INTELLIGENT ACTUATOR Super SEL Controller (Type E & G) Operating Manual Super SEL Type E 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 630467-9912. 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, Inc. U.S. Headquarters 2690 W.
Foreword Thank you very much for purchasing the IA Super SEL Controller E·G 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 Foreword ................................................................................................................................................................. 1 Before You Begin ...................................................................................................................................................... 4 Chapter 1 Setting Up ..................................................................................................................................
Table of Contents Part 3 1 2 Multi-tasking Programming Tips ................................................................................................................... 104 Inefficient Configuration ............................................................................................................................. 104 Most Efficient Configuration ......................................................................................................................
Before You Begin Differences between the Super SEL Controller Type E/G and Type A/B (Be sure to read this before you begin) 1. There is no built-in DC24V power supply for the I/O in the Super SEL Controller Type E/G. The DC24V power must be supplied externally. Connect +24V to I/O connector Pin 1A, and 0V to Pin 25B. (Refer to "Supplement 5. I/O DC24V power Supply" for more details.) 2. For the Super SEL Controller Type E·G, the Emergency Stop is normally closed.
Chapter 1. Part 1 Setting Up Safety Precautions The IA Super SEL Controller Type E was designed to control any type single axis IAI actuator and Type G was designed to control any type actuator in assembly configurations using a maximum of 8 axes or integrated with other peripheral devices. It is capable of controlling everything from a simple single axis system to large scale FA (factory automation) system.
Chapter 1. Part 2 Setting Up 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.
Chapter 1. Part 3 1. Setting Up Installation Environment and Noise Measures Installation Environment (1) Do NOT block the air vents of your controller when installing your IA system. (2) Your Super SEL Controller is NOT dust, water, or oil proof. Take steps to prevent foreign matter from getting into the controller air vents. Avoid using your IA system in environments subject to contamination by dust, oil mist, or cutting oil.
Chapter 1. Setting Up If you need to use a stepdown transformer to lower the power voltage from 240V to 117V, use a dedicated, insulated transformer for the IA controller. (For further details, please contact your IA sales representative or technical support).
Chapter 1. Setting Up Please use a dedicated and insulated power transformer when the system has a 240V power source. AC 240V AC 117V Main power source IA power Main power source Other power IA power 240V 240V 117V 117V Other devices IA Controller Other power 117V devices Main circuit 240V devices IA Controller Wiring Notes 1. 2. 3. 4. 5. To reduce noise problems, the AC117V and the DC24V external power cable should be a twisted pair. Isolate the SEL cables from the power line.
Chapter 1. Setting Up (2) Noise Source and Noise Suppression When using electrical components such as electromagnets, solenoids, or relays which create electromagnetic noise, some type of noise supression device should be used. AC solenoid valve · magnetic switch · relay • Install a surge absorber parallel to the reactance load (solenoid and relay coils). *Note* Use the shortest possible wiring between the surge absorber and the noise-creating device.
Chapter 1. Setting Up DC solenoid valve · magnetic switch · relay • Install a diode parallel with a reactive/inductive load. • Select a diode with the proper voltage rating. The voltage rating is determined by the loading capacity of the system. • When installing the diode, pay careful attention to the polarity of the diode. A diode installed in reverse polarity could damage your IA System's internal circuitry.
Chapter 1. Setting Up Part 4 Cabling Precautions When using the IA actuator and controller to build an application system, it is important to position and lay out the cable correctly. If this is not done, the cable may snap or have a faulty connection that could lead to a variety of problems which in turn could cause the actuator to run out of control. Below, we explain the things not to do to ensure that the cables are connected in the correct fashion.
Chapter 1. Setting Up 7 If placing cable in a cableveyor or flexible tube, make sure it does not twist around. Also, make sure the cables have some freedom of movement and are not bunched up (cable should not project out at bending points). 8 9 The amount of cable placed inside a cableveyor should be about 60% of the space capacity of the cableveyor. Do not mix the signal line with a high voltage circuit. Cableveyor Power supply circuit Duct Cable 10 Signal line (flat cable, etc.
Chapter 1. Setting Up Part 5 1. Part Names and Functions IA Controller Front View Code (Code Display) Controller operating status display (2 digit, 7 segment) Ready (Ready Display LED) Indicates if the controller is operable. Alarm (Alarm Display LED) Alerts the operator of any abnormality in the system. Teaching/RS232C Connector Connector for Teaching Pendant or PC.
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Chapter 1. Setting Up 3. Teaching Pendant (Option) LCD Display 4 lines with a 20 character per line capacity display. Shows program and Motion status. Emergency Stop When the 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. F1, F2, F3, F4 (Function Key) Multi-function keys which correspond with the LCD Display.
Chapter 1. Part 6 1.
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Chapter 1. 2.
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Chapter 1.
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Chapter 1. 3. Setting Up External I/O Specifications (1) Input Input Specifications Dedicated Input...4 Points User Input....20 Points Expansion Input (Option)....Max 72 Points Point Power Voltage DC24V +/-20% Current 7mA/DC24V ON/OFF Power Voltage ON....Min DC16.0V OFF....Max DC5.0V ON/OFF Response Time ON....Max 20m sec OFF....
Chapter 1. Setting Up (2) Output S p e c ific a tio n s O u tp u t P o in t D e d ic a te d o u tp u t.....2 p o in ts U s e r o u tp u t.....2 2 p o in ts E x p a n s io n o u tp u t (o p tio n ).....m a x im u m 7 2 p o in ts R a te d P o w e r DC24V M a x im u m L o a d C u rre n t 1 0 0 m A /1 p o in t R e c o m m e n d e d L o a d C u rre n t 2 0 m A /1 p o in t Leakage 0 .1 m A (m a x im u m ) R e s id u a l V o lta g e 3 .
Chapter 1. 5. Setting Up Precautions When Using the Emergency Stop As a rule, emergency stops should only be applied from the I/O. Do not turn the power (AC117V) ON/OFF to effect an emergency stop. If you stop the actuator by turning the power OFF, wait at least 15 seconds before turning the power ON again. If you disregard this warning, and repeatedly turn the power ON/OFF without waiting a sufficient amount of time, you may damage the controller. 6.
Chapter 1. Part 7 1. Setting Up System Setup Connecting the IA Controller and Actuator * Since Type E and Type G Controllers are designed to be mounted inside of a control panel, no plug is provided for the power cable on the other end of the controller. *Power Cable·Terminal N o. C olor S ignal 1 B lack A C117V 2 --- --- 3 W hite A C117V 4 --- --- 5 G reen FG Teaching Pendant Connect controller and actuator cables. Use only IA supplied cables. These cables include: a. Motor cable b.
Chapter 1. Setting Up 2. Interface List I/O Connector (NPN-Sinking) Pin No. 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11A 11B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A 17B 18A 18B 19A 19B 20A 20B 21A 21B 22A 22B 23A 23B 24A 24B 25A 25B Category P24 Input Output N24 Port No.
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Chapter 1. Setting Up Expansion I/O * (NPN - Sinking) P in N o . 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11 A 11 B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A 17B 18A 18B 19A 19B 20A 20B 21A 21B 22A 22B 23A 23B 24A 24B 25A 25B C a te g o ry P24 In p u t O u tp u t N24 P o rt N o .
Chapter 1. Setting Up 4. Interface List (PNP Sourcing) P in N o. C atego ry 1A N 24 P ort N o. F unction C able C olor E xternal po w er 0 V 1-B row n 1B 000 E xternal start input 1-R ed 2A 001 U se r in put 1-O range 2B 002 E m e rg ency S top b contact input *1 1-Yellow 3A 003 S ystem reserv e 1-G reen 3B 004 S ystem reserv e 1-B lue 4A 005 U se r in put 1-P urple 4B 006 U se r in put 1-G ray 5A 007 U se r in put 1-W hite 5B 008 P R G N o.
Chapter 1. Wiring Diagram P in N o . C a te g o ry 1A N24 Standard I/O (PNP - Sourcing) P o rt N o .
Chapter 1. Setting Up I/O Expansion * (PNP-Sourcing) P in N o. C ategory 1A N 24 P ort N o.
Chapter 1. Setting Up DC24V Electromagnetic Valve Wiring Precautions (Example) 24V Switching Power Cable size 0.75° or greater Super SEL I/O Unit Output Relay Circuit Large Voltage Electromagnetic Valve Circuit Separate Wiring should be a separate system In a situation where the I/O unit drives the relay and the relay drives the electromagnetic valve, separate the output relay circuit and the large voltage electromagnetic valve circuit as shown in the diagram above.
Chapter 1. 4. Setting Up Teaching/RS232C Connector (D-Sub 25 DTE Special *) Pin No. Signal Pin No. Signal 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 NC 7 SG 20 DTR 8 NC 21 NC 9 NC 22 NC 10 NC 11 NC 23 Emergency Stop Switch (EMG.SW) 12 NC 24 NC 13 NC 25 0V (+6.2V) * * * * Pin numbers 18, 23, and 25 are for use with the teaching pendant signal. Do not connect these pins. • Pin numbers 4 and 5 are short-circuited.
Chapter 1. 5. Setting Up Connector Pin Assignment The bottom view of the Super SEL Type E/G on the left shows the placement of the connectors. Please refer to Page 29 and 31 for the I/O connector and the I/O wiring (including the I/O expansion). The connector pin assignment for the other parts are shown below. (1) AC100W 2-Axis specifications Power Supply Connector P in N o . S ig n a l 1 A C 11 7 V 3 A C 11 7 V 5 FG LS Connector (Option) P in N o .
Chapter 1. Setting Up M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up (2) AC100W 4-Axis specifications Power Supply Connector Pin No. Signal 1 AC117V 3 AC117V 5 FG LS Connector (Option) Pin No.
Chapter 1. Setting Up BK Connector (Option) Pin No. Signal 1 60V 2 GD 3 XBK 4 θ BK Nippon Molex 53258-0420 (4P) (Body side) 51067-0400 Housing (4P) 50217-8100 x 4 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up M·PG Connector (Motor/Encoder Signal) Pin No. Signal 1 U 2 V 3 W 4 NC 5 FG 6 PV5 7 GD 8 A 9 A 10 B 11 B 12 Z 13 Z 14 FG Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Z (3) Axis Z (3) Axis M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up (3) AC200W 2-Axis specifications Power Supply Connector Pin No. Signal 1 AC117V 3 AC117V 5 FG Nippon Molex 53265-0320 (3P) (Body side) 51067-0500 Housing (5P) 50217-8100 x 3 Terminal Nippon Molex 53258-0520 (5P) (Body side) 51067-0500 Housing (5P) 50217-8100 x 5 Terminal Nippon Molex 53258-0420 (4P) (Body side) 51067-0400 Housing (4P) 50217-8100 x 4 Terminal LS Connector (Option) Pin No.
Chapter 1. Setting Up M·PG Connector (Motor/Encoder Signal) Pin No. Signal 1 U 2 V 3 W 4 NC 5 FG 6 PV5 7 GD 8 A 9 A 10 B 11 B 12 Z 13 Z 14 FG Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal X (1) Axis X (1) Axis M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up (4) AC400W 1-Axis specifications Power Supply Connector Pin N o.
Chapter 1. Setting Up (5) DC100W 2-Axis specifications Power Supply Connector Pin No.
Chapter 1. Setting Up M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up (6) DC100W 4-Axis specifications Power Supply Connector Pin No.
Chapter 1. Setting Up BK Connector (Option) Pin No. Signal 1 60V 2 GD 3 ZBK 4 θ BK Nippon Molex 53258-0420 (4P) (Body side) 51067-0400 Housing (4P) 50217-8100 x 4 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up M·PG Connector (Motor/Encoder Signal) Pin No. Signal 1 MB 2 NC 3 NC 4 MA 5 FG 6 PV5 7 GD 8 A 9 AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Z (3) Axis Z (3) Axis M·PG Connector (Motor/Encoder Signal) Pin No.
Chapter 1. Setting Up (7) DC200W 2-Axis specifications Power Supply Connector Pin No. Signal 1 AC117V 3 AC117V 5 FG Nippon Molex 53265-0320 (3P) (Body side) 51067-0500 Housing (5P) 50217-8100 x 3 Terminal Nippon Molex 53258-0520 (5P) (Body side) 51067-0500 Housing (5P) 50217-8100 x 5 Terminal Nippon Molex 53258-0420 (4P) (Body side) 51067-0400 Housing (4P) 50217-8100 x 4 Terminal LS Connector (Option) Pin No.
Chapter 1. Setting Up M·PG Connector (Motor/Encoder Signal) Pin No. Signal 1 MB 2 NC 3 NC 4 MA 5 FG 6 PV5 7 GD 8 A 9 AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal Nippon Molex 53258-1420 (14P) (Body side) 51067-1400 Housing (14P) 50217-8100 x 14 Terminal X (1) Axis X (1) Axis M·PG Connector (Motor/Encoder Signal) Pin No.
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Chapter 1. 7. Setting Up Unit Configurations 1 Servo Driver Units: Basic Modules Module 1 - Both CPU and servo driver in a single unit. Representative of 1 or 2-axis Type-E and Type-G controllers with 100W maximum motor capacity per axis. 100W 2-axis dedicated Module 2 - 4-axis servo driver unit with 100W maximum motor capacity per axis. This servo driver unit must be used along with a separate CPU unit.
Chapter 1. 5-Axis configuration with various motor capacities Axis 1 =60W Axis 2 =100W Axis 3 =100W Axis 4 =200W Axis 5 =60W * ∪ 2 Setting Up The unit with the largest motor capacity is placed at the furthest left of the CPU unit. This is to reduce noise interference. A 12-slot expansion unit is available as an option.
Chapter 1. 6-Axis configuration with various motor capacities ∪ Axis 1 =200W Axis 2 =60W Axis 3 =100W Axis 4 =200W Axis 5 =200W Axis 6 =100W CPU Unit + 200W 2-axis servo driver unit + 100W 4-axis servo driver unit (using 3 axes only) + 200W 2-axis servo driver unit (using 1 axis only) ∪ ∪ 4 Setting Up * The unit with the largest motor capacity is placed at the furthest left of the CPU unit. This is to reduce noise interference. A 12-slot expansion unit is available as an option.
Chapter 1. 6 Setting Up Controller configuration limitations (1) Limitation on number of axes Motor Capacity 100W (Maximum 8 axes) Motor Capacity 200W (Maximum 8 axes)* Motor Capacity 400W (Maximum 4 axes)* * In the case of 8 axes with 200W motor or 4 axes with 400W motor, there are two power supply locations so power must be supplied to both.
Chapter 1. 8. Setting Up Type G (AC) Unit Configurations Once the axis alignment and motor wattage (60W, 100W, 200W, 400W) have been decided, the controller unit configuration can be determined. We will explain the tables given below for determining the unit configuration from the model type. 1. Check how many axes there are by motor output. In this case, any motor output below 100W will be considered as 100W.
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Chapter 1. Setting Up [Unit Configuration Tables] *Any output less than 100W is considered as 100W.
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Chapter 1.
Chapter 1. 9. Setting Up 12-slot Expansion Unit A 12-slot expansion unit is available as an option and is used in the following situations. (1) When the total number of inputs and outputs exceeds 96. (2) When the total number of inputs and outputs is 96 and a flash memory card is used. (3) When the total number of inputs and outputs is 96 and a 2-channel RS232 unit is used. Please refer to pages 58 and 59 for the servo unit and CPU unit assembly configuration.
Chapter 1. Setting Up 10. Bleeder Resistor If the selected module uses a large amount of voltage, there will also be a large amount of regenerative voltage which in some cases may require you to attach a bleeder resistor. The determination of whether to attach a bleeder resistor is made for each servo unit separately and is dependent on the total wattage of all motors for that unit. However, if the servo unit has a brake specification, there is a brake box (option) with a built-in discharge circuit.
Chapter 1. Setting Up Part 8 Super SEL Controller Maintenance To ensure safe and trouble-free operation of your Super SEL system, a regular maintenance and inspection program should be implemented. Be sure to turn OFF the power before initiating any maintenance or inspection work. An inspection is recommended at least once every 6 to 12 months. However, depending on the environment, a more frequent inspection schedule may be advisable.
Chapter 2. Part 1 1. Operation Basics in Operating Your Super SEL Controller Summary of Teaching Pendant Operation The tree structure below illustrates the teaching pendant mode structure. Mdi Value Input Posi Position Teaching Prog Program Mode Teac JOG Direct Aprg Application Program Play Play Mode Step Power ON ROM Version Display Parm Parameter Mode Etc.
Chapter 2. Operation 2. Teaching Pendant Key Functions Teaching pendant key functions are as follows: 01 Cursor: Numbers can be changed when the cursor is positioned underneath. "Inc" Increment: This key increases the step number or point number. "Dec" Decrement: This key decreases the step number or point number. "Esc" Escape: This key is used to go back to the previous display. "." Decimal Point Key: When creating an application program, the display will go to the next command menu.
Chapter 2. Part 2 1. Operation Teaching Pendant Operation Mode Selection (LCD Screen Display) (Operation) 1. IA. Super. SEL Teach Initial Display Press F1 (Start) (To P66. 2) 01/13/95 Start (Blinking) F1 F2 F3 F4 2. IA. Super SEL Teach Main V2.50 Start (Blinking) F1 Press F1 (Start) (To P66. 3) 01/13/95 07/14/95 F2 Controller ROM Version Display F3 F4 3. Mode Selection Display Mode Select Prog Play Parm Test F1 F2 F3 F4 F1F2F3F4- Prog (Program) Mode (P67.
Chapter 2. 2. Operation Program Mode (LCD Screen Display) (Operation) 4. Program Mode (Press F1 at Step 3) Prog F1F2- Posi Aprg F1 F2 (Posi: Position) Position Data Input (P67. 5) (Aprg: Application Program) Super SEL Programming Edit Display (P72. 15) Esc- Return to Mode Selection Display (P66.3) F3 F4 Creating position data 5. Posi Mdi Teac F1 F2 Step Etc F3 F4 F1F2F3F4Esc- 6.
Chapter 2. Operation 6-2 Position (Position Data) Input Display 2 (Go back to the display in Step 5. Press F4) Posi Shift Copy Clr Etc F1 F2 F3 F4 Mdi - 1 No 1 [1] - 8 1.234 123.456 Wrt Can F1 F2 Mdi - 1 No 1[1] - 8 1.234 123.456 Axis+ AxisF1 F2 Mdi - 1 No 2[2] - 8 1.234 123.456 Axis+ AxisF1 F2 Mdi - 1 No 8[8] - 8 2345.678 12.345 Axis+ AxisF1 F2 F1- (Shift) Position Shift Mode (P69. 11-1) F2- (Copy) Position Data Copy (P69. 11-1) F3- (Clr: Clear) Position Data Clear (Deletion) (P69.
Chapter 2. Operation Mdi - 1 No 8[8] - 8 500.000 700.000 Wrt Can F1 F2 Mdi - 1 No. 1[1] - 8 1.234 Vel [300] Wrt Axis F1 F2 Clr 600.000 600.000 Etc F3 F1F2 F3- 9. 12.345 Acc[0.99] Clr F3 Wrt: Write Can: Cancel Clr: Clear F4 Position Data Velocity and Acceleration Setting (Step 8. F3) (Velocity: 3-digits, Acceleration 9.99, 2-digits after decimal point.) F4 10. Point Step Mode (Go back to the display in step number 5, then press F3.) Step 1 No 1[1] - 8 1.234 123.456 Inc Dec 12.345 1234.
Chapter 2. Operation Teac- 1 No 1[1] - 8 1.234 123.456 Inc Dec F1 F2 12. Teaching Mode (Go back to the display in Step 5, then press F2. 12.345 1234.567 Go JVel F3 Position Number Input Mode (2-digit number input) F1- Increments position number by 1. F2- Decrements position number by 1. F3- Moves actuators from current position to the position designated in the display. F4- Sets velocity. Return- Performs teaching for each axis. (P70. 13) F4 13. Teaching Selection Mode (12.
Chapter 2. Operation SvOf - 1 No 1[1] - 8 1111.123 123.456 Wrt JVel F1 F2 SvOf - 1 No 1[1] - 8 1111.123 123.456 + Axis AxisF1 F2 SvOf - 1 No 1[1] - 8 1111.123 Vel[ 30] Wrt Axis F1 F2 14. SvOf (Servo OFF, Manual • Direct Teaching) Mode (Go back to the display in Step 13, then press F3) Jog 12.345 1234.567 Etc F3 F4 Servo OFF for all connected axes. Moves axis position manually (direct teaching). Wrt: Saves data. Return: Changes axis number. 14-1 SvOF Mode (Step 14. F4) Vel 12.345 1234.
Chapter 2. Operation Application Programming 15. Super SEL Programming Edit Display (Go back to the display in Step 4, then press F2) Aprg F1- Edit Copy F1 F2 Edit MOVP (Edit Mode) Perform SEL programming, editing, addition, insertion, and deletion. (P72. 16) (Copy Mode) Copies or overwrites programs. (P74. 17) F2- F3 F4 16. 1- 1 [ 50] 1 Super SEL Programming Edit Mode (15. F1) 16-1 Program Number Input Mode Inc Dec 699 A N499 Clr Del F1 F2 F3 F1- Increments program number by 1.
Chapter 2. Operation 16-2 Step Number Input Mode (Step 16-1. Return Key) Edit MOVP Inc F1 Edit MOVP 1- 1 [ 50] 1 Dec 699 A N499 Clr etc F2 F3 Del F1 F2 Edit 1MOVP F4 ACC F1 F2 F1- (Insertion) Add steps. F2- (Delete) Delete steps. 699 A N499 etc F3 F4 16-3 Edit Command Input Mode (Step 16-2. Return Key) 4 commands will be displayed from F1 to F4. 1 [ 50] 1 ABPG (Inc) Increments step number by 1. (Dec) Decrements step number by 1. (Clr) Clears data for re-entry.
Chapter 2. Operation 16-5 Operation 2 Input Mode (Step 16-4, Return key) Edit 1- 1 [ 50] MOVP 1 Same as 16-4 699 A N499 Clr BS F1 F2 F3 16-6 Result Input Mode (16-4. Return key) Input result, output and flag. F2- Clears the last entry and moves cursor backwards using BS (back space). F3- Clears all data. Return- Continuous Condition Input Mode (P74.
Chapter 2. Operation 3. Parameter Mode *Important* Please contact our technical service department if parameters need to be changed for your system. 18. Parameter Mode (Step 3, F3) Para F1- Parameter mode for each axis (P75. 18-1) F2- System parameter mode (P75. 18-2) (P77.20) Axis Sys F1 F2 F3 F4 18-1 Parameter Mode for each axis (Step 18. F1) Para Axis Srvo Home Motr Name F1 F2 F3 F4 F1- Servo parameter mode for each axis (P75.19-1) F2- Home parameter mode for each axis (P76.
Chapter 2. Operation 19-1-1 Press F1 to display axis number +1. Para Axis 2[2] Srvo 1. Numerator Inc [<=] 1 Axis+ Dec F1 F2 Para Axis 1[1] Srvo 9. Soft Limit (-) Inc [<=] 0 Axis+ Dec F1 F2 Clr Wrt F3 F4 19-1-2 Press F2 to display item -1. Clr Wrt F3 F4 19-2 Para Axis 1[1] Home 1. Home Dir Inc[<=] 1 Axis+ Dec Clr F1 F2 Para Axis 1[1] Home 3. Home Sequence Inc[<=] 1 Axis+ Dec F1 F2 Para Axis 1[1] Motr 1.
Chapter 2. Operation 19-4 Parameter Name Mode for Each Axis (Step 18-1. F4 Key) Para Axis 1[1] Name Axis+ Axis - Name+ Name- F1 F2 F3 F4 F1- Increments axis number by 1 F2- Decrements axis number by 1 F3- Increments axis name by 1 for range 1 ~ 9, A ~ Z (P77. 19-4-1) F4- Decrements axis name by 1 for range 1 ~ 9, A ~ Z 19-4-1 Axis Name Change (Step 19-4. F3) Para Axis 1[2] Name F1- (Wrt) Change axis name. Wrt F1 F2 Name+ Name- F3 F4 20.
Chapter 2. Operation Para System Srvo 1. Axis Size Inc [<=] 8 Inc Dec F1 F2 Para System Sio 1. Terminal ID Inc[<=] 99 Inc Dec F1 F2 Para System 1. Circle Angle Inc[<=] Inc Dec F1 F2 20-3 System Servo Parameter Mode (Step 20. F3) Clr Wrt F3 F4 20-4 System Sio Parameter Mode (18-3. F1 Key) Clr Wrt F3 F4 20-5 System Circle, Arc, Parameter Mode (Step 18-3. F2) Cir 15.
Chapter 2. Operation 4. Test Mode 21. Test Mode (3. F4 Key) Test F1- Flag F1 In Out Ver F2 F3 F4 F2F3F4- (Flag) Flag displayed. Press F1 and "1" key simultaneously. RamCL (Ram Clear) Mode will appear on the display. (In) Input Port Display (P79. 21-2) (Out) Output Port (P79. 21-3) (Ver: Version) Displays current software version of Servo, Main and Teaching Pendant (P80. 21-4) 21-1 While holding down both the F1 and "1" keys, the display will remain the same as shown on the left.
Chapter 2. Operation 21-4 Test Version Mode (Step 21. F4) Test Version 1[1] MotorV1.00 12/13/93 Main V1.00 1/25/94 Axis+ AxisMain F1 F2 F3 Teac F4 RamCL All Para Prog Pos F1 F2 F3 F4 21-5 Memory Clear (RamCL) Mode (Step 21. F1 + 1 key) Caution: This will erase all data. Make sure to backup all data before doing this operation. F1- Clears system parameter, program, and position area (P80. 21-5-1) F2- Clears system parameter (P80. 21-5-2) F3- Clears application program area (P80.
Chapter 2. Operation 21-5-4 F4 (Pos) is selected. RamCL Pos Press F1 Clears all position data. CLROk? F1 5. F2 F3 F4 Play Mode 22. Play MOVP Inc [ 50] 1 699 A N499 Dec Clr F1 F2 Play (Play) Mode (3, F2 Key) 1-1 F3 22-1 Play Program Input Mode Input program number to execute (or stop). Program status can be seen by pressing START then PROG. F4 22-2 Program Execution/Stop Selection (22-1.
Chapter 2. Operation Play MOVP [ 50] 1 699 A N499 Dec Clr Inc F1 Play 22-5 Execution, Stop Mode (22-3, F2) 1-1 F2 F3 Input program number to be executed or stopped. Returns to 22-3. F4 22-6 System movement and program number display (22-3, F3) 1 [Run 1- 0] Prog F1 F2 F3 F4 22-7 I/O port, Flag Status Selection Mode (22-3. F4) Play 1- 1 MOVP 1 [ 50] In Out 699 A N499 Flag F1 F2 F3 Etc F4 F2 F1- Input Port +10 F2- Input Port -10 F3 F4 22-9 Play Output Display (22-7.
Chapter 2. Operation 22-10 Play 0123456789 (Flg) 600->1000000001<-609 610->0000001100<-619 Inc Dec F1 F2 F1- Flag +10 F2- Flag -10 F3 F4 Play 1-1 [50] MOVP Posi F1 Play F2 Play Flag Display (22-7. F3) 699A N499 Stat F3 Etc 22-11-1 Select F1 (Show), F2 (GO), or F4 (HLT) from Program Execution/Stop Selection Display (P81. 22-2) to stop Play Mode (program stops). Execution Status Selection Display appears. Then press F4 (Etc). (P83. 2211-2) F4 22-11-2 I/O Port, Flag Status Selection Mode (P82.
Chapter 2. Operation 6. Show Mode Play 3 -0 [ 6 ] Posi Play Stat F1 F2 F3 F4 1 [1] xxx.xx -2 Play 3 xxx.xx No. Axis+ Axis- F1 F2 23. Show Mode (Step 22-2. F1) F1- Displays the position of each axis currently moving (P84. 23-1-1) F2- Execute other program (P85.23-2) F3- Shows program status (P85. 23-3-1) F4- Current Input/Output Status, Flag Status Mode (P86. 23-4) Etc 23-1-1 Position Display Mode (Step 23.
Chapter 2. Operation Play Home 3 11 Inc Dec F1 Play 3-2 -1 F2 3 [ 6 23-2 Program Display Selection Mode (Step 23. F2) ] F1- Increment Program No. F2- Decrement Program No. F3- Clear Program No. Clr F3 F4 23-3-1 Program Execution Status Mode (Step 23. F3) [Run 1 -1] 3 -2 â â 2: Executable, 4: Wait for completion (Input) Executing Program No. Prog F1 F2 F3 F4 F3- Program Execution Status (P85. 23-3-2) Play 3 ERR _ STEP 23-3-2 Program Execution Status (Step 23-3-1.
Chapter 2. Operation Play 3 ERR _ STEP In F1 Out 23-4 Input/Output, Flag Status Display Mode (Step 23. F4) [Prog Status] [ NONE ] [ RUN ] F1- Input Status Display Mode (P86. 23-4-1) F2- Output Status Display Mode (P86. 23-4-2) F3- Flag Status Display Mode (P86. 23-4-3) Flag F2 F3 F4 23-4-1 Input Status Display Mode (Step 23-4. F1) Play 012345678 (In) 000 -> 001000000 <-009 010 -> 000000000 <--019 Inc Dec F1 F2 Display In 002 is ON.
Chapter 2. Operation 7. Simple Application Program Example 2-Axis actuator moves back and forth between point 1 and point 2. • Application Program • Position Data C om m an d O p era n d 1 HOME 11 C om m en t VEL 1 00 Velo city s etting 1 00 m m /se c ACC 0 .3 A cc ele ration se ttin g 0.
Chapter 2. Operation 4. Prog Program Mode Display Press F2 to select Aprg (Application Program). Posi Aprg F1 F2 F3 F4 5. Aprg Super SEL Programming Display Press F1 to select Edit Mode to bring up Super SEL program, modify, add, insert, or erase. Edit Copy F1 F2 Edit 1- F3 F4 6. 0 [ 0] Inc Dec Clr Dec F1 F2 F3 F4 Edit Press 1 (Program number 1), then press return key. When the program number selected exists, the display shows the first step number.
Chapter 2. Operation Edit GOTO F1 Edit HOME GOTO F1 Edit GRP HOLD F2 F3 GRP HOLD F2 F3 10. Press RETURN key. 11. Press "1" two times to home X and Y axes simultaneously. 12. Press return key 3 times. 13. Press F4 (Wrt: Writing). 14. Press "." (decimal point) repeatedly until VEL appears on display. F4 HOME F4 1- 1 [ 0] HOME _ BS Clr F1 F2 F3 F4 1- 1 [ 0] HOME 11 * BS Clr F1 F2 F3 Edit Press F4 to select HOME. HOME 1- 1 [ 0] * Edit 9.
Chapter 2. Operation When programming is completed, press ESC key repeatedly until mode selection display appears. Next, position data will be input. 15. Mode Select Mode Selection Display Press F1 to select Prog (Program) Mode. Prog Play Parm F1 F2 F3 Test F4 16. Prog Program Mode Press F1 to select Position data. Posi Aprg F1 F2 F3 F4 17. Posi Mdi Teac Step Etc F1 F2 F3 F4 Press F1 to select Mdi Mode (position data direct input). 18.
Chapter 2. Operation Part 3 System Operation Operating Mode Summary There are four operating modes in the Super SEL Controller System. Of these, two are primarily used for program debugging/trial operation and the remainng two are used in general applications at the factory site. The first two modes are: 1) operation from a teaching pendant and 2) operation from the PC interface software. These are used for simple operating checks.
Chapter 2. Operation External Start Operating Mode Select Program No. from external unit, then input start signal. Flow Chart Controller Power ON No Ready (301) ON Program No. can be input before the Ready prompt. The BCD code is input at input signal numbers 8~14. Yes Program No. Input External Start (000) Input ○ ○ 2. Program No. will be displayed on the front panel of the controller and the [AUTO] mode LED will light up. Selected Program No. will start.
Chapter 2. Operation 3. Teaching Pendant Operating Mode Program is executed using the Teaching Pendant Play Mode. Play Mode Play Mode (Operation) 1. Play Program Input Mode Play 1- 1 [ 50] MOVP 1 Inc Dec F1 F2 Input the program to be executed (stopped). 699 A N499 Clr F3 F4 2. Play 1- 1 [ 50] MOVP 1 4. Show Go F1 F2 699 A N499 Stat HLT F3 F4 Program Execution or Program Stop Selection Designate program execution or stop.
Chapter 3. Multi-tasking Part 1 1. Real-time Multi-tasking Super SEL Programming Language The Super SEL employs a 32 bit RISC CPU operated by a high speed operating system (OS). The Super SEL can control an entire system, including not only the actuators but also peripheral devices. The Super SEL enables the user to design an efficient automation system without learning various types of programming languages. The original SEL language has been improved to what is now Super SEL language.
Chapter 3. Multi-tasking 2. Multi-tasking "Multi Tasking" simply means running multiple programs concurrently. Let us consider a screwdriving robot system as an example. The following screwdriving system is composed of two actuators (X axis and Y axis) and a screwdriver with the part feeder.
Chapter 3. Multi-tasking 3. Difference Between the Super SEL and a PLC In the past, parallel processing was accomplished by relay ladder circuitry. It was subsequently replaced by a PLC which is equipped with micro processors. There is considerable scanning time involved in PLCs. The following shows that a PLC scans the entire program, then sets the post if certain conditions are met.
Chapter 3. Multi-tasking 4. Emergency Stop Release Emergency stop is turned ON when emergency contact b is OFF, and emergency stop is released when ON. Flow chart Timing chart Super SEL Controller Emergency Stop Release Emergency Stop No Emergency Stop Release Yes Emergency Stop Input (contact B Ready Output No Alarm Output OFF Emergency Stop Output Yes No Teaching Pendant Restart Input Ready Output ON External Start Input Yes Program No.
Chapter 3. Multi-tasking 5. Program Switching There are several ways to switch programs depending on the program operating application but the typical methods are described below. External Start Program Switching Program Single task Multi task EXIT Command EXPG Command (1) External Start Refer to Chapter 2 Part 3. After the power is turned on, input a program No. and execute the designated program by external start input.
Chapter 3. Multi-tasking Part 2 Screwdriving Robot System This chapter explains the screwdriving robot system operated by the Super SEL Controller. 1. Components Used: Automatic screwdriver with air cylinder (Z axis) Screw feeder X axis actuator: Intelligent Actuator 60W, 300mm model Y axis actuator: Intelligent Actuator 60W, 300mm model Controller: Super SEL (Type G) 2.
Chapter 3. Multi-tasking 4. Hardware (1) I/O Assignment Pin No. 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11A 11B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A 17B 18A 18B 19A 19B 20A 20B 21A 21B 22A 22B 23A 23B 24A 24B 25A 25B Category P24 Input Output N24 Port No.
Chapter 3. Multi-tasking (2) Wiring Pin No. 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11A 11B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A 17B 18A 18B 19A 19B 20A 20B 21A 21B 22A 22B 23A 23B 24A 24B 25A 25B Category P24 Input Output N24 Port No.
Chapter 3. Multi-tasking 5.
Chapter 3. Multi-tasking (2) Main Program Screwdriving • Program No. 1 Application Program Line Expansion AND/OR Input Commands Output Comment I/O·Flag Command Operand 1 Operand 2 Output port·Flag 1 EXPG 2 Program 2 start 2 HOME 11 Homing 3 VEL 100 Velocity 100mm/sec 4 ACC 0.3 Acceleration 0.
Chapter 3. Multi-Tasking Part 3 Multi-Tasking Programming Tips Although multi-tasking methods are generally expressed as "the simultaneous execution of multiple programs (multi-tasks)," the programs are not actually carried out simultaneously. Rather, several programs are performed in sequence in a very short space of time using the free time available in each program. Avoid any program combination that uses up the controller CPU for one program.
Chapter 3. Multi-Tasking 2. Most Efficient Configuration Start Program n The most efficient configuration is to execute the next program during a waiting period such as waiting for an input signal. n Use the WTON command (instead of conditional judgment) and have the steps executed in sequence rather than scanning the programs all the time. n The WTON command keeps the program in a waiting condition until the designated condition turns ON.
Chapter 4. Programming Unlike other complicated robot languages, the Super SEL language is simple and easy to learn but can be used to develop highly sophisticated programs. Other languages that use BASIC are in "symbolic notation" and the "interpretation" of the language can be very time consuming. As programs become more and more complicated, interpreters are no longer capable of translating the languages within the time limit allowed.
Chapter 4. Programming l 1. 2. 3. 2. Range of numerical values in the Super SEL Super SEL uses two types of numbers, integers and real numbers but are subject to the following limitations. Inside the controller The range of whole numbers that can be accommodated is ±2,147,483,648 and for real numbers the theoretical range is ±3.4 x 1038, as a single precision floating point.
Chapter 4. Programming 3. Flags The function of flags is to set and reset data within "Memory." This is analagous to "internal relays" or "coils" in a PLC. In general, there are two (2) types of flags: Global flags 600 ~ 887 which can be used in all programs and local flags 900 ~ 999 which can be used only in individual programs. Global flags can be saved when the power is turned OFF (battery backup). Local flags are erased when the power is turned OFF.
Chapter 4. Programming 4. Variable Register (1) What are Variables? The term "variable register" is a software term. Imagine a box that holds numbers. Numbers can be put in and taken out, added, subtracted, and so on. Put 1234 into variable register #1 Take 456 out of variable register #1 Add 1 to variable register #1 e bl #1 ria er Va gist e R Command Operand 1 Operand 2 Add 1 1 This command adds 1 to variable register #1. If the register contains 2, then the variable becomes 3.
Chapter 4. Programming (2) Types of Variables There are two types of variables. Integer variable These are whole number variables which cannot take decimal points. For example: [-2, -1, 0, 1, 2, 3] e bl #1 ria er Va gist e R Integer Variable Register 1234 Integer Variable No. 200~299 Global integer variable: Can be used in all programs Integer Variable No.
Chapter 4. Programming Variables with an asterisk (*) The asterisk symbol (*) is used to designate contents of the variable register. In the example given below, the contents in variable register 1 are placed in variable register 2. If "1234" is in variable register 1, then "1234" is what goes in variable register 2.
Chapter 4. Programming 5. Tags "Tag" means heading. A TAG can be thought of as the same as placing labels on important pages. The TAG as it is used in the Super SEL programming language is the "return to" area and is used in conjunction with the GOTO command to provide programming loops. Tag Command Operand 1 TAG Tag No. (Integers 1~64) Can be used individually in each program.
Chapter 4. Programming 6. Subroutine Frequently repeated steps in a program can be expressed as subroutines in order to simplify the entire application program. These subroutines are individually usable in each program. (Up to a maximum of 15 subroutines can be nested) Command Operand 1 EXSR Subroutine No. (1 ~ 64 Integers, or Variables) Execute subroutine command Command Operand 1 BGSR Subroutine No.
Chapter 4. Programming 7. Axis Designation There are two ways to designate the axes to be used: axis number and axis pattern. (1) Axis number and notation With the Super SEL controller, multiple axes are indicated as shown in the table, but it is possible to change the figures using the parameters. Axis No. Default Notation 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 The axis no. is used when designating one axis out of many axes. Commands to designate Axis No.
Chapter 4. Programming (2) Axis Pattern Selection of an axis is specified by either "1" or "0" Axis No. 8 7 6 5 4 3 2 1 Used 1 1 1 1 1 1 1 1 Not Used 0 0 0 0 0 0 0 0 Example If Axis 1 and Axis 2 are in use, then this is signified by... 0 0 0 0 0 0 1 1 Axis 1 Axis 2 The zeroes before the 1 are unnecessary. The simplified form is 11, without leading zeroes. Example If Axis 1 and Axis 8 are in use, then this is signified by...
Chapter 4. Programming Part 2 Super SEL Language Structure The Super SEL programming consists of a position and application program (command) section. 1. Position Program In the position section, we have coordinates, velocity, acceleration, and variables. 1~1500 mm/sec P o sitio n No. Standard 0.3G Ve lo city A c ce le ra tio n A x is 1 ±9999.
Chapter 4. Programming 2. Application Program (Commands) The outstanding feature of Super 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. 2-1 Structure of Super SEL language One step of the command has the following structure.
Chapter 4.
Chapter 4. Programming Part 3 1.
Chapter 4.
Chapter 4. Programming 2. Commands 2-1 Actuator Control Commands VEL (Velocity) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p t io n a l O p t io n a l VEL V e lo c ity O p e ra n d 2 P ost ( O u t p u t p o r t · F la g ) [Function] Sets velocity of actuator movement in mm/sec. Maximum velocity varies according to the model of actuator so please set below that value. *Decimal places cannot be used.
Chapter 4. Programming OVRD (Override) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l OVRD V e lo c it y r a tio v a lu e [Function] O p e ra n d 2 P ost ( O u tp u t p o r t · F la g ) This command decreases the velocity according to the designated ratio. (Velocity coefficient setting). The range of the ratio settings is from 1 ~ 100%.
Chapter 4. Programming GRP (Grouping of Axes) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l GRP A x is p a tte r n O p e ra n d 2 P ost ( O u tp u t p o r t · F la g ) [Function] This command moves the actuator through the position data of the designated axis pattern. (Even if there is data in axes other than those designated, the actuator will not move to these positions).
Chapter 4. Programming HOLD (Hold : Axis Temporary Stop) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l HO LD In p u t p o rt O p e ra n d 2 P ost ( O u tp u t p o r t · F la g ) [Function] Designates an input port for sending a command to decelerate and stop while a move command is being executed. If the designated input port turns ON, then velocity decreases until all motion stops.
Chapter 4. Programming CANC (Cancel : Cancelling the next steps after axis stop motion) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p t io n a l O p t io n a l CANC In p u t p o rt [Function] O p e ra n d 2 P ost ( O u t p u t p o r t · F la g ) Designates an input port for sending a command to decelerate and stop while a move command is being executed.
Chapter 4. Programming 2-2 Actuator Control Commands SVON (Servo ON) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l SVON A x is p a tte r n O p e ra n d 2 P ost ( O u tp u t p o r t · F la g ) [Function] This commands turns the servo of the designated axes ON.
Chapter 4. Programming HOME (Return Home) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l HOME A x is p a tte r n O p e ra n d 2 P ost ( O u tp u t p o r t · F la g ) O p tio n a l [Function] This command executes homing of the designated axes. Servos turn ON automatically. [Example] HOME 10000011 Axis 1, 2, and 8 axes execute homing.
Chapter 4. Programming MOVL (Position Data with Interpolation) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p t io n a l O p t io n a l MOVL P o s itio n N o . V a r ia b le N o . P ost ( O u tp u t p o r t · F la g ) O p e ra n d 2 O p t io n a l [Function] Moves the actuator to the designated point while using interpolation (not point to point). [Example] MOVL 100 Move to position No. 100 using interpolation.
Chapter 4. Programming PATH (Path Movement) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l PAT H S ta r tin g p o s it io n n o . E n d in g p o s it io n n o . [Function] P ost ( O u tp u t p o r t · F la g ) O p tio n a l Actuator moves continuously between the designated starting point and the finishing point.
Chapter 4. Programming JFWN (Jog Forward ON) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p t io n a l O p t io n a l JFW N A x is p a tte r n In p u t p o rt · F la g P ost ( O u t p u t p o r t · F la g ) O p t io n a l [Function] While the designated input port or flag (global flag) is ON, the axis moves forward. *HOLD is not available for this command.
Chapter 4. Programming JBWN (Jog Backward ON) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p t io n a l O p t io n a l JBW N A x is p a tte r n In p u t p o rt · F la g [Function] P ost ( O u t p u t p o r t · F la g ) O p t io n a l While the designated input port or flag (global flag) is ON, the axis moves backward. * HOLD is not available for this command.
Chapter 4. Programming STOP (Stop Motion) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l STO P A x is p a tte r n O p e ra n d 2 P ost ( O u t p u t p o r t · F la g ) [Function] Stops the movement of axes in the main program and the other programs running in parallel, then proceeds to the next step.
Chapter 4. Programming ATRG (Arch Motion Trigger) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p t io n a l O p t io n a l AT R G P o s it io n r a tio ( % ) [Function] O p e ra n d 2 P ost ( O u t p u t p o r t · F la g ) Sets the axis movement position ratio to execute the ARCH command. *The position ratio depends on the distance of the movement but it should be set at 50~60% or higher.
Chapter 4. Programming 2-3 I/O • Flag Operation Commands BTON (Output Port · Flag ON) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p t io n a l O p t io n a l BTO N O u tp u t p o rt· F la g O u tp u t p o rt· F la g [Function] Turns the designated output port or flag ON. Operand 1 and 2 can be used to designate a range of ports or flags.
Chapter 4. Programming BTNT (Output Port · Flag Invert) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l BTNT O u tp u t p o rt· F la g O u tp u t p o rt· F la g P ost ( O u tp u t p o r t · F la g ) [Function] Inverts the designated output port or flag. Operand 1 and 2 can be used to designate a range of ports or flags.
Chapter 4. Programming WTOF (Waiting for Input/Output Port · Flag OFF) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l W TO F In p u t p o rt· F la g T im e o u t [Function] P ost ( O u t p u t p o r t · F la g ) Waits until the designated I/O port or flag turns OFF and does not proceed to the next step.
Chapter 4. Programming INB (BCD Read Input/Output) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p t io n a l O p t io n a l IN B In p u t p o rt No. of BCD d ig it s [Function] P ost ( O u tp u t p o r t · F la g ) Reads the BCD value from the designated input port, then stores this value in variable register 99.
Chapter 4. Programming OUTB (BCD Output) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p t io n a l O p t io n a l OUTB S ta rt o u tp u t p o r t·F la g N o. of BC D d ig it s [Function] P ost ( O u t p u t p o r t · F la g ) Outputs the value in variable register 99 as a BCD value to the designated output port or flag.
Chapter 4. Programming 2-4 Timer Command TIMW (Timer) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I/O · F la g ) Com m and O p e ra n d 1 O p t io n a l O p t io n a l T IM W T im e [Function] Sets a time interval during which the program waits to advance. The unit for the time setting is in seconds (0.01 ~ 99 sec). [Example] TIMW 1.5 Wait for 1.5 seconds.
Chapter 4. Programming 2-5 Program Control Commands EXIT (Exit Program) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p t io n a l O p t io n a l E X IT [Function] O p e ra n d 1 O p e ra n d 2 P ost ( O u t p u t p o r t · F la g ) Finishes the program. * The status when the program is complete • Output Port ..................... Valid • Local Flag .................... Invalid • Local Variable ..............
Chapter 4. Programming ABPG (Abandon Other Program) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I/O · F la g ) Com m and O p e ra n d 1 O p t io n a l O p t io n a l ABPG P ro g ra m n o . [Function] O p e ra n d 2 P ost ( O u tp u t p o r t · F la g ) O p t io n a l Forces the other program being executed to end. When that program (task) is forced to end, the port and flag in the post section is output.
Chapter 4. Programming 2-6 Turnout Commands GOTO (Jump) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p t io n a l O p t io n a l G O TO Ta g N o . [Function] Jumps to the step designated by the tag number. (Valid only within the same program) [Example] GOTO 1 Jump to the step in Tag No. 1.
Chapter 4. Programming 2-7 Subroutine Control Commands BGSR (Begin Subroutine) E x p a n s io n c o n d i t io n (A N D · O R ) [Function] In p u t c o n d i t io n ( I/O · F la g ) C om m and C om m and O p e ra n d 1 BGSR S u b r o u tin e N o . O p e ra n d 2 Post ( O u t p u t p o r t · F la g ) Declares start of subroutine. *Subroutines are generally used at the end of a program. [Example] BGSR 1 Declare start of subroutine.
Chapter 4. Programming EXSR (Execute Subroutine) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/ O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l EXSR S u b r o u tin e N o . [Function] Performs the designated subroutine number.
Chapter 4. Programming 2-8 Calculation Commands LET (Assignment) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l LET Va ria b le N o . D a ta ·Va ria b le N o . [Function] Assigns data to the variable. When Operand 1 is 0, the post section turns ON. [Example] LET 1 10 Assign a value of 10 to variable register 1. LET 1 *2 Substitute variable 1 with contents of variable 2.
Chapter 4. Programming SUB (Subtraction) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SUB V a ria b le n o . D a ta ·V a r ia b le n o . Post ( O u tp u t p o r t · F la g ) O p tio n a l [Function] Subtracts the data in Operand 2 from the variable in Operand 1, then stores this in the variable in Operand 1.
Chapter 4. Programming DIV (Division) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l D IV V a ria b le n o . D a ta ·V a ria b le n o . Post ( O u tp u t p o r t · F la g ) O p tio n a l [Function] Divides the content of the variable in Operand 1 by the data in Operand 2, then stores this in the variable in Operand 1.
Chapter 4. Programming CLR (Clear Variables) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l C LR V a ria b le n o . V a ria b le n o . Post ( O u tp u t p o r t · F la g ) [Function] Clears the designated range of variables to zero. (Be sure to input a variable number in Operand 2. When designating variable 1, be sure to input 1 in Operand 1 and Operand 2.
Chapter 4. Programming 2-9 Functional Commands SIN (Sine) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l S IN V a ria b le n o . D a ta ·V a ria b le n o . Post ( O u tp u t p o r t · F la g ) O p tio n a l [Function] Stores the sine (SIN) of the data in Operand 2 in the variable in Operand 1.
Chapter 4. Programming TAN (Tangent) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l TA N V a ria b le n o . D a ta ·V a r ia b le n o . Post ( O u tp u t p o r t · F la g ) O p tio n a l [Function] Stores the tangent (TAN) of the data in Operand 2 in the variable in Operand 1. Stores the tangent of the contents in the variable in Operand 2 in the Operand 1 variable.
Chapter 4. Programming SQR (Square Root) C om m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n ( I/O · F la g ) C om m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SQR V a ria b le n o . D a ta ·V a ria b le n o . Post ( O u tp u t p o r t · F la g ) O p tio n a l [Function] Stores the square root (SQR) of the data in Operand 2 in the variable in Operand 1.
Chapter 4. Programming 2-10 Logical Operation Commands AND (Logical AND) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l AND V a ria b le n o . D a ta ·V a ria b le n o . Post (O u tp u t p o rt · F la g ) O p tio n a l [Function] Stores the results of the AND operation on the contents of the variable in Operand 1 and the data in Operand 2, in the variable in Operand 1.
Chapter 4. Programming EOR (Exclusive OR) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l EOR V a ria b le n o . D a ta ·V a ria b le n o . Post (O u tp u t p o rt · F la g ) O p tio n a l [Function] Stores the results of the exclusive OR (EOR) operation on the contents of the variable in Operand 1 and the data in Operand 2, in the variable in Operand 1.
Chapter 4. Programming 2-11 Calculation Comparison CPEQ (Compare if equal) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l CPEQ V a ria b le n o . D a ta ·V a ria b le n o . [Function] Post (O u tp u t p o rt · F la g ) R e q u ire d Turns ON the post flag or the output port if the values in Operand 1 and 2 are equal.
Chapter 4. Programming CPGT (Compare if greater than) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l CPGT V a ria b le n o . D a ta ·V a ria b le n o . Post (O u tp u t p o rt · F la g ) R e q u ire d [Function] Turns ON the post flag or the output port when the value in Operand 1 is greater than the value in Operand 2. (Variable values do not change.
Chapter 4. Programming CPLE (Compare if equal or less than) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l CPLE V a ria b le n o . D a ta ·V a ria b le n o . [Function] Post (O u tp u t p o rt · F la g ) R e q u ire d Turns ON the post flag or the output port when the value in Operand 1 is equal to or less than the value in Operand 2. (Variable values do not change.
Chapter 4. Programming 2-12 Position Data Operation Commands PPUT (Assign Axis Data) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l PPUT A x is n o . P o s itio n n o . V a ria b le n o . [Function] Assigns the coordinates in variable 199 to the designated axis position data. [Example] PPUT 2 3 Assign the coordinates in variable 199 to position no. 3 for axis no. 2.
Chapter 4. Programming PTST (Check Position Data) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l PTST A x is p a tte rn P o s itio n n o . Post (O u tp u t p o rt · F la g ) R e q u ire d [Function] Checks to see whether there is valid data in the designated axis pattern and position number. If there is no data, the post flag or output port turns ON.
Chapter 4. Programming PCLR (Clear Position Data) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l PCLR P o s itio n n o . P o s itio n n o . Post (O u tp u t p o rt · F la g ) [Function] 0.00). Clears the data in the range of positions designated by Operand 1 and Operand 2 (becomes XX.
Chapter 4. Programming PSIZ (Check Position Data Size) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l P S IZ V a ria b le (to b e a s s ig n e d ) O p e ra n d 2 Post (O u tp u t p o rt · F la g ) [Function] Checks the maximum size of the position data that can be used. [Example] PSIZ 1 The maximum value of the position data goes into variable 1 (variable to be assigned) in Operand 1.
Chapter 4. Programming PACC (Assign Acceleration Data) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l PA C C A c c e le ra tio n s p e e d P o s itio n n o . Post (O u tp u t p o rt · F la g ) [Function] Assigns the acceleration data in Operand 1 for the acceleration speed of the position data.
Chapter 4. Programming Part 4 1. Expansion Commands Command Table Note: These expansion commands cannot be used with the teaching pendant. Please use the PC Interface Software (DOS Ver. 2.0 or higher or Windows Ver. 1.0 or higher) for these commands.
Chapter 4. Programming 2. Commands 2-1 Actuator Control Designation SCRV (S Motion Ratio Setting) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l SCRV R a tio [Function] O p e ra n d 2 Post (O u tp u t p o rt · F la g ) Sets the ratio to control the S motion of the actuator. The setting range is integers from 0 ~ 50 (%).
Chapter 4. Programming 2-2 Actuator Control Command MVPI (Incremental PTP Movement) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l MVPI P o s itio n n o . O p e ra n d 2 Post (O u tp u t p o rt · F la g ) O p tio n a l [Function] Moves the actuator to the designated position number in reference to the current position point without interpolation.
Chapter 4. Programming AXST (Axis Status Acquisition) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l AXST Va ria b le n o . A x is n o . Post (O u tp u t p o rt · F la g ) [Function] Stores the status (error code) of the axis in Operand 2 in the variable in Operand 1. Only error codes that begin with the letter "A" will be stored in the register in Operand 1.
Chapter 4. Programming 2-3 Timer Command GTTM (Time Acquisition) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l G TTM Va ria b le n o . O p e ra n d 2 Post (O u tp u t p o rt · F la g ) [Function] Writes the system time to the variable in Operand 1. The time unit is 10msec. The time obtained with this command is a value that has no base.
Chapter 4. Programming 2-4 Computation Command TRAN (Transfer) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l TRAN Va ria b le n o . Va ria b le n o . Post (O u tp u t p o rt · F la g ) [Function] Assigns the contents of the variable in Operand 2 to the variable in Operand 1. This function is also known as "indirect addressing" or "pointing to a pointer.
Chapter 4. Programming 2-5 Position Data Operation Command PAXS (Read Axis Pattern) Com m and E x p a n s io n c o n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l PA X S Va ria b le n o . P o s itio n n o . Post (O u tp u t p o rt · F la g ) [Function] Stores the axis pattern of the position in Operand 2 into the variable in Operand 1.
Chapter 4. Programming 2-6 Structured IF Command IFXX (Structured IF) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l IF X X Va ria b le n o . D a ta · Va ria b le n o . [Function] P ost (O u tp u t p o rt · F la g ) Compares the contents of the variable in Operand 1 and the value in Operand 2. When the condition is established, the program proceeds to the next step.
Chapter 4. Programming ELSE E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and Com m and O p e ra n d 1 O p e ra n d 2 P ost (O u tp u t p o rt · F la g ) E LS E [Function] The ELSE command is used in conjunction with the IFXX command and ISXX command. When the condition is not established, the command following the ELSE statement will be executed. [Example] Refer to IFXX.
Chapter 4. Programming ISXX (String Comparison) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l IS X X C o lu m n n o . C o lu m n n o . L ite ra l c h a ra c te r [Function] P ost (O u tp u t p o rt · F la g ) Compares the character string in the column numbers in Operand 1 and Operand 2. When the condition is established, the program proceeds to the next step.
Chapter 4. Programming 2-7 Structured DO Command DWXX (DO WHILE) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l DW XX Va ria b le n o . D a ta · Va ria b le n o . [Function] P ost (O u tp u t p o rt · F la g ) Compares the contents of the variable in Operand 1 and the value in Operand 2. While the condition is established, the commands are executed up to EDDO.
Chapter 4. Programming LEAV (Escape from DO WHILE) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p tio n a l O p tio n a l L E AV [Function] O p e ra n d 1 O p e ra n d 2 P ost (O u tp u t p o rt · F la g ) Escapes the DOXX loop, then the program proceeds to the next step after EDDO. [Example] 600 DWEQ 1 0 · · LEAV · · EDDO While variable 1 is 0, the commands up to the EDDO command are repeated.
Chapter 4. Programming EDDO (End DO WHILE) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p tio n a l O p tio n a l EDDO O p e ra n d 1 O p e ra n d 2 P ost (O u tp u t p o rt · F la g ) [Function] Declares the end of the loop which started with DWXX. When a DWXX condition is not established, the program proceeds to next step after this command. [Example] Refer to DWXX.
Chapter 4. Programming 2-8 External Input Output Command OPEN (Open Channel) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l OPEN C hannel no. O p e ra n d 2 P ost (O u tp u t p o rt · F la g ) [Function] Opens the channel specified in Operand 1. Channels specified after this will be able to transmit and receive signals.
Chapter 4. Programming READ Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l READ C hannel no. C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Reads the character string from the channel in Operand 1 to the column in Operand 2. Stops reading when the character designated in the SCHA command appears. The column can be either local or global.
Chapter 4. Programming WRIT (Write) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l W R IT C hannel no. C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Writes the character string from the channel in Operand 1 to the column in Operand 2. Stops writing after the character designated in the SCHA command is written. The column can be either local or global.
Chapter 4. Programming 2-9 String Management Command SCPY (Copy Character String) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SCPY C o lu m n n o . C o lu m n n o . L ite ra l c h a ra c te r P ost (O u tp u t p o rt · F la g ) [Function] Copies the character string from the column in Operand 2 to the column in Operand 1. Copies only the length set by the SLEN command.
Chapter 4. Programming SCMP (Compare Character String) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SCMP C o lu m n n o . C o lu m n n o . L ite ra l c h a ra c te r [Function] Compares the column in Operand 1 and the column in Operand 2. Compares only the length set by the SLEN command. When Operand 2 is a literal character, that is the length compared.
Chapter 4. Programming SGET (Acquire Character String) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SGET Va ria b le n o . C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Assigns 1 character from the column in Operand 2 to the variable in Operand 1. [Example SGET 1 100 Assign 1 byte of column 100 to variable 1.
Chapter 4. Programming STR (Change Character String Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l STR C o lu m n n o . D a ta P ost (O u tp u t p o rt · F la g ) [Function] Copies the data in Operand 2 which has been converted to a decimal character string to the column in Operand 1. Uses zero-suppress to match this to the length set by the SLEN command.
Chapter 4. Programming STRH (Change Character String Hexadecimal) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l STR C o lu m n n o . D a ta P ost (O u tp u t p o rt · F la g ) [Function] Copies the data in Operand 2 which has been converted to a hexadecimal character string to the column in Operand 1.
Chapter 4. Programming VAL (Character String Change Data Decimal) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l VA L Va ria b le n o . C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Converts the decimal data in the column in Operand 2 to a binary number and assigns this to the variable in Operand 1. The length set by the SLEN command will be converted.
Chapter 4. Programming VALH (Character String Data Change Hexadecimal) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l VA L H V a r ia b le n o . C o lu m n n o . P ost ( O u t p u t p o r t · F la g ) [Function] Converts the hexadecimal data in the column in Operand 2 to a binary number and assigns this to the variable in Operand 1.
Chapter 4. Programming 2-10 Branch Command SLCT (Beginning of selected group) Command · Statement Expansion (AND·OR) Input (Input·Output·Flag) Command Optional Optional SLCT Function: Operand 2 Branches to the next step in the OTHE command if none of the conditions set up by the WHXX, WSXX commands or any commands up to the EDSL command are met. Example: 600 OTHE Operand 1 Post (Output · Flag SCPY 1 : SLCT WSEQ 1 : WSEQ 1 : OTHE : EDSL ‘right’ Assign ‘right’ to columns 1 through 5.
Chapter 4. Programming WHXX (Selected when true Expansion (AND·OR) Function: Variable) Input (Input·Output·Flag) Command · Statement Command Operand 1 Operand 2 WHXX Variable No. Data Post (Output · Flag This is used between the SLCT ~ EDSL commands. Compares contents of the variable in Operand 1 to the value in Operand 2. If the conditions are met, then the code following the WHXX will be executed up to the next WHXX.
Chapter 4. Programming WSXX (Selected when true Expansion (AND·OR) Function: Character) Input (Input·Output·Flag) Command · Statement Command Operand 1 Operand 2 WSXX Column No. Column No · Literal character Post (Output · Flag This is used between the SLCT ~ EDSL commands. Compares the character string in the columns in Operand 1 and Operand 2. If the conditions are met, then the code following the WSXX will be executed up to the next WSXX.
Chapter 4. Programming Part 5 Parameter List All system parameters are appropriately set at the time of shipment. Basically, the user does not need to change the parameters but if you need to change them for a special system or requirements, please contact our technical service department. Also, please save the parameters when you change them. Doing a reset after rewriting the parameters or after applying an emergency stop, validates the new parameters.
Chapter 4. Programming (c) Motor* No. Parameter Name Default Content 1 Motor RPM Max 4000 Motor RPM Maximum 2 Encoder Pulse 400 Encoder Pulse Per Rev. 3 Screw Lead 8 Screw Lead (mm) 4 Multiple 4 Encoder Pulse Multiplier 5 Brake Time 0.1 Brake Time (sec) 6 Position Gain 60 Position Gain 7 Speed Gain 80 Speed Gain 8 F/F Gain 0 Feed Forward Gain 9 Integral Gain 30 Integral Gain 10 Total Gain 150 Total Gain 11 Int. Volt. Lmt.
Chapter 4. Programming 2. System Parameters (a) Application Program No. Parameter Name Default Content Standard 1 Auto Start PRG 0 Auto start program number --- 2 Emergency PRG 0 Emergency stop program number --- 3* Program Size 64 Number of programs 64 4* Task Size 16 Number of tasks 16 5* Step Size 3000 Number of program steps 3000 6 Time Slice 0.01 Time slice check value --- *For reference only. Cannot be changed. (b) Position Data N o.
Chapter 4. Programming Part 6 1. Application Program Examples Movement Using the Point Move Command [Riveting Device] (1) System Description The riveting device is composed of an X-Y table (X and Y actuators) and a riveting unit. Work is placed on the X-Y table. The system homes, then a start signal is given. The device shown below attaches rivets to 3 points on the work.
Chapter 4. Programming (2) Movement Description 1. 2. 3. 4. X and Y-axis return to home and wait. Worker sets work on X-Y-table, then turns start switch (SW) ON. X-Y-table moves to position No.1 then outputs riveting command to the riveting unit. After riveting is completed, wait for completion signal input. Repeat the same procedure for position No.2 and position No.3. After riveting at all three positions, axis returns to home. 5. Repeat the same procedure as above.
Chapter 4.
Chapter 4. Programming 2. Palletizing Operation [Palletizing Device] (1) System Description This system consists of an X-Y configuration with a pneumatic Z-axis. The system is used to pick up parts from a supply point, go to another point, and place the part on a pallet in a certain sequence.
Chapter 4. Programming (2) Movement Description 1. 2. 3. 4. 5. 6. 7. Move to the waiting position, and wait for start input. Move to the part supply point, after start input. Z-axis moves downward, and the air chuck picks up a part. Z-axis moves upward and moves to another point above the pallet. Z-axis moves downward, then the air chuck releases the part. Z-axis moves upward and moves back to the part supply point. When the pallet has been completed, moves to P18.
Chapter 4. Programming (3) Super SEL Controller Application Program S te p A /O N O P -C o d e O p e ra n d 1 O p e ra n d 2 P o st C o m m e n ts 1 HOME 11 2 VEL 100 X a n d Y a x is h o m in g V e lo c ity 1 0 0 m m /s s e ttin g 3 ACC 0 .2 A c c e le r a tio n 0 .2 G 4 TA G 1 5 LET 300 0 Va r ia b le c le a r 6 LET 301 0 Va r ia b le c le a r 7 OFST 11 0 O ffs e t v a lu e c le a r 8 MOVL 18 M o v e to p o s itio n n o .
Chapter 4. Programming 3. Circular Movement Command In less sophisticated controllers it was generally understood that the changes in speed would result in changes in the motion profile. In the new Super SEL Controller, however, accurate circular motion profiles can be achieved by passing through the exact points regardless of changes in speed settings. Locus Programming Circular movement only applies to two dimensional movement.
Chapter 4. Programming 4. Path Movement Command In the Super SEL Controller, accurate path motion profiles can be achieved by passing through the exact points regardlesso f changes in speed settings. Locus Y Axis Programming P4 l A path motion program can be constructed easily with only a starting point and end point. Therefore, a program takes only one line regardless of the number of passing points between the starting point and end point. l 1. Set Position No.
Chapter 4. Programming 5. BCD Code Signals Input and Output (1) Circuit This circuit allows the controller to verify the BCD values input by the external digital switch, and lights the number on the display unit corresponding to the number displayed on the 7 segment display unit provided separately.
Chapter 4. Programming (2) I/O Connections The following I/O connections are for external digital switches and the external display unit. Category P24 Input N24 Function --External Start Input User Input Emergency Stop b Contact Input SystemReserve SystemReserve User Input User Input User Input PRG No. 1 (User Input) PRG No. 2 (User Input) PRG No. 4 (User Input) PRG No. 8 (User Input) PRG No. 10 (User Input) PRG No. 20 (User Input) PRG No.
Chapter 4.
Chapter 4.
Chapter 5. Option 1. I/O Card Unit (Model H-103) Super SEL has as standard equipment, 24 inputs and 24 outputs. No PLC is necessary to control peripherals. The Super SEL can be expanded with up to 11 Expansion I/O units for a maximum of 288 inputs and 288 outputs. Structure: photocoupler insulation. Output supports DC 24V 100mA (recommended value 20-50mA) . For larger loads and AC loads, a relay may be used. External DC-24V is necessary. There is no problem adding additional I/ O cards.
Chapter 5. 2. Option High Speed Input Unit (Model H-104) (1) What is the High Speed Input Unit? In FA (Factory Automation), a high speed pulse may be required for some parts. For example, a photo sensor detects the presence of a part being carried down a conveyor at a very high speed. In these situations, the High Speed Input Unit can be used to detect these high speed signals and accurately transmit the signals to the Super SEL controller.
Chapter 5. Option 2) The "E" and "G" type Super SEL controllers can be expanded up to 2 units for a total of 64 ports. 3) The scan time (1 ~ 9 msec) within the detection pulse is also adjustable and can be set every 8 port groupings. Movement when scan time is set to 1msec 500 µ sec 500 µ sec 500 µ sec 500 µ sec Input signal Internal uptake signal When the scan time is set at 1msec, it reads the input status for every 500 µ sec.
Chapter 5. Option 4) The Super SEL controller can be expanded up to 287 input ports. They can be grouped into numbered units, one for every 8 ports. The High Speed Input ports can be assigned to any one of these. Unit No. Input Port No.
Chapter 5. Option When input units are overlapping Example High speed input unit Expansion I/O unit Input No. 32 ○ ○ ○ ○ Unit No. 4 5 6 Input No. 32~39 40~47 48~55 No. 55 Input No. 32 ~ 55 are overlapping. In this case, the high speed input unit goes into effect and the expansion I/O unit become invalid. 5) Program Example WTXX Command WTON 10 Responds within the parameter scan time.
Chapter 5. Option (3) Specifications Input Point Power Voltage Current Specifications Maximum Input....32 Points DC24V +/-20% 7mA/DC24V ON/OFF Power Voltage ON....Min DC16.0V OFF....Max DC5.0V ON/OFF Response Time Varies (1msec ~ 9msec) depending on parameter Isolation Method Photocoupler Internal Circuit Internal circuit 1) The power (DC24V) must be supplied externally to P24.
Chapter 5. Option (4) Interface List Pin No. 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11A 11B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A 17B 18A 18B 19A 19B 20A 20B 21A 21B 22A 22B 23A 23B 24A 24B 25A 25B Category P24 Input NC N24 Port No.
Chapter 5. 3. Option SEL NET 2-Channel RS232C Unit (Model H-105) The Super SEL Controller is equipped with a 1-channel RS232C port as a standard feature. This port is designed for communication with the Teaching Pendant or with a personal computer through our PC interface software. This port is not designed for general communication purposes. The H-105 option was developed for users who intend to develop their own programs and require communication with other devices via an RS232C port.
Chapter 5. Option (2) SEL NET Functions To achieve distributed control of a single production line using multiple controllers, usually I/O (input/output) signals are relayed to synchronize the individual controllers. But the SEL NET network does not use I/O signals. Instead, data is relayed between the controllers simply by connecting the controllers with the SEL NET cable. Data transmission is easily managed with SEL language programming.
Chapter 5. Option (3) SEL NET Structure · Connection There is an [RCV] and an [SND] connector on the front panel of the Super SEL controller for connecting the SEL NET. The [RCV] and [SND] connectors for each controller are connected with the optional SEL NET cable as shown in the illustration below. Loop Connection Two-Way Connection There are two methods of connecting controllers with SEL NET. The first diagram shows a loop connection while the second shows a two-way connection.
Chapter 5. Option (6) The RS232C communication circuit has 2 channels and achieves high speed communications by using a dedicated CPU rather than the main CPU.
Chapter 5. Option (7) System Using RS232C Communication Circuit Figure 4 Connecting to a Vision Device The vision device is used to check the position of the base board, and the mounter for odd-sized parts makes the adjustment of the position.
Chapter 5. Figure 5 Option Multiple Super SEL Control System Super SEL Controller Soldering Robot No. 2 Control data is sent and received through a 1-to-1 loop connection (left) using the 2-channel RS232C. Dispensing Robot No. 2 Screwdriving Robot No.
Chapter 5. Option (8) Specifications 2-Channel RS232C Unit Interface Specifications Basing on RS-232C Transmission Method Full Duplex Method (No procedure) Synchronous Method Asynchronous Method Transmission Velocity 1200, 2400, 4800, 9600, 19200, 38400bps Data Form Start Bit 1 Data Bit 7/8 Parity Bit 1/None Strip Bit 1/2 Error Detection Parity (odd/even) / None Transmission Distance 15m Receive Buffer 512Byte Connector DELC-J9PAF-13L9 (JAE) X2 (9) Connector Pin Assignment No.
Chapter 5.
Chapter 5. Option External Input Output Command OPEN (Open Channel) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l OPEN C hannel no. O p e ra n d 2 P ost (O u tp u t p o rt · F la g ) [Function] Opens the channel specified in Operand 1. Channels specified after this will be able to transmit and receive signals. An ending character must be set by the SCHA command before executing this command.
Chapter 5. Option READ Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l READ C hannel no. C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Reads the character string from the channel in Operand 1 to the column in Operand 2. Stops reading when the character designated in the SCHA command appears. The column can be either local or global.
Chapter 5. Option WRIT (Write) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l W R IT C hannel no. C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Writes the character string from the channel in Operand 1 to the column in Operand 2. Stops writing after the character designated in the SCHA command is written. The column can be either local or global.
Chapter 5. Option String Management Commands String refers to a character string and the Super SEL controller has global and local strings. The global strings can be read or written in all programs. Local strings can be used only within that particular program and not in any other program. Global and local strings are distinguished by their numbers: global strings range from 300~399 and local strings range from 1~299.
Chapter 5. Option SCMP (Compare Character String) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SCMP C o lu m n n o . C o lu m n n o . L ite ra l c h a ra c te r [Function] Compares the column in Operand 1 and the column in Operand 2. Compares only the length set by the SLEN command. When Operand 2 is a literal character, that is the length compared.
Chapter 5. Option SGET (Acquire Character String) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l SGET Va ria b le n o . C o lu m n n o . P ost (O u tp u t p o rt · F la g ) [Function] Assigns 1 character from the column in Operand 2 to the variable in Operand 1. [Example SGET 1 100 Assign 1 byte of column 100 to variable 1.
Chapter 5. Option STR (Change Character String Decimal) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l STR C o lu m n n o . D a ta [Function] [Example] Copies the data in Operand 2 which has been converted to a decimal character string to the column in Operand 1. Uses zero-suppress to match this to the length set by the SLEN command.
Chapter 5. Option STRH (Change Character String Hexadecimal) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l STR C o lu m n n o . D a ta P ost (O u tp u t p o rt · F la g ) [Function] Copies the data in Operand 2 which has been converted to a hexadecimal character string to the column in Operand 1.
Chapter 5. Option VAL (Character String Change Data Decimal) Com m and E xp a n s io n co n d itio n (A N D · O R ) In p u t c o n d itio n (I/O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l VA L Va ria b le n o . C o lu m n n o . [Function] [Example] P ost (O u tp u t p o rt · F la g ) Converts the decimal data in the column in Operand 2 to a binary number and assigns this to the variable in Operand 1. The length set by the SLEN command will be converted.
Chapter 5. Option VALH (Character String Change Data Hexadecimal) Com m and E x p a n s io n c o n d it io n (A N D · O R ) In p u t c o n d it io n ( I / O · F la g ) Com m and O p e ra n d 1 O p e ra n d 2 O p tio n a l O p tio n a l VA L H V a r ia b le n o . C o lu m n n o . P ost ( O u t p u t p o r t · F la g ) [Function] Converts the hexadecimal data in the column in Operand 2 to a binary number and assigns this to the variable in Operand 1.
Chapter 5. Option SLEN (Set Length) Com m and E x p a n s io n c o n d it i o n (A N D · O R ) In p u t c o n d it i o n ( I/O · F la g ) Com m and O p e ra n d 1 O p tio n a l O p tio n a l S LE N L e n g th [Function] P ost ( O u t p u t p o r t · F la g ) Sets the length for the string command. The length must be set prior to using any of the following commands.
Chapter 5. (11) Option Application Program Example of an application program using an RS232C unit: The controller and the PC are connected to the RS232C communication circuit. Homing is performed and the motion is controlled by the MOVE command via PC. When the movement is complete, a signal is sent to the PC. Transmission Format Communication in this system is carried out by exchanging character strings. Every character string is determined toperform a certain motion.
Chapter 5. Option String A character string in a transmission format is placed in a column box called "String" in order to be used in programs. There are two types of strings: global strings can be used in all programs and local strings can be used only in individual programs. They are distinguished by the column numbers. Column Local String Column Global String Column numbers are used to specify the positions of the cells so that the columns can be easily set by commands.
Chapter 5. Option Determination of Transmission Format There are three types of transmission formats required for the application program. (These are only examples and they can be set differently by the user.) The PC side is programmed with N88 BASIC. • Home Command Format This is a format to designate homing to the controller from PC. H O M E C R L F • Move Command Format This is a format to designate axis movement to the controller from the PC. M O V E SPEED 9 9 9 AXIS NO.
Chapter 5. Option Procedure This procedure explains the process for programming the application examples. 1) 2) 3) 4) Set characters (terminating characters) "LF" to indicate the ending of the character string. Open channel 1to use channel 1 in the RS232C unit. If channel 1 receives a signal, the first column of the local string takes the signal in. When the received data is "HOME", Axis-2 performs homing. After homing is completed, an "OK" signal will be sent back.
Chapter 5. 4. Option Flash Memory Card Unit (Model H-106) The Flash Memory Card Unit itself does not need a backup battery and keeps data almost indefinitely.
Chapter 5. Option 2) Save/Load Time Although it takes time to load and save information via RS232C, there is an advantage of loading all data as a batch. Time Required • Save Data Capacity Position 6 Axis Time (Second) 2000 Points 220 Program 3000 Steps 290 Parameter All Parameters 4 Delete 72 Total • Load Requires 10% longer than the saving time.
Chapter 5. Option 1) When the power is turned ON, The SAVE LOAD lamp blinks 5 times to indicate the power has been turned ON. During this time, any button operations cannot be performed. 2) SAVE "SAVE" takes up data from the Super SEL Controller to the Flash Memory Card. Start by pressing the SAVE button. When the data is being saved, normally the SAVE lamp blinks. When data is already written in the Memory Card, the existing data will be deleted and the data sent from the controller will be written in.
Chapter 5. Option (3) Error Errors will be checked after the SAVE LOAD buttons are pressed. 1) Communication Error Indicates an abnormality in the communication circuit. Both lamps (SAVE LOAD) blink approximately every second. The cable should be inspected. 2) Write-in Error The SAVE lamp blinks approximately every second. The Flash Memory Card itself may be the problem. The Flash Memory Card should be replaced.
Chapter 5. Flash Memory Card Unit Card External Dimensions 41.91 1.27 1.27 14 65.6 3.3±0.1 85.6±0.2 2) Option 54±0.
Chapter 5. Option 5. PC Interface Software (Model H-101C to 101MW) The Super SEL Controller is the culmination of many years of experience in motion control. The Super SEL Controller is used not only to control servo actuators, but also to control peripheral equipment. The PC interface software undergoes continuous improvement. At the time of this publishing, the Super SEL Controller offers over 120 commands. In the past, it was enough to use a hand-held teaching pendant for programming.
Chapter 5. Option 6. I/O Expansion Module - 2 Models The number of expansion slots on the Super SEL Controller varies according to the controller model. There are 2 types of optional expansion units available. Model H-107-4 has four (4) expansion slots while Model H-107-12 has twelve (12) expansion slots.
*Supplement 1. Super SEL Controller 7 Segment Display (1) Open (Always appears at the beginning). Goes to the next step (2) after 500msec. (2) Opens SIO (Serial IO). If under EMG condition, waits till EMG is released. Goes to the next step (3) if no problem. (3) Check servo. Initialize the motor processor. Waits 500msec after initializing, then goes to the next step (4). (4) Sets up the position data and program data. Waits 500msec after setting, then goes to the next step (5).
*Supplement 2. Power Required by the Super SEL Controller (Manual display & method of calculation) Power values written in the manual indicate rated power (effective power). The required power is calculated based on the power consumption below.
*Supplement 3. Brake Specification (Option) (1) Summary When an actuator with brake specification is controlled by the Super SEL Controller, connect the optional brake box to the controller.
*Supplement (2) How to connect Brake Box and Controller The brake connector numbers on the controller side are indicated on the cables. Connect the cables according to the numbers. The placement of the brake connectors on the controller differs depending on the actuator. (See below) Brake connector Brake Box and Actuator The type of actuator to be connected is indicated on the brake connector of the brake box. Connect brake cables accordingly.
*Supplement (3) External Dimensions AC Brake Box (±Can be attached to the DIN rail) Page 244
*Supplement DC Brake Box (±Can be attached to the DIN rail) Page 245
*Supplement 4. Heat Dissipation The type E and G Controllers are designed to be mounted inside of a control panel. The air inside the panel must be cooled without external air exchange (Forced air current method or heat sink method).
*Supplement 3) The room temperature must be kept under 10°C. The temperature rises 1°C / 6W / 1m2 in a metal plate cabinet with a fan provided inside. This means that the temperature inside of the cabinet rises 1°C when a 6W heating element exists in the cabinet which has a 1m2 dissipating surface. [Example] When a 200W, 2-axis controller is placed in a cabinet as shown in the drawing. When the attachment surface is the back of the cabinet, the effective dissipating surface is... 30 0m m 500mm 0.4 x 0.
*Supplement I/O DC24V Power Supply A. For the Type E/G, there is no DC 24V power supply built in for the I/O. The DC24V power must be supplied externally. Connect +24V to the I/O connector Pin 1A, and 0V to Pin 25B.
*Supplement B. ForType E/G, there is no DC 24Vpower supply built in for the I/O. The DC24V power must be supplied externally. Connect +24V to the I/O connector Pin 1A, and 0V to Pin 25B. I/O Expansion Pin No. 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11A 11B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A 17B 18A 18B 19A 19B 20A 20B 21A 21B 22A 22B 23A 23B 24A 24B 25A 25B Category P24 Input Output Port No.
*Supplement 6. Emergency Stop For the Super SEL Controller Type E·G, the Pin 2B and 0V must be short-circuited (because of the B contact point), otherwise, an Emergency Stop will occur. To release the Emergency Stop for testing first, remove the front cover and short-circuit the ST1 jumper post with a jumper pin at the bottom of CPU UNIT or CPU SERVO UNIT. The Emergency Stop operation can be controlled via the teaching pendant while it is being tested.
*Supplement 7. Error Code List E rror C ode E rror N am e A1 E xternal Interrup t E rror A2 M o tor O verload E rror A3 D eviatio n E rror A4 S oftw are Lim it E rror E xplanation 1. M otor over current 2. O ver regenerative curren t (over neg ative lo ad) 3.
*Supplement 8. 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.
*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. C ode E rro r W h a t To D o B0 N o p ro g ra m T h e p ro g ra m th a t w a s ru n fro m e xte rn a l sta rtu p h a s n o d e fin e d c o n te n t. R u n th e p ro g ra m w ith th e p ro p e r n u m b e r.
*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 command without performing homing. After the power is turned ON, or after an emergency stop, homing must always be performed. C1 Position designation error Tried to move to a position not specified by the position data. Set position data.
*Supplement D2 Override error The override was specified outside the range of 1 ~ 100%. Specify value within this range. D3 Angle error The angle parameter for the circular move command was specified outside the range of 0.1 ~ 120°. Specify angle within this range. D4 Axis pattern error The axis pattern designation is incorrect. Or, the problem is the same as for a C1 position setting error. Correct the data setting.
*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 undefined command. If you use the PC interface software, the check function will prevent this. E1 Subroutine overnesting error There are more than 15 subroutines nested. This alarm occurs after trying to run the program.
*Supplement 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.
Index A Application Programs 87~90, 103, 117, 191~196, 229 Axis Number 17-24, 106, 114 Axis Pattern 106, 115 B Binary Coded Decimal (BCD) 137~138 Bleeder Resistor 62 C Clear 67~69, 71~74, 76~82, 85, 88~89 Circular Interpolation 197 Communications 210~232 Communication Command CLOS 217, 218 OPEN 217, 218 READ 217, 219 SCHA 217, 228 SCMP 217, 222 SCPY 217, 221 SGET 217, 223 SLEN 217, 228 SPUT 217, 223 STR 217, 224 STRH 217, 225 VAL 217, 226 VALH 217, 227 WRIT 217, 220 Communication Port Settings 216 Condition
Index GRP 119, 123 GOTO 120, 142 HOLD 119, 124 HOME 119, 127 IN 119, 136 INB 119, 137 JBWF 119, 131 JBWN 119, 131 JFWF 119, 130 JFWN 119, 130 LET 120, 145 MOD 120, 147 MOVL 119, 128 MOVP 119, 127 MULT 120, 146 OFST 119, 122 OR 120, 152 OUT 119, 137 OUTB 119, 138 OVRD 119, 122 PACC 120, 161 PATH 119, 129 PCLR 120, 159 PCPY 120, 158 PGET 120, 157 PPUT 120, 157 PRED 120, 159 PSIZ 120, 160 PTST 120, 158 PVEL 120, 160 SIN 120, 149 SUB 120, 146 SQR 120, 151 STOP 119, 132 SVOF 119, 126 SVON 119, 126 TAG 120, 142 T
Index O Options I/O Card Unit 203 High Speed Input Unit 204 SEL NET 2-Channel RS232C Unit 210~232 Flash Memory Card Unit 233~237 PC Interface Software 238 I/O Expansion 239 P PLC 96 Palletizing 194~196 Parameter 188~190 Axis 188~189 System 190 Servo 188 Home 188 Path Interpolation 198 Position No. 106 Power 7~9, 241 Program No. 106 Program Step No.
Intelligent Actuator Inc. 2690 West 237th Street Torrance, CA 90505 310-891-6015 / 310-891-0815 (Fax) Publication No. Publication Date: Price: US$20.00 IAI-038C.
