (Prog) from the Mode Selection Screen. Mode Select Prog Play Parm Test F1 F2 F3 F4 Select the F2 Key (Aprg) from the Program Mode Screen.
9. Operation Edit 1HOME 1 11 [ Inc Dec Clr F1 F2 F3 Edit 1HOME 1 11 [ Dec Clr F1 F2 F3 3 1 [ Dec Clr F1 F2 F3 Ins 3 1 EDSR F1 [ F4 Select the F4 (Etc) Key. Etc F4 Select the F1 Key (Ins). 1 of Insert will be displayed behind Step No.3. 9] Etc F2 3 I Input TAG between Step No. 2 of command VEL and Step No. 3 of command MOVL, by either directly inputting the number 3 or pressing the F1 Key (Inc) twice until the number 3 is displayed.
9. Operation Input number 1 into operand 1. Edit Tag 1- 3 I [ _ BS F1 9] Clr F2 F3 F4 * When inputting a number into TAG operand 1, the number should be a convenient number that is under 64. However, please select a number that correspond to the number which will enter GOTO operand 1. Press the Return Key, and select the F4 Key (Wrt). Edit TAG 1- 3I 1_ [ BS F1 Edit _ SVON [ F4 Press the ESC Key, and display the Step No. 4 Screen.
9. Operation Edit TAG 1- 3 1 SVON TAG F1 Edit TAG [ TAN TIMC F3 F4 F2 1- 3 1 Inc [ Dec F1 Press the ESC Key, and match the cursor to the Step No. location. 10] Next, delete EXIT and insert GOTO, by either leaving the cursor location where it is and directly inputting the number 10, or pressing the F1 Key (Inc) 7 times until the number 10 is displayed. 10] Clr F2 Etc F3 F4 Select the F4 (Etc) Key.
9. Operation Press the Return Key. Edit 1 - 10 Ins [ Del F1 Edit _ SVON F1 Edit GOTO EXSR F1 Edit GOTO 9] Etc F2 F3 [ 1 - 10 F4 Continuosly press either the DEC/ - Key, or INC / . Key until GOTO is displayed. In this example, select the F2 Key (GOTO). 9] TAG TAN TIMC F2 F3 F4 1 - 10 [ GOTO F2 1- 10 1_ Press the Return Key, and input the same number which was input in operand 1 of TAG operand 1. Here, 1 is input.
9. Operation 9.2-2 How to stop operation during or by other methods excluding EXIT Select the STOP Key when executing a program, when the EXIT command is not input, or when you wish to force end a program. Edit 1- 0 MOVL 6 Posi F1 [ Play F2 Play 1-6 9] Stat Etc- F3 F4 [ Run 1- Stop F1 1 ] Press the F1 Key (Stop). When several programs are being operated using the multi-task, the StpAL will stop all of the programs, while the Stp 1 will select and stop a Program No.
9. Operation 9.2-3 Expansion Condition Input Procedure In this section, we will learn the expansion condition input procedure using the Application Program List example below: Application Program • List Program No 2 Line A/O l 2 AND N (1) N22 N20 OP-CODE HOME OPERAND 1 11 OPERAND 2 POST COOMMENT 900 Select the F1 Key from the Mode Selection Screen. Mode Select Prog F1 Play F2 Parm Test F3 F4 Select the F2 Key (Aprg) from the Program Mode Screen.
9. Operation Edit 1 - 1 HOME [ 10] 11 Inc Dec Clr Del F1 F2 F3 F4 Edit 2 - 1 [ Press the Return Key, and move the cursor to the Step No. position. 0] Inc Dec Clr Del F1 F2 F3 F4 Edit 2 - 1 [ Press the Return Key once again, and move the cursor to the command input position. 0] Inc Dec Clr Del F1 F2 F3 F4 Edit 2 - 1 _ [ GOTO GRP F1 F2 F3 Edit 2 - 1 Here, we will not input a command.
9. Operation Edit 2- 1 [ The screen will display N of NOT (A is for AND, and O is for OR). Here, we will input the number 22. 0] N_ And Or F1 Edit 2- Clr F2 1 And F1 GRP F1 F2 F3 F1 Edit 2- 2 HOME 11 F4 In this example, press the INC /. Key once and display HOME. Then, select the F1 Key (HOME). 1] GOTO HOME N22_ Not F3 [ 2 Press the Return Key, and establish with the F4 Key (Wrt). Then, advance to No.2.
9. Operation Edit 2HOME 2 [ 11 900 And Or F1 F2 Edit 2HOME 2 Here, the screen will change into the Continuous Input Mode Screen. Select the F1 Key (And). 1] _ Clr Not F3 F4 [ 11 900 The screen will display A of AND. Select the F4 Key (Not) and input the number 20. 1] A_ And Or Clr Not F1 F2 F3 F4 Edit 2- 2 HOME [ 11 900 And Or F1 F2 Edit 2- 2 HOME F1 Edit 2- 3 _ 1] A N20_ Clr Not F3 F4 [ 11 900 F2 Press the Return Key. Select the F4 Key (Wrt).
9. Operation 9.3 Position Operation (DS type only) There are two methods in Position Operation: One is “Moving One Step at a Time” Method, and the second is the “Consecutive Movement” Method. 9.3-1 Step Operation Select the F2 Key (Play) from the Mode Selection Screen. Mode Select Prog Play Parm Test F1 F2 F3 F4 Selec the F2 Key (Posi). Play Prog F1 Posi F2 F3 F4 Select the F1 Key (HOME) to execute homing. Play HOME F1 F2 F3 F4 This is the screen during homing.
9. Operation Play - 2 200.000 No 1 [1] Press either the F1 Key (Inc) or F2 Key (Dec), and select the first Position No. you wish to move. then, determine with the Return Key ( ↵). (Here, select the Position No. 2) -1 * F1 Key (Inc) will increase the No. while the F2 Key (DEC) will decrease the No. Inc Dec F1 F2 F3 F4 Press the F1 Key (Step), and select the Step Operation. Play - 2 200.
9. Operation 9.3-2 Consecutive Operation Select the F2 Key (Play) from the Mode Selection Screen. Mode Select Prog F1 Play Parm Test F2 F3 F4 Selec the F2 Key (Posi). Play Prog F1 Posi F2 F3 F4 Select the F1 Key (HOME) to execute homing. Play HOME F1 F2 F3 F4 This is the screen during homing.
9. Operation Play - 2 200.000 Inc F1 No 1 [1] Press either the F1 Key (Inc) or F2 Key (Dec), and select the first Position No. you wish to move. Then, determine with the Return Key (↵). (Here, select position No. 2) - 1 Dec F2 F3 F4 * F1 Key (Inc) will increase the No. while the F2 Key (DEC) will decrease the No. Press the F2 Key (Cont), and select Step Operation. Play - 2 200.000 No Step Cont F1 F2 Play C- 2 No 200.
9. Operation 9.3-3 Consecutive Operation Sequence) During a Consecutive Operation Movement, execute the set Position No. to the next Position No. in sequence. For an unregistered position, return to the next position No. in front of the previous unregistered Position No. Then, execute the set Position No. to the next Position No. in sequence. Set Position No. Position No. Acceleration Velocity Position 1 0.3 750 50.000 2 0.3 750 200.000 3 0.3 500 150.000 4 0.3 500 200.000 5 x.
10. Explanation of Each Function Screen Mode Selection Screen Prog Mode Select Play Mode Select Parm Prog Play Parm Test Test F1 F2 F3 F4 This the basic screen for all operation. 10.1 Prgram Mode Program Mode Screen Use the “ESC” Key to return to this screen. Posi Prog Prog Aprg Mode Select Play Parm Posi Test F1 Aprg F2 F3 F4 Select the F1 Key (Posi) to view the Position Edit Screen. 10.
10. Explanation on Each Function Screen Position Input Mode Inc Dec Mdi xxxx.xxx 200. 000 Clr Inc Dec Del F1 F2 Mdi Posi Prog Teac Step Etc Aprg 1 No 1 [1] xxxxx.xxx 2 Clr Del F3 F4 You may move Position No.1 through 2000, or input a number directly. You may numerically input a position. (For the DS type, you may move position No. 1 through 500.) Please refer to Page 16, section 8.1, entitled, “Creating Position Data” for input procedure.
10. Explanation on Each Function Screen Teaching Mode Mdi Posi Teac Inc Dec Clr Prog Step Del Teac Display (Blinking) HOME Teac Step Etc F2 F3 F4 F1 Etc Aprg Upon installing power and in teaching mode, the screen will change to the Homing Screen. Press the F1 Key (HOME). ➨ There are two methods in Position Teaching: One is the Direct Manual Actuator Move Method, and the other is the Teaching Using the Key Method. Teac Moving now to Home F1 F2 F3 F4 This screen appears during homing.
10. Explanation on Each Function Screen Jog Speed Set Mode Jvel Teac ↵ Axis Jog Svof Clr Teac 1 No 1 [1] 2 0.000 50.000 Jvel [ 030 ] JAcc [0.30] Axis Clr F1 F2 F3 F4 Etc * The maximum value varies according to machine type. Therefore, please refer to the appropriate product catalog. Initial set value using a parameter (for reference, see Page 61). Jog Mode Jog Teac ↵ Jvel [2] - 2 Jvel Svof Etc F2 F3 F4 0.000 Wrt Jog Jvel Svof Svof Etc 1 No 2 0.
10. Explanation on Each Function Screen Teaching Velocity Set Mode Jog 1 No 2 18.625 Vel [ 0] ACC Wrt Jvel Axis+ Axis- Wrt Vel Axis Etc Clr Prog Svof Etc * The maximum value varies according to machine type. Therefore, please refer to the appropriate product catalog. Wrt Axis F1 F2 [2 ] - 2 7. 510 [0.00 ] Clr F3 F4 Set the velocity • acceleration, and press the Return Key. F1 Key (Wrt): Writes to memory.
10. Explanation on Each Function Screen Position Step Mode Posi Prog ••• Verify position Step 1 No 48.593 Mdi Teac Inc Step Dec Etc Go Aprg Jvel Inc F1 1 [1] 2 99. 625 Dec Go Jvel F2 F3 F4 Input the Position No. you wish to move. F1 Key: +1 to Position No. F2 Key: -1 to Positon No. F3 Key: Move to the assigned Position No. (Data). F4 Key: Assign move velocity.
10. Explanation on Each Function Screen Position Copy Mode Mdi Posi Copy From St. 1 To St. Teac Posi Step Shift Copy Clr Clr Etc F1 Clr Etc Ed. Ed. F2 F3 F4 Operand is input in the same method as the Position Shift (move). Copies the consecutive Position No. (data). Position Clear Mode Mdi Teac Posi Step Clear All Position Shift Copy Etc Clr Clr Clr Etc F1 F2 Use the F1 key to clear all positions.
10. Explanation on Each Function Screen 10.1-2 Program Edit Mode Posi Prog Aprg Inc Edit Edit Home 1- 1 [13] 11 350 Dec Clr N350 Inc Dec Clr Del F1 F2 F3 F4 Del Copy For operation method, please refer to the section 8.2, entitled, “Creating an Application Program.” Copy Mode Mdi Posi Edit Teac Copy Prog From To Copy 1 10 [ [ 10] 20] Clr F1 F2 F3 F4 Input (From) the Program No. you wish to copy, and then, input (To) the transfer ahead Porgram No.
10. Explanation on Each Function Screen 10.2 Play Mode 10.
10. Explanation on Each Function Screen Status Display Mode Axis+ Axis+ Play Home Move Axis- Axis+ AxisPosi Stat Pos 1 - No [ON] [OFF] Axis- F1 Go Inc Play Dec Stat Clr Play 1 HOME Inc HLT Pos F2 Rerun, Stop Assign Mode Posi 1 [1] - 2 Servo [ON] 59.237 F1 F3 F4 HOME OFF / ON SERVO OFF / ON MOVE OFF / ON 1 11 [ Dec Clr F2 F3 10] F4 * Multi-task • • • You may simultaneously execute 16 programs (For the DS type: 8 programs).
10.
10. Explanation on Each Function Screen Progam Executing Display Posi Go Play 1- 4 In Play [ Run 1- 1] Out Stat Flag Stop HLT Etc Stop Etc F1 F2 F3 F4 Etc How to stop using Please refer to Page 39, section 9.2.2, entitled, “How to stop operation during, or by other methods excluding EXIT.” HLT Press the F1 Key → to return to the Play Mode Screen.
10. Explanation on Each Function Screen When program in not moving Play 1 [Prog ERR_STEP [NONE] Axis+ Posi (P57) AxisStat ↔ Posi Show (P58) Stat Posi F1 Inc Play Play Stat Etc F2 F3 F4 Dec Clr ↔ Prog * For details on each screen, please refer to Page 57 ~ 59.
10. Explanation on Each Function Screen 10.2-2 Play Program Input Mode (DS type only) Prog Mode Select Play - 2 No 200.000 Prog Inc Play 1 [1] - 1 Posi Dec Parm Test Inc Dec F1 F2 F3 F4 ➨ ↵ Return Key ➨ Operation Method Selection Screen Play - 2 No 1 200.000 Step Cont F1 F2 [1] - 1 F3 F4 Step Operation Mode Go+ Posi ↵ Step Play S 200.000 Go Go- Cont - 2 No 1 Go+ Go- F1 F2 F1 Key (Go+): F2 Key (Go-): [1] - 1 F3 F4 Displays the next position upon move.
10. Explanation on Each Function Screen 10.3 Parameter Mode The system parameters are written into the controller accordingly prior to shipment. In general, the customer does not need to make modifications on his own. However, for customized system parameter changes, please contact IAI Service Department or Techinical Support. Please do not attempt to make modifications on your own. Otherwise, IAI can not guarantee should abnormalties occur as a result of your modification.
10. Explanation on Each Function Screen Axis Servo Parameters Axis+ Parm Axis 1. Numerator Inc [<=] Srvo Dec Home Axis Parm Cir Motr Sys Axis+ Wrt F1 Name 1 [1] Srvo 1 Dec Clr Wrt F2 F3 F4 F1 Key: +1 to Axis No. Return Key: +1 to column. F2 Key: - 1 to column.
10. Explanation on Each Function Screen Axis Home Parameter Mode / Usable Axis • Unusable Axis Setting Mode Srvo Home Axis Parm Motr Sys Name Dec Parm Axis 1. Home Dir Inc [<=] Cir Axis+ Axis+ F1 Wrt 1 [1] Home 1 Dec Clr Wrt F2 F3 F4 F1 Key: +1 to Axis No. Return Key: +1 to column. F2 Key: - 1 to column.
10. Explanation on Each Function Screen Axis Motor Parameters Axis+ Srvo Home Axis Parm Dec Clr Motr Sys Name Parm Axis 1 [1] 1. Motor RPM Max Inc [<=] 4000 Axis+ Wrt Home Dec Clr Wrt F2 F3 F4 F1 F1 Key: +1 to Axis No. Return Key: +1 to column. F2 Key: - 1 to column.
10. Explanation on Each Function Screen Axis Name Parameters Parm Srvo Axis 1 [1] Name Axis Name Home Axis Parm Axis+ Motr Axis+ Sys AxisName Axis- F1 Name+ F2 F3 NameF4 Name+ Name- Parm Srvo Change Axis Name. Move Axis No.
10. Explanation on Each Function Screen 10.3-2 System Parameters Parm System Srvo Prog Pos Srvo Etc F1 F2 F3 Prog Posi Axis Parm Sys System Program Parameter Mode Parm System 1. Auto Start Inc [ <=] Inc Prog Sys Pos Srvo Dec Clr Etc F4 Prog PRG 0 Inc Dec Clr Wrt F1 F2 F3 F4 Wrt F1 Key: Return Key: F2 key: Etc +1 to column. +1 to column. - 1 to column.
10. Explanation on Each Function Screen System Parameters Prog Inc Pos Dec Parm System 1. Point Inc [ <=] Srvo Clr Inc Etc Wrt Axis Parm Sys F1 Dec F2 Pos Size 2000 Clr Wrt F3 F4 Application Point Reference * No . Par amet er Name In it ial Set t in g Valu e Co n t en t St an d ar d 1 Point Size 2000 (500) Point Data Number 2000 (DS Type 500) (* Reference only.
10. Explanation on Each Function Screen System I/O Parameters (Note: Cir Inc Prog Parm Parm System 1. Terminal IDS Inc [ <=] Dec Pos Sio Srvo Cir Clr Axis Sys (circular paramter) does not exist for the DS type.
10. Explanation on Each Function Screen 10.4 Test Mode (Super SEL Type) Test Prog Mode Select Play Flag In Parm Flag Out Test F1 Ver In Out Ver F2 F3 F4 (DS Type) Prog Test Flag Mode Select Play Inc Parm Out Sys Flag In Out Etc Etc Ver F1 F2 F3 F4 Test Etc Select the F4 Key.
10. Explanation on Each Function Screen Test Flag Display (Super SEL Type) Inc Flag Dec In Test Test 600 __ > 610 __ > 0123456789 1100000000 0000000000 (Flg) < 609 __ < 619 __ Clr Inc Dec Clr Wrt 0/1 F1 F2 F3 F4 Out Ver (DS Type) Inc Flag Dec In Test F1 Key (Inc): +10 to Flag. F2 Key (Dec): -10 to Flag. F3 Key (cir): Turns all displayed port to 0. F4 Key (0/1): Changes → 0➯ 1, 1➯ 0 Moves .(decimal point) , Return Key → Cursor location to the right.
10. Explanation on Each Function Screen Test Output Port Display (Super SEL Type) Dec Test 300 __ > 310 __ > Clr Inc Inc Flag In Test Out F1 0/1 0123456789 0000000000 0000001100 Dec F2 (Out) < 309 __ < 319 __ Clr F3 Wrt F4 Ver F1 Key (Inc): +10 to Flag. F2 Key (Dec): -10 to Flag. F3 Key (cir): Turns all displayed port to 0 output. F4 Key (0/1): Outputs → 0➯ 1, 1➯ 0 Moves .(decimal point), Return Key → Cursor location to the right. Moves -(minus) Key → Cursor location to the left.
10. Explanation on Each Function Screen Test Version Display (DS Type) Flag In Test Out Ver Sys Ver Etc System Input Screen Assigned display for Start Program No. Emergency stop • ready input display Test 007 __ > Prog F1 76543210 01000000 < __ 00000000 F2 F3 (Sys) 000 (00) F4 Displays currently selected Program No.
10. Explanation on Each Function Screen Memory Clear Mode Simultaneous interpretation (Super SEL type) Flag +1 Test RamCL In RamCL Test Out F1 Ver F2 Out Ver F3 F4 The above screen will appear when the F1 Key (Flag) and 1 Key are simultaneously pressed. (DS type) Simultaneous interpretation Flag In +1 When the Keys are released, the screen below appears. RamCL In Test RamCL Out Ver ! Please be aware that the Memory Clear Operation will erase all data.
10. Explanation on Each Function Screen (Super SEL type) All RamCL In Test Parm Prog Out Test RamCL Pos Parm Ver CLROK? (DS type) All F1 RamCL In Test Out Parm Prog F2 F3 F4 Execute using the F1 Key. All of the system parameters will be cleared. ! Upon clear, same process as RESET will follow. Pos Etc (Super SEL type) All RamCL In Test Parm Prog Out RamCL Pos Prog Ver (DS type) CLROK? All RamCL In Test Out F1 Parm F2 F3 F4 Prog Execute using the F1 Key.
11. Supplement 11.1 Recovery From Emergency Stop “Hard Reset” is used to recover from emergency stop for the Super SEL type, Table Top type (TT-300) and the DS Type. This operation is handled similar to power ON/OFF. 1. Emergency stop from the teaching pendant (1) Press the EMERGENCY STOP located on the teaching pendant. While the EMERGENCY STOP is continuously pressed, the following screen will appear: [T-BOX LCD Display Screen] [Controller CODE Display Screen] EMG STOP.
11. Supplement 2. In case of pressing the controller emergency stop button or making an emergency stop due to an external signal: Upon pressing or releasing the EMERGENCY STOP red button (For A • B type only), you must do the above (1), (2) and (3) operations in order to do a teaching pendant reset. Teaching pendant operation can not be made if the controller front panel CODE display screen is at a status.
11. Supplement 11.2 List of error codes Error Code Error Nam e Explanat ion A1 Ext ernal I nt errupt Error 1. M ot or ov er current 2. Ov er regenerat iv e current (ov er negat iv e load) 3.
11. Supplement 11.3 How to investigate an axis error using the teaching pendant • For A1 ~ A4 error: Use the teaching pendant to investigate the error occurance axis. • How to investigate an external start error occurance axis: When an error occurs on connecting axis during teaching riser, the below screen will be displayed (Timing of the display is after control version display). Axis Check Home [ON] A1: EXT INT_ Axis F1 Error F2 ← Error occurance axis No.
11. Supplement What to do When an Error Code Occurs Below we indicate what to do in case any of the error codes described on the preceding page appear in the 7-segment display on the face of the controller. (1) A1 ~ A5 alarms related to the servo When one of these alarms related to the axis appears, determining which axis is the cause of the error makes it easier to solve the problem. One of the ways to do this is to judge by the axis status or movement at the time the error was generated.
11. Supplement (2) B0 - BC Programming Errors Group 1 An error will be displayed when there is a problem with the written program itself or the program that was started up. In this case, alarm output 300 will not be asserted. D2 Override error The override was spec 100%. Specify value w D3 Angle error The angle parameter fo was specified outside t angle within this range.
11. Supplement (3) C0 - CF programming errors Group 2/Command Error - 1 This group of errors is also related to programming, but primarily arises from the way the commands are used. C0 Homing incomplete error Tried to execute move co homing. After the power emergency stop, homing C1 Position designation error Tried to move to a positio position data. Set positio C2 Axis-in-motion error Commanded axis to mov motion. Be careful when C3 Soft limit error Commanded axis to mov program.
11. Supplement D2 Override error The override was spec 100%. Specify value w D3 Angle error The angle parameter fo was specified outside t angle within this range. D4 Axis pattern error The axis pattern design problem is the same as Correct the data setting D5 Axis number error An axis number outside an axis not supported b Set the correct axis nu D6 Circular axis designation error There are data settings ARC/CIR commands c dimensions.
11. Supplement (5) E0 - E3 programming errors Group 4/Command error - 3 These errors, like those in sections 3 and 4 above, primarily arise from the way the commands are used. E0 Undefined command error Attempted to execute an use the PC interface softw prevent this. E1 Subroutine overnesting error There are more than 15 s alarm occurs after trying t program so that the numb less than 15. Also note th use of the IF command, th error.
11. Supplement R Another thing to consider with an emergency stop Usually, the emergency stop input is tied to a ground. In the case where you are using an external power supply, the power supply voltage can drop, causing an emergency stop to occur. The way the circuitry is designed, the 24V DC power supply must be turned on before the controller, and the power supply must not be turned OFF while the controller is in operation.
Intelligent Actuator, Inc. 2690 West 237th Street Torrance, CA 90505 310-891-6015 / 310-891-0815 (Fax) Publication No.
