Tabletop Robot TT Operation Manual 10th 6th Edition Edition
INTELLIGENT ACTUATOR Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product co ntains operation manuals for IAI products.
1. Notes on operation To prevent pinching of fingers, do not bring your fingers near the following areas where a warning label is attached while the actuator is moving. [Gate type] [Cantilever type] Warning label 2. Installation of safety cage It is strongly recommended that the robot be enclosed by a safety cage to ensure safety of the operator. When the robot is enclosed by a safety cage, the robot will satisfy the Machine Directives regardless of how it is used by the operator.
INTELLIGENT ACTUATOR CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
INTELLIGENT ACTUATOR Before Use Caution Caution [1] [2] [3] [4] [5] Be sure to read this operation manual to ensure the proper use of this product. Unauthorized use or reproduction of a part or all of this operation manual is prohibited. Always handle or operate the product in manners specified in this operation manual, by assuming that whatever is not specified herein is not feasible. The warranty does not cover any defect arising from a handling or operation not specified in this operation manual.
Table of Contents INTELLIGENT ACTUATOR Table of Contents Safety Guide .................................................................................................................... 1 Chapter 1 Installation..................................................................................................... 9 1.1 1.2 1.3 1.4 Introduction ................................................................................................................... 9 Models .........................................
Table of Contents INTELLIGENT ACTUATOR Chapter 2 Operation .................................................................................................... 52 1. Operation................................................................................................................. 52 1.1 How to Start a Program ...............................................................................................52 1.2 Starting a Program by Auto-Start via Parameter Setting....................................
Table of Contents INTELLIGENT ACTUATOR Chapter 5 Maintenance and Inspection ..................................................................... 247 1. Inspection Items and Inspection Intervals.............................................................. 247 2. Visual Inspection of the Exterior ............................................................................ 247 3. Visual Inspection and Cleaning ............................................................................. 247 3.1 Cleaning....
Table of Contents INTELLIGENT ACTUATOR 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. Aborting the Operation 2 (STOP) .......................................................................... 267 Moving to a Specified Position Number ................................................................. 268 Conditional Jump................................................................................................... 269 Waiting for Multiple Inputs ................................................................
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INTELLIGENT ACTUATOR No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
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INTELLIGENT ACTUATOR No. 4 4 Operation Description Installation and Start 7HDFKLQJ Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
INTELLIGENT ACTUATOR No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
INTELLIGENT ACTUATOR No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
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Chapter 1 Installation INTELLIGENT ACTUATOR 1.1 Chapter 1 Installation Chapter 1 Installation Introduction Thank you for purchasing the Tabletop Robot. Inappropriate use or handling will prevent this product from demonstrating its full function and may even cause unexpected failure or result in a shortened service life. Please read this manual carefully, and handle the product with due care and operate it correctly. Keep this manual in a safe place and reference relevant items when needed.
Chapter 1 Installation INTELLIGENT ACTUATOR Chapter 1 Installation 1.
Chapter 1 Installation INTELLIGENT ACTUATOR Caution Chapter 1 Installation 1.3 Safety Precautions This system product was developed as a drive unit for an automated machine, etc., and as such the maximum torque and speed are limited to levels acceptable for an automatically driven machine. However, strict observance of the following items is requested to prevent unforeseen danger. 1. Do not handle this product in manners not specified in this manual.
Chapter 1 Installation Chapter 1 Installation INTELLIGENT ACTUATOR 1.4 Warranty 1.4.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location 1.4.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met.
Chapter 1 Installation INTELLIGENT ACTUATOR 1.4.5 Conditions of Conformance with A pplicable Standards/Regulations, Etc., and Applications Chapter 1 Installation (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Chapter 1 Installation INTELLIGENT ACTUATOR 2. Specifications 2. Speci¿cations 2.1 Basic Specifications Item Number of controlled axes Description Maximum 3 axes (Factory setting) Power-source voltage Single-phase, 100 to 230 VAC 10% 50 Hz/60 Hz 2000 V 1 minute 15 A (100 VAC), 30 A (200 VAC) 0.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.2 Name and Function of Each Part 2.2.1 Robot Body Gate 2-axis type Y-axis (axis 2) actuator T-groove (4 locations) 2.
Chapter 1 Installation INTELLIGENT ACTUATOR Cantilever 2-axis type 2.
Chapter 1 Installation INTELLIGENT ACTUATOR x X-axis actuator Various loads can be attached to the X-axis actuator of the gate-type robot. 2. Speci¿cations x Y-axis actuator Various tools can be attached to the Y-axis actuator of the 2-axis robot. x Z-axis actuator Various tools can be attached to the Z-axis actuator of the 3-axis robot. x T-groove Auxiliary tools can be attached by utilizing the T-grooves/T-slots and nuts.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.2.2 Front Panel [2] [3] [4] [5] [7] [8] [9] 2. Speci¿cations [1] [6] [1] Emergency button (emergency-stop button) This switch is used to cut off the drive power when the robot must be stopped in case of emergency. [2] Digital program selector switch This switch provides a 2-digit decimal digital switch input for selecting the program you want to start from among the group of programs stored in the Tabletop Robot.
Chapter 1 Installation INTELLIGENT ACTUATOR [5] LED indicator lamps The status indicated by each LED lamp when the lamp is lit is explained below: CKE: System clock error ALM: CPU alarm (system-down level error) PWR: Power ON [6] Brake switch This switch is used to release the axis brake. Tilt the switch upward (BKRLS side) to forcibly release the brake, or tilt it downward (BKNOM side) to allow the brake to be controlled automatically by the controller.
Chapter 1 Installation INTELLIGENT ACTUATOR [9] Teaching connector When an optional teaching pendant or PC is connected, this D-sub, 25pin connector will be used to input program and position data in the MANU mode. 2. Speci¿cations Interface Specifications of Teaching Serial Interface Item Description Connector name TP Connector DSUB-25 XM3B-2542-502L (Omron) Communication RS232C-compliant, start-stop synchronous method method Baud rate 38.4 kbps max.; half-duplex communication Maximum 10 m (38.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.2.3 Codes Displayed on the Panel Window (1) Application Display Priority (*1) Description 2. Speci¿cations AC power is cut off (including momentary power failure or drop in power-source voltage). System-down level error Writing data to the flash ROM. Emergency stop is being actuated (except during the update mode) Safety gate is open (except during the update mode).
Chapter 1 Installation INTELLIGENT ACTUATOR (2) Core Display Priority (*1) Description 2. Speci¿cations AC power is cut off (including momentary power failure or drop in power-source voltage). Cold-start level error Cold-start level error Operation-cancellation level error Operation-cancellation level error Message level error Message level error Application update mode Application update is in progress. Application update has completed. Hardware test mode process Clearing the application flash ROM.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.2.4 Rear Panel [9] [12] 2. Speci¿cations [11] [13] [10] [9] Power connector Connect the power cable to this connector. Use the supplied socket for cable connection with the power connector. (Note) The allowable range of power-source voltage is 100 to 230 VAC (r10%). Providing a power cable and attaching it to the supplied socket is the user’s responsibility. Use a cable appropriate for the power-source voltage used.
Chapter 1 Installation INTELLIGENT ACTUATOR [10] Ground terminal This terminal is used to connect FG of the enclosure to ground. 2. Speci¿cations [11] Power switch [12] Gate X-axis actuator position adjustment volume (This volume is not available on the cantilever type.) You can fine-tune the X-axis slider position easily by turning this volume with a flathead screwdriver, etc. This function is useful when manually adjusting the slider position to read position data.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.2.5 Category +24 V Input Output 0V Port No.
Chapter 1 Installation 2. Speci¿cations INTELLIGENT ACTUATOR 2.3 Interfaces of the Tabletop Robot 2.3.1 Standard Interface (Main Application Version 0.18 or Earlier) The standard interface of the Tabletop Robot uses input port Nos. 000 to 047 and output port Nos. 300 to 347. The standard interface is subject to limitations on use. Only input port Nos. 016 to 031 and output port Nos.
Chapter 1 Installation INTELLIGENT ACTUATOR Internal DIO Table Internal DI External DI Internal DI External DI Function Start (Software reset) (Servo ON) Port No.
Chapter 1 Installation INTELLIGENT ACTUATOR 2. Speci¿cations 2.3.2 Standard Interface (Main Application Version 0.19 or Later) The input port to which to assign the input function selection from 000 to 015 currently set by “Input function selection ***” can be set (changed) using the I/O parameter “Physical input port number for input function selection ***.
Chapter 1 Installation INTELLIGENT ACTUATOR (2) Assignment example of output function selection The following is an example of assigning output function selection 300 (ALM), currently set by “Output function selection 300,” to a different output port. * To output system outputs to an external device, it is recommended that the signals be output separately using “Output function selection *** (area 2)” and “Physical output port number for output function selection *** (area 2)” explained later.
Chapter 1 Installation INTELLIGENT ACTUATOR 2. Speci¿cations (3) Assignment example of output function selection (area 2) Output function selection 300 (area 2) (ALM), currently set by “Output function selection 300 (area 2),” can be assigned to the output port set by “Physical output port number for output function selection 300 (area 2)” to output the applicable signal from this port. An example is given below. Set the function of output function selection 300 (area 2) using I/O parameter No.
Chapter 1 Installation INTELLIGENT ACTUATOR Input port No. 16 = Program start number (ON edge) (specified by BCD) Input port No. 17 = Servo ON signal Input port Nos. 18 to 23 = Start program number Input port No. 24 = Error reset (ON edge) Input port No. 25 = Home return of all valid axes (ON edge) Output port No. 316 = Error of operation-cancellation level or higher (ON) Output port No. 317 = READY output (PIO trigger program operation permitted) Output port No.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.4 External I/O Specifications 2.4.1 NPN Specification 2. Speci¿cations (1) Input part External Input Specifications (NPN Specification) Item Input voltage Input current ON/OFF voltage Isolation method External devices Specification 24 VDC r10% 7 mA per circuit ON voltage --- 16.0 VDC min. OFF voltage --- 5.0 VDC max. Photocoupler isolation [1] No-voltage contact (minimum load of approx.
Chapter 1 Installation INTELLIGENT ACTUATOR (2) Output part External Output Specifications (NPN Specification) Specification 24 VDC 100 mA per point, 400 mA per 8 ports Note) TD62084 (or equivalent) 0.1 mA max. per point Photocoupler isolation [1] Miniature relay External devices [2] Sequencer input unit Note) 400 mA is the maximum total load current of every eight ports from output port No. 316. 2.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.4.2 PNP Specification (1) Input part 2. Speci¿cations External Input Specifications (PNP Specification) Item Input voltage Input current ON/OFF voltage Isolation method External devices Specification 24 VDC r10% 7 mA per circuit ON voltage --- 8 VDC max. OFF voltage --- 19 VDC min. Photocoupler isolation [1] No-voltage contact (minimum load of approx.
Chapter 1 Installation INTELLIGENT ACTUATOR (2) Output part External Output Specifications Specification 24 VDC 100 mA per point, 400 mA per 8 ports Note) TD62784 (or equivalent) 0.1 mA max. per point Photocoupler isolation [1] Miniature relay External devices [2] Sequencer input unit Note) 400 mA is the maximum total load current of every eight ports from output port No. 300. Internal circuit [Output circuit] 2.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.5 External Dimensions 2. Speci¿cations Compact, cantilever 2-axis type with 200-mm XY-axis stroke 30 26 23 29 44 7.5 2.5 84 30 58 40 60 Home 4-M4, depth 10 4-M5, depth 10 120 20.5 29 2-I4H7, depth 5 50 40 42 30 2.5 ME Home SE Yst: 200 8 14 Xst: 200 SE ME 2.5 73 63.6 2.5 ME 4-M4, depth 8 ME 4-M5, depth 10 2-I4H7, depth 5 Y-slider mounting hole Y-slider position adjustment volume 49 58 73 4.3 10 58 42 4.3 7.
Chapter 1 Installation INTELLIGENT ACTUATOR Compact, cantilever 3-axis type with 200-mm XY-axis stroke 2. Speci¿cations 13.6 30 Xst:200 2.5 SE ME 26 2.5 SE 4-M4 , depth 8 60 40 50 2.5 42 30 120 Home ME 2-I4H7, depth 5 4-M , depth 10 84 4-M4 , depth 8 Z-slider position adjustment volume 50 40 Yst:200 30 2-I4H7, depth 5 2.5 ME ME 37.4 4-M , depth 10 Home Z-slider mounting hole 5 60 41.8 1.8 4.3 4.3 7.3 51.8 2.5 50 2.5 T-groove (4 locations) 50 49 124.
Chapter 1 Installation INTELLIGENT ACTUATOR 30 63.6 2.5 ME ME Xst:400 Home SE 2.5 ME 26 2.5 2. Speci¿cations Large, cantilever 2-axis type with 400-mm XY-axis stroke SE 2-I4H7, depth 5 50 40 29 23 29 44 4-M5, depth10 213.6 Yst:400 73 42 30 8 14 58 30 20.5 40 60 4-M5, depth8 7.5 84 2.5 Home ME 2-M5, depth 5 2-M4, depth 5 2-I4H7, depth 5 Y-slider mounting hole 4.3 10 58 50 60 T-groove (locations) 41.8 49 1.
Chapter 1 Installation INTELLIGENT ACTUATOR Large, cantilever 3-axis type with 400-mm XY-axis stroke 2. Speci¿cations 13.6 30 Xst:400 2.5 SE Home 2.5 ME 2.5 26 ME ME 37.4 30 60 40 4-M4 , depth 8 50 42 30 2-I4H7, depth 5 50 40 Yst:400 4-M5 , depth 10 SE Z-slider position adjustment volume 4-M5 , depth 10 213.6 2-I4H7, depth 5 4-M4 , depth 8 Home 2.5 84 Z-slider mounting hole ME 171 4.3 1.8 10 58 22 50 60 4.
Chapter 1 Installation INTELLIGENT ACTUATOR 2. Speci¿cations Compact, gate 2-axis type with 200-mm XY-axis stroke 2.5 18.2 ME SE 70 Yst: 200 60 70 72 80 80 50 ME 2.5 Home 41.8 30 37.4 50 42 30 40 4-M5, depth 10 133.3 4-M4, depth 8 4-M5, depth 10 2-F4H7, depth 5 30 338.5 1.2 369.7 Y-slider mounting hole 4-M4, depth 8 2-F4H7, depth 5 Z-slider mounting hole 338.5 88.2 185 107 37.4 50 Y-slider position adjustment volume 179 301 126 16.7 Xst: 200 51.8 SE 4.
Chapter 1 Installation INTELLIGENT ACTUATOR 2. Speci¿cations 14.2 Compact, gate 3-axis type with 200-mm XY-axis stroke 2.5 ME SE 70 60 80 37.4 30 70 Home 2.5 37.8 50 42 30 2-F4H7, depth 5 ME 4-M4, depth 8 83.3 30 338.5 369.7 Z-slider mounting hole 76.8 197.8(Zst: 100 --- 247.8) Zst: 50 (or 100) 46 50 51.8 2.5 2.5 16.7 ME 70 X-slider mounting hole ME Home Y-slider position adjustment volume ME SE Xst: 200 2.5 Home 51.8 4.3 2.5 SE ME 85 7.3 407.3 (Zst: 100 --- 457.3) 179 14 102.
Chapter 1 Installation INTELLIGENT ACTUATOR 2.5 18.2 2. Speci¿cations Large, gate 2-axis type with 400-mm XY-axis stroke ME SE 4-M4, depth 8 2.5 4-M5, depth 10 2-F4H7, depth 5 41.8 50 37.4 30 70 72 80 50 42 30 80 Yst:400 70 60 40 Home 4-M4, depth 8 4-M5, depth 10 2-F4H7, depth 5 ME 333.3 Y-slider mounting hole 30 538.5 1.2 X-slider mounting hole 569.7 Y-slider position adjustment volume 538.5 188.2 385 107 58 301 14 126 179 15 T-groove (4 locations) 16.7 Xst: 400 4.3 1.
Chapter 1 Installation INTELLIGENT ACTUATOR 2. Speci¿cations 14.2 Large, gate 3-axis type with 400-mm XY-axis stroke 2.5 ME SE 80 70 37.8 58 2.5 50 42 30 2-F4H7, depth 5 72 4-M5, depth 10 80 37.4 30 Yst: 400 70 60 40 4-M4, depth 8 Z-slider mounting hole Home 4-M5, depth 10 2-F4H7, depth 5 ME X-slider mounting hole Z-slider position adjustment volume 283.3 30 538.5 4-M4, depth 8 1.2 569.7 538.5 335 179 14 102.5 Zst + 147.8 Zst: 50 (or 100) 46 50 51.8 2.5 2.5 16.7 ME 70 2.
Chapter 1 Installation INTELLIGENT ACTUATOR 3. Installation Environment, Noise Measures and Other 3. Installation Environment, Noise Measures and Other As for the use environment, the products explained in this manual can be used in an environment of pollution degree 2*1 or equivalent. *1 Pollution degree 2: An environment normally subject to non-conductive contaminants only, but conductive contaminants may generate temporarily due to bedewing. (EN60947-5-1) 3.
Chapter 1 Installation INTELLIGENT ACTUATOR 3.2 Installation 3.2.1 Brackets (Optional) Robot brackets (optional) 8-I7 hole 3.2.2 Installing the Load, Etc. Tapped holes and positioning holes are provided on the X-axis slider (gate type only), Y-axis slider and Z-axis slider. Use these holes to install a load, tool, etc., to each slider. For details, refer to the external dimension view of the robot. 45 3.
Chapter 1 Installation INTELLIGENT ACTUATOR 3. Installation Environment, Noise Measures and Other 3.2.3 Using the T-grooves T-grooves of M4 size are provided on the frame that supports the actuator. Auxiliary tools and other items can be installed in these T-grooves using nuts. Use of square nuts is recommended for affixing items using T-grooves, but general hexagonal nuts can also be used.
Chapter 1 Installation INTELLIGENT ACTUATOR 3.4 Noise Measures and Grounding 3.4.1 Grounding Power terminal E is used for protective grounding. Provide Class D grounding from this terminal. 3. Installation Environment, Noise Measures and Other Single-phase 200 to 230 VAC Grounding for noise elimination Connect the grounding terminal with the metal enclosure using a cable of the largest possible size over the minimum distance.
Chapter 1 Installation INTELLIGENT ACTUATOR [2] DC solenoid valve, magnet switch, relay 3. Installation Environment, Noise Measures and Other Measure --- Install a diode in parallel with the coil. Determine the diode capacity in accordance with the load capacity. In a DC circuit, connecting a diode in reversed polarity will damage the diode, internal parts of the controller and DC power supply. Exercise due caution.
Chapter 1 Installation INTELLIGENT ACTUATOR 4. 4.1 System Setup Connecting the Tabletop Robot with Peripheral Equipment 4. System Setup Teaching pendant Mode switch PC AC power Power switch Host equipment (PLC, etc.
Chapter 1 Installation INTELLIGENT ACTUATOR 4.2 I/O Connection Diagram (External DIOs) 4.2.1 NPN specification 4. System Setup Pin No. Category Input Output Port No.
Chapter 1 Installation INTELLIGENT ACTUATOR 4.2.
Chapter 2 Operation INTELLIGENT ACTUATOR Chapter 2 Operation 1. Operation Chapter 2 Operation 1.
Chapter 2 Operation INTELLIGENT ACTUATOR 1.2 Starting a Program by Auto-Start via Parameter Setting I/O parameter No. 33 (input function selection 003) = 1 (default factory setting) This parameter is set using the teaching pendant or PC software. Set an auto-start program number Automatically starting the program 1. Operation Reset the controller Set the number of the program you wish to start automatically in other parameter No. 1 (auto-start program number). Set the controller mode to AUTO.
Chapter 2 Operation INTELLIGENT ACTUATOR 1.3 Starting via the Digital Program Selector Switch and Function Switch Set a desired program number using the digital program selector switch. Pressing the function switch will start the specified program. 1. Operation To use this starting method, one of the following conditions must be satisfied: x The robot is in the AUTO mode.
Chapter 2 Operation INTELLIGENT ACTUATOR 2. Controller Data 2.1 Data Structure The controller unit of the Tabletop Robot stores parameters as well as position data and application programs needed to execute SEL commands. Driver 2 Driver 3 Main 2. Controller Data Driver 1 Communication Structure of data stored in the controller unit SEL language Parameters Position Application programs data Parameters Parameters Parameters The user must create position data and application programs.
Chapter 2 Operation INTELLIGENT ACTUATOR 2.2 Saving Data When data is created/edited using the PC software or teaching pendant is sent to the controller (or when the [WRT] key is pressed on the teaching pendant), the data is stored in the controller’s temporary memory. The data stored in the controller’s temporary memory will be erased once the controller is powered off or restarted (via software reset). For important data, always write to the flash memory so that they will not be lost.
Chapter 2 Operation INTELLIGENT ACTUATOR Points to Note Point to note when transferring data and writing to the flash memory Never turn off the main power while data is being transferred or written to the flash memory. The data will be lost and the controller operation may be disabled. 2.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR Chapter 3 X-SEL Language Data 1. 1.1 Values and Symbols Used in SEL Language List of Values and Symbols Used The various functions required in a program are represented by values and symbols.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR z The variables and flags in the global range are retained until the controller is powered off. z The variables and flags in the local range are cleared when the program is started (the data are also cleared when the controller is powered off). z Ranges of values that can be used in SEL language Integers and real numbers can be used.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 1-3 Virtual I/O Ports (1) Virtual input ports Port No. 7000 7001 7002 7003 7004 7005 7006 7007 7008 7009 7010 7011 7012 1.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR (2) Virtual output ports Port No. Function 7300 Latch cancellation output for a latch signal indicating that all-operation-cancellation factor is present (7011) (latch is cancelled only when operation-cancellation factor is no longer present) (7300 will be turned OFF following an attempt to cancel latch.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 1-4 Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Flags are divided into global flags (Nos. 600 to 899) that can be used in all programs, and local flags (Nos. 900 to 999) that can be used only in each program. General-purpose flags (global flags) are retained until the controller is powered off.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 1-5 Variables (1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” Variables can be used in many ways, such as putting in or taking out a value and performing addition or subtraction. A variable can be used in many ways, such as: Putting in a value (1234), Taking out a value (456), or Adding a value (+1). Variable box 1 Operand 1 1 1.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR (2) Types of variables Variables are classified into two types, as follows: [1] Integer variables These variables cannot handle decimal places. [Example] 1234 Integer variable box Variable box 1 1.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR [3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,” then “1234” will be put in variable box 2. Command LET Operand 1 1 Operand 2 1234 Put in. Variable box 1 Operand 1 2 1.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 1-6 Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a book you want to reference frequently. A tag is a destination specified in a jump command “GOTO.” 1. Values and Symbols Used in SEL Language Tag Command Operand 1 TAG Tag number (Integer between 1 and 99) They are used only in each program.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 1-7 Subroutines By taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the same processing can be performed with fewer steps. (A maximum of 15 nests are accommodated.) They are used only in each program.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR Symbols In the Tabletop Robot, values such as variable numbers and flag numbers can be handled as symbols. For the method to edit symbols, refer to “Editing Symbols” in the operation manual for X-SEL teaching pendant or “Symbol Edit Window” in the operation manual for X-SEL PC software.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 1-10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Axis numbers and how axes are stated Each of multiple axes is stated as follows: Axis number 1 2 3 How axis is stated Axis 1 Axis 2 Axis 3 The axis numbers stated above can also be expressed using symbols. 1. Values and Symbols Used in SEL Language Use axis number if you wish to specify only one of multiple axes.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) Axis number Used Not used Axis 3 1 0 (Lower) Axis 2 1 0 Axis 1 1 0 [Example] When axes 1 and 2 are used Axis 2 011 --- (The 0 in front is not necessary. With the 0 removed, the expression reads “11.”) 1.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR X-SEL language consists of a position part (position data = coordinates, etc.) and a command part (application program). 2. Position Part As position data, coordinates, speeds, accelerations and decelerations are set and stored. * Maximum Gate type: 0.3 G Cantilever type: 0.2 G * Maximum Gate type: 0.3 G Cantilever type: 0.2 G 1 to 300/mm sec Position No. Axis 1 Axis 2 Axis 3 Speed Acceleration Deceleration 2.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 3. Command Part The primary feature of SEL language is its very simple command structure. Since the structure is simple, there is no need for a compiler (to translate into computer language) and high-speed operation is possible via an interpreter (the program runs as commands are translated). 3.1 SEL language Structure The table below shows the structure of one command step.
Chapter 3 X SEL Lanhuage Data INTELLIGENT ACTUATOR 3.2 Extension Condition Conditions can be combined in a complex manner. AND extension (Ladder diagram) (SEL language) Extension Input condition condition Condition 1 Command Output Command Operand 1 Operand 2 Condition 1 Condition 2 Condition 2 Condition Command Operand 1 Operand 2 3 Condition 3 OR extension Extension Input condition condition Condition 1 Command Output Command Operand 1 Operand 2 3.
Chapter 4 Commands INTELLIGENT ACTUATOR Chapter 4 Commands 1. List of SEL Language Command Codes by Function Variables can be specified indirectly in the operand 1, operand 2 and output fields. Symbols can be input in the condition, operand 1, operand 2 and output fields. The input items in ( ) under operand 1 and operand 2 are optional. Once an “actuator control declaration” command is executed in a program, the command will remain valid as long as the program is running.
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Category Program control Task management Position operation Condition Command Optional GOTO Prohibited TAG Optional EXSR Prohibited
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Category 1.
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Category Condition Command System information acquisition Optional AXST Variable number Axis number CP Get axis status 180 Optional P
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Category 1.
Chapter 4 Commands INTELLIGENT ACTUATOR 1.
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Command Page Condition Operation1 Operation2 Output Function E EDDO 175 Prohibited Prohibited Prohibited CP Declare end of DO EDIF
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Command Page Condition Operation1 Operation2 Output Function OFAZ 212 Optional Offset amount Prohibited CP OFPZ 209 Optional Offs
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Command Page Condition Operation1 PTRG 208 Optional Position number PTST 124 Optional Confirmation axis pattern PUSH 159 Optional
Chapter 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2 Command Page Condition Operation1 Operation2 Output Function T TAG 110 CP Declare jump destination TAN 90 Prohibited Declaration tag
Chapter 4 Commands INTELLIGENT ACTUATOR 2. Explanation of Commands 1. Commands 1-1 Variable Assignment z LET (Assign) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR LET Data Assign the value specified in operand 2 to the variable specified in operand 1. The output will turn ON when 0 is assigned to the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z CLR (Clear variable) F condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR CLR Variable number Clear the variables from the one specified in operand 1 through the other specified in operand 2. The contents of the variables that have been cleared become 0.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-2 Arithmetic Operation z ADD (Add) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR ADD Data Add the content of the variable specified in operand 1 and the value specified in operand 2, and assign the result to the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z MULT (Multiply) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR MULT Data Multiply the content of the variable specified in operand 1 by the value specified in operand 2, and assign the result to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Chapter 4 Commands INTELLIGENT ACTUATOR z MOD (Remainder of division) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR MOD Data [Function] Assign, to the variable specified in 1, the remainder obtained by dividing the content of the variable specified in operand 1 by the value specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-3 Function Operation z SIN (Sine operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR SIN Data [Function] Assign the sine of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Chapter 4 Commands INTELLIGENT ACTUATOR z TAN (Tangent operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR TAN Data [Function] Assign the tangent of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Chapter 4 Commands INTELLIGENT ACTUATOR z SQR (Root operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR SQR Data Assign the root of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0. [Example 1] SQR 1 4 Assign the root of 4 (2) to variable 1.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-4 Logical Operation z AND (Logical AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR AND Data Assign the logical AND operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z OR (Logical OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR OR Data Assign the logical OR operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Chapter 4 Commands INTELLIGENT ACTUATOR z EOR (Logical exclusive-OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number ZR EOR Data Assign the logical exclusive-OR operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-5 Comparison Operation z CPXX (Compare) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Variable number CPXX Data Output (Output, flag) EQ GT LT NE GE LE The output will be turned ON if the comparison result of the content of the variable specified in operand 1 and the value specified in operand 2 satisfies the condition.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-6 Timer z TIMW (Timer) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] TIMW 1.5 [Example 2] LET TIMW 1 *1 2. Explanation of Commands TIMW Time Prohibited Output (Output, flag) TU Stop the program and wait for the time specified in operand 1. The setting range is 0.01 to 99, and the unit is second. The output will turn ON when the specified time has elapsed and the program proceeds to the next step.
Chapter 4 Commands INTELLIGENT ACTUATOR z TIMC (Cancel timer) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Program number CP TIMC Prohibited [Function] Cancel a timer in other program running in parallel. (Note) Timers in TIMW, WTON, WTOF and READ commands can be cancelled.
Chapter 4 Commands INTELLIGENT ACTUATOR z GTTM (Get time) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] 2. Explanation of Commands [Example 2] 98 Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP GTTM Prohibited Read system time to the variable specified in operand 1. The time is specified in units of 10 milliseconds. The time obtained here has no base number.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-7 I/O, Flag Operation z BTXX (Output port, flag operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration BTXX Output, flag Output (Output, flag) (Output, flag) CP Reverse the ON/OFF status of the output ports or flags from the one specified in operand 1 through the other specified in operand 2. BTXX Switch the status to ON.
Chapter 4 Commands INTELLIGENT ACTUATOR z BTPN (Output ON pulse) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Output port, flag CP BTPN Timer setting Turn ON the specified output port or flag for the specified time. When this command is executed, the output port or flag specified in operand 1 will be turned ON and then the program will proceed to the next step.
Chapter 4 Commands INTELLIGENT ACTUATOR z BTPF (Output OFF pulse) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Output port, flag CP BTPF Timer setting Turn OFF the specified output port or flag for the specified time.
Chapter 4 Commands INTELLIGENT ACTUATOR z WTXX (Wait for I/O port, flag) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WTXX I/O, flag Output (Output, flag) (Time) TU [Function] Wait for the I/O port or flag specified in operand 1 to turn ON/OFF. The program can be aborted after the specified time by setting the time in operand 2. The setting range is 0.01 to 99 seconds.
Chapter 4 Commands INTELLIGENT ACTUATOR z IN (Read I/O, flag as binary) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration IN I/O, flag I/O, flag Output (Output, flag) CC Read the I/O ports or flags from the one specified in operand 1 through the other specified in operand 2, to variable 99 as a binary. Binary Input port number Binary Variable 99 A maximum of 32 bits can be input.
Chapter 4 Commands INTELLIGENT ACTUATOR z INB (Read I/O, flag as BCD) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration INB I/O, flag BCD digits Output (Output, flag) CC Read the I/O ports or flags from the one specified in operand 1 for the number of digits specified in operand 2, to variable 99 as a BCD. Upper digit Lower digit Input port number 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z OUT (Write output, flag as binary) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration OUT Output, flag Output, flag Output (Output, flag) CC Write the value in variable 99 to the output ports or flags from the one specified in operand 1 through the other specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z OUTB (Write output, flag as BCD) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration OUTB Output, flag BCD digits Output (Output, flag) CC Write the value in variable 99 to the output ports or flags from the one specified in operand 1 for the number of digits specified in operand 2 as a BCD.
Chapter 4 Commands INTELLIGENT ACTUATOR z FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional FMIO Format type Output (Output, flag) Prohibited CP Set the data format for reading or writing I/O ports and flags with an IN, INB, OUT or OUTB command.
Chapter 4 Commands INTELLIGENT ACTUATOR [4] Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eight bits and lower eight bits are reversed every 16 bits. (I/O, flag number upper) (I/O, flag number lower) I/O port, flag status (0 = OFF, 1 = ON) Variable 99 Temporary data OUT(B) command IN(B) command (Note) FMIO command is supported in main application version 0.56 or later, PC software version 2.0.
Chapter 4 Commands INTELLIGENT ACTUATOR [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) OUT(B) command IN(B) command OUT(B) command Variable 99 4660 (IN/OUT command) 1234 (INB/OUTB command) IN(B) command (I/O, flag number upper) Temporary data OUT(B) command (I/O, flag number lower) I/O port, flag status (0 = OFF, 1 = ON) IN(B) command [Example 3] Variable 99 = 00000012h (Decimal: 18, BCD: 12) OUT(B) command IN(B) command 2.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-8 Program Control z GOTO (Jump) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration GOTO Tag number Prohibited [Function] Jump to the position of the tag number specified in operand 1. (Note) A GOTO command is valid only within the same program. [Example 1] TAG : : : GOTO 1 Set a tag. 1 Jump to tag 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z EXSR (Execute subroutine) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Subroutine number CP EXSR Prohibited [Function] Execute the subroutine specified in operand 1. A maximum of 15 nested subroutine calls are supported. (Note) This command is valid only for subroutines within the same program.
Chapter 4 Commands INTELLIGENT ACTUATOR z EDSR (End subroutine) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration EDSR 2. Explanation of Commands Prohibited CP Declare the end of a subroutine. This command is always required at the end of a subroutine. Thereafter, the program will proceed to the step next to the EXSR that has been called.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-9 Task Management z EXIT (End program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration EXIT Prohibited Prohibited Output (Output, flag) CP [Function] End the program. If the last step has been reached without encountering any EXIT command, the program will return to the beginning.
Chapter 4 Commands INTELLIGENT ACTUATOR z EXPG (Start other program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Program number CC EXPG (Program number ) [Function] Start the programs from the one specified in operand 1 through the other specified in operand 2, and run them in parallel. Specification in operand 1 only is allowed.
Chapter 4 Commands INTELLIGENT ACTUATOR z ABPG (Abort other program) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Command, declaration Operand 1 Operand 2 Output (Output, flag) ABPG Program number (Program number) CC Optional [Function] Forcibly end the programs from the one specified in operand 1 to the other specified in operand 2. Specification in operand 1 only is allowed.
Chapter 4 Commands INTELLIGENT ACTUATOR z SSPG (Pause program) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Command, declaration Operand 1 Operand 2 Output (Output, flag) SSPG Program number (Program number) CC Optional [Function] Pause the program from the one specified in operand 1 through the other specified in operand 2, at the current step. Specification in operand 1 only is allowed.
Chapter 4 Commands INTELLIGENT ACTUATOR z RSPG (Resume program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Program number CC RSPG (Program number) [Function] Resume the programs from the one specified in operand 1 through the other specified in operand 2. Specification in operand 1 only is allowed.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-10 Position Operation z PGET (Read position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] 2. Explanation of Commands [Example 1] [Example 2] 118 Command, declaration Command, Operand 1 Operand 2 declaration PGET Axis number Position number Output (Output, flag) CC Read to variable 199 the data of the axis number specified in operand 1 in the position data specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z PPUT (Write position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PPUT Axis number Position number Output (Output, flag) CP Write the value in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2. [Example 1] LET PPUT 199 2 150 3 Assign 150 to variable 199.
Chapter 4 Commands INTELLIGENT ACTUATOR z PCLR (Clear position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number CP PCLR Position number Clear the position data from the one specified in operand 1 through the other specified in operand 2. The cleared data will be expressed as XX.XXX (not 0.000). PCLR 10 20 Clear the data from position Nos.
Chapter 4 Commands INTELLIGENT ACTUATOR z PCPY (Copy position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number CP PCPY Position number Copy the position data specified in operand 2 to the position number specified in operand 1. [Example 1] PCPY 20 10 Copy the data of position No. 10 to position No. 20.
Chapter 4 Commands INTELLIGENT ACTUATOR z PRED (Read current position) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PRED Axis pattern Position number Output (Output, flag) CP Read the current position of the axis specified in operand 1 to the position specified in operand 2. PRED [Example 2] The axis pattern can be specified indirectly using a variable.
Chapter 4 Commands INTELLIGENT ACTUATOR z PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional PRDQ Axis number Variable number Output (Output, flag) CP This command is available with the PC software of version 1.1.0.5 or later and teaching pendant of version 1.05 or later.
Chapter 4 Commands INTELLIGENT ACTUATOR z PTST (Check position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PTST Axis pattern Position number Output (Output, flag) CC Check if valid data is contained in the axis pattern specified in operand 1 at the position number specified in operand 2. The output will turn ON when all of the data specified by the axis pattern is invalid (XX.
Chapter 4 Commands INTELLIGENT ACTUATOR z PVEL (Assign speed data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PVEL Speed Position number Output (Output, flag) CP [Function] Write the speed specified in operand 1 to the position number specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z PACC (Assign acceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PACC Acceleration Position number Output (Output, flag) CP [Function] Write the acceleration specified in operand 1 to the position number specified in operand 2. (Note) Range check is not performed for a PACC command. Be careful not to exceed the limit set for each actuator.
Chapter 4 Commands INTELLIGENT ACTUATOR z PDCL (Assign deceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] Command, declaration Command, Operand 1 Operand 2 declaration PDCL Deceleration Position number Output (Output, flag) CP Assign the deceleration data specified in operand 1 to the deceleration item in the position data specified in operand 2. The deceleration is set in G and may include up to two decimal places.
Chapter 4 Commands INTELLIGENT ACTUATOR z PAXS (Read axis pattern) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP PAXS Position number Store the axis pattern at the position specified in operand 2 to the variable specified in operand 1. [Example 1] PAXS 1 99 Read the axis pattern at position 99 to variable 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z PSIZ (Check position data size) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP PSIZ Prohibited Set an appropriate value in the variable specified in operand 1 in accordance with the parameter setting. x When “Other parameter No.
Chapter 4 Commands INTELLIGENT ACTUATOR z GVEL (Get speed data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP GVEL Position number Obtain speed data from the speed item in the position data specified in operand 2, and set the value in the variable specified in operand 1. GVEL 100 10 Set the speed data at position No.
Chapter 4 Commands INTELLIGENT ACTUATOR z GACC (Get acceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP GACC Position number Obtain acceleration data from the acceleration item in the position data specified in operand 2, and set the value in the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z GDCL (Get deceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP GDCL Position number Obtain deceleration data from the deceleration item in the position data specified in operand 2, and set the value in the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-11 Actuator Control Declaration z VEL (Set speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration VEL Speed Prohibited Output (Output, flag) CP [Function] Set the actuator travel speed in the value specified in operand 1. The unit is mm/s. The maximum speed will vary depending on the model of the actuator connected.
Chapter 4 Commands INTELLIGENT ACTUATOR z OVRD (Override) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] 2. Explanation of Commands [Example 1] 134 Command, declaration Command, Operand 1 Operand 2 declaration OVRD Speed ratio Prohibited Output (Output, flag) CP Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient setting). The speed ratio is set in a range from 1 to 100%.
Chapter 4 Commands INTELLIGENT ACTUATOR z ACC (Set acceleration) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ACC Acceleration Prohibited Output (Output, flag) CP [Function] Set the travel acceleration of the actuator. The maximum acceleration will vary depending on the load and model of the actuator connected. The acceleration is set in G and may include up to two decimal places.
Chapter 4 Commands INTELLIGENT ACTUATOR z DCL (Set deceleration) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration DCL Deceleration Prohibited Output (Output, flag) CP [Function] Set the travel deceleration of the actuator. The maximum deceleration will vary depending on the load and model of the actuator connected. The deceleration is set in G and may include up to two decimal places.
Chapter 4 Commands INTELLIGENT ACTUATOR z SCRV (Set sigmoid motion ratio) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration SCRV Ratio Prohibited Output (Output, flag) CP Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1. The ratio is set as an integer in a range from 0 to 50 (%).
Chapter 4 Commands INTELLIGENT ACTUATOR z OFST (Set offset) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration OFST Axis pattern Output (Output, flag) Offset value CP [Function] Reset the target value by adding the offset value specified in operand 2 to the original target value when performing the actuator movement specified in operand 1. The offset is set in mm, and the effective resolution is 0.
Chapter 4 Commands INTELLIGENT ACTUATOR z DEG (Set arc angle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration DEG Angle Prohibited Output (Output, flag) CP [Function] Set a division angle for the interpolation implemented by a CIR (move along circle) or ARC (move along arc) command. When CIR or ARC is executed, a circle will be divided by the angle set here to calculate the passing points.
Chapter 4 Commands INTELLIGENT ACTUATOR z BASE (Specify axis base) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Function] [Example 1] Command, declaration Command, Operand 1 Operand 2 declaration BASE Axis number Prohibited Output (Output, flag) CP Count the axes sequentially based on the axis number specified in operand 1 being the first axis. A BASE command can be used with PRED, PRDQ, AXST, actuator-control, ARCH, PACH, PMVP, PMVL and zone commands.
Chapter 4 Commands INTELLIGENT ACTUATOR z GRP (Set group axes) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] [Example 2] Command, declaration Command, Operand 1 Operand 2 declaration GRP Axis pattern Prohibited Output (Output, flag) CP Allow only the position data of the axis pattern specified in operand 1 to become valid. The program assumes that there are no data for other axes not specified.
Chapter 4 Commands INTELLIGENT ACTUATOR z HOLD (Hold: Declare axis port to pause) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) (Input port, global flag) CP HOLD (HOLD type) Declare an input port or global flag to pause while a servo command is being executed.
Chapter 4 Commands INTELLIGENT ACTUATOR z CANC (Cancel: Declare axis port to abort) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) (Input port, global flag) CP CANC (CANC type) Declare an input port or global flag to abort while a servo command is being executed.
Chapter 4 Commands INTELLIGENT ACTUATOR z VLMX (Specify VLMX speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration VLMX Prohibited Prohibited Output (Output, flag) CP [Function] Set the actuator travel speed to the VLMX speed (normally maximum speed). Executing a VLMX command will set the value registered in “Axis-specific parameter No. 29, VLMX speed” as the travel speed.
Chapter 4 Commands INTELLIGENT ACTUATOR z DIS (Set division distance at spline movement) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration DIS Distance Prohibited Output (Output, flag) CP Set a division distance for the interpolation implemented by a PSPL (move along spline) command.
Chapter 4 Commands INTELLIGENT ACTUATOR z POTP (Set PATH output type) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration POTP 0 or 1 Prohibited Output (Output, flag) CP Set the output type in the output field to be used when a PATH or PSPL command is executed. When a PATH or PSPL command is executed, the output will operate as follows in accordance with the setting of the POTP command.
Chapter 4 Commands INTELLIGENT ACTUATOR z PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional PAPR Distance Speed Output (Output, flag) CP Set the operation to be performed when a PUSH command is executed.
Chapter 4 Commands INTELLIGENT ACTUATOR z QRTN (Set quick-return mode) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] 2. Explanation of Commands (Note 2) (Note 3) (Note 4) (Note 5) 148 QRTN 0 or 1 Prohibited Output (Output, flag) CP Set and cancel the quick-return mode. [1] QRTN [Operand 1] = 0 (Normal mode) Positioning is deemed complete when all command pulses have been output and the current position is inside the positioning band.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-12 Actuator Control Command SVXX (Turn ON/OFF servo) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration SVXX Axis pattern Prohibited Output (Output, flag) PE Turn ON/OFF the servos of the axes specified by the axis pattern in operand 1. SVXX Turn ON the servo. Turn OFF the servo. ON OF [Example 1] SVON 110 Turn ON the servos of axes 2 and 3.
Chapter 4 Commands INTELLIGENT ACTUATOR HOME (Return to home) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration HOME Axis pattern Prohibited Output (Output, flag) PE [Function] Perform home return of the axes specified by the axis pattern in operand 1. The servo of each home-return axis will turn ON automatically.
Chapter 4 Commands INTELLIGENT ACTUATOR z MOVP (Move PTP by specifying position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number PE MOVP Prohibited Move the actuator to the position corresponding to the position number specified in operand 1, without interpolation (PTP stands for “Point-to-Point”).
Chapter 4 Commands INTELLIGENT ACTUATOR z MOVL (Move by specifying position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number PE MOVL Prohibited Move the actuator to the position corresponding to the position number specified in operand 1, with interpolation.
Chapter 4 Commands INTELLIGENT ACTUATOR z MVPI (Move via incremental PTP) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number PE MVPI Prohibited Move the actuator, without interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z MVLI (Move via incremental interpolation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Output (Output, flag) Position number PE MVLI Prohibited Move the actuator, with interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1. The output will turn OFF at the start of axis movement, and turn ON when the movement is complete.
Chapter 4 Commands INTELLIGENT ACTUATOR z PATH (Move along path) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Start position number PE PATH End position number Move continuously from the position specified in operand 1 to the position specified in operand 2. The output type in the output field can be set using an actuator-declaration command POTP.
Chapter 4 Commands INTELLIGENT ACTUATOR z JXWX (Jog) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration JXWX Axis pattern Output (Output, flag) Input, output, flag number PE [Function] The axes in the axis pattern specified in operand 1 will move forward or backward while the input or output port or flag specified in operand 2 is ON or OFF. Move backward while the specified port is OFF.
Chapter 4 Commands INTELLIGENT ACTUATOR z STOP (Stop movement) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration STOP Axis pattern Prohibited Output (Output, flag) CP [Function] Decelerate and stop the axes specified by the axis pattern in operand 1. (Note 1) A STOP command can be used with all active servo commands other than a SVOF command.
Chapter 4 Commands INTELLIGENT ACTUATOR z PSPL (Move along spline) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Start position number PE PSPL End position number Continuously move from the specified start position to end position via interpolation along a spline-interpolation curve.
Chapter 4 Commands INTELLIGENT ACTUATOR z PUSH (Move by push motion) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Target PUSH Prohibited position number Output (Output, flag) PE Perform push-motion operation until the target position specified in operand 1 is reached.
Chapter 4 Commands INTELLIGENT ACTUATOR [Example] PAPR MOVP PUSH 100 2 10 20 Set the push-motion approach distance to 100 mm and push-motion approach speed to 20 mm/sec. Move from the current position to position No. 2. Perform push-motion movement from position Nos. 2 to 10. The diagram below describes a push-motion movement based on the position data shown in the table below: Position No. Axis 1 Axis 2 Axis 3 Vel Acc Dcl 1 XXX.XXX XXX.XXX XXX.XXX XXX X.XX X.XX 2 50.000 100.000 XXX.XXX XXX X.XX X.
Chapter 4 Commands INTELLIGENT ACTUATOR z CIR2 (Move along circle 2 (arc interpolation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Passing Passing CIR2 position 1 position 2 number number Output (Output, flag) PE Move along a circle originating from the current position and passing positions 1 and 2, via arc interpolation.
Chapter 4 Commands INTELLIGENT ACTUATOR z ARC2 (Move along circle 2 (arc interpolation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Passing End position ARC2 position number number Output (Output, flag) PE Move along an arc originating from the current position, passing the specified position and terminating at the end position, via arc interpolation.
Chapter 4 Commands INTELLIGENT ACTUATOR z CIRS (Move three-dimensionally along circle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Passing Passing CIRS position 1 position 2 number number Output (Output, flag) PE This command is available with the PC software of version 1.1.0.5 or later and teaching pendant of version 1.05 or later.
Chapter 4 Commands INTELLIGENT ACTUATOR z ARCS (Move three-dimensionally along arc) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Passing End position ARCS position number number Output (Output, flag) PE This command is available with the PC software of version 1.1.0.5 or later and teaching pendant of version 1.05 or later.
Chapter 4 Commands INTELLIGENT ACTUATOR z CHVL (Change speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration CHVL Axis pattern Speed Output (Output, flag) CP [Function] Change the speed of the axes operating in other task. When a CHVL command is executed, the speed of the axes specified in operand 1 will change to the value specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z ARCD (Move along arc via specification of end position and center angle (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional [Function] Optional ARCD End position number Center angle PE Move along an arc originating from the current position and terminating at the end position, via arc interpolation.
Chapter 4 Commands INTELLIGENT ACTUATOR z ARCC (Move along arc via specification of center position and center angle (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional [Function] Optional ARCC Center position number Center angle PE Move along an arc originating from the current position by keeping a specified radius from the center position, via arc interpolation.
Chapter 4 Commands INTELLIGENT ACTUATOR z PBND (Set positioning band) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration PBND Axis pattern Distance Output (Output, flag) CP Set the positioning completion band for the axes in the axis pattern specified in operand 1. The distance in operand 2 is set in mm.
Chapter 4 Commands INTELLIGENT ACTUATOR z CIR (Move along circle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Passing Passing CIR position 1 position 2 number number Output (Output, flag) PE Move along a circle originating from the current position and passing the positions specified in operands 1 and 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z ARC (Move along arc) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Output (Output, flag) PE [Function] Move along an arc from the current position to the position specified in operand 2, by passing the position specified in operand 1. The output will turn OFF at the start of arc movement, and turn ON when the movement is complete.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-13 Structural IF z IFXX (Structural IF) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP IFXX Data Compare the content of the variable specified in operand 1 with the value specified in operand 2, and proceed to the next step if the condition is satisfied.
Chapter 4 Commands INTELLIGENT ACTUATOR z ISXX (Compare strings) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Column Column number, ISXX number character literal Output (Output, flag) CP Compare the character strings in the columns specified in operands 1 and 2, and proceed to the next step if the condition is satisfied.
Chapter 4 Commands INTELLIGENT ACTUATOR z ELSE (Else) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration ELSE Prohibited Prohibited Output (Output, flag) CP An ELSE command is used arbitrarily in conjunction with an IFXX or ISXX command to declare the command part to be executed when the condition is not satisfied. [Example 1] Refer to the sections on IFXX and ISXX.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-14 Structural DO z DWXX (DO WHILE) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP DWXX Data Compare the content of the variable specified in operand 1 with the value specified in operand 2, and execute the subsequent commands up to EDDO while the condition is satisfied.
Chapter 4 Commands INTELLIGENT ACTUATOR z ITER (Repeat) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration ITER Prohibited Prohibited Output (Output, flag) CP Forcibly switch the control to EDDO while in a DOXX loop. [Example 1] DWEQ 600 1 0 : ITER : EDDO Repeat the commands up to an EDDO command while variable 1 contains “0.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-15 Multi-Branching z SLCT (Start selected group) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration SLCT Prohibited Prohibited Output (Output, flag) CP [Function] Branch to the step next to any WHXX or WSXX command that exists before an EDSL command and whose condition is satisfied, or to the step next to an OTHE command if none of the conditions are satisfied
Chapter 4 Commands INTELLIGENT ACTUATOR z WHXX (Select if true; variable) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP WHXX Data This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next WXXX command or an OTHE or EDSL command when the comparison result of the content of the variable specified in
Chapter 4 Commands INTELLIGENT ACTUATOR z WSXX (Select if true; character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration Column Column number, WSXX number character literal Output (Output, flag) CP This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next WXXX command or an OTHE or EDSL command when the comparison result of the character str
Chapter 4 Commands INTELLIGENT ACTUATOR z OTHE (Select other) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration OTHE Prohibited Prohibited Output (Output, flag) CP This command is used between SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied. [Example 1] Refer to the sections on SLCT, WHXX and WSXX.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-16 System Information Acquisition z AXST (Get axis status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP AXST Axis number [Function] Store in the variable specified in operand 1 the status (axis error number) of the axis specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z PGST (Get program status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP PGST Program number [Function] Store in the variable specified in operand 1 the status (program error number) of the program specified in operand 2. (Note 1) (Note 2) If the obtained result is “0,” it means no program error is present.
Chapter 4 Commands INTELLIGENT ACTUATOR z SYST (Get system status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Variable number CP SYST Prohibited [Function] Store the system status (top-priority system error number) in the variable specified in operand 1. (Note 1) (Note 2) (Note 3) If the obtained result is “0,” it means no system error is present.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-17 Zone z WZNA (Wait for zone ON, with AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZNA Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to become ON (inside zone) with respect to the zone specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z WZNO (Wait for zone ON, with OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZNO Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become ON (inside zone) with respect to the zone specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z WZFA (Wait for zone OFF, with AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZFA Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z WZFO (Wait for zone OFF, with OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WZFO Zone number Axis pattern Output (Output, flag) CP [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-18 Communication z OPEN (Open channel) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Channel number CP OPEN Prohibited Open the channel specified in operand 1. The specified channel will be enabled to send/receive hereafter. Prior to executing this command, a SCHA command must be used to set an end character.
Chapter 4 Commands INTELLIGENT ACTUATOR z READ (Read) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] 2. Explanation of Commands [Example] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Channel number CC READ Column number Read a character string from the channel specified in operand 1 to the column specified in operand 2. Read will end when the character specified by a SCHA command is received.
Chapter 4 Commands INTELLIGENT ACTUATOR z TMRD (Set READ timeout value) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration TMRD Timer setting Prohibited Output (Output, flag) CP [Function] Set the timeout to be applied to a READ command. The timer setting specified in operand 1 will set the maximum time the program will wait for the character string read to end when a READ command is executed.
Chapter 4 Commands INTELLIGENT ACTUATOR z WRIT (Write) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] 2. Explanation of Commands [Example] 190 Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Channel number CP WRIT Column number Write the character string in the column specified in operand 2 to the channel specified in operand 1. The operation will end when the character specified by a SCHA command is written.
Chapter 4 Commands INTELLIGENT ACTUATOR z SCHA (Set end character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Character code CP SCHA Prohibited [Function] Set the end character to be used by a READ or WRIT command. Any character from 0 to 255 (character code used in BASIC, etc.) can be specified. [Example] Refer to the sections on READ and WRIT commands. 2.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-19 String Operation z SCPY (Copy character string) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Command, declaration Operand 1 Operand 2 SCPY Column number Column number, character literal Optional Output (Output, flag) CC [Function] Copy the character string in the column specified in operand 2 to the column specified in operand 1. Copy will be performed for the length set by a SLEN command.
Chapter 4 Commands INTELLIGENT ACTUATOR z SCMP (Compare character strings) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Command, declaration Operand 1 Operand 2 SCMP Column number Column number, character literal Optional Output (Output, flag) EQ [Function] Compare the column specified in operand 1 with the column specified in operand 2. Comparison will be performed for the length set by a SLEN command.
Chapter 4 Commands INTELLIGENT ACTUATOR z SGET (Get character) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Command, declaration Operand 1 Operand 2 SGET Variable number Column number, character literal Optional Output (Output, flag) CP [Function] Assign one character from the column specified in operand 2 to the variable specified in operand 1. If a character-string literal is specified in operand 2, the first character will be assigned.
Chapter 4 Commands INTELLIGENT ACTUATOR z SPUT (Set character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Column number CP SPUT Data [Function] Set the data specified in operand 2 in the column specified in operand 1. [Example] SPUT 5 10 Set 10 (LF) in column 5. LET LET SPUT 1 2 *1 100 50 *2 Assign 100 to variable 1. Assign 50 to variable 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z STR (Convert character string; decimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Column number CC STR Data [Function] Copy to the column specified in operand 1 a decimal character string converted from the data specified in operand 2. The data will be adjusted to the length set by a SLEN command.
Chapter 4 Commands INTELLIGENT ACTUATOR z STRH (Convert character string; hexadecimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Column number CC STRH Data [Function] Copy to the column specified in operand 1 a hexadecimal character string converted from the data specified in operand 2. Only the integer part will be adjusted to the length set by a SLEN command.
Chapter 4 Commands INTELLIGENT ACTUATOR z VAL (Convert character string data; decimal) Extension condition Input condition (LD, A, O, AB, OB) (I/O, flag) Optional Command, declaration Command, declaration Operand 1 Operand 2 VAL Variable number Column number, character literal Optional Output (Output, flag) CC [Function] Convert the decimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z VALH (Convert character string data; hexadecimal) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional VALH Variable number Column number, character literal Output (Output, flag) CC [Function] Convert the hexadecimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z SLEN (Set length) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Character string length CP SLEN Prohibited [Function] Set the length to be processed by a string command. This must always be set before using the following commands: SCMP SCPY ISXX WSXX STRH VAL, VALH STR Decimal part is invalid. Decimal part is invalid.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-20 Palletizing-Related z BGPA (Declare start of palletizing setting) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Palletizing number CP BGPA Prohibited Declare the start of a palletizing setting. Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will be enabled.
Chapter 4 Commands INTELLIGENT ACTUATOR z PAPI (Set palletizing counts) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PAPI Count Count Output (Output, flag) CP Set counts in the palletizing-axis directions. The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count specified in operand 2 will apply to the PY-axis direction.
Chapter 4 Commands INTELLIGENT ACTUATOR z PASE (Declare palletizing axes) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PASE Axis number Axis number Output (Output, flag) CP Set the two axes to be used in palletizing (PX and PY-axes). The axis specified in operand 1 will be set as the preferential axis (PX-axis). The axis specified in operand 2 will be set as the PY-axis.
Chapter 4 Commands INTELLIGENT ACTUATOR z PAST (Set palletizing reference point) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) (Position number) CP PAST Prohibited 2. Explanation of Commands Set the reference point used in palletizing. If a value is set in operand 1, that position number specified in operand 1 will be used to store the reference point data.
Chapter 4 Commands INTELLIGENT ACTUATOR z PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional PAPS Position number Prohibited Output (Output, flag) CP Specify the first position number among the three position numbers containing point data, for use in palletizing calculation.
Chapter 4 Commands INTELLIGENT ACTUATOR z PSLI (Set zigzag) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Offset amount CP PSLI (Count) 2. Explanation of Commands Set a zigzag palletizing. The value specified in operand 1 will be set as the offset amount for even-numbered rows. The count specified in operand 2 will be set as the count for even-numbered rows.
Chapter 4 Commands INTELLIGENT ACTUATOR z PCHZ (Declare palletizing Z-axis) Only when there are at least three axes. Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional PCHZ (Axis number) Prohibited Output (Output, flag) CP Specify the axis number representing the palletizing Z direction. The axis number specified in operand 1 will be set as the axis number representing the palletizing Z direction.
Chapter 4 Commands INTELLIGENT ACTUATOR z PTRG (Set palletizing arch triggers) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number CP PTRG Position number Set the arch triggers to be used for arch motion along the palletizing points. (This setting becomes valid when a PACH command is executed.
Chapter 4 Commands INTELLIGENT ACTUATOR z PEXT (Set palletizing composition) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) (Position number) CP PEXT Prohibited Set palletizing composition. The position number specified in operand 1 will be set for use in composition.
Chapter 4 Commands INTELLIGENT ACTUATOR z ACHZ (Declare arch-motion Z-axis) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ACHZ Axis number Prohibited Output (Output, flag) CP 2. Explanation of Commands Specify the axis number representing the arch-motion Z direction. The axis number specified in operand 1 will be set as the axis number representing the arch-motion Z direction.
Chapter 4 Commands INTELLIGENT ACTUATOR z ATRG (Set arch triggers) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number CP ATRG Position number Set the arch triggers used for arch motion. (This setting becomes valid when an ARCH command is executed.
Chapter 4 Commands INTELLIGENT ACTUATOR z AEXT (Set arch-motion composition) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) (Position number) CP AEXT Prohibited Set arch-motion composition. The position number specified in operand 1 will be set for use in composition.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-21 Palletizing Calculation Command z PTNG (Get palletizing position number) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Palletizing number CP PTNG Variable number Assign the palletizing position number for the palletizing number specified in operand 1 to the variable specified in operand 2.
Chapter 4 Commands INTELLIGENT ACTUATOR z PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional PDEC Palletizing number Prohibited Output (Output, flag) CC Decrement by 1 the palletizing position number for the palletizing number specified in operand 1.
Chapter 4 Commands INTELLIGENT ACTUATOR z PARG (Get palletizing angle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Palletizing number CP PARG Axis number Obtain the palletizing angle. Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the palletizing number specified in operand 1, and store the result in variable 199.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-22 Palletizing Movement Command z PMVP (Move to palletizing points via PTP) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Palletizing number PE PMVP (Position number) 2. Explanation of Commands Move to the calculated palletizing points via PTP. The axes will move to the palletizing points specified in operand 1, via PTP.
Chapter 4 Commands INTELLIGENT ACTUATOR z PMVL (Move to palletizing points via interpolation) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional PMVL Palletizing number (Position number) Output (Output, flag) PE Move to the calculated palletizing points via interpolation. The axes will move to the palletizing points specified in operand 1, via interpolation.
Chapter 4 Commands INTELLIGENT ACTUATOR z PACH (Palletizing-point arch motion) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Palletizing number PE PACH Position number Perform arch motion from the current point and move to the palletizing points. x Move to the palletizing points specified in operand 1, via arch motion.
Chapter 4 Commands INTELLIGENT ACTUATOR x The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates of the palletizing point, if any, plus the palletizing Z-axis offset. If there is no PZ component, the PZ-axis coordinate of the end point will become the PZ-axis coordinate of the start point plus the palletizing Z-axis offset. (Normally the offset is added to all palletizing positions, such as the arch triggers and Z point.
Chapter 4 Commands INTELLIGENT ACTUATOR z ARCH (Arch motion) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Position number PE ARCH Position number Perform arch motion from the current point and move to the specified points. x Move to the points specified in operand 1, via arch motion.
Chapter 4 Commands INTELLIGENT ACTUATOR x The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the operation may follow the locus in Fig. 5 given in the aforementioned explanation of PACH command, depending on the settings of arch-trigger points and Z point. In this case, change the arch triggers and Z point to increase the operation efficiency.
Chapter 4 Commands INTELLIGENT ACTUATOR 1-23 Building of Pseudo-Ladder Task z CHPR (Change task level) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration CHPR 0 or 1 Prohibited Output (Output, flag) CP 2. Explanation of Commands [Function] Specify “1” (User HIGH) if you wish the target task to be processed before other tasks. This command can also be used with non-ladder tasks.
Chapter 4 Commands INTELLIGENT ACTUATOR z TSLP (Task sleep) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited Command, declaration Command, Operand 1 Operand 2 declaration TSLP Time Prohibited Output (Output, flag) CP [Function] Set the time during which the applicable task will sleep, in order to distribute the processing time to other tasks. If the task level is set to User HIGH, this command must always be specified.
Chapter 4 Commands INTELLIGENT ACTUATOR 3. Key Characteristics of Actuator Control Commands and Points to Note 3. Key Characteristics of Actuator Control Commands and Points to Note 3.1 Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS] [1] By running a program with continuous movement commands input in a series of continuous program steps, you can allow the actuators to perform operations continuously without stopping between steps.
Chapter 4 Commands INTELLIGENT ACTUATOR [Example 2] (POTP = 0) 320 [Example 3] Timing Turn ON as P3 approaches. Turn ON as P11 approaches. Turn ON when P23 operation is complete. If an input condition is specified, the output will turn ON upon completion of operation in the step before the one in which the input condition is specified. Output field 316 317 318 319 320 321 322 Timing Turn ON as P1 approaches. Turn ON as P2 approaches. Turn ON when P3 operation is complete. Turn ON as P11 approaches.
Chapter 4 Commands INTELLIGENT ACTUATOR 3. Key Characteristics of Actuator Control Commands and Points to Note 3.2 PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration/deceleration is different between points. The locus can be fine-tuned by changing the acceleration/deceleration, but different acceleration/deceleration settings between points will prevent smooth transition of speeds when moving from one position to another.
Chapter 4 Commands INTELLIGENT ACTUATOR 4. Palletizing Function 4.1 4. Palletizing Function The SEL language used by the X-SEL Controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizing. How to Use Use palletizing commands in the following steps: (1) Palletizing setting Set palletizing positions, arch motion, etc., using palletizing setting commands.
Chapter 4 Commands INTELLIGENT ACTUATOR (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below are available. The encircled numbers indicate the order of palletizing and are called “palletizing position numbers.” 4. Palletizing Function Pattern 1 Preferential axis (PXaxis) Pattern 2 Preferential axis (PXaxis) (PY-axis) Start point Start point (PY-axis) Fig.
Chapter 4 Commands INTELLIGENT ACTUATOR A. 3-point teaching method When three points are taught from position No. 11 Position No. 11 [1]: Start point (First palletizing position) Position No. 12 [3]: Palletizing position corresponding to the end point in the PX-axis direction Position No. 13 [10]: Palletizing position corresponding to the end point in the PY-axis direction The encircled numbers indicate palletizing position numbers (palletizing order).
Chapter 4 Commands INTELLIGENT ACTUATOR B. Method to set palletizing positions in parallel with the actuators 4. Palletizing Function Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a position data field and specify the applicable position number using a PAST command, as shown below. Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-axis directions.
Chapter 4 Commands INTELLIGENT ACTUATOR 4. Palletizing Function (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when evennumbered rows are placed. “Even-numbered rows” refer to the rows occurring at the even numbers based on the row placed first representing the first row. Zigzag count: Number in the even-numbered rows. Two in the diagram below.
Chapter 4 Commands INTELLIGENT ACTUATOR 4. Palletizing Function (7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (b) Palletizing Z-axis offset --Command: OFPZ (c) Palletizing composition --Command: PEXT Composition data refers to position data of any additional axis you wish to use with palletizing movement commands, other than the PX, PY (and PZ)-axes. Examples include rotation angle.
Chapter 4 Commands INTELLIGENT ACTUATOR 4.3 Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown below: Always set this command before executing a palletizing movement command (excluding ARCH) --- PSET For example, executing a palletizing movement command by setting 1 as the palletizing position number will move the axes to the start point.
Chapter 4 Commands INTELLIGENT ACTUATOR 4.4 Palletizing Movement Palletizing movement commands include those used to move to a palletizing point and one used to move to an end point specified by position data. 4. Palletizing Function (1) Movement commands to palletizing point --- PMVP, PMVL, PACH Position coordinates of a two-dimensionally or three-dimensionally placed palletizing point are calculated and movement is performed using the calculated point as the end point.
Chapter 4 Commands INTELLIGENT ACTUATOR (2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an end point specified by position data. In the case of a linear movement in parallel with an actuator, operation can be performed only with two axes including the applicable axis and the PZ-axis. Arch motion must be set. 4. Palletizing Function Highest point of arch motion Position No. 12 Start-point arch trigger Position No.
Chapter 4 Commands INTELLIGENT ACTUATOR 4.5 Program Examples 4. Palletizing Function (1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching) The example below specifies movement only and does not cover picking operation. Step 1 2 3 4 5 6 7 8 9 Cmnd BGPA PAPI PAPS EDPA Operand 1 1 3 2 VEL MOVL PSET TAG 200 1 1 1 10 PMVL 1 11 MOVL 1 12 PINC 1 GOTO 1 13 E N Cnd 600 14 No. 1 2 3 4 Operand 2 Pst 4 Speed: 200 mm/sec Move to picking position.
Chapter 4 Commands INTELLIGENT ACTUATOR (2) Simple program example (two-axis specification) using PAPS, PAPT and PAST The example below specifies movement only and does not cover picking operation. Cmnd BGPA PAPI PASE PAPT PAST EDPA Operand 1 1 3 1 40 2 VEL MOVL PSET TAG 200 1 1 1 12 PMVL 1 13 MOVL 1 14 PINC 1 GOTO 1 15 E N Cnd 600 16 No. 1 2 Operand 2 Pst 4 2 25 Speed: 200 mm/sec Move to picking position. Set palletizing position number to 1. 1 600 EXIT Axis 1 10.000 70.
Chapter 4 Commands INTELLIGENT ACTUATOR (3) Simple program example using PAPS (set by 3-point teaching) The example below specifies movement only and does not cover picking operation. 4. Palletizing Function Step Cmnd Operand 1 BGPA 1 3 PAPI 5 4 PAPN 1 Palletizing pattern 1 5 PAPS 1 Set by 3-point teaching. 1 E N Cnd Operand 2 Pst Comment Start setting palletizing No. 1. 2 7 6 Use position No. 1 data.
Chapter 4 Commands INTELLIGENT ACTUATOR Step E N Cnd Cmnd Operand 1 MOVP 8 Move to picking position. 33 TAG 1 Beginning of loop processing 34 PACH 1 9 ARCH 8 9 PINC 1 GOTO 1 31 Operand 2 Pst Comment 32 36 37 38 39 600 600 4. Palletizing Function 35 Palletizing arch motion Z point specified by Position No. 9 Arch motion Z point specified by Position No. 9 Increment palletizing position number by 1. Go to beginning of loop if PINC is successful.
Chapter 4 Commands INTELLIGENT ACTUATOR Schematic diagram of placement-point positions based on the above program Axis-1 direction 4. Palletizing Function End-point coordinates of preferential axis (PX-axis): Position No. 2 (260, 105, 30) PX-axis PX-axis Axis-2 direction PY-axis Reference point: Position No. 1 (100, 100, 30) x x x x 240 End-point coordinates of PY-axis: Position No. 3 (95, 280, 30) The number shown at the top right of each circle indicates a palletizing position number.
Chapter 4 Commands INTELLIGENT ACTUATOR (4) Simple program example using PASE, PAPT and PAST The example below specifies movement only and does not cover picking operation. E N Cnd Cmnd BGPA Operand 1 Operand 2 1 PAPI PAPN PASE PAPT PAST 5 1 1 40 1 7 PSLI 20 4 PCHZ PTRG 3 4 4 OFPZ 10 2 30 Pst Comment Start setting palletizing No. 1. 4.
Chapter 4 Commands 4. Palletizing Function INTELLIGENT ACTUATOR Step 31 32 33 34 35 E N Cnd 36 37 600 38 39 40 No. 1 2 3 4 5 6 7 8 9 10 242 Cmnd TAG PACH Operand 1 1 1 Operand 2 ARCH 8 9 PINC 1 GOTO 1 EXIT Axis 1 100.000 *.*** *.*** *.*** *.*** *.*** *.*** 0.000 *.*** Axis 2 100.000 *.*** *.*** *.*** *.*** *.*** *.*** 0.000 *.*** 9 Pst Comment Beginning of loop processing Palletizing arch motion Z point specified by Position No. 9 Arch motion Z point specified by Position No.
Chapter 4 Commands INTELLIGENT ACTUATOR Schematic diagram of placement-point positions based on the above program Axis-1 direction PX-axis 4. Palletizing Function PY-axis Reference point (X, Y, Z) = (100, 100, 30) x x x x x x Axis-2 direction The number shown at the top right of each circle indicates a palletizing position number.
Chapter 4 Commands INTELLIGENT ACTUATOR 5. Pseudo-Ladder Task 5. Pseudo Ladder Task With the Tabletop Robot, a pseudo-ladder task function can be used depending on the command and extension condition. The input format is shown below. Note that this function must be used by expert engineers with a full knowledge of PLC software design. 5.
Chapter 4 Commands INTELLIGENT ACTUATOR 5.2 Ladder Statement Field [2] Ladder commands OUTR TIMR 5.3 5. Pseudo Ladder Task [1] Extension conditions LOAD LD AND A OR O AND BLOCK AB OR BLOCK OB All of the above extension conditions can be used in non-ladder tasks. Ladder output relay (Operand 1 = Output, flag number) Ladder timer relay (Operand 1 = Local flag number, Operand 2 = Timer setting (sec)) Points to Note x This system only processes software ladders using an interpreter.
Chapter 4 Commands INTELLIGENT ACTUATOR Program Example 5. Pseudo Ladder Task 5.
Chapter 5 Maintenance and Inspection INTELLIGENT ACTUATOR Chapter 5 Maintenance and Inspection 1. Inspection Items and Inspection Intervals Perform the specified maintenance and inspection at the intervals listed below. The schedule given below assumes that the robot is operated eight hours a day. If the robot is used continuously night and day or operated at higher utilization rates, shorten the inspection intervals accordingly. 2.
Chapter 5 Maintenance and Inspection INTELLIGENT ACTUATOR 3.2 Interior Inspection Turn off the power, remove the screw cover, and visually check the interior. Check the following items. 3. Visual Inspection and Cleaning Actuator Guides Ball screw Looseness of robot mounting bolts, etc. Lubrication condition, soiling Lubrication condition, soiling Visually inspect the interior to see if there is any dust or foreign matter in the robot. Also check the lubrication.
Chapter 5 Maintenance and Inspection INTELLIGENT ACTUATOR 5. Greasing the Ball Screw 5.1 Applicable Grease The Tabletop Robot is designed to use lithium grease for lubrication. The following grease is applied before the robot is shipped. Kyodo Yushi 5.2 Multemp LRL No. 3 How to Apply Grease Remove the screw cover and apply an appropriate amount of grease on the right and left rails. 6. Timing Belt 6.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt.
Chapter 5 Maintenance and Inspection INTELLIGENT ACTUATOR 6.3 Belt Replacement Procedure 6. Timing Belt [1] Remove the pulley cover. (With the gate X-axis actuator, remove the rear panel to access the pulley cover.) [2] Hook a wire around the motor shaft. (With the gate X-axis actuator, guide a wire through the belt replacement hole in the side face of the actuator and then hook the wire around the motor shaft.) [3] Pull the end of the wire with a force of 2.4 to 2.6 kgf. [4] Affix the motor.
Appendix INTELLIGENT ACTUATOR Appendix ~ How to Create a Program 1. Position Table Position table The Tabletop Robot can store 3,000 positions. Positions are registered using the PC software or teaching pendant. (Example with a 3-axis system) Appendix No.: Specify a desired number in each program, and the actuator will move to the corresponding position registered under the number. Axis 1 to 3: Enter a desired position for each axis under each position number. Vel: Set a speed.
Appendix INTELLIGENT ACTUATOR 2. Program Format Program edit screen (PC software) Appendix The Tabletop Robot supports a program consisting of up to 6,000 steps. Programs are edited using the PC software or teaching pendant. No.: B: Step number Set a breakpoint. (This field can be accessed during online editing.) Using the mouse, click the “B” field in the line you want to set a breakpoint for. Once a breakpoint is set, “B” will be shown in the applicable line.
Appendix INTELLIGENT ACTUATOR 3. Positioning to Five Positions Description Causes the actuator to move to positions 1 to 5 at a speed of 100 mm/sec following a home return. Only axis 1 is used. Flowchart Start Home return x For the actuator to operate, a home return must have been completed and a speed must be set. x The actuator moves to the position data coordinates specified by the movement commands.
Appendix INTELLIGENT ACTUATOR 4. How to Use TAG and GOTO Description Use GOTO and TAG commands if you want to repeat the same operation in the program or jump to desired steps based on certain conditions. A TAG can be defined in a step before or after a GOTO command. Example of Use 1 Repeats the same operation. These operations are repeated. Appendix Repeat Example of Use 2 Jump to a specified step. Jump 254 These operations are ignored.
Appendix INTELLIGENT ACTUATOR 5. Moving Back and Forth between Two Points Description Causes the actuator to move back and forth between two points repeatedly. Flowchart Start Home return Move to P1 x The actuator moves back and forth between P1 and P2 indefinitely. x Axis 1 is used. x Enter “TAG” in the first step of the repeated operation, and enter “GOTO” in the last step.
Appendix INTELLIGENT ACTUATOR 6. Path Operation Description Appendix Causes the actuator to move continuously along given four points without stopping (path movement). The actuator moves along the path shown to the right, without stopping at P2 or P3. Unlike in operations using a MOVP or MOVL, the actuator need not be positioned at P2 and P3 and thus the tact time of movement can be reduced.
Appendix INTELLIGENT ACTUATOR 7. Output Control during Path Movement Description In a coating operation, etc., output control is sometimes required while the robot is moving. The Tabletop Robot can output signals while moving under a PATH command. How to Use Before a PATH command, declare a POTP command to enable signal output during movement.
Appendix INTELLIGENT ACTUATOR 8. Circular/Arc Operation Description Causes the actuator to move along a two-dimensional circle or arc. How to Use To specify a circle, specify three passing points. To specify an arc, specify three points as the starting point, passing point and ending point. Example of Use 1 Circle Appendix x After the actuator has moved to P1, specify “CIR2 2 3.” x Specifying “CIR2 2 3” based on the positions shown to the left will cause the actuator to move along the circle clockwise.
Appendix INTELLIGENT ACTUATOR 9. Home-return Completion Output Description Causes the actuator to output a signal confirming completion of home return. (Incremental specification) The Tabletop Robot outputs an all-axis home-return completion signal to the LED (HPS) on the panel window. This section explains how to output a home-return completion signal via programming using a general-purpose output.
Appendix INTELLIGENT ACTUATOR 10. Moving an Axis Selectively based on Input and Outputting a Completion Signal Description How to move the actuator selectively based on input and output a processing completion signal Flowchart Start Input 16 Appendix Move to P1 Output 316 turns ON Input 17 Output 316 turns OFF Move to P2 Output 317 turns ON Program ends Application program 260 Example of Use The actuator waits until input port 16 turns ON, upon which it will move to P1.
Appendix INTELLIGENT ACTUATOR 11. Changing the Moving Speed Description Change the moving speed of the actuator. How to Use With the Tabletop Robot, the speed can be set using the following two methods: a: Use a VEL command in the application program. b: Use a speed set in the position data table. Example of Use Application program Position data Appendix Moving speeds in the above program 100-mm position --- Move at 100 mm/sec. 200-mm position --- Move at 200 mm/sec.
Appendix INTELLIGENT ACTUATOR 12. Changing the Speed during Movement Description Use a PATH command to change the actuator speed while the actuator is moving. This command is useful in a dispensing operation where the coating amount changes during operation. Example of Use The actuator moves at 50 mm/sec in section a, 20 mm/sec in section b and 50 mm/sec in section c, without stopping.
Appendix INTELLIGENT ACTUATOR 13. Local/Global Classification of Variables and Flags Description The internal variables and flags used in SEL commands are classified into local and global variables/flags. The shared data range used by all programs is called the global range, while the data range used only by each program is called the local range. To adjust the timings of multiple programs in the multitasking mode or to allow variables to reference one another, the global range must be used.
Appendix INTELLIGENT ACTUATOR 14. How to Use Subroutines Description If the same processing is performed multiple times in one program, the applicable operation is defined in a separate group of steps so that these steps can be called every time the operation is required. These steps are called a subroutine. Subroutines are used to shorten and simplify the program steps. Up to 99 subroutines can be used in a single program, and a maximum of 15 subroutine calls can be nested.
Appendix INTELLIGENT ACTUATOR 15. Pausing the Operation Description Use a declaration command HOLD to pause the moving axis via an external input. How to Use By declaring a HOLD command in the program, the moving axis can be paused (decelerated to a stop) via interruption. While the HOLD input is ON, the axis is paused (decelerated to a stop) against all movement commands in the program. Example of Use Declaration of pause when general-purpose input 20 turns ON Input port 20 OFF Axis stops.
Appendix INTELLIGENT ACTUATOR 16. Aborting the Operation 1 (CANC) Description Use a declaration command CANC to cause the moving axis to decelerate to a stop and cancel the remaining operation. How to Use While the CANC input is ON, operations of all movement commands in the program are aborted. CANC command CANC 20 Abort movement commands when input port 20 turns ON. (Declaration) : MOVP 1 MOVP 2 : WTON 21 : * Declare a CANC in a step before the movement command you want to abort.
Appendix INTELLIGENT ACTUATOR 17. Aborting the Operation 2 (STOP) Description Causes the moving axis to decelerate to a stop and cancel the remaining operation. (STOP) How to Use Use a STOP command to abort the operation from other program. (In the multitasking mode) Specify the axis to abort using the axis pattern. Input port 20 ON Speed This operation is cancelled. Appendix Remaining operation Time Example of Use 1 STOP command Main program Aborting program starts.
Appendix INTELLIGENT ACTUATOR 18. Moving to a Specified Position Number Description Read an external BCD code input as a position number and cause the actuator to move to the corresponding position. Example of Use Use an INB command to read a BCD code from an input port as a position number. Up to three digits can be specified as a position number.
Appendix INTELLIGENT ACTUATOR 19. Conditional Jump Description Select the destination to jump to under a GOTO command, by using an external input, output or internal flag as a condition. The actuator waits for multiple inputs and performs processing appropriate for the input that turned ON. Example of Use 1 If input 10 is ON, the actuator will jump to “TAG 1.” If input 10 is OFF, the actuator will perform the next processing.
Appendix INTELLIGENT ACTUATOR 20. Waiting for Multiple Inputs Description Causes the actuator to wait for multiple inputs and proceed to the next processing when any of these inputs turns ON. Point With a WTON command, the actuator cannot proceed to the next processing until the specified input turns ON. In other words, the actuator cannot wait for multiple inputs. Example of Use Appendix Monitor inputs 19 and 20. When either input turns ON (19 “OR” 20), the actuator will move to the next step.
Appendix INTELLIGENT ACTUATOR 21. How to Use Offset Description If you want to move (offset) all teaching points by several millimeters because the actuator has not been installed in the correct position exactly, etc., an offset can be specified for position data using an OFST command. It is also possible to pitch-feed the actuator using an OFST command. (Refer to 23, “Constant pitch Feed Operation.”) Appendix Home Note Once an offset is set, all movement commands will be adjusted based on the offset.
Appendix INTELLIGENT ACTUATOR 22. Executing an Operation n Times Description Causes the actuator to execute a specific operation n times. Example of Use The actuator moves back and forth between P1 and P2 10 times repeatedly, and then ends the program. Use a CPEQ command to compare the number of times the operation has actually been repeated, against “10.” Home return is assumed to have been completed. Appendix Application program Reference The same operation can also be performed using a DWEQ command.
Appendix INTELLIGENT ACTUATOR 23. Constant-pitch Feed Operation Description Feed the actuator by a specified pitch n times from a reference position. The pitch and number of feeds are specified by variables beforehand. Flowchart Start Initial setting Start input Move Example of Use Use an OFST command to pitch-feed the actuator. A counter variable is used to count the number of times the actuator has been fed. The X-axis is pitch-fed in the positive direction.
Appendix INTELLIGENT ACTUATOR 24. Jogging Description Move the slider forward or backward while an input is ON or OFF. In addition to an input, an output or global flag can be used to implement jogging. If the specified input does not meet the condition when the command is executed, the slider will not perform jogging but proceed to the next step instead. Once a soft limit is reached, the slider will stop and the next command step will become effective regardless of the input status.
Appendix INTELLIGENT ACTUATOR 25. Switching Programs Description Switch from one program to another via programming by using an EXPG or ABPG command. Example of Use 1 Start program 2 when the processing under program 1 is completed, and end program 1. Program 1 : EXPG 2 EXIT Program 2 : : Example of Use 2 Appendix Start a different program externally and end the current program. Program 1 ABPG 2 : Program 2 ABPG 1 : If program 2 is started while program 1 is running, program 1 will be aborted.
Appendix INTELLIGENT ACTUATOR 26. Aborting a Program Description Abort the program currently running. In the multitasking mode, execute an ABPG command (abort other program) from other program. Note * If the aborted program was executing a movement command, the actuator will immediately decelerate to a stop. Appendix Example of Use Main program (Prg. 1) Abort control program (Prg. n) EXPG WTON MOVP BTON : : WTON ABPG EXIT n 10 1 303 Abort control program starts.
Appendix INTELLIGENT ACTUATOR ~ How to Use Internal DIOs 1. Internal DIs and Dedicated Functions Internal DI Nos. 001 to 006, 014 and 015 can be assigned as dedicated function ports (software reset input, etc.) by parameter settings. (They are not assigned to dedicated functions when the robot is shipped from the factory.) To implement a dedicated function, assign it to an internal DI via a parameter and then turn ON/OFF the internal DI. Note that internal DIs cannot be controlled from the I/O connector.
Appendix INTELLIGENT ACTUATOR 2. Showing User SEL Program Data on the 7-segment LED Display The 7-segment LED display in the panel window on the front panel normally shows information received from the system. This 7-segment LED display can also be set to show data according to the SEL programs created by the user. (In this mode, the LED display shows user program data and system information alternately.) Internal DO Nos. 332, 333, 337 to 346 are used to show user program data on the 7-segment display.
Appendix INTELLIGENT ACTUATOR DO No. 339 is used to switch between user program data display and system information display. If DO No. 339 is set to “1,” user SEL program data is shown. If DO No. 339 is set to “0,” normal system information is shown. Set DO No. 338 to “1.” If DO No. 339 is set to “1,” user program data and system information are alternated every second. Note: If DO No. 338 is set to “0” Only user program data is shown, and the 1-second alternate display is not implemented.
Appendix INTELLIGENT ACTUATOR How to Use [1] Set a display mode using DO Nos. 338 and 339. [2] Set the digit to show (refresh) data in, using DO Nos. 332 and 333. [3] Set a 7-segment display pattern using DO Nos. 340 to 346. [4] Turn DO Nos. 337 (refresh) OFF, ON and then OFF. (Data will be refreshed at an ON edge.) To display data in a different digit, repeat steps (2) to (4). The display will continue to show user program data even after the display SEL program ends.
Appendix INTELLIGENT ACTUATOR ~ List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section. After changing a parameter, record the new and old parameter settings. If you have purchased the PC software, we recommend that you back up the parameters immediately after the controller is delivered and when the system incorporating the controller is started.
Appendix INTELLIGENT ACTUATOR 1.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR Appendix I/O Parameters Default value (Reference) 1 No.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR I/O Parameters Appendix No.
Appendix INTELLIGENT ACTUATOR I/O Parameters Parameter name 72 Unaffected generalpurpose output area number (MIN) when all operations are paused (servo-axis soft interlock + output-port soft interlock) Unaffected generalpurpose output area number (MAX) when all operations are paused (servo-axis soft interlock + output-port soft interlock) Number of TP user output ports used (hand, etc.) TP user output port start number (hand, etc.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR I/O Parameters Appendix No.
Appendix INTELLIGENT ACTUATOR I/O Parameters Parameter name 150 IAI protocol B/TCP: IP address of connection destination (MANU mode) (MH) IAI protocol B/TCP: IP address of connection destination (MANU mode) (ML) IAI protocol B/TCP: IP address of connection destination (MANU mode) (L) IAI protocol B/TCP: Port number of connection destination (MANU mode) IAI protocol B/TCP: IP address of connection destination (AUTO mode) (H) IAI protocol B/TCP: IP address of connection destination (AUTO mode) (MH) IAI pro
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR I/O Parameters No. 327 328 329 330 331 Parameter name Physical output port number for output function selection 312 (area 2) Physical output port number for output function selection 313 (area 2) Physical output port number for output function selection 314 (area 2) Physical output port number for output function selection 315 (area 2) Output function selection 300 (area 2) Default value (Reference) 0 Input range Unit Remarks * Invalid if “0” is set.
Appendix INTELLIGENT ACTUATOR I/O Parameters No.
Appendix INTELLIGENT ACTUATOR 2. Parameters Common to All Axes No. Parameter name 1 Effective axis pattern 2 Default override 3 to 8 (For expansion) Default value (Reference) 0000B 100 Input range Unit 00B to 11111111B 1 to 100 Used if not specified in program. (Invalid for SIO operation) 0 Deadman-switch enabling physical axis pattern 11111111B 00B to 11111111B Not affected by a BASE command. (Always specify 11111111 if all axes are used.
Appendix INTELLIGENT ACTUATOR Parameters Common to All Axes Appendix No. Parameter name 28 Selection of inching o jog auto-switching prohibition 29 All-axis setting bit pattern 1 30 31 32 33 34 to 50 Default value (Reference) 0 Input range 0 0H to FFFFFFFFH Default division angle 150 0 to 1200 Default division distance Arch-trigger start-point check type Safety speed in manual mode 0 0 to 10000 0 0 to 5 250 1 to 250 0 a (For expansion) Unit 0 to 5 0.
Appendix INTELLIGENT ACTUATOR 3.
Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters No Parameter name 31 Offset travel speed at home return Actual distance between phase Z and end 32 33 Input range Unit 1 to 500 mm/sec 0 -1 to 99999 0.001 mm 0 0 to 99999 0.001 mm Remarks Absolute distance from the end (mechanical or LS). Obtained automatically if the distance is a negative value. When multiple actuators are combined, it is recommended to write the flash ROM after automatic acquisition.
Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters No Parameter name Default value (Reference) 0 Input range Unit 0 to 500 % Remarks 61 FF gain 62 Synchro FB gain 77 0 to 1000 63 Stop special output range 0 0 to 9999 Pulse 64 Stop special output value 0 0 to 999 DRVVR 65 Mating synchro-axis number 0 0 to 8 66 Mode selection for rotational movement axis Short-cut control selection for rotational movement axis Mode selection for linear movement axis 0 0 to 5 0 0 to 5 0:
Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters Appendix No Parameter name Default value (Reference) 0 Input range Unit -99999999 to 99999999 0 to 899 0.001 mm -99999999 to 99999999 -99999999 to 99999999 0 to 899 0.001 mm 0.001 mm -99999999 to 99999999 -99999999 to 99999999 0 to 899 0.001 mm 0.001 mm 0.001 mm 0.
Appendix INTELLIGENT ACTUATOR 4.
Appendix INTELLIGENT ACTUATOR Driver Card Parameters No Parameter name 24 Configuration information 02: Configured voltage (motor voltage) Configuration information 03: Motor/encoder configuration information Configuration information 04: For future expansion Configuration information 05: Encoder resolution (upper word) Configuration information 06: Encoder resolution (lower word) Configuration information 07: Motor/encoder characteristics word 25 26 27 28 29 30 Appendix 31 32 33 34 35 Configurat
Appendix INTELLIGENT ACTUATOR Driver Card Parameters No For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future expansion For future ex
Appendix INTELLIGENT ACTUATOR Driver Card Parameters 98 99 100 101 102 103 104 105 106 Appendix 107 108 109 110 111 112 306 Overrun error counter (Query information) FPGA detection error counter (Query information) Speed-command underruncount error counter (Query information) For future expansion (Query information) Overload error counter (Query information) Overspeed error counter (Query information) Overcurrent error counter (Query information) Overheat error counter (Query information) Encoder erro
Appendix INTELLIGENT ACTUATOR 5.
Appendix INTELLIGENT ACTUATOR 6.
Appendix INTELLIGENT ACTUATOR 7.
Appendix INTELLIGENT ACTUATOR Other Parameters Appendix No Parameter name Default value (Reference) 0 10 Emergency-stop recovery type 11 For future expansion 0 12 Automatic operation recognition type 0 (For expansion) 0 System-memory backup battery installation function type 0 13 to 19 20 Input range 0 to 4 Reference only 0 to 3 0 to 2 Unit Remarks 0: Abort operations/programs 1: Recovery after reset 2: Operation continued (Only during automatic operation.
Appendix INTELLIGENT ACTUATOR Other Parameters No Parameter name Default value (Reference) 0 Input range 21 Manual mode type 22 Control use region 0 0 to 99 23 PSIZ command function type 0 0 to 5 24 Local variable number for storing SEL communication command return code (For expansion) 99 1 to 99 1001 to 1099 Option Password 00 0H 0H to FFFFFFFFH 31 Option Password 01 0H 0H to FFFFFFFFH 32 Option Password 02 0H 0H to FFFFFFFFH (For expansion) 0H PC/TP data protect setting (Pr
Appendix INTELLIGENT ACTUATOR Other Parameters Parameter name 38 PC/TP data protect setting (Symbol, parameter) 39 (For future expansion) 0H 40 42 EEPROM information check type Hardware information check type Hardware test type 43 Special monitor type 44 (For expansion) 0 45 Special start condition setting 0 41 Appendix Default value (Reference) 0H No.
Appendix INTELLIGENT ACTUATOR Other Parameters No. 46 Parameter name Other setting bit pattern 1 Default value (Reference) 2001H Input range 0H to FFFFFFFFH Unit Remarks Bits 0 to 3: Variable-value format type in response message to real- x The connection speed of each position movement packet may increase in proportion to the deceleration. (Example: The packet connection speed may increase by 9.8 mm/sec at a deceleration of 1.0 G or by 4.9 mm/sec at a deceleration of 0.5 G.
Appendix INTELLIGENT ACTUATOR 8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operation type” parameter (Other parameter No. 21). (1) PC software [1] Setting = 0 (Always enable edit and SIO/PIO start) Functions Operation type Edit Safety speed Jog, move, continuous move SIO program start PIO program start { { { { { { { Password With safety speed Not required. { Without safety speed Not required.
I/O error monitor can be disabled to prevent errors from occurring. Minimum and maximum port numbers indicating the output ports you wish to retain can be set. A PIO processing program to start can be set. Set in the applicable parameters a desired PIO processing program as well as minimum and maximum port numbers indicating the output ports at which the program will be processed. Want to prevent errors relating to the standard I/O board and field network board (DeviceNet, CC-Link, etc.).
316 Max. value of zone 4: Axis-specific parameter No. 95 Min. value of zone 4: Axis-specific parameter No. 96 Zone 4 output port number: Axis-specific parameter No. 97 Max. value of zone 3: Axis-specific parameter No. 92 Min. value of zone 3: Axis-specific parameter No. 93 Zone 3 output port number: Axis-specific parameter No. 94 Max. value of zone 2: Axis-specific parameter No. 89 Min. value of zone 2: Axis-specific parameter No. 90 Zone 2 output port number: Axis-specific parameter No.
Operation-cancellation level Message level Secret level Error level 4D0 to 4DF 4E0 to 4EF 4F0 to 4FF PC (Update tool) TP 400 to 4CF AA0 to ACF AD0 to AFF 250 to 29F 2A0 to 2CF 2D0 to 2FF 900 to 93F 940 to 97F 980 to 9AF 9B0 to 9BF 9C0 to 9FF A00 to A6F A70 to A9F 200 to 24F 8B0 to 8DF 8E0 to 8FF 800 to 88F 890 to 8AF Error No.
Error level Operation-cancellation level Cold-start level 318 PC: Note) System-down level CD0 to CDF CE0 to CFF CF0 to CFF MAIN core PC TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core PC PC (Update tool) TP MAIN application MAIN core FD0 to FDF FE0 to FEF PC TP { { { Display (7segment display, etc.
319 80D 80E 80F 810 811 812 80C 80B 80A 809 808 806 807 805 804 803 802 801 630 631 632 685 20E 20F 207 Description, action, etc. The name of the update program file selected in the update mode is invalid. Select the correct file and repeat the update procedure from the beginning. Motorola S byte count error The update program file is invalid. Check the file.
320 PC/TP servo-movement command acceptance-enable input OFF error System-memory backup battery voltage-low warning Abnormal system-memory backup battery voltage Absolute-data backup battery voltage-low warning (Driver analysis) System mode error at core update Motorola S record format error Motorola S checksum error Motorola S load address error Motorola S write address over error Flash-ROM timing limit over error (Write) Flash-ROM timing limit over error (Erase) Flash-ROM verify error 912 A01 A02
321 EEPROM read request error due to no-EEPROM in target Message checksum error (IAI protocol reception) Message header error (IAI protocol reception) Message station number error (IAI protocol reception) Message ID error (IAI protocol reception) Message conversion error Start mode error Start condition non-satisfaction error Axis duplication error (SIO x PIO) Servo-control-right acquisition error (SIO x PIO) Servo-control-right duplicate-acquisition error (SIO x PIO) Servo-control-right non-acquisitio
322 Active-program edit disable error Program inactive error Program-run command refusal error in AUTO mode Program number error Inactive program resumption error Inactive program pause error Breakpoint error Breakpoint setting-count specification error Parameter change value error Parameter type error Parameter number error Card-parameter buffer read error Card-parameter buffer write error Parameter change refusal error during operation Card manufacturing/function information change refusal error Param
323 Parameter register busy error at issuance of slave command Software reset refusal error during operation Drive-source recovery request refusal error Operation-pause reset request refusal error Refusal error due to servo ON Refusal error due to unsupported function Refusal error due to exclusive manufacturer function Refusal error due to invalid data Program start duplication error BCD error warning IN/OUT command port flag error warning Character-string o value conversion error warning Copying-
324 SCIF receive error (SIO bridge) SCI overrun error (SIO bridge) SCI framing error (SIO bridge) SCI parity error (SIO bridge) Data change refusal error during operation Software reset refusal error during write Fieldbus error (FBRS link error) PC/TP start command refusal error in AUTO mode P0/P3/FROM-area direct write prohibition error Refusal error during write Driver monitor type mismatch error A65 A66 A67 A68 A69 A6A A6B A6C A6D A6E A6F (In the panel window, the three digits after “E”
1-shot-pulse output excessive simultaneous use error Estimate-stroke over error at home return Expanded-SIO in-use error Expanded-SIO unopen error Expanded-SIO duplicate WRIT execution error Expanded-SIO RS485 WRIT/READ simultaneous execution error Expanded-SIO unassigned-channel use error Phase-Z search timeout error Home-sensor pull-out timeout error Storage variable number error for SEL command return code Backup SRAM data checksum error Flash-ROM, 8-Mbit version unsupported function error Input-
326 Ethernet non-initialization device use error Ethernet IP address error Ethernet port number error Executable program count over error Non-registered program specification error Program entry point non-detection error Program first-step BGSR error Executable step non-detection error Subroutine non-definition error Subroutine duplicate-definition error Tag duplicate-definition error Tag non-definition error B20 B21 B22 C02 C03 C04 C05 C06 C07 C08 C0A C0B (In the panel window, the three digi
C23 Invalid command position error with input-condition prohibited command Invalid operand error C22 C18 Input-condition use error with input-condition prohibited command Expansion-condition code error Expansion-condition LD simultaneous processing over error C17 C21 Create stack failed C16 Input-condition CND shortage error SLCT next-step command code error C15 C1F Subroutine under-nesting error C14 Unused-LD detection error SLCT under-nesting error C13 C1C There is not enough LD when
328 BCD display digit range error Program number error Step number error Blank step shortage error Axis number error Axis pattern error Operating-axis addition error during command execution Base axis number error Zone number error Point number error I/O port/flag number error Flag number error Tag number error Subroutine number error User-open communication channel number error Parameter number error Variable number error String number error String-variable data count specification error String-variab
Symbol search error SIO-message continuous conversion error SEL-SIO in-use error SCIF unopen error Delimiter non-definition error SIO1 invalid usage OPEN error SEL program/source symbol checksum error Symbol definition table checksum error Point data checksum error Backup SRAM data destruction error Invalid flash-ROM SEL global data/error list error Flash-ROM SEL global data/error list duplication error Flash-ROM erase count over error for SEL global data/error lists Timing limit over error (Flash ROM e
330 No SEL global data/error list write area error SEL-data flash-ROM erase count over error Operation command error at servo OFF Servo operation condition error Invalid servo acceleration/deceleration error Servo ON/OFF logic error Axis duplication error Servo-control-right acquisition error Servo-control-right duplicate-acquisition error Servo-control-right non-acquisition error Push-motion flag logic error Deviation overflow error Movement error during absolute data acquisition Maximum installable
C98 C97 C94 C95 C96 C90 C91 C92 C93 C8F C8E Appendix Description, action, etc. Internal servo calculation error Internal servo calculation error Internal servo calculation error An error was detected while calculating a quadratic equation solution. No valid axes are specified. Internal servo calculation error Servo processing logic error Servo processing logic error The servo calculation method type is invalid. The servo of an axis currently in use (being processed) was turned off.
332 Card parameter write error Servo calculation overflow error Abnormal absolute-data backup battery voltage (Driver analysis) Abnormal absolute-data backup battery voltage (Main analysis) Slave setting data out-of-range error Slave error response Stop deviation overflow error Palletizing number error Setting error of even-numbered row count for palletizing zigzag Setting error of palletizing pitches Setting error of placement points in palletizing-axis directions Palletizing PASE/PAPS non-declaration
333 Palletizing point error Arch-trigger non-declaration error No 3-point teaching setting error at palletizing angle acquisition PX/PY-axis indeterminable error at palletizing angle acquisition Reference-axis/PY/PY-axis mismatch error at palletizing angle acquisition Reference-point/PX-axis end-point duplication error at palletizing angle acquisition Palletizing motion calculation error MOD command divisor 0 error Target-locus boundary over error Positioning distance overflow error Axis mode error Spe
334 Driver EEPROM data error Encoder EEPROM data error Axis sensor error Power stage temperature error IPM error Driver abnormal interruption error Encoder disconnection error FPGA watchdog timer error Current loop underrun error Driver-CPU down status error Main-CPU alarm status error Speed loop underrun error Encoder receive timeout error D0B D0C D0E D0F D10 D11 D12 D13 D14 D15 D17 D18 D19 Encoder overspeed error Driver overload error D1C Driver overspeed error D09 D0A Dri
335 Motor configuration mismatch error Excitation detection error Driver control power overvoltage error Driver control power voltage drop error Drive-power overvoltage error Drive-power voltage drop error Synchronous communication error Fieldbus error (FBMIRQ timeout) Fieldbus error (FBMIRQ reset) Fieldbus error (FBMBSY) Fieldbus error (BSYERR) Window lock error (LERR) Fieldbus error (Min busy) Fieldbus error (MinACK timeout) Fieldbus error (MoutSTB timeout) Fieldbus error (INIT timeout) Fieldbus error
336 Error name Expanded-SIO 1/3 CH isolation power error Expanded-SIO baud-rate-generator clock oscillation error Expanded-SIO UART paging error Expanded-SIO assignment error Motor/encoder configuration information mismatch error No remote-mode control support board error External terminal block overcurrent or power-supply error Hardware unsupported function error Overrun error Actual-position soft limit over error Logic error Motor drive-source OFF error (MPONSTR-OFF) Option use permission error DMA
Zone parameter error I/O assignment parameter error I/O assignment duplication error I/O assignment count over error Header error (Slave communication) Card ID error (Slave communication) Response type error (Slave communication) Command type error (Slave communication) Target type error No target error EEPROM error (EWEN/EWDS not permitted) E1E E1F E20 E21 E22 E23 E24 E25 E26 E27 E29 Description, action, etc. The send queue overflowed. The send queue overflowed. Communication failure.
338 Normal response is not received when acquiring absolute data. An encoder rotation error was detected.
Phase-Z count parameter error Synchro parameter error Driver special command ACK-timeout error Drive unit error (DRVESR) Encoder error (DRVESR) Driver CPU error (DRVESR) Servo control error (DRVESR) Command error (DRVESR) Motor temperature error (DRVESR) Servo ON/OFF timeout error Brake ON/OFF timeout error Pole sense non-detection error Detection OFF error upon pole sense completion Hold-at-stop servo job error Servo packet error Servo-control-right management array number error Length conversion paramete
340 E7B E7C E7D E7E E7F E80 E7A E79 E78 E77 E76 E75 E74 Description, action, etc. Close the safety gate and then reconnect the power. Shutdown factor cannot be determined. The DO output current is abnormal. The drive-source cutoff relay may have been melted. A power stage with inappropriate rated capacity (W) is installed. A power stage with inappropriate rated voltage (V) is installed. A motor-drive power source with inappropriate rated voltage (V) is installed.
Fieldbus error (FBVCCER) Fieldbus error (FBPOWER) Power error (Other) SCIF open error in non-AUTO mode (Servo in use) SEL program flash-ROM status error Symbol definition table flash-ROM status error Point data flash-ROM status error Parameter flash-ROM status error Shutdown error (hi_sysdwn () definition) E86 E87 E88 E89 E8A E8B E8C E8D FF0 to F00 F03 to F58 F60 A power error (Other) was detected. This error also generates when the power OFF o ON interval is short.
342 Application code SDRAM copy error (Checksum) Installed flash ROM type mismatch (Application) FB2 TMU0 interruption error Undefined exception/interruption error Boot watchdog error FB1 F6A to FA0 FB0 F69 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name F68 FROM write protect error The sum of 4 bytes does not match between the corresponding sections after FROM o SDRAM program copy.
Write-source data buffer address error (Odd-numbered address) Invalid code sector block ID error A83 Flash timing limit over error (Erase) A7C A82 Flash timing limit over error (Write) A7B Write-destination offset address error (Odd-numbered address) Motorola S write address over error A7A Sector count specification error Motorola S load address error A79 A81 Motorola S checksum error A78 A80 Motorola S record type error A77 Head sector number specification error IAI protocol checksum e
344 FROM write request error before erase is complete Absolute-encoder backup battery voltage-low warning (Driver detection) Motorola S byte count error (Detected by the core) Message conversion error (Detected by the core) Update target non-specification error (Detected by the core) Update system code error (Detected by the core) Update unit code error (Detected by the core) Update device number error (Detected by the core) Flash busy reset timeout (Detected by the core) Unit type error (Detected by
Description, action, etc. Error notification from the driver Error notification from the driver Error notification from the driver Error notification from the driver Error notification from the driver Error notification from the driver Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No.
346 Exception occurrence error while BL = 1 (Other than NMI) Bit exception reset due to command/data TLB duplication Undefined exception/interruption error AC-power cutoff detection error Abnormal standby power detection error Regenerative resistance temperature error AC-power overvoltage error Motor-power overvoltage error FROM-write bus width error FROM write protect error SDRAM write/read test error Application-update SCIF send-queue overflow error EA0 EA1 EA2 EA3 EA4 EA5 EA6 EA7 EA8 EA9 EAA EA
Application-update SCIF receive-queue overflow error Installed flash ROM type mismatch (Core) Flash busy reset timeout (Detected by the core) EAE EAF EB2 Description, action, etc. A servo control underrun error was detected. A FPGA boot watchdog was detected. The core program may not be running properly. Excessive data is received from outside. (Confirm that a PC and IAI’s update tool are used to update the application.
Appendix INTELLIGENT ACTUATOR ~ Troubleshooting of X-SEL Controller A panel window is provided in the front panel of the Tabletop Robot. Error numbers will be displayed in this panel window. When the power is turned on, normally “rdy” or “Ardy” will be displayed. “P01” or other code will be displayed while a program is running. When an error generates, the panel window will show “EA1D” or other code starting with “E.” (Some errors do not begin with “E.
Deadman switch OFF Stop deviation overflow error Operation is mechanically disabled. If there is no problem in the mechanical function, the power stage board is faulty. Deviation overflow error Encoder count error dSF CA5 C6b d03 Countermeasure Remove the motor cover and apply cleaning air spray for OA equipment, etc., over the cord wheel. If the problem persists, replace/readjust the encoder.
350 IPM error Shutdown relay ER status 807 Error name d10 Error No. If the motor coil is not damaged, the power stage board (to which the motor power cable is connected) is faulty. The transistor on the power-supply board (to which the power cable is connected) is damaged. The motor coil is damaged. Cause Countermeasure Replace the board. Measure resistances among phases U/V/W. If the resistance values are different, the coil has been burned. Replace the motor.
Appendix INTELLIGENT ACTUATOR Trouble Report Sheet Company name TEL Purchased from Serial number [1] Number of axes Trouble Report Sheet Department (Ext) FAX Purchase date Manufacture date Date: Reported by axis(es) Type [2] Type of problem 1. Disabled operation 4. Error 2. Position deviation 3. Runaway machine Error code = ) Appendix 5. Other ( [3] Problem frequency and condition Frequency = Condition [4] When did the problem occur? 1. Right after the system was set up 2.
Change History INTELLIGENT ACTUATOR Change History Revision Date Description of Revision First edition Second edition Third edition December 2009 Change History May 2010 October 2010 April 2011 March 2012 May 2012 Augsut 2012 352 Fourth edition • Corrected clerical errors, etc. • P. 282 to 287: Added input/output function selections. Fifth edition • Added “Before Using This Product” on the first page after the cover.
Manual No.: ME0149-10A (August 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
