X-SEL Controller PX/QX Type Operation Manual Seventh Edition Ninth Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CAUTION Operator Alarm on Low Battery Voltage This controller is equipped with the following backup batteries for retention of data in the event of power failure: [1] System-memory backup battery For retention of position data, global variables/flags, error list, strings, etc. [2] Absolute encoder backup battery For retention of encoder rotation data. Since these batteries are not rechargeable, they will eventually be consumed.
CAUTION Notes on Supply of Brake Power (+24 V) Besides connecting the brake power cable from the SCARA robot, the brake power must also be supplied to the controller. Follow the illustration below to supply the brake power (+24 V) also to the controller.
CAUTION Drive-source Cutoff Relay Error (Detection of Fused Relay: E6D) Because of their circuit configuration, XSEL-PX controllers of single-phase, standard specification are the only class of controllers that may generate a “drive-source cutoff relay error (E6D),” notifying fusion of an internal relay, when the time after the power is turned off until it is turned back on (= until the power is reconnected) is too short.
CAUTION Note on Controllers with Increased CPU Unit Memory Size * Controllers with gateway function come with an increased memory size in their CPU unit. If you are using a controller with increased CPU unit memory size, use PC software and teaching pendants of the versions specified below. Teaching tool X-SEL PC software Teaching pendant SEL-T/TD Version V7.2.0.0 or later V1.
Table of Contents Table of Contents Safety Guide.................................................................................................................................. 1 Introduction.................................................................................................................................... 1 Part 1 Installation ....................................................................................................................... 4 Chapter 1 Safety Precautions..........
Table of Contents 3.4 Multipoint I/O Board Connection Cables ......................................................................... 83 3.5 Multipoint I/O Board Connection Cables ......................................................................... 84 3.6 I/O Circuits....................................................................................................................... 85 Chapter 8 1. 2.
Table of Contents Part 4 Commands .................................................................................................................. 129 Chapter 1 List of SEL Language Command Codes ......................................................................... 129 Chapter 2 Explanation of Commands............................................................................................... 141 1. Commands ......................................................................................
Table of Contents 1. 2. 3. 4. 5. How to Use .............................................................................................................................. 359 Palletizing Setting .................................................................................................................... 359 Palletizing Calculation ............................................................................................................. 365 Palletizing Movement ...................................
Table of Contents Battery Backup Function ......................................................................................................... 419 1. System-Memory Backup Battery ................................................................................ 419 2. Absolute-Encoder Backup Battery.............................................................................. 421 Expansion I/O Board (Optional)...............................................................................................
Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows: Safety measures Inherent safety design Protective guards --- Safety fence, etc.
Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Outside movement range Inside movement range Pre-2 Work condition During automatic operation Cutoff of drive source Measure Signs for starting operation Installation of railings, enclosures, etc. Cut off (including Sign, etc., indicating that work is in stopping of operation) progress Preparation of work rules Measures to enable immediate During stopping of operation teaching, etc. Sign, etc.
Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task 1 Model selection 2 3 4 Note z This product is not planned or designed for uses requiring high degrees of safety. Accordingly, it cannot be used to sustain or support life and must not be used in the following applications: [1]Medical devices relating to maintenance, management, etc.
No. Task 4 Installation/ startup 5 Teaching Note (2) Wiring the cables z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. z Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place heavy articles on top. Current leak or poor electrical continuity may occur, resulting in fire, electric shock or malfunction. z Wire the product correctly after turning off the power.
No. Task 5 Teaching 6 Confirmation operation 7 Automatic operation 8 Maintenance/ inspection 9 Modification 10 Disposal Pre-6 Note z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its dead weight, causing pinched hands or damaged load, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.
Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,” as specified below. Level Degree of danger/loss Symbol Danger Failure to observe the instruction will result in an imminent danger leading to death or serious injury. Danger Warning Failure to observe the instruction may result in death or serious injury. Warning Caution Failure to observe the instruction may result in injury or property damage.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Prohibited Handling of Cables Caution When designing an application system using actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section explains prohibited handling of cables. Read the information carefully to connect the cables properly. Ten Rules for Handling Cables (Must be Observed!) 1. Do not let the cable flex at a single point. Steel band (piano wire) Bundle loosely.
7. Do not let the cable got tangled or kinked in a cable track or flexible tube. When bundling the cable, keep a certain degree of flexibility (so that the cable will not become too taut when bent). 8. Do not cause the cables to occupy more than 60% of the space in the cable track. 9. Do not lay signal lines together with circuit lines that create a strong electric field. Cable track Power line Cable Signal lines (flat cable) Duct 10.
Introduction Introduction Thank you for purchasing the X-SEL controller. Inappropriate use will prevent this product from operating at its full potential, 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 relavent items when needed. The controller types covered by this manual are listed below.
Type [Conventional models] [1] [1] Series [2] [3] [2] Controller type [3] IX actuator type [4] [4] Axis 5 motor wattage [5] Axis 6 motor wattage Blank Blank (No single axis) (No single axis) [5] [6] [7] Standard I/O [6] Network (dedicated slot) [7] [8] [8] Expansion I/O Slot 1 Slot 2 Slot 3 Slot 4 (Not used) (Not used) (Not used) (Not used) I/O board I/O board I/O board I/O board I/O board I/O board I/O board I/O board I/O board I/O board I/O board I/O board I/O boa
Introduction This controller receives power in order to drive the actuator motor(s) (three-phase/single-phase, 200 to 220 V) and to operate the controller itself (200 to 220 V). (*The single-phase power specification is applicable only to single-phase controllers.) The actuator motor drive power supply is controlled independently of the control power supply, and the internal operations of the controller are different depending on whether it is of the global specification or standard specification.
Part 1 Installation Part 1 Installation Caution Chapter 1 Safety Precautions The X-SEL PX/QX Controller can support a combination of a SCARA robot and linear movement axes to perform integrated control of all axes including peripheral equipment. In other words, the controller has the ability to control systems of all sizes ranging from a small system to a large factory automation system.
Part 1 Installation Chapter 2 Warranty Period and Scope of Warranty The X-SEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty: 1. Warranty Period The warranty period shall be either of the following periods, whichever ends first: x 18 months after shipment from our factory x 12 months after delivery to a specified location 2.
Part 1 Installation Chapter 3 Installation Environment and Selection of Auxiliary Power Devices 1. Installation Environment (1) When installing and wiring the controller, do not block the ventilation holes provided for cooling (insufficient ventilation will not only prevent the product from functioning fully, but it may also result in damage). (2) Prevent foreign matter from entering the controller through the ventilation holes.
Part 1 Installation 2. Heat Radiation and Installation Design the control panel size, controller layout and cooling method so that the surrounding air temperature around the controller will be kept at or below 40qC. Install the controller vertically on a wall, as illustrated below. The controller will be cooled by forced ventilation (exhaust air will be discharged from the top).
Part 1 Installation 3. Selection of Auxiliary Power Devices This section provides selection guidelines for breakers, earth leakage breakers, contactors, surge absorbers and noise filters that can be used with the AC power supply line of the X-SEL controller. These devices must be selected by taking into consideration the power consumption, rush current and maximum motor drive current of the controller.
Part 1 Installation (4) Auxiliary power devices [1] Circuit breaker Install a circuit breaker or earth leakage breaker in the AC power-supply line (primary side) of the controller in order to prevent damage due to power switching and short current. One circuit breaker or earth leakage breaker can be used to protect both the motor power supply and control power supply. x While the actuator is accelerating or decelerating, the controller current increases to three times the rated current.
Part 1 Installation [4] Noise filter, ring core and clamp filters The global specification has no built-in noise filters in the motor power supply. If your controller is of the global specification, therefore, be sure to install noise filters and ring cores for the motor drive power supply externally to the controller. Even with the standard controller, noise filters and ring cores must be installed if noise-sensitive external equipment will be used.
Part 1 Installation Peripheral Configurations 3-phase Power Supply Specification PX Type (Standard Specification) Encoder cable Actuator Motor cable 200-VAC 3-phase power supply bus Control panel Circuit breaker Ring core Earth leakage breaker Clamp filters Singlephase noise filter Brake Controller 24-VDC power supply System I/Os Surge protector Emergency stop switch QX Type (Global Specification) Encoder cable Actuator Motor cable 200-VAC 3-phase power supply bus Control panel Circuit br
Part 1 Installation Peripheral Configurations Single-phase Power Supply Specification PX Type (Standard Specification) Encoder cable Actuator Motor cable 200-VAC singlephase power supply bus Control panel Circuit breaker Clamp filters Ring core Earth leakage breaker Threephase noise filter Brake Controller 24-VDC power supply System I/Os Surge protector Emergency stop switch QX Type (Global Specification) Encoder cable Actuator Motor cable 200-VAC singlephase power supply bus Control panel
Part 1 Installation 4. Noise Control Measures and Grounding (1) Wiring and power source PE on the power terminal block is used for protective grounding. Provide Class D grounding from this terminal. Use a grounding cable with a wire size of 1.0 mm2 (#AWG17) or more, which should not be smaller than the AC power cable. Class D grounding (protective grounding) [1] Notes on wiring method Use twisted cables for the AC power cable and 24-VDC external power cable.
Part 1 Installation (3) Noise sources and noise elimination There are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below: [1] AC solenoid valve, magnet switch, relay Measure --- Install a surge killer in parallel with the coil. Surge killer m Point Wire from each coil over the shortest distance. Installing a surge killer on the terminal block, etc.
Part 1 Installation Reference Circuit Diagram Controller Surge absorber 0V Solenoid valve 15
Part 1 Installation Chapter 4 Name and Function of Each Part 1.
Part 1 Installation QX Type (Global Specification), 4 axes (SCARA axes only) QX Type (Global Specification), expanded by 2 additional linear movement axes, with I/O brake unit 17
Part 1 Installation [1] FG terminal This terminal is used to ground FG on the enclosure. The enclosure is connected to PE in the AC input part inside the controller. FG Terminal Specifications Item Description M4 3-point SEMS screw, 5 mm Name FG Cable size 2.0 ~ 5.5 mm2 min. Grounding method Class D grounding [2] External regenerative unit connector (Linear movement axis only) When a linear movement axis decelerates or moves downward, regenerative energy is produced.
Part 1 Installation [3] AC-power input connector A 200-VAC, single-phase/three-phase input connector consisting of six terminals including motor power terminals, control power terminals and a PE terminal. Note) Select the single-phase input specification or three-phase input specification, whichever is applicable, for motor drive power. The standard type only comes with a terminal block. Caution To prevent electric shock, do not touch this connector when the controller is receiving power.
Part 1 Installation [6] Encoder/axis-sensor connector This connector is used to connect the actuator encoder and axis sensors such as LS, CREEP and OT. * LS, CREEP and OT sensors are optional. The connectors are assigned to axis 1, axis 2, and so on, from the right.
Part 1 Installation [7] Motor connector This connector is used to drive the motor inside the actuator. Motor Connector Specifications Item Overview Details 4-pin, 2-piece connector by Phoenix Contact Motor connector Connector GIC2.5/4-STF-7.62 Connector name M1 to 6 0.75 mm2 (equivalent Supplied with the actuator.
Part 1 Installation [9] Teaching connector The teaching interface connects IAI’s teaching pendant or a PC to enable operation and setting of your equipment from the teaching pendant/PC. The physical interface consists of a RS232C system based on a 25 pin D-sub connector. The signal level conforms to RS232C, and a desired baud rate (up to 115.2 kbps) can be selected depending on the program. RS232C communication is possible only when the mode switch (12) is set to the MANU position.
Part 1 Installation Interface Specifications of Teaching Serial Interface Item Terminal assignments No.
Part 1 Installation [10] System I/O connector This I/O connector is used to control the safety actions of the controller. With the global specification, a safety circuit conforming to a desired safety category of up to level 4 can be configured using this connector and an external safety circuit.
Part 1 Installation [11] Panel window This window consists of a 4-digit, 7 segment LED display and five LED lamps that indicate the status of the equipment. For the information shown on the display, refer to 2, “Explanation of Codes Displayed on the Panel Window” or the “Error Code Table.
Part 1 Installation I/O Interface List Pin No. Category Port No. 1 The functions are at the time 2 000 of shipment. The functions 3 001 assigned to port Nos. 000 to 4 002 015, 300 to 310, 313 and 5 003 314 can be changed via I/O 6 004 parameters. (Refer to Nos. 7 005 30 to 56, No. 59 and 60 in 1, 8 006 “I/O Parameters,” of 9 007 Appendix, “List of 10 008 Parameters.
Part 1 Installation Channel 1 of the two-channel RS232C port provided for connection of general RS232C equipment. (Refer to I/O parameter Nos. 201 to 203.) [15] General RS232C port Channel 2 of the two-channel RS232C port provided for connection of general RS232C equipment. connector 2 (Refer to I/O parameter Nos. 213 to 215.
Part 1 Installation [19] Brake power input connector (SCARA axis only) This connector is used to input the power for SCARA brake control. 24 VDC must be supplied externally. Connect the SCARA-axis brake power to both the brake power cable from the SCARA robot and this connector. [20] Brake power input connector A power input connector for driving the brake of a linear axis, high-speed SCARA robot (NSN**…) or actuator with an arm length of 700 or 800. 24 VDC must be supplied externally.
Part 1 Installation [22] Brake switch (Linear movement axis only) This alternate switch with lock is used to release the axis brake. To operate the switch, pull it toward you and tilt. Tilting the switch upward (RLS side) will release the brake forcibly, while tilting it downward (NOM) will enable the controller to release the brake. Note: The SCARA-axis brake switch is located on the panel of the SCARA robot.
Part 1 Installation 2. Explanation of Codes Displayed on the Panel Window 2.1 Application Display Priority (*1) 1 Description AC power is cut off (including momentary power failure or drop in power source voltage). 1 System down level error 2 Writing data to the flash ROM. 3 Emergency stop is being actuated (except during the update mode).
Part 1 Installation 2.
Part 1 Installation 2.3 Current Monitor and Variable Monitor Other parameter Nos. 49 and 50 can be set up to monitor currents or variables on the panel window. (1) Current monitor Currents of up to four axes having continuous axis numbers can be monitored. Parameter settings Other parameter No. 49 = 1 Other parameter No. 50 = Smallest axis number among the axes to be monitored Example) If other parameter No. 49 is set to “1” and other parameter No.
Part 1 Installation (2) Variable monitor The contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. Parameter settings Other parameter No. 49 = 2 Other parameter No.
Part 1 Installation Chapter 5 Specifications 1. Controller Specifications 1.1.
Part 1 Installation Number of programs Multi-tasking Storage device Data input methods Absolute brake unit (brake type or absolute specification actuator only) Protective functions Regenerative resistance Accessory Standard inputs Standard outputs RS232C port for teaching serial interface RS232C port for general PC connection Controller with increased memory size 128 programs (with gateway function) Controller without 64 programs increased memory size 16 programs Flash ROM + SRAM battery backup Teaching
Part 1 Installation 1.
Part 1 Installation Data input methods Absolute brake unit (brake type or absolute specification actuator only) Protective functions Regenerative resistance Accessory Standard inputs Standard outputs RS232C port for teaching serial interface RS232C port for general PC connection Teaching pendant or PC software Built-in brake drive circuit Driven by over-excitation at 90 V, released at 45 V (steady state) There are no limitation on the number of brake axes (A 6-axis system with all axes equipped with a bra
Part 1 Installation 2. External I/O Specifications 2.1. NPN Specification (1) Input part External Input Specifications (NPN Specification) Item Input voltage Input current Specification ON/OFF voltage Insulation method External devices 24 VDC r10% 7 mA per circuit ON voltage --- 16.0 VDC min. OFF voltage --- 5.0 VDC max.
Part 1 Installation (2) Output part External Output Specifications (NPN Specification) Item Load voltage Maximum load current Leakage current Insulation method External devices Specification 24 VDC 100 mA per point, 400 mA per 8 ports Note) 0.1 mA max. per point Photocoupler insulation [1] Miniature relay [2] Sequencer input unit TD62084 (or equivalent) Note) 400 mA is the maximum total load current of every eight ports from output port No. 300 (the maximum total load current of output port No.
Part 1 Installation 2.2. PNP Specification (1) Input part External Input Specifications (PNP Specification) Item Input voltage Input current ON/OFF voltage Insulation method External devices Specification 24 VDC r10% 7 mA per circuit ON voltage --- 8 VDC max. OFF voltage --- 19 VDC min. Photocoupler insulation [1] No-voltage contact (minimum load of approx.
Part 1 Installation (2) Output part External Output Specifications Item Load voltage Maximum load current Leakage current Insulation method External devices Specification 24 VDC 100 mA per point, 400 mA per 8 ports Note) 0.1 mA max. per point Photocoupler insulation [1] Miniature relay [2] Sequencer input unit TD62784 (or equivalent) Note) 400 mA is the maximum total load current of every eight ports from output port No. 300 (the maximum total load current of output port No. 300 + n to No.
Part 1 Installation 3. Power Source Capacity and Heat Output The power consumption and heat output of the X-SEL controller will vary depending on the number of connected axes and I/O configuration. This section explains how to estimate the power source capacity and heat output of your X-SEL controller. The X-SEL controller requires the following power supplies: A. Control power Power to the logic control part of the controller. Single-phase 200 VAC must be supplied. B.
Part 1 Installation *2 The number of fan units varies depending on the controller specification. The number of fan units varies as follows in accordance with the number of controller axes (whether or not linear movement axis is added) and use/no-use of any expansion I/O board.
Part 1 Installation (2) Power consumption and heat output of the motor drive part Both the power consumption and heat output of the motor drive part will vary depending on the number of axes connected to the controller and wattage configuration. The table below lists per axis motor power consumptions.
Part 1 Installation List of Motor Drive Powers Linear movement axis SCARA (Conventional models) Power [W] (rated output) [1] NN 2515 NN 3515 TNN3015 TNN3515 UNN3015 UNN3515 NN 50 NN 60 HNN5020 HNN6020 INN5020 INN6020 NN 70 NN 80 HNN7020 HNN8020 INN7020 INN8020 NSN5016H NSN6016H 20W 30W 60W 100W 150W 200W 400W 600W 750W Output stage loss Power y 0.6 [W] [Power factor] [VA 615.8 1026.3 24.75 1122.8 1871.3 44.12 2120.4 3534.0 78.41 2003.7 3339.5 72.21 15.6 27.6 83.0 140.1 196.9 252.6 477.
Part 1 Installation (3) Calculation example Obtain the power source capacities and heat outputs when a controller of the following specifications is used. SCARA: IX-NNN5020 Linear movement axis: Axis 5 --- ISA-MXM-200-* (200 W), Axis 6 --- ISA-MZM-100-*-B (100 W, with brake) Standard DIO Options: DeviceNet, teaching pendant (IAI’s standard type) [1] Control power supply capacity {13.19 + 2.63 u 3 + (1 + 1.5) u 6 + 2.4 u 5 + 2.5 u 1 + 1.5} y 0.7 y 0.6 # 124.
Part 1 Installation (4) Reference example The power supply capacity and heat output of a SCARA-axis controller (4-axis specification without additional linear movement axis) are shown below. All figures assume use of a standard DIO board, with DeviceNet support and a teaching pendant (IAI’s standard type) added as options. Arm length: 120 to 180 mm (High-speed models) NN 1205/1505/1805 Heat output [W] 340.3 50.5 1987.1 78.5 3820.7 97.9 6591.7 134.8 6962.1 128.6 1150.3 69.7 1995.3 91.
Part 1 Installation 4. External Dimensions 4.1 List of External Dimension Drawings The external controller dimensions vary depending on the SCARA model (arm length) and whether or not a linear movement axis or expansion I/O board is used, among others. The table below lists the external dimension drawing numbers applicable to the respective specifications.
Part 1 Installation 4.2 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification, Single-phase Standard Specification) Controller Fig. 4-1 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification, Single-phase Standard Specification) x 4-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board (80) 75 75 3-5 49.5 195 186 180 49.5 3 5 249 265 125.3 Example of applicable model: X-SEL-PX-NNN1205-N1-EEE-2-3 Fig.
Part 1 Installation Fig. 4-3 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification, Single-phase Standard Specification) x 5/6-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board, with incremental linear movement axis without brake 120 120 3-5 22 195 186 180 22 5 284 300 Example of applicable model: X-SEL-PX-NNN1205-200I-200I-N1-EEE-2-3 Fig.
Part 1 Installation Fig. 4-5 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification, Single-phase Standard Specification) x 4-axis specification, SCARA arm length 250 to 600 mm, without expansion I/O board 75 75 3-5 59.5 195 186 180 59.5 5 269 285 Example of applicable model: X-SEL-PX-NNN2515-N1-EEE-2-3 Fig.
Part 1 Installation Fig.
Part 1 Installation 4.3 QX Type (Three-phase Global Specification) Controller Fig. 4-9 QX Type (Three-phase Global Specification) x 4-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board (80) 3-5 28 75 28 195 186 180 75 3 5 206 222 125.3 Example of applicable model: X-SEL-QX-NNN1205-N1-EEE-2-3 Fig. 4-10 QX Type (Three-phase Global Specification) x 4-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O board 75 75 3-5 64.5 195 186 180 64.
Part 1 Installation Fig. 4-11 QX Type (Three-phase Global Specification) x 5/6-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board, with incremental linear movement axis without brake 3-5 75 75 45.5 195 186 180 45.5 5 241 257 Example of applicable model: X-SEL-QX-NNN1205-200I-200I-N1-EEE-2-3 Fig.
Part 1 Installation Fig. 4-13 QX Type (Three-phase Global Specification) x 4-axis specification, SCARA arm length 250 to 600 mm, without expansion I/O board 3-5 75 75 38 195 186 180 38 5 226 242 Example of applicable model: X-SEL-QX-NNN2521-N1-EEE-2-3 QX Type (Three-phase Global Specification) x 4-axis specification, SCARA arm length 250 to 600 mm, with expansion I/O board 29.5 120 120 3-5 29.5 195 186 180 Fig.
Part 1 Installation Fig.
Part 1 Installation Chapter 6 Safety Circuit The circuit configuration for embodying safety actions such as emergency stop is different between the standard specification and global specification of the X-SEL controller. The standard controller has a built-in drive source cutoff circuit conforming to safety category B. The global controller has no built-in drive source cutoff circuit so that the user can configure an external safety circuit appropriate for their equipment configuration. 1.
Part 1 Installation 2. Safety Circuit for PX Type (Standard Specification) Controller The PX type controller has a built-in drive source cutoff circuit just like IAI’s other controllers. The drive source cutoff circuit consists of a relay and conforms to safety category B. If your equipment must meet a higher safety category, use the QX type (global specification) controller explained later.
Part 1 Installation With the PX type, use only the signals shown in the shaded fields of the table for connection with the safety switches. Ensure that the specified pins are wired correctly, as incorrect wiring will compromise the safety mechanisms of the controller. The RDYOUT contacts will close only when the controller has started properly. By connecting these contacts in series with similar contacts of other equipment, the soundness of the entire system can be checked easily.
Part 1 Installation 3. Safety Circuit for QX Type (Global Specification) Controller The global controller has no internal drive source cutoff circuit so that the user can configure a desired drive source cutoff circuit externally to the controller to conform to the required safety category. The safety circuit consists of two circuits: the emergency stop (EMG) circuit and enable (ENB) circuit.
Part 1 Installation Terminal Assignments Left Pin No. Signal name 9 DET 8 7 6 5 4 3 2 1 18 Right 17 16 15 14 13 12 11 10 EMGin EMG1 EMG2 SDN DET ENBin ENB1 ENB2 RDY Overview IN IN +24 V line+ lineline+ lineOut+ Out+24 V IN +24 V line+ lineline+ lineOut+ Out- Details External contact error input (paired with No. 18) To fused-contact Connected to the fused contact detection contacts of detection circuit the safety circuit.
Part 1 Installation x EMG1/EMG2, ENB1/ENB2 EMG1 (line+)/(line-) and EMG2 (line+)/(line-) are redundant emergency stop control lines. ENB1 (line+)/(line-) and ENB2 (line+)/(line-) are redundant enabling control lines. Use these lines to cut off the external drive source. Since they are completely dry signal lines, configure a relay circuit using an external power source.
Part 1 Installation QX Type X-SEL Controller Power supply part Digital control part Not installed External emergency-stop reset contact output AC cutoff relay DC bus To power stage Teaching pendant Rectifier Power-on reset MPSDWN bit Power error Mushroom emergencystop switch EMG SW contact 1 EMG SW contact 2 Emergency-stop status Double-position enablingcontrol switch DEADMAN SW contact 1 DEADMAN SW contact 2 Enable status 63
Part 1 Installation External Emergency Stop Circuit 200-VAC, threephase Contactor (NEO SC) Relay Contactor (NEO SC) Reset switch External emergency-stop switch External EMG switch contact 1 External EMG switch contact 2 Safety gate switch External SGATE contact 1 External SGATE contact 2 64 Safety relay unit (G9SA-301 by Omron)
Part 1 Installation 4. Timing Chart of Safety Circuit for QX-type SEL Controller A timing chart of the safety circuit for QX-type SEL controller is shown below.
Part 1 Installation [2] Emergency stop 200-VAC control power Normal CPU start I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) Emergency stop SW = ON Emergency stop SW = OFF ENB1, ENB2 (system I/O) Occurrence of secret level error Occurrence of message level error Occurrence of operation cancellation level error Occurrence of cold start level error Occurrence of system shutdown level error x I/O parameter No.
Part 1 Installation [3] Power on without cancelling emergency stop 200-VAC control power Normal CPU start I/O output signal: Port No.
Part 1 Installation [4] Enable operation 200-VAC control power Normal CPU start I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) Enable SW = ON Enable SW = OFF Occurrence of secret level error Occurrence of message level error Occurrence of operation cancellation level error Occurrence of cold start level error Occurrence of system shutdown level error x I/O parameter No.
Part 1 Installation [5] System shutdown level error 200-VAC control power Normal CPU start I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) Occurrence of secret level error Occurrence of message level error Occurrence of operation cancellation level error Occurrence of cold start level error Occurrence of system shutdown level error x I/O parameter No.
Part 1 Installation [6] Cold start level error 200-VAC control power Normal CPU start I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) The timings of SDN and Rdy may be slightly early or late depending on the nature of the error.
Part 1 Installation [7] Operation cancellation level error 200-VAC control power Normal CPU start I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) Occurrence of secret level error Occurrence of message level error Occurrence of operation cancellation level error Rdy and SDN are not affected by errors of operation cancellation level or lower.
Part 1 Installation [8] Power on (in combination with drive-source cutoff reset input) 200-VAC control power Normal CPU start I/O input signal: Port No. 14 Drive-source cutoff reset input I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) x I/O parameter No.
Part 1 Installation [9] Emergency stop (in combination with drive-source cutoff reset input) 200-VAC control power Normal CPU start I/O input signal: Port No. 14 Drive-source cutoff reset input I/O output signal: Port No. 301 Ready output Rdy (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) Emergency stop SW = ON Emergency stop SW = OFF ENB1, ENB2 (system I/O) x I/O parameter No.
Part 1 Installation Chapter 7 System Setup 1. Connection Method of Controller and Actuator 1.
Part 1 Installation 1.
Part 1 Installation The positions of motor connectors and encoder connectors vary depending on the SCARA type. The figure below shows where the motor connectors and encoder connectors are located for each SCARA type, as viewed from the front side of the controller.
Part 1 Installation 1.3 Startup procedure Caution: Be sure to connect the cables from the respective actuators to the correct connectors. When connecting multiple axes to the controller, be sure the actuator cables are going to the correct connectors. Check the type of the actuator connected. If the cables and connectors are not connected properly, motor/board damage or malfunction may result.
Part 1 Installation 2. I/O Connection Diagram NPN specification Pin No. Category Port No.
Part 1 Installation PNP specification Pin No. Category Port No.
Part 1 Installation 2.3 I/O Flat Cable Flat cable: KFX-50 (S) (Color) (Kaneko Cord) 2 1 Connector not attached 50 49 Flat cable (50 cores) Socket (with strain relief): XG4M-5030-T (Omron) 80 No. Color No. Color No. Color No. Color No.
Part 1 Installation 3. Multipoint DIO Board This board is a multipoint DIO board for XSEL controllers on which 48 input points and 48 output points are provided. 3.1 Overview 3.1.1 Features [1] [2] [3] 96 points can be input/output using a single board. One board provides 48 input points and 48 output points to enable multipoint I/O control with your XSEL controller. PNP/NPN DIO interfaces are supported. As with other current IO boards, two types of DIO interfaces–NPN and PNP–are available.
Part 1 Installation 3.3 External Interface Specifications 3.3.1 External DIO Interface Terminal Assignment Overview or multipoint DIO interface specifications Item Applicable connector Connector name External power supply DI DO Overview Remarks Half-pitch flat connector, 100 pins HIF6-100PA-1.27DS (Hirose) External DIO connector The power supply is separated for every 24 24 VDC r 10% DI points/24 DO points.
Part 1 Installation 3.4 Multipoint I/O Board Connection Cables Category Pin No. - Input - Output Color Cable 1 Port No. Color Cable 2 Port No.
Part 1 Installation 3.5 Multipoint I/O Board Connection Cables Model: CB-X-PIOH020 No connector Socket: HIF6-100D-1.
Part 1 Installation 3.6 I/O Circuits 3.6.1 Input Input specifications Item External power-supply voltage Input current Leak current Specification (common to PNP/NPN) 24 VDC r 10% Max. 7 mA/1 point Max.
Part 1 Installation 3.6.2 Output Output specifications Output element External power-supply voltage Maximum load current Leak current Specification Transistor array NPN specification: TD62084AF by Toshiba PNP specification: TD62784AF by Toshiba 24 VDC r 10% Max. 50 mA/1 point (Max. 400 mA/24 points): *1 Max. 0.1 mA/1 point *1: The total output current for every 24 points is 400 mA.
Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset of A Direct Movement Axis (Absolute Specification) When the absolute-encoder backup battery voltage of a linear movement axis is abnormal or when the battery or encoder cable of a linear movement axis has been disconnected, an encoder battery error will generate and an absolute encoder reset must be performed.
Part 1 Installation (6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error message. (7) From the [Monitor (M)] menu, select [Detailed Error Information (E)] to check the current error status. In the case of an encoder battery error, the following will be displayed (when axis 4 is using an absolute encoder). After checking the error status, close the [Detailed Error Information] window.
Part 1 Installation (8) From the [Controller (C)] menu, select [Absolute Reset (Linear Movement Axis) (A)]. (9) When a [Warning] dialog box is displayed, click the [OK] button.
Part 1 Installation (10) The [Abs. Encoder Reset] dialog box will be displayed. Click here to select the axis for which you wish to perform an absolute reset. (11) Clicking the [Encoder Rotation Data Reset 1] button will display a [Warning] dialog box. Click the [Yes] button.
Part 1 Installation (12) Another [Warning] dialog box will be displayed. Click the [Yes] button. (13) When the processing of “encoder rotation data reset 1” is complete, the red arrow will move to the next item. Press the following processing buttons one by one (the red arrow will move to the next item when each process is completed): 1. Reset Controller Error 2. Servo ON 3. Returning Home 4. Servo OFF 5.
Part 1 Installation (15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controller. (Note) Commencing the operation without first executing a software reset or reconnecting the power may generate an “Error No. C70, ABS coordinate non-confirmation error.” (16) If no other error is present, the controller’s 7 segment LED display will show “rdy.” (17) This completes the absolute encoder reset.
Part 1 Installation Chapter 9 Maintenance x Routine maintenance and inspection are necessary so that the system will operate properly at all times. Be sure to turn off the power before performing maintenance or inspection. x The standard inspection interval is six months to one year. If the environment is adverse, however, the interval should be shortened. 1. Inspection Points x Check to see if the supply voltage to the controller is inside the specified range.
Part 1 Installation 2. Spare Consumable Parts Without spare parts, a failed controller cannot be repaired even when the problem is identified quickly. We recommend that you keep the following consumable parts as spares: Consumable parts x Cables x System memory backup battery: CR2032 (Note 1) --- Must be replaced after approx. 1.5 years (Note 2) x Absolute data backup battery: The battery models, installation positions and service lives are shown below.
Part 1 Installation 3. Replacement Procedure for System Memory Backup Battery Backing up the system memory If “Other parameter No. 20, Backup battery installation function type” is set to “2” (installed), the following SRAM data in the X-SEL Controller will be backed up by the system memory backup battery on the panel board: x Position data (Position Nos.
Part 1 Installation Battery Replacement Procedure 96 [1] Remove the 7 segment LED panel from the controller. Slide the panel upward and pull it toward you to remove. [2] Press the center of the battery using a finger, as shown. The battery will come off from the holder. [3] Install a new battery into the holder. Pay attention to the polarities (the + mark should be facing you). [4] Install the panel in the original position.
Part 1 Installation (8) When the replacement of system memory backup battery is complete, confirm that the battery is installed securely and then turn on the controller power. (9) Revert “Other parameter No. 20, Backup battery installation function type” to the value recorded in step 2, transfer the setting to the controller, and then perform a flash ROM write. * Confirm that the flash ROM writing process has completed. (10) Perform a software reset (restart the controller).
Part 1 Installation 4. Replacement Procedure for Absolute-Encoder Backup Battery for Linear Movement Axis The replacement procedure will vary depending on if errors are present at the time of replacement and if so, which errors are present (Nos. A23, 914, CA2). x If no error is present, perform steps (1) to (8). x If an absolute data backup battery low voltage warning (error No. A23) is present, perform steps (1) to (15). x If an absolute data backup battery voltage error (error No.
Part 1 Installation (5) Insert a new battery into the holder and plug in the battery connector. (6) Turn on the controller power. (7) Set the absolute data backup battery enable/disable switch to the top (ENB) position. (Note) This operation is not required if no error has occurred or an A23 error has occurred. (8) Turn off the controller power and install the brake switch panel with the screws. When the switch panel has been installed, turn on the power. (9) Start the PC software online.
Part 1 Installation (15) From the [Controller (C)] menu on the PC software screen, select [Software Reset (R)], and restart the controller. Confirmation (Note) Commencing the operation without first executing a software reset or reconnecting the power may generate the following errors: Error No. C70: ABS coordinate non-confirmation error Error No. C6F: Home return incomplete error This completes the reset procedure following a battery low voltage warning.
Part 2 Operation Part 2 Operation Chapter 1 Operation How to Start a Program With the X-SEL controller, the stored programs can be started using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the remaining two are used in general applications on site. The former two methods are “starting from the teaching pendant” and “starting from the PC software.” These methods provide simple means of checking the operation.
Part 2 Operation 1. Starting a Program by Auto Start via Parameter Setting I/O parameter No. 33 (input function selection 003) = 1 (default factory setting) This parameter is set using the teaching pendant or PC software. Set an auto start program number Reset the controller Automatically starting the program 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.
Part 2 Operation 2. Starting via External Signal Selection Select a desired program number externally and then input a start signal. (1) Flow chart Controller External device Power ON Power ON Ready output READY signal confirmed? READY signal ON When the READY signal turns ON, the RDY N lamp (green) on the controller front panel will illuminate.
Part 2 Operation (2) Timing chart [1] Start of program Ready output Program 1 Program 2 Program number input External start input T1: Duration after the ready output turns ON until input of external start signal is permitted T1 = 10 msec min. T2: Duration after the program number is input until input of external start signal is permitted T2 = 50 msec min. T3: Input duration of external start signal T3 = 100 msec min. [2] Start of program by auto program start * When I/O parameter No.
Part 2 Operation 3. Drive Source Recovery Request and Operation Pause Reset Request (1) Drive source recovery request [1] How to request a drive source recovery A drive source recovery request can be issued using one of the following methods: x Set I/O parameter No. 44 to “1” (Input selection function 014 = Drive-source cutoff reset input), then input the ON edge to input port No. 14. x Select [Drive Source Recovery Request (P)] from the [Controller (C)] menu on the PC software screen.
Part 3 Controller Data Structure Part 3 Controller Data Structure The controller data consists of parameters as well as position data and application programs used to implement SEL language. X-SEL Controller Data Structure Driver 1 Driver 2 Driver 3 Main Driver 4 Communication SEL language Parameters Position data Parameters Parameters Parameters Application programs Parameters The user must create position data and application programs.
Part 3 Controller Data Structure Chapter 1 How to Save Data Since the X-SEL controller uses flash memory, some data are saved by battery backup while others are saved in the flash memory. When data is transferred from the PC software or teaching pendant to the controller, the data is only written to the main CPU memory as shown in the diagram below and will be erased once the controller is powered down or reset. For important data, always write to the flash memory so that they will not be lost. 1.
Part 3 Controller Data Structure Since the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary memory will remain the same as the original data before edit unless the edited data are written to the flash memory. The controller always operates in accordance with the data in the main CPU memory (excluding the parameters). 1.2 Controller with Increased Memory Size (with Gateway Function) (Other parameter No.
Part 3 Controller Data Structure 2. When the System Memory Backup Battery is Not Used 2.1 Controller without Increased Memory Size Other parameter No.
Part 3 Controller Data Structure 2.2 Controller with Increased Memory Size (with Gateway Function) (Other parameter No. 20 = 0 (System-memory backup battery not installed)) Data edited on the PC or teaching pendant Data will be retained while the power Data will be retained even after the is on and cleared upon reset power is turned off Main CPU flash memory Main CPU RAM memory Transfer Transfer Programs Parameters (other than slave parameters) Symbols Positions (X-SEL axis) (No.
Part 3 Controller Data Structure 3. Points to Note Point to note when transferring data and writing to the flash memory Never turn off the main power while data is being transferred or written to the flash memory. The data will be lost and the controller operation may be disabled. Point to note when saving parameters to a file The encoder parameters are stored in the EEPROM of the actuator’s encoder itself (unlike other parameters, they are not stored in the EEPROM of the controller).
Part 3 Controller Data Structure Note on increased parameters On controllers with increased memory size (with gateway function), the number of parameters has been increased.
Part 3 Controller Data Structure Chapter 2 X-SEL Language Data 1. Values and Symbols Used in SEL Language 1.1 List of Values and Symbols Used The functions required in a program are represented by values and symbols.
Part 3 Controller Data Structure z The variables and flags in the global range will be retained even after the controller power is turned off (when other parameter No. 20 is set to “2.” Refer to Chapter 1, “How to Save Data,” of Part 3). z The variables and flags in the local range will be cleared when the program is started. z Ranges of values that can be used in SEL language Integers and real numbers can be used.
Part 3 Controller Data Structure 1.3 Virtual I/O Ports (1) Virtual input ports Port No.
Part 3 Controller Data Structure (2) Virtual output ports Port No. 7300 Function Latch cancellation output for a latch signal indicating that all operation cancellation factor is present (port 7011. The latch is cancelled only when operation cancellation factor is no longer present.
Part 3 Controller Data Structure 1.4 Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Flags are divided into global flags (Nos. 600 to 899) that can be used in all programs, and local flags (Nos. 900 to 999) that can be used only in each program. Global flags will be retained (backed up by battery) even after the power is turned off.
Part 3 Controller Data Structure 1.5 Variables (1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” Variables can be used in many ways, such as putting in or taking out a value and performing addition or subtraction. A variable can be used in many ways, such as: Putting in a value (1234), Taking out a value (456), or Adding a value (+1).
Part 3 Controller Data Structure (2) Types of variables Variables are classified into two types, as follows: [1] Integer variables These variables cannot handle decimal places.
Part 3 Controller Data Structure [3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,” then “1234” will be put in variable box 2. Command Operand 1 Operand 2 LET 1 1234 Put in.
Part 3 Controller Data Structure 1.6 Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a book you want to reference frequently. A tag is a destination specified in a jump command “GOTO.” Tag Command Operand 1 TAG Tag number (Integer between 1 and 256) They are used only in each program.
Part 3 Controller Data Structure 1.7 Subroutines By taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the same processing can be performed with fewer steps (a maximum of 15 nests are accommodated). They are used only in each program.
Part 3 Controller Data Structure 1.8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers can be handled as symbols. For the method to edit symbols, refer to “Editing Symbols” in the operation manual for X-SEL teaching pendant or “Symbol Edit Window” in the operation manual for X-SEL PC software.
Part 3 Controller Data Structure 1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Axis numbers and how axes are stated Each of multiple axes is stated as follows: Axis number 1 2 3 4 5 6 How axis is stated Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 The axis numbers stated above can also be expressed using symbols. Use axis number if you wish to specify only one of multiple axes.
Part 3 Controller Data Structure (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) Axis number Used Not used Axis 6 1 0 (Lower) Axis 5 1 0 Axis 4 1 0 Axis 3 1 0 Axis 2 1 0 Axis 1 1 0 [Example] When axes 1 and 2 are used Axis 2 p 0011 --- The two 0s in front are not necessary. With the 0s removed, the expression reads “11.” n Axis 1 [Example] When axes 1 and 4 are used Axis 4 p 1001 --- In this case, the 0s are needed to indicate the position of axis 4.
Part 3 Controller Data Structure X-SEL language consists of a position part (position data = coordinates, etc.) and a command part (application program). 2. Position Part As position data, coordinates, speeds, accelerations and decelerations are set and stored. *1, 2 1 ~ 2000 mm/sec r99999.999 mm Position No. 1 2 3 Axis 1 Axis 2 Axis 3 Axis 4 Speed *2 Standard 0.3 G *2 Standard 0.3 G Acceleration Deceleration 3998 3999 4000 *1 *2 Varies depending on the actuator model.
Part 3 Controller Data Structure 3. Command Part The primary feature of SEL language is its very simple command structure. Since the structure is simple, there is no need for a compiler (to translate into computer language) and high speed operation is possible via an interpreter (the program runs as commands are translated). 3.1 SEL language Structure The table below shows the structure of one command step.
Part 3 Controller Data Structure 3.2 Extension Condition Conditions can be combined in a complex manner.
Part 4 Commands Part 4 Commands Chapter 1 List of SEL Language Command Codes 1. By Function Variables can be specified indirectly in the operand 1, operand 2 and output fields. Symbols can be input in the condition, operand 1, operand 2 and output fields. The input items in ( ) 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.
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category Condition Command Optional GOTO Prohibited TAG Program control Optional EXSR Prohibited BGSR Prohibited EDSR Task management Optional EXIT Opt
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category Actuator control declaration Condition Optional Command VEL Operand 1 Speed [mm/sec] Operand 2 Prohibited Output Set speed CP Function Optional
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category Actuator control command Condition Command Optional HOME Home-return axis pattern Prohibited PE Optional SV Prohibited PE Function Return to
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category System information acquisition Condition Command Operand 1 Operand 2 Output String operation Page AXST Variable number Axis number CP Get axi
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Category Condition Command Optional BGPA Optional PAPI Count Count CP Function Declare start of palletizing setting Declare end of palletizing setting
Part 4 Commands RC Gateway Function Commands (Controllers with Gateway Function Only) * For the RC gateway function commands, refer to “Operation Manual for X-SEL Controller P/Q/PX/QX RC Gateway Function.
Part 4 Commands 2.
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Command Page Condition Operand 1 Operand 2 Output Function Get motor current value Get home sensor status Get overrun sensor status Get creep sensor status S
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Command Page Condition Operand 1 Operand 2 Output Function M MOVP 230 Optional MULT MVLI MVPI 144 233 232 Optional Optional Optional Remainder assign
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Command Page Condition Operand 1 Operand 2 Output Function P PRED 181 Optional Read axis pattern Palletizing number Size assignment variable number Offse
Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2, LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2 Command Page Condition Operand 1 Operand 2 Output Function S SPUT 287 Optional SQR 150 Optional Column number Root assignment variable SSPG 175 Opt
Part 4 Commands Chapter 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.
Part 4 Commands z CLR (Clear variable) 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 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.
Part 4 Commands 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. The output will turn ON when the operation result becomes 0.
Part 4 Commands z MULT (Multiply) 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 MULT Data [Function] Multiply the content of the variable specified in operand 1 by the value specified in operand 2, and assign the result to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Part 4 Commands 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. The output will turn ON when the operation result becomes 0.
Part 4 Commands 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.
Part 4 Commands z COS (Cosine 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 COS Data [Function] Assign the cosine of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Part 4 Commands 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.
Part 4 Commands z ATN (Inverse-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 ATN Data [Function] Assign the inverse tangent of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
Part 4 Commands 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.
Part 4 Commands 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. The output will turn ON when the operation result becomes 0.
Part 4 Commands 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.
Part 4 Commands 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. The output will turn ON when the operation result becomes 0.
Part 4 Commands 1.5 Comparison Operation z CP (Compare) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration Variable number CP Data Output (Output, flag) EQ NE GT GE LT LE [Function] The output will be turned ON if the comparison result of the content of the variable specified in operand 1 and the value specified in operand 2 satisfies the condition. The value in the variable does not change.
Part 4 Commands 1.6 Timer z TIMW (Timer) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration TIMW Time Prohibited Output (Output, flag) TU Stop the program and wait for the time specified in operand 1. The setting range is 0.01 to 99, and the unit is second. The output will turn ON when the specified time has elapsed and the program proceeds to the next step. [Example 1] TIMW 1.
Part 4 Commands 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.
Part 4 Commands z GTTM (Get time) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] (Note) 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. Therefore, this command is called twice and the difference will be used to calculate the elapsed time.
Part 4 Commands 1.7 I/O, Flag Operation z BT (Output port, flag operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration BT Output, flag Output (Output, flag) (Output, flag) CP [Function] 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.
Part 4 Commands z BTPN (Output ON pulse) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Output port, flag CP BTPN Timer setting Turn ON the specified output port or flag for the specified time. When this command is executed, the output port or flag specified in operand 1 will be turned ON and then the program will proceed to the next step.
Part 4 Commands 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. When this command is executed, the output port or flag specified in operand 1 will be turned OFF and then the program will proceed to the next step.
Part 4 Commands z WT (Wait for I/O port, flag) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration WT I/O, flag Output (Output, flag) (Time) TU [Function] Wait for the I/O port or flag specified in operand 1 to turn ON/OFF. The program can be aborted after the specified time by setting the time in operand 2. The setting range is 0.01 to 99 seconds.
Part 4 Commands 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.
Part 4 Commands 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 Output, 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.
Part 4 Commands 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.
Part 4 Commands 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.
Part 4 Commands 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 Format type FMIO 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. [1] Operand 1 = 0 (Default status when a FMIO command has not been executed) Data is read or written without being reversed.
Part 4 Commands [4] Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eight bits and lower eight bits are reversed every 16 bits. (I/O, flag number upper) 01234567h 67h 45h 23h 01h 0110 0111 Variable 99 0100 0101 (I/O, flag number lower) 0010 0011 0000 0001 I/O port, flag status (0 = OFF, 1 = ON) Temporary data OUT(B) command IN(B) command (Note) FMIO command is supported in main application version 0.
Part 4 Commands [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) OUT(B) command 00001234h Variable 99 4660 (IN/OUT command) IN(B) command OUT(B) command 1234 (INB/OUTB command) IN(B) command (I/O, flag number upper) (I/O, flag number lower) FMIO = 0 00h 00h 12h 34h 0000 0000 0000 0000 0001 0010 0011 0100 FMIO = 1 00h 00h 34h 12h 0000 0000 0000 0000 0011 0100 0001 0010 FMIO = 2 12h 34h 00h 00h 0001 0010 0011 0100 0000 0000 0000 0000 FMIO = 3 34h 12h 00h 00h 0011 01
Part 4 Commands 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 Output (Output, flag) Tag number CP GOTO Prohibited [Function] Jump to the position of the tag number specified in operand 1. (Note 1) (Note 2) A GOTO command is valid only within the same program.
Part 4 Commands 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.
Part 4 Commands z EDSR (End subroutine) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited Command, declaration Command, Operand 1 Operand 2 declaration EDSR Prohibited Prohibited Output (Output, flag) CP [Function] Declare the end of a subroutine. This command is always required at the end of a subroutine. Thereafter, the program will proceed to the step next to the EXSR that has been called. [Example 1] Refer to the section on EXSR command.
Part 4 Commands 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.
Part 4 Commands z EXPG (Start other program) Extension condition (LD, A, O, AB, OB) Optional Input condition (I/O, flag) Command, declaration Command, Operand 1 Operand 2 declaration Optional Program number EXPG (Program number (Note)) Output (Output, flag) CC [Function] Start the programs from the one specified in operand 1 through the other specified in operand 2, and run them in parallel. Specification in operand 1 only is allowed. [Example 1] EXPG 10 12 Start program Nos. 10, 11 and 12.
Part 4 Commands z ABPG (Abort 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 ABPG (Program number) [Function] Forcibly end the programs from the one specified in operand 1 to the other specified in operand 2. Specification in operand 1 only is allowed.
Part 4 Commands z SSPG (Pause 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 SSPG (Program number) [Function] Pause the program from the one specified in operand 1 through the other specified in operand 2, at the current step. Specification in operand 1 only is allowed.
Part 4 Commands 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.
Part 4 Commands 1.10 Position Operation z PGET (Read 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) Axis number CC PGET Position number Read to variable 199 the data of the axis number specified in operand 1 in the position data specified in operand 2.
Part 4 Commands 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 Output (Output, flag) Axis number CP PPUT Position number Write the value in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2. Axis No. 1: X-axis, Axis No. 2: Y-axis, Axis No. 3: Z-axis, Axis No. 4: R-axis, Axis Nos.
Part 4 Commands 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. Once data is deleted, only the data field will become blank and the data will not change to 0.000.
Part 4 Commands 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.
Part 4 Commands 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 Output (Output, flag) Axis pattern CP PRED Position number Read the current position of the axis specified in operand 1 to the position specified in operand 2. [Example 1] PRED 11 [Example 2] An axis pattern can be indirectly specified using a variable.
Part 4 Commands 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 [Function] [Example] 182 Optional PRDQ Axis number Variable number Output (Output, flag) CP Read the current position of the axis number specified in operand 1 to the variable specified in operand 2. Axis No. 1: X-axis, Axis No. 2: Y-axis, Axis No. 3: Z-axis, Axis No. 4: R-axis, Axis Nos.
Part 4 Commands z PTST (Check position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] [Example 2] [Example 3] Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Axis pattern CC PTST Position number Check if valid data is contained in the axis pattern specified in operand 1 at the position number specified in operand 2.
Part 4 Commands 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 Output (Output, flag) Position number CP [Function] Write the SCARA CP operation speed/linear movement axis speed specified in operand 1, to the position number specified in operand 2. The unit of operand 1 is mm/sec.
Part 4 Commands 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 Output (Output, flag) Position number CP [Function] Write the SCARA CP operation acceleration/linear movement axis acceleration specified in operand 1, to the position number specified in operand 2. The acceleration in operand 1 is set in G and may include up to two decimal places.
Part 4 Commands z PDCL (Assign deceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] 186 Command, declaration Command, Operand 1 Operand 2 declaration PDCL Deceleration Position number Output (Output, flag) CP Write the SCARA CP operation deceleration/linear movement axis deceleration specified in operand 1, to the position number specified in operand 2.
Part 4 Commands 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 98 Read the axis pattern at position 98 to variable 1.
Part 4 Commands 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.
Part 4 Commands 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. 10 in variable 100.
Part 4 Commands 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. GACC 100 10 Set the acceleration data at position No.
Part 4 Commands 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. GDCL 100 10 Set the deceleration data at position No.
Part 4 Commands 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 [Function] Set the travel speed for CP operation in the value specified in operand 1. The unit is mm/sec. (Note 1) (Note 2) Decimal places cannot be used. The minimum speed is 1 mm/s. [Example 1] VEL MOVL 100 1 Set the speed to 100 mm/sec.
Part 4 Commands z VELS (Dedicated SCARA command: Set speed ratio) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional VELS Ratio Prohibited Output (Output, flag) CP [Function] Set the travel speed for PTP operation command (angular velocity for axes other than the Z-axis) as a ratio of the maximum PTP speed to be specified in operand 1. The ratio in operand 1 is set as an integer (unit: %).
Part 4 Commands z OVRD (Override) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example 1] 194 Command, declaration Command, Operand 1 Operand 2 declaration OVRD Speed ratio Prohibited Output (Output, flag) CP Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient setting). The speed ratio is set in a range from 1 to 100%. A speed command specifying a speed below 1 mm/sec can be generated using OVRD.
Part 4 Commands 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 SCARA CP operation acceleration/linear movement axis acceleration in the value specified in operand 1. The acceleration in operand 1 is set in G and may include up to two decimal places.
Part 4 Commands z ACCS (Dedicated SCARA command: Set acceleration ratio) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional ACCS Ratio Prohibited Output (Output, flag) CP [Function] Set the travel acceleration for SCARA PTP operation command (angular acceleration for axes other than the Z-axis), as the ratio to the maximum PTP acceleration, in the value specified in operand 1.
Part 4 Commands 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 SCARA CP operation deceleration/linear movement axis deceleration in the value specified in operand 1. The deceleration in operand 1 is set in G and may include up to two decimal places.
Part 4 Commands z DCLS (Dedicated SCARA command: Set deceleration ratio) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional DCLS Ratio Prohibited Output (Output, flag) CP [Function] Set the travel deceleration for SCARA PTP operation command (angular deceleration for axes other than the Z-axis), as the ratio to the maximum PTP deceleration, in the value specified in operand 1.
Part 4 Commands z VLMX (Dedicated linear movement axis command: Specify VLMX speed) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional VLMX Prohibited Prohibited Output (Output, flag) CP [Function] Set the travel speed of a linear movement axis to the VLMX speed (normally the maximum speed). When a VLMX command is executed, the value registered in “Axis-specific parameter No.
Part 4 Commands z SCRV (Set sigmoid motion ratio) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, declaration Operand 1 Operand 2 Output (Output, flag) SCRV Ratio (S-motion type) 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 (%).
Part 4 Commands x S-motion A (Operand 2 = Blank or 0) Speed b a Time x S-motion B (Operand 2 = 1) If S-motion B is selected, the speed pattern becomes smoother (compared to the S-motion control ratio applicable when S-motion A is selected). (The deviation peak from the trapezoid motion becomes smaller.) [Example 1] SCRV 30 Set the sigmoid motion ratio to 30%.
Part 4 Commands 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 Output (Output, flag) Axis pattern CP OFST Offset value [Function] Reset the target value by adding the offset value specified in operand 2 to the original target value when performing the actuator movement specified in operand 1. The offset is set in mm, and the effective resolution is 0.001 mm.
Part 4 Commands 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.
Part 4 Commands z BASE (Set reference axis) 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) Axis number CP BASE Prohibited Sequentially count the axes, starting from the axis number specified in operand 1 as the first axis. A BASE command is effective with PRED, PRDQ, AXST, ARCH, PACH, PMVP and PMVL commands as well as actuator control commands and zone commands.
Part 4 Commands 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 Output (Output, flag) Axis pattern CP GRP Prohibited Allow only the position data of the axis pattern specified in operand 1 to become valid. The program assumes that there are no data for other axes not specified.
Part 4 Commands z HOLD (Hold: Declare axis port to pause) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] Command, declaration Command, Operand 1 Operand 2 declaration HOLD (Input port, (HOLD type) global flag) Output (Output, flag) CP Declare an input port or global flag to pause while a servo command is being executed. When operation is performed on the input port or global flag specified in operand 1, the current servo processing will pause.
Part 4 Commands 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 CANC Output (Output, flag) (Input port, (CANC type) global flag) CP Declare an input port or global flag to abort while a servo command is being executed.
Part 4 Commands 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.
Part 4 Commands 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.
Part 4 Commands 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 Output (Output, flag) Speed CP Set the operation to be performed when a PUSH command is executed.
Part 4 Commands z DFTL (Dedicated SCARA command: Define tool coordinate system) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional DFTL Tool coordinate system number Position number Output (Output, flag) CP [Function] Set the position data specified in operand 2 as the offset data for the tool coordinate system specified in operand 1.
Part 4 Commands z SLTL (Dedicated SCARA command: Select tool coordinate system) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Tool coordinate Optional Optional SLTL Prohibited system number Output (Output, flag) CP [Function] Set the value specified in operand 1 as the selected tool coordinate system number. Refer to 3, "Coordinate System," in Chapter 3 of Part 4.
Part 4 Commands z GTTL (Dedicated SCARA command: Get tool coordinate system definition data) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional GTTL Tool coordinate system number Position number Output (Output, flag) CP [Function] Set in the position data specified in operand 2 the offset data for the tool coordinate system specified in operand 1.
Part 4 Commands z DFWK (Dedicated SCARA command: define load coordinate system) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional DFWK Load coordinate system number Position number Output (Output, flag) CP [Function] Set the position data specified in operand 2 as the offset data for the load coordinate system specified in operand 1.
Part 4 Commands z SLWK (Dedicated SCARA command: select load coordinate system) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Load coordinate Optional Optional SLWK Prohibited system number Output (Output, flag) CP [Function] Set the value specified in operand 1 as the selected load coordinate system number. Refer to 3, "Coordinate System," in Chapter 3 of Part 4.
Part 4 Commands z GTWK (Dedicated SCARA command: get load coordinate system definition data) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional GTWK Load coordinate system number Position number Output (Output, flag) CP [Function] Set in the position data specified in operand 2 the offset data for the load coordinate system specified in operand 1.
Part 4 Commands z RIGH (Dedicated SCARA command: change current arm system to right arm (Arm 2 may operate if the current arm system is the opposite arm)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional RIGH Prohibited Prohibited PE [Function] Change the current SCARA arm system to the right arm system.
Part 4 Commands z LEFT (Dedicated SCARA command: change current arm system to left arm (Arm 2 may operate if the current arm system is the opposite arm)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional LEFT Prohibited Prohibited PE [Function] Change the current SCARA arm system to the left arm system.
Part 4 Commands z PTPR (Dedicated SCARA command: specify right arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value cannot be achieved) (No arm operation)) 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 PTPR Prohibited Prohibited CP Specify the right arm system as the target arm system for SCARA PTP operation command.
Part 4 Commands z PTPL (Dedicated SCARA command: specify left arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value cannot be achieved) (No arm operation)) 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] 220 Optional PTPL Prohibited Prohibited CP Specify the left arm system as the target arm system for SCARA PTP operation command.
Part 4 Commands z PTPD (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value cannot be achieved) (No arm operation)) 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 PTPD Prohibited Prohibited CP Specify the current arm system as the target arm system for SCARA PTP operation command
Part 4 Commands z PTPE (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the opposite arm system is permitted when the target value cannot be achieved) (No arm operation)) 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] 222 Optional PTPE Prohibited Prohibited CP Specify the current arm system as the target arm system for SCARA PTP operation com
Part 4 Commands z DFIF (Dedicated SCARA command: define coordinates of simple interference check zone) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional DFIF Interference Position number check zone (Consecutive two positions will be used) number CP [Function] Set the consecutive two position data starting from the position number specified in operand 2 as the coordinate data definin
Part 4 Commands z SOIF (Dedicated SCARA command: specify output for simple interference check zone) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional SOIF Interference check Output/global zone number flag number CP [Function] Set the output number/global flag number specified in operand 2 as the output to be turned on upon entry into the simple interference check zone specified in o
Part 4 Commands z SEIF (Dedicated SCARA command: specify error type for simple interference check zone) 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 SEIF Interference check zone number 0 or 1 or 2 (Error type) CP Set the error type specified in operand 2 (see below) as the type of error generated upon entry into the simple interference check zone specified in operand
Part 4 Commands z GTIF (Dedicated SCARA command: get definition coordinates of simple interference check zone) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional GTIF Interference Position number check zone (Consecutive two positions will be used) number CP [Function] Set the definition coordinate data for the simple interference check zone specified in operand 1 in the consecutive t
Part 4 Commands z WGHT (Dedicated SCARA command/Set tip load mass, inertial moment) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional WGHT Mass (Inertial moment) Output (Output, flag) CP This command is supported by main controller application version 0.45 or later. It is valid in PC software version 7.5.0.0 or later and teaching pendant version 1.11 or later. 20.
Part 4 Commands z HOME (Dedicated linear movement axis command: Return to home) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional HOME Axis pattern Prohibited Output (Output, flag) PE [Function] Perform home return of the axes specified by the axis pattern in operand 1. The servo of each home-return axis will turn ON automatically.
Part 4 Commands 1.12 Actuator Control Command z SV (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 Output (Output, flag) Axis pattern PE SV Prohibited Turn an axis servo ON/OFF. SV ON OF Turn ON the servo. Turn OFF the servo. The arm system is set in local variable No. 99 upon successful completion of SVON.
Part 4 Commands z MOVP (Move by specifying position data in PTP operation) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional Position number MOVP Prohibited Output (Output, flag) PE [Function] Move the actuator in PTP mode to the position corresponding to the position number specified in operand 1. The output will turn OFF at the start of axis movement, and turn ON when the movement is complete.
Part 4 Commands z MOVL (Move by specifying position data in CP operation) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional Position number MOVL Prohibited Output (Output, flag) PE [Function] Move the actuator to the position corresponding to the position number specified in operand 1, with interpolation (linear CP operation).
Part 4 Commands z MVPI (Move incrementally in PTP 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) Position number PE MVPI Prohibited [Function] Move the actuator in PTP mode from the current position by the travel distance corresponding to the position number specified in operand 1.
Part 4 Commands z MVLI (Move via incremental interpolation in CP operation) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional Position number MVLI Prohibited Output (Output, flag) PE [Function] Move the actuator, with interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1.
Part 4 Commands z PATH (Move along path in CP operation) Extension condition (LD, A, O, AB, OB) Optional [Function] Input condition (I/O, flag) Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Optional 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.
Part 4 Commands z J W ( Jog) 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) Axis pattern PE J W Input, output, flag number The axes in the axis pattern specified in operand 1 will move forward or backward while the input or output port or flag specified in operand 2 is ON or OFF.
Part 4 Commands (Note 9) If an axis moving in accordance with J W has its “Axis-specific parameter No. 1, Axis operation type” set to “0” (linear movement axis) AND “Axis-specific parameter No. 68, Linear movement mode selection for linear movement axis” to “1” (infinite-stroke mode*), the axis will operate based on an infinite stroke. When infinite stroke is enabled, the current position will cycle between approximately –10 m and 10 m.
Part 4 Commands 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 Output (Output, flag) Axis pattern CP STOP Prohibited [Function] Decelerate an axis to a stop. (Note 1) A STOP command can be used with all active servo commands other than a SVOF command. (Note 2) With SCARA, all axes will be decelerated to a stop regardless of the axis pattern.
Part 4 Commands z PSPL (Move along spline in CP operation) Extension condition (LD, A, O, AB, OB) Optional [Function] Input condition (I/O, flag) Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Optional 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. The output type in the output field can be set using an actuator-declaration command POTP.
Part 4 Commands z PUSH (Move by push motion in CP operation) Extension condition (LD, A, O, AB, OB) Optional [Function] Input condition (I/O, flag) Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Optional Target position number PE PUSH Prohibited Perform push-motion operation until the target position specified in operand 1 is reached.
Part 4 Commands [Example] PAPR MOVP PUSH 50 10 11 20 Set the push-motion approach distance to 50 mm and push-motion approach speed to 20 mm/sec. Move from the current position to position No. 10. Perform push-motion movement from position Nos. 10 to 11. The diagram below describes a push-motion movement based on the position data shown in the table below: Y 60 90 Position No. 10 Move at 200 mm/sec. X 140 Z 240 Perform push-motion approach operation (speed: 20 mm/sec). Position No.
Part 4 Commands z CIR2 (Move along circle in CP operation (arc interpolation)) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional CIR2 Passing position 1 number Passing position 2 number Output (Output, flag) PE Move along a circle originating from the current position and passing positions 1 and 2, via arc interpolation.
Part 4 Commands (Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis simultaneous specification error”). To perform any operation meeting the above condition, use a GRP command or set different position data for SCARA axes and for linear movement axes. (Note 2) With SCARA axes, this command is valid only on the XY plane.
Part 4 Commands z ARC2 (Move along arc in CP operation (arc interpolation)) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional ARC2 Passing position number End position number Output (Output, flag) PE Move along an arc originating from the current position, passing the specified position and terminating at the end position, via arc interpolation.
Part 4 Commands (Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis simultaneous specification error”). To perform any operation meeting the above condition, use a GRP command or set different position data for SCARA axes and for linear movement axes. (Note 2) With SCARA axes, this command is valid only on the XY plane.
Part 4 Commands z CIRS (Move three-dimensionally along circle in CP operation) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional CIRS Passing position 1 number Passing position 2 number Output (Output, flag) PE Move along a circle (three-dimensional movement) originating from the current position and passing positions 1 and 2 sequentially.
Part 4 Commands (Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis simultaneous specification error”). To perform any operation meeting the above condition, use a GRP command or set different position data for SCARA axes and for linear movement axes. (Note 2) With SCARA axes, this command is valid on arbitrary planes in a three-dimensional space.
Part 4 Commands z ARCS (Move three-dimensionally along arc in CP operation) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional ARCS Passing position number End position number Output (Output, flag) PE Move along an arc (three-dimensional movement) originating from the current position, passing the specified position and terminating at the end position.
Part 4 Commands (Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis simultaneous specification error”). To perform any operation meeting the above condition, use a GRP command or set different position data for SCARA axes and for linear movement axes. (Note 2) This command is valid on arbitrary planes in a three-dimensional space.
Part 4 Commands z ARCD (Move along arc via specification of end position and center angle in CP operation (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.
Part 4 Commands (Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis simultaneous specification error”). To perform any operation meeting the above condition, use a GRP command or set different position data for SCARA axes and for linear movement axes. (Note 2) With SCARA axes, this command is valid only on the XY plane.
Part 4 Commands z ARCC (Move along arc via specification of center position and center angle in CP operation (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.
Part 4 Commands (Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis simultaneous specification error”). To perform any operation meeting the above condition, use a GRP command or set different position data for SCARA axes and for linear movement axes. (Note 2) With SCARA axes, this command is valid only on the XY plane.
Part 4 Commands z CHVL (Dedicated linear movement axis command: Change speed) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional CHVL Axis pattern Speed Output (Output, flag) CP [Function] Change the speed of axes currently operating in other task. When a CHVL command is executed, the speed of the axes specified in operand 1 will change to the value specified in operand 2.
Part 4 Commands (Note 6) (Note 7) [Example] 254 Override of the CHVL call task will be applied, so caution must be exercised. The maximum speed of the specified axis that has completed home return will be clamped by the minimum value set in “Axis-specific parameter No. 28, Maximum operating speed of each axis” or “Axis-specific parameter No. 27, Maximum speed limited by maximum motor speed” with respect to the specified axis and related interpolation axes currently operating.
Part 4 Commands 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 Output (Output, flag) Axis pattern CP PBND Distance Set the position complete band for the axes in the axis pattern specified in operand 1. The units of operand 2 are specified below.
Part 4 Commands z TMPI (Dedicated SCARA command: Move relatively between positions on tool coordinate system in PTP operation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Position number TMPI Prohibited PE [Function] Each axis will move relatively on the tool coordinate system without interpolation (= PTP operation) based on the position data specified in operand 1 setting th
Part 4 Commands z TMLI (Dedicated SCARA command: Move relatively between positions on tool coordinate system via interpolation in CP operation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Position number TMLI Prohibited PE [Function] Each axis will move relatively on the tool coordinate system with interpolation (= CP operation) based on the position data specified in operand
Part 4 Commands z PTRQ (Change push torque limit parameter) 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) Axis pattern CC PTRQ Ratio [Function] Change the push torque limit parameter for the axis pattern specified in operand 1 (among SCARA axes, this command can be specified only for the Z-axis) to the value specified in operand 2.
Part 4 Commands z CIR (Move along circle in CP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Command, Operand 1 Operand 2 declaration Output (Output, flag) Optional Passing position 1 number PE Optional CIR Passing position 2 number [Function] Move along a circle originating from the current position and passing the positions specified in operands 1 and 2.
Part 4 Commands z ARC (Move along arc in CP 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) Passing position number PE ARC End position number [Function] Move along an arc from the current position to the position specified in operand 2, by passing the position specified in operand 1.
Part 4 Commands 1.13 Structural IF z IF (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 IF 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.
Part 4 Commands z IS (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 IS Column number Column 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.
Part 4 Commands z ELSE (Else) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Refer to the sections on IF z EDIF (End IF Prohibited Prohibited CP and IS .
Part 4 Commands 1.14 Structural DO z DW (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 DW 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.
Part 4 Commands 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 Forcibly switch the control to EDDO while in a DO [Example 1] DWEQ 600 1 0 : ITER : EDDO Prohibited Output (Output, flag) CP loop. Repeat the commands up to an EDDO command while variable 1 contains “0.
Part 4 Commands 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 WH or WS command that exists before an EDSL command and whose condition is satisfied, or to the step next to an OTHE command if none of the conditions are satisfied.
Part 4 Commands z WH (Select if true; variable) 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 WH Data This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next W command or an OTHE or EDSL command when the comparison result of the content of the variable specified in operand 1 with the value specifie
Part 4 Commands z WS (Select if true; character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, declaration WS Operand 1 Operand 2 Column number Column 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 W command or an OTHE or EDSL command when the comparison result of the character strings in the columns spec
Part 4 Commands z OTHE (Select other) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] Command, declaration Command, Operand 1 Operand 2 declaration OTHE Prohibited Prohibited Output (Output, flag) CP This command is used between SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied. [Example 1] Refer to the sections on SLCT, WH and WS .
Part 4 Commands 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. (Note 1) (Note 2) If the obtained result is “0,” it means no axis error is present.
Part 4 Commands 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.
Part 4 Commands 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.
Part 4 Commands z GARM ((Dedicated SCARA command: Get current arm system) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional GARM Variable number Prohibited Output (Output, flag) CP [Function] Obtain the current arm system and set in the variable specified in operand 1 one of the following values corresponding to this arm system: Arm system is indeterminable = 0 Right arm system = 1 Left arm system = -1
Part 4 Commands 1.17 Zone z WZNA (Dedicated linear movement axis command: Wait for zone ON, with AND) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional WZNA Zone number Output (Output, flag) Axis pattern CP [Function] Wait for the zone statuses of all axes (AND) specified by the axis pattern in operand 2 to become ON (inside zone) with respect to the zone specified in operand 1.
Part 4 Commands z WZNO (Dedicated linear movement axis command: Wait for zone ON, with OR) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional WZNO Zone number Output (Output, flag) Axis pattern 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.
Part 4 Commands z WZFA (Dedicated linear movement axis command: Wait for zone OFF, with AND) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional Zone number WZFA Output (Output, flag) Axis pattern CP [Function] Wait for the zone statuses of all axes (AND) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
Part 4 Commands z WZFO (Dedicated linear movement axis command: Wait for zone OFF, with OR) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional WZFO Zone number Output (Output, flag) Axis pattern CP [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
Part 4 Commands 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.
Part 4 Commands z READ (Read) 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) 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. Either a local or global column may be specified.
Part 4 Commands (Note 1) (Note 2) A READ command must have been executed before the other side sends the end character. Dummy read specification (operand 2: 0) is not supported by channel Nos. 31 to 34 (Ethernet option). SCHA OPEN READ 10 1 1 CLOS 1 2 Other side x Return code of the READ command The return code is stored in a local variable. Variable number can be set by “Other parameter No. 24.” The default variable number is 99. The variable number is fixed to 99 in main application version 0.
Part 4 Commands z TMRW (Set READ/WRIT timeout value) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration TMRW Output (Output, flag) Read timer (Write timer setting setting) CP [Function] Set a timeout value used with a READ/WRIT 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.
Part 4 Commands z WRIT (Write) 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) Channel number CC(NOTE 1) 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.
Part 4 Commands 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.
Part 4 Commands 1.19 String Operation z SCPY (Copy character string) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] 284 Command, declaration Command, Operand 1 Operand 2 declaration SCPY Column number Column number, character literal Output (Output, flag) CC Copy the character string in the column specified in operand 2 to the column specified in operand 1. Copy will be performed for the length set by a SLEN command.
Part 4 Commands z SCMP (Compare character strings) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] Command, declaration Command, Operand 1 Operand 2 declaration SCMP Column number Column number, character literal Output (Output, flag) EQ Compare the column specified in operand 1 with the column specified in operand 2. Comparison will be performed for the length set by a SLEN command.
Part 4 Commands z SGET (Get character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] [Example] SGET Variable number Column number, character literal Output (Output, flag) CP 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. SGET 1 100 Assign one byte from column 100 to variable 1.
Part 4 Commands z SPUT (Set character) 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) Column number CP SPUT Data Set the data specified in operand 2 in the column specified in operand 1. 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.
Part 4 Commands 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.
Part 4 Commands 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.
Part 4 Commands z VAL (Convert character string data; decimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration VAL Variable number Column number, character literal 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.
Part 4 Commands z VALH (Convert character string data; hexadecimal) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional VALH Variable number Column number, character literal Output (Output, flag) CC [Function] Convert the hexadecimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
Part 4 Commands z SLEN (Set length) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional [Function] 292 Output (Output, flag) Character string length CP SLEN Prohibited Set the length to be processed by a string command. This must always be set before using the following commands: SCMP SCPY IS WS STRH VAL, VALH STR [Example] Command, declaration Command, Operand 1 Operand 2 declaration Decimal part is invalid. Decimal part is invalid. Decimal part is invalid.
Part 4 Commands 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.
Part 4 Commands z PAPI (Set palletizing counts) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration PAPI Count Count Output (Output, flag) CP Set counts in the palletizing-axis directions. The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count specified in operand 2 will apply to the PY-axis direction.
Part 4 Commands 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 Output (Output, flag) Axis number CP PASE Axis number 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.
Part 4 Commands 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 Set the reference point for the PX-axis (preferential axis), PY-axis and PZ-axis (when palletizing Z-axis declaration is valid) for use in palletizing calculation.
Part 4 Commands 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 (Palletizing Position position Optional Optional PAPS number setting type) Output (Output, flag) CP Set palletizing positions for 3-point teaching. This command can also be used to set palletizing positions for 4-point teaching.
Part 4 Commands x When setting palletizing positions for 4-point teaching where all four points are known to be on a plane and the settings also require accuracy, it is recommended that non-planar settings be used. If “1” is set in operand 2, the settings will be recognized as those for 4-point teaching (planar type). The plane is determined by the three points, namely, the start point, end point in the PX-axis direction, and end point in the PY-axis direction, as shown in Fig. 2-(a).
Part 4 Commands End point Move in parallel toward axis i Axis i+2 End point in PY-axis direction End point in planar specification Axis i+1 End point in PXaxis direction Start point Move the end point in parallel toward axis i, and the palletizing positions will be arranged on the plane determined by the three points excluding the end point. Axis i Fig.
Part 4 Commands x This command cannot be used with PASE (set palletizing axes). Whichever is set later will be given priority. (A single PAPS command can substitute PASE, PAPT and PAST.) x If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error “CB5, BGPA non-declaration error during palletizing setting” will generate. x If the output field is specified, the output will turn ON after this command is executed.
Part 4 Commands 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) 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.
Part 4 Commands z PCHZ (Dedicated SCARA command: Declare palletizing Z-axis) 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.
Part 4 Commands z PTRG (Dedicated SCARA command: Set palletizing arch triggers) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional PTRG Position number Position number Output (Output, flag) CP Set the arch triggers to be used for arch motion along the palletizing points. (This setting becomes valid when a PACH command is executed.
Part 4 Commands z PEXT (Dedicated SCARA command: Set palletizing composition (Set R-axis coordinate)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional PEXT (Position number) Prohibited CP This command sets a R-axis coordinate of a given palletizing position. Set palletizing composition. The position number specified in operand 1 will be set for use in composition.
Part 4 Commands 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 Output (Output, flag) Axis number CP ACHZ Prohibited 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.
Part 4 Commands 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.
Part 4 Commands z AEXT (Dedicated SCARA command: Set arch-motion composition) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional AEXT (Position number) Prohibited Output (Output, flag) CP Set arch-motion composition. The position number specified in operand 1 will be set for use in composition.
Part 4 Commands 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.
Part 4 Commands 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.
Part 4 Commands 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 load coordinate system axis specified in operand 2 for the palletizing number specified in operand 1, and store the result in variable 199.
Part 4 Commands 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) Move to the calculated palletizing points via PTP. The axes will move to the palletizing points specified in operand 1, via PTP.
Part 4 Commands z PMVL (Dedicated linear movement axis command: Move to palletizing points via interpolation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional PMVL Palletizing number Prohibited PE Move to the calculated palletizing points via interpolation. The axes will move to the palletizing points specified in operand 1, via interpolation.
Part 4 Commands z PACH (Dedicated SCARA command) 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.
Part 4 Commands x x x 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.
Part 4 Commands 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.
Part 4 Commands 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.
Part 4 Commands 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 [Function] Command, declaration Command, Operand 1 Operand 2 declaration CHPR 0 or 1 Prohibited CP Specify “1” (User HIGH) if you wish the target task to be processed before other tasks. This command can also be used with non-ladder tasks.
Part 4 Commands z TSLP (Task sleep) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Prohibited Prohibited [Function] 318 Command, declaration Command, Operand 1 Operand 2 declaration TSLP Time Prohibited Output (Output, flag) CP Set the time during which the applicable task will sleep, in order to distribute the processing time to other tasks. If the task level is set to User HIGH, this command must always be specified. The applicable task will sleep during the set time.
Part 4 Commands 1.24 Extended Commands z ECMD1 (Get motor current value (% of rated current)) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional Optional ECMD 1 Axis number Output (Output, flag) CC [Function] Store in variable 99 the motor current value (% of the rated current) corresponding to the “axis number” specified in operand 1.
Part 4 Commands z ECMD3 (Get overrun sensor status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Optional Optional Command, declaration Command, Operand 1 Operand 2 declaration ECMD 3 Axis number Output (Output, flag) CC [Function] Reflect in the output field the overrun sensor status corresponding to the “axis number” specified in operand 2.
Part 4 Commands z ECMD250 (Set torque limit/detection time for torque limit over error) Command, declaration Extension condition Input condition Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 declaration Optional [Function] Optional ECMD 250 Axis pattern Output (Output, flag) CC Set the steady-state (non-push) torque limit (upper limit)/detection time for steady-state (non-push) torque limit over error.
Part 4 Commands [Example 1] LET 290 3 LET LET 291 292 80 1000 ECMD 250 290 MOVP 2 * When reverting to a normal condition [Example 2] LET 290 3 LET 291 1000 LET 292 20000 STOP ECMD *290 250 290 MOVP 2 Set the target axis pattern (axes 1 and 2) in integer variable 290. Set the steady-state torque limit in integer variable 291. Set the detection time for steady-state torque limit over error in integer variable 292.
Part 4 Commands (Note 6) An “Error No., C6B deviation overflow error” or “Error No., CA5, Stop deviation overflow error” is sometimes detected before “Error No., 420, Steady-state (non-push) torque over error.” This is normal. (Note 7) When changing the torque setting to a high level from a low level at which axis movement can no longer be guaranteed, be sure to issue a STOP command to the low-torque axis to clear the deviation counter before changing to a high torque (while the torque is still low).
Part 4 Commands Chapter 3 Key Characteristics of Horizontal Articulated Robot (SCARA) Operation This chapter explains how to set the key characteristics of horizontal articulated robot operation, such as commands and operations, arm systems, various coordinate systems and simple interference check zones. 1. CP Operation and PTP Operation A horizontal articulated robot performs CP operation and PTP operation. 1.1 CP Operation (1) Locus The axes move to the target position via mutual interpolation.
Part 4 Commands (3) Notes on CP operation The singular point refers to a position where arms 1 and 2 form a straight line. Performing CP operation along a path near the singular point may reduce locus accuracy, cause vibration (noise) or generate errors.
Part 4 Commands 1.2 PTP Operation (1) Movement locus The axes move to the target position at the specified speed. The locus of axis tip during movement cannot be specified using commands. Example) Position No. 1 MOVP 1 Move from the current position to position No. 1 via PTP operation. The arm system may change during movement depending on the operation area or upon execution of an arm-system control command.
Part 4 Commands 2. Arm System 2-1 Right/Left Arm Systems The robot position has two patterns based on the right arm system and the left arm system, respectively. Left arm system Right arm system Right arm system: Arm 2 is located at a point away in the CCW direction from the position where arms 1 and 2 form a straight line. Left arm system: Arm 2 is located at a point away in the CW direction from the position where arms 1 and 2 form a straight line.
Part 4 Commands 2-2 Arm-System Control Commands (Dedicated SCARA Command) The right and left arm systems are defined as the opposite arm systems to the left and right arm systems, respectively. The actual arm system that is currently effective is defined as the current arm system. The arm system to be used for positioning to the target using a movement command is defined as the target arm system. The commands used to control the robot's arm system include PTPD, PTPE, PTPR, PTPL, RIGH and LEFT.
Part 4 Commands In the figure, a black arrow indicates a movement involving change of arm systems. A white arrow indicates a movement not involving change of arm systems. The striped arm represents the right arm system, while the white arm represents the left arm system. (1) PTPD After a PTPD command is executed, the robot will move the current arm system to perform positioning. The PTPD command prohibits the current arm system and target arm system from becoming the opposite arm systems.
Part 4 Commands (2) PTPE After a PTPE command is executed, the robot will give priority to movements and positioning operations using the current arm system. The PTPE command permits the current arm system and target arm system to become the opposite arm systems. Therefore, movements to an area accessible only by the opposite arm system will also be enabled.
Part 4 Commands (3) PTPR After a PTPR command is executed, the robot will perform positioning using the right arm system. The PTPR command limits the target arm system to the right arm system. Therefore, attempting a movement to an area where positioning is possible only with the left arm system will generate an error (C73: Target-locus soft limit over error). Executing a PTPR command itself will not trigger any arm operation.
Part 4 Commands (4) PTPL After a PTPL command is executed, the robot will perform positioning using the left arm system. The PTPL command limits the target arm system to the left arm system. Therefore, attempting a movement to an area where positioning is possible only with the right arm system will generate an error (C73: Target-locus soft limit over error). Executing a PTPL command itself will not trigger any arm operation.
Part 4 Commands (5) RIGH The RIGH command changes the current arm system to the right arm system. If a RIGH command is executed when the current arm system is the left arm system, arm 2 will move until arms 1 and 2 form a straight line. Executing a RIGH command when the current arm system is the right arm system will not trigger any arm operation. [1] Starting with the left arm system 1 4 2 : : : RIGH MOVP MOVP 2 3 C73 error will generate.
Part 4 Commands (6) LEFT The LEFT command changes the current arm system to the left arm system. If a LEFT command is executed when the current arm system is the right arm system, arm 2 will move until arms 1 and 2 form a straight line. Executing a LEFT command when the current arm system is the left arm system will not trigger any arm operation. [1] Starting with the right arm system 1 4 2 : : : LEFT MOVP MOVP MOVP MOVP MOVP 2 3 2 1 4 C73 error will generate.
Part 4 Commands 3. SCARA Coordinate System A horizontal articulated robot uses three types of coordinate systems: base coordinate system, load coordinate system and tool coordinate system. When tool coordinate system No. 0 (= tool coordinate system offsets are 0) is selected, normally the robot will position the center of the tool-mounting surface on the selected load coordinate system. If any of tool coordinate system Nos.
Part 4 Commands (1) Positioning on the base coordinate system Perform positioning after selecting load coordinate system No. 0. Use a SLWK command to select a load coordinate system number in a SEL program. The selected load coordinate system number will remain valid after the program ends, and even after reconnection of power if a system-memory backup battery is installed. The figure below shows a part of the position data edit screen on the PC software for horizontal articulated robot.
Part 4 Commands 3.2 Load Coordinate System (Dedicated SCARA Function) This coordinate system provides 32 sets of three-dimensional cartesian coordinates and rotatingaxis coordinates as defined by the offset of each axis with respect to the base coordinate system. Note that load coordinate system No. 0 is reserved by the system as the base coordinate system (= load coordinate system offsets are 0).
Part 4 Commands (1) Setting the load coordinate system Set the offsets with respect to the base coordinate system. x Setting example of load coordinate system When defining load coordinate system Nos. 1 and 2 as shown below: +Yb +Yw1 Yw2 Home of load coordinate system No. 2 –20q –Xb +Xw1 30q 200 100 Home of load coordinate system No. 1 Xw2 150 –400 +Xb –Yb The offsets of load coordinate system No. 1 are set as Xofw1 = 150, Yofw1 = 200, Zofw1 = 0 and Rofw1 = 30.
Part 4 Commands (2) Positioning on the load coordinate system Perform positioning after selecting a desired load coordinate system. Use a SLWK command to select a load coordinate system number in a SEL program. The selected load coordinate system number will remain valid after the program ends, and even after reconnection of power if a system-memory backup battery is installed. [1] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 1 Yw1 Position No.
Part 4 Commands [2] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 2 Program example : : : SLWK 2 Select load coordinate system No. 2. SLTL 0 Select tool coordinate system No. 0. PTPR Specify the right arm as the PTP target arm system. MOVP 5 Move to position No. 5. MOVP 6 Move to position No. 6. : : : Yw2 Position No. 6 50 200 Xw2 Position No. 5 Yw2 Yb Position No. 5 50 The R-axis position will be as shown in the figure at left (top view).
Part 4 Commands 3.3 Tool Coordinate System (Dedicated SCARA Function) This coordinate system provides 128 sets of three-dimensional cartesian coordinates and rotatingaxis coordinates as defined by the dimensions (offsets) of a tool (hand, etc.) installed on the toolmounting surface. Note that tool coordinate system No. 0 is reserved by the system as a tool coordinate system with zero offsets.
Part 4 Commands (1) Setting the tool coordinate system Set the offsets from the center of the tool-mounting surface to the tool tip. x Setting example of tool coordinate system When defining tool coordinate system No. 1 as shown below: 45q 35 0 45 10 The offsets of tool coordinate system No. 1 are set as Xoft1 = 45, Yoft1 = 35, Zoft1 = -10 and Roft1 = 45.
Part 4 Commands (2) Positioning using tool coordinate system offsets Perform positioning after selecting a desired tool coordinate system. Use a SLTL command to select a tool coordinate system number in a SEL program. The selected tool coordinate system number will remain valid after the program ends, and even after reconnection of power if a system-memory backup battery is installed. [1] When positioning the tool tip on tool coordinate system No. 1 to position Nos. 5 and 6 on load coordinate system No.
Part 4 Commands [2] When positioning the tool tip on tool coordinate system No. 2 to position Nos. 5 and 6 on load coordinate system No. 1 in PTP mode Yw2 50 –20q 200 –Xb 344 –400 Program example : : : Yb SLWK 2 Select load coordinate system No. 2. SLTL 1 Select tool coordinate system No. 1. PTPR Specify the right arm as the PTP target arm system. 100 MOVP 5 Move to position No. 5. 40q MOVP 6 Move to position No. 6. : : : Xw2 0 The Z-axis position of tool tip will be as follows: Position No.
Part 4 Commands 4. Simple Interference Check Zone (Dedicated SCARA Function) The simple interference check zone is an area set for the purpose of checking possible interference between the robot and peripherals. In the case of tool coordinate system No. 0 (= tool coordinate system offsets are 0), entry into the simple interference check zone can be detected based on the center of the tool-mounting surface. In the case of tool coordinate system Nos.
Part 4 Commands Setting example of simple interference check zone Define simple interference check zone Nos. 1, 2 and 3 as follows: +Xb Xb = 475 Xb = 400 Simple interference check zone No. 2 A B Simple interference check zone No. 1 E F C +Yb Yb = 425 D –Yb G H Simple interference check zone No. 3 Xb = –400 a. Set the area inside a rectangular solid as simple interference check zone No. 1.
Part 4 Commands As for simple interference check zone No. 1, entry into this rectangular solid area will not be detected if Rb is outside the range of 0 to 180q. To enable detection regardless of the R-axis coordinate, do not enter anything in coordinates 1 and 2 in the R column for zone 1. If either the maximum value or minimum value needs not be limited, as in the case of simple interference check zone No. 2 or 3, enter a value outside the operation area (1000 in zone 2, 1000 or -1000 in zone 3).
Part 4 Commands 5. Soft Limits of SCARA Axes The soft limits of IX horizontal articulated robots are set in axis-specific parameter Nos. 7 and 8. The figure below is a display example of soft limits for an IX5020 robot (arm length 500 mm, Z-axis 200 mm) in the PC software. The soft limit parameters are set on each axis coordinate system. Axis 1 and axis 2 correspond to arm 1 and arm 2, while axis 3 and axis 4 correspond to the Z-axis and Raxis, respectively. The setting unit is 0.
Part 4 Commands (2) Soft limits of arm 2 The position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis coordinate system (0 degree). It is not influenced by the angle position of arm 1. The operating angle in the counterclockwise direction (positive direction) from this home defines the + soft limit (axis 2 in axis-specific parameter No. 7).
Part 4 Commands (4) Soft limits of the R-axis The position where the D-cut surface at the tip of the R-axis is facing toward the center of rotation of arm 2 is the home of the R-axis on its axis coordinate system (0 degree). It is not influenced by the positions of arm 1 and arm 2.
Part 4 Commands 5.2 Monitoring Coordinates on Each Axis System Coordinates on each axis system can be monitored using the PC software or teaching pendant. The figure below is a display example in the PC software. When a given axis system is selected as the jog coordinate system in the position data edit window, the current position display will change to reflect the coordinates on the selected axis system.
Part 4 Commands 6. PTP Optimal Acceleration/Deceleration Function for SCARA Robot Certain models such as the high-speed SCARA robot IX-NNN5020H perform PTP operation at an optimal acceleration/deceleration. (Note) 6.1 Conventional models such as IX-NNN5020 do not perform PTP operation at an optimal acceleration/deceleration. When a conventional model such as IX-NNN5020 performs PTP operation, the maximum acceleration and deceleration conform to axis-specific parameter No.
Part 4 Commands Notes x With PTP optimal acceleration/deceleration for SCARA robot, the robot will not operate at an optimal acceleration/deceleration unless a mass corresponding to the actual load at the tip of the robot is set by a WGHT command. Be sure to set the tip load mass of the SCARA robot using a WGHT command. x PTP optimal acceleration/deceleration for SCARA robot is valid only when the SCARA robot performs PTP operation.
Part 4 Commands 7. Horizontal move optimization function based on Z position for SCARA Robot Certain models such as the high-speed SCARA robot IX-NNN5020H can use the Horizontal move optimization function based on Z position for SCARA. (Note) Conventional models such as IX-NNN5020 cannot use the Horizontal move optimization function based on Z position for SCARA (“D8A: Optimal acceleration/deceleration, Horizontal move optimization function based on Z position internal parameter error” will generate). 7.
Part 4 Commands Notes x When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the tip load mass of the SCARA robot must be set using a WGHT command. An appropriate effect cannot be obtained unless a mass corresponding to the actual load at the tip of the robot is set. x When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the set speed may not be reached depending on the load mass and moving positions of the robot.
Part 4 Commands Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement Commands [PATH, PSPL, CIR2, ARC2, CIRS, ARCS, ARCD, ARCC, CIR, ARC] [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 P9 between steps.
Part 4 Commands [Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step before the one in which the input condition is specified. Output field 308 309 POTP 1 310 20 [4] PATH 1 ARC2 10 PATH 21 308 311 312 311 312 313 314 When executing continuous movement commands sequentially, the controller is calculating approx. 100 positions ahead.
Part 4 Commands 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration/deceleration is different between points. The locus can be fine-tuned by changing the acceleration/deceleration, but different acceleration/deceleration settings between points will prevent smooth transition of speeds when moving from one position to another.
Part 4 Commands Chapter 5 Palletizing Function The SEL language used by the IX Controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizing. 1. How to Use Use palletizing commands in the following steps: (1) Palletizing setting Set palletizing positions, arch motion, etc., using palletizing setting commands.
Part 4 Commands (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below are available. The encircled numbers indicate the order of palletizing and are called “palletizing position numbers.” Pattern 1 Preferential axis (PXaxis) Pattern 2 Preferential axis (PXaxis) (PY-axis) Start point Start point (PY-axis) Fig. 1 PAPN 2 When pattern 2 is selected (Setting is not necessary if pattern 1 is selected.
Part 4 Commands A. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions in position data fields as three continuous position data and then specify the first position number using a PAPS command. This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel with the load coordinate system axes and not crossing with each other.
Part 4 Commands B. Method to set palletizing positions in parallel with the load coordinate system axes 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. Use a PEXT command to set the R-axis coordinate of a given palletizing position. Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PYaxis directions.
Part 4 Commands (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when 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: Preferential axis (PX-axis) Number in the even-numbered rows. Two in the diagram below.
Part 4 Commands (7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (Dedicated SCARA command) (b) Palletizing Z-axis offset --Command: OFPZ (Dedicated SCARA command) (c) Palletizing composition --Command: PEXT (Dedicated SCARA command) 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.
Part 4 Commands 3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown below: (1) Palletizing position number Commands --- PSET, PINC, PDEC, PTNG Number showing the ordinal number of a palletizing point. (In Fig. 1 given in the explanation of palletizing pattern, the encircled numbers are palletizing position numbers.
Part 4 Commands 4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point and one used to move to an end point specified by position data. (1) Movement commands to palletizing point --- PMVP, PMVL (Dedicated linear movement axis command), PACH (Dedicated SCALA command) 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.
Part 4 Commands (2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an end point specified by position data. In the case of a linear movement in parallel with an actuator, operation can be performed only with two axes including the applicable axis and the PZ-axis. Arch motion must be set. Highest point of arch motion Position No. 12 * Start-point arch trigger Position No.
Part 4 Commands 5. Program Examples (1) Program example 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 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 E N Cnd 600 Cmnd VELS ACCS DCLS VEL ACC DCL SLWK SLTL Operand 1 80 50 50 100 0.3 0.
Part 4 Commands Schematic diagram of palletizing positions based on the above program PY-axis end-point coordinate position No. 103 (138, 343, 179, empty field) Actual positioning coordinates Xb = 138, Yb = 343, Zb = 84 (OFPZ 5) Rb = 115q (PEXT 104) Top view of R-axis position D-cut surface 32 31 30 29 105q 27 28 Xb 26 25 23 24 PY-axis 22 21 20 18 19 17 16 14 15 13 12 11 9 10 8 7 5 6 4 3 PX-axis 2 1 20 Reference-point position No.
Part 4 Commands (2) Program example using PASE, PAPT and PAST The example below specifies movement only and does not cover picking operation. Step 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 E N Cnd 600 Cmnd VELS ACCS DCLS VEL ACC DCL SLWK SLTL Operand 1 80 50 50 100 0.3 0.
Part 4 Commands Schematic diagram of palletizing positions based on the above program (The PX and PY-axes are parallel with Xb and Yb (base coordinates), respectively.) 28 29 30 31 32 Yb direction 24 PY-axis 19 25 20 15 10 30 21 16 11 6 1 26 22 17 12 7 2 27 18 13 8 3 20 23 14 9 4 5 PX-axis 40 Xb direction Reference-point position No.
Part 4 Commands Chapter 6 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used depending on the command and extension condition. The input format is shown below. 1.
Part 4 Commands 2. Ladder Statement Field [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. [2] Ladder commands OUTR TIMR Ladder output relay (Operand 1 = Output, flag number) Ladder timer relay (Operand 1 = Local flag number, Operand 2 = Timer setting (sec)) 3. Points to Note x This system only processes software ladders using an interpreter.
Part 4 Commands 4. Program Example OUTR314 8 9 10 11 12 13 14 TIMR900 15 0.5 SEC No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 374 Extension condition E N LD LD A O LD A LD A OB AB A LD LD LD N N N Input condition Cnd Command Cmnd Operand 1 Operand 1 7001 TPCD TAG CHPR 1 1 1 15 OUTR TIMR 314 900 7001 7001 7001 TSLP GOTO EXIT 3 1 Operand 2 Operand 2 8 9 10 11 12 13 14 0.
Part 4 Commands Chapter 7 Multi-Tasking “Multi-tasking” operation means running several programs in parallel. 1. Difference from a Sequencer The parallel processing method has evolved from the traditional method of using a sequence control circuit consisting of relays to a more recent one using a sequencer equipped with a microcomputer.
Part 4 Commands 2. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency-stop recovery type” = 0 “Other parameter No. 11, Enable switch (deadman switch/enable switch) recovery type” = 0 “Other parameter No. 12, Recognition type during automatic operation” = 0 An emergency stop is actuated by turning the emergency-stop contact b input to OFF, and released by turning the input to ON.
Part 4 Commands 3. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The representative methods are explained below. External start Program switching Program Single-tasking Multi-tasking EXIT command EXPG command First, the program switching methods are largely divided into switching by external start and switching by application program.
Appendix Appendix List of Additional Linear Movement Axis Specifications Load capacity (Note 2) Rated acceleration Horizontal Vertical Horizontal Vertical RCS2 (arm/flat type) RCS2 (Rod type) RCS2 (Slider type) Model Stroke (mm) and maximum speed (mm/sec) (Note 1) (Note 1) (Note 2) (Note 3) 378 The figure in each band indicates the maximum speed for each applicable stroke. The load capacity is based on operation at the rated acceleration.
Appendix Load capacity (Note 2) Horizontal Vertical Rated acceleration Horizontal Vertical RCS2W (dustproof/splash -proof type) RCS2CR (Slider type) RCS2 (rotary type) Model Stroke (mm) and maximum speed (mm/sec) (Note 1) (Note 1) (Note 2) The figure in each band indicates the maximum speed for each applicable stroke. The load capacity is based on operation at the rated acceleration.
Appendix Load capacity (Note 2) Horizontal Vertical Rated acceleration Horizontal Vertical RCS (Flat type) RCS (Rod type) RCS (Slider type) Model Stroke (mm) and maximum speed (mm/sec) (Note 1) (Note 1) (Note 2) (Note 3) 380 The figure in each band indicates the maximum speed for each applicable stroke. The load capacity is based on operation at the rated acceleration. RCS-RB75-series actuators cannot be used as axis 5 or 6.
Appendix Load capacity (Note 2) Model (Note 1) (Note 2) (Note 3) Stroke (mm) and maximum speed (mm/sec) (Note 1) Horizontal Vertical Rated acceleration Horizontal Vertical The figure in each band indicates the maximum speed for each applicable stroke. The load capacity is based on operation at the rated acceleration. RCS2-R**7, LS and LSA-series actuators cannot be used as axis 5 or 6.
Appendix Load capacity (Note 2) Model (Note 1) (Note 2) (Note 3) 382 Stroke (mm) and maximum speed (mm/sec) (Note 1) The figure in each band indicates the maximum speed for each applicable stroke. The load capacity is based on operation at the rated acceleration. RCS2-R**7, LS and LSA-series actuators cannot be used as axis 5 or 6.
Appendix 383
Appendix How to Write Programs 1. Position Table Position Table With X-SEL controllers of PX/QX types, 4000 position points can be registered if the memory size has not been increased. If the memory size has been increased, 20000 positions can be registered. Positions are registered using the PC software or teaching pendant. (Example of 6-axis System) No.: The actuator moves to the registered position corresponding to the number specified by a program command here.
Appendix 2. Program Format Program Edit Screen (PC Software) With X-SEL controllers, a program consisting of up to 6000 steps can be created if the memory size has not been increased. If the memory size has been increased, a program consisting of up to 9999 steps can be created. Programs are edited using the PC software or teaching pendant. No.: B: The step number is indicated. Set a breakpoint. (Breakpoints become effective during online editing.
Appendix 3. Positioning to 5 Positions (for Linear Axes) Description Move the actuator to positions 1 through 5 at a speed of 100 mm/sec after completing a home return. Axis 1 is used. Flow Chart Start Home return x Home return must be performed and a speed set, in order to operate the actuator. x The actuator moves to the coordinates corresponding to the position data specified by each movement command.
Appendix 4. How to Use TAG and GOTO Description If you want to repeat the same operations in the program or skip steps when a given condition is met, use a GOTO command together with a TAG command. TAG can be specified in a step either before or after the one containing a GOTO command. Example of Use 1 Repeated Repeat the same operations. These operations are repeated. Example of Use 2 Jump Skip steps. These operations are ignored.
Appendix 5. Back-and-Forth Operation between 2 Points (for Linear Axes) Description Move the actuator back and forth repeatedly between two points. Flow Chart Start Home return Move to P1 x The actuator moves back and forth between P1 and P2 infinitely. x Axis 1 is used. x Specify TAG in the first of the repeated steps and specify GOTO in the last of the repeated steps. Move to P2 Position Data Application Program Axis 1 returns home. Set the speed to 100 mm/sec.
Appendix 6. Path Operation Description Move the actuator through four arbitrary points continuously without stopping (PATH operation). The actuator moves along the path shown to the right, without stopping at P2 or P3. Since precise positioning is not performed at P2 and P3, the tact time of movement can be shortened compared to when MOVP or MOVL is used to achieve the same movement.
Appendix 7. Output Control during Path Movement Description In coating application, etc., output control may become necessary while the actuator is moving. X-SEL controllers let you issue outputs while the actuator is moving according to a PATH command. How to Use Before issuing a PATH command, declare a POTP command to permit output during movement.
Appendix 8. Circular, Arc Operation Description The actuator operates along a two-dimensional circle or arc. How to Use To specify a circle, specify three passing points. To specify an arc, also specify three points, specifically the start point, passing point and end point. Example of Use 1 Circle x Specify “CIR2 2 3” after the actuator has completed its movement to P1. x When “CIR2 2 3” is specified based on the layout shown to the left, the actuator will move clockwise along the circle.
Appendix 9. Output of Home Return Complete Signal (for Linear Axes) Description Output a signal to confirm completion of home return (Incremental specification or quasi-absolute specification) X-SEL controllers can output a home return complete signal via setting of an I/O parameter, but the following explains how to output a home return complete signal in a program using a general-purpose output.
Appendix 10. Axis Movement by Input Waiting and Output of Complete Signal Description How to perform an input waiting process and output a processing complete signal is explained. Flow Chart Start Input 10 Move to P1 Example of Use The actuator waits until input port 10 turns ON, upon which it will move to P1. The actuator waits until input port 11 turns ON, upon which it will move to P2.
Appendix 11. Change of Moving Speed (for Linear Axes) Description Change the moving speed. How to Use With X-SEL controllers, speed can be set in the following two ways: a: Use a VEL command in the application program. b: Use a speed set in the position data table.
Appendix 12. Speed Change during Operation Description Use a PATH command to change the speed while the actuator is moving. This function is useful in dispensing applications where the dispensing amount, such as coating amount, changes in the middle of operation. Example of Use Operate the actuator via linear movement through section a at a speed of 50 mm/sec, section b at a speed of 20 mm/sec, and section c at a speed of 50 mm/sec, without stopping.
Appendix 13. Local/Global Variables and Flags Description Internal variables and flags used in the SEL language are classified into the local type and global type. Data areas used commonly by all programs are called “Global Areas,” while independent data areas used only by each program are called “Local Areas.” Global areas must be used when aligning the timings among multi-tasking programs or allowing these programs to cross-reference the values of their variables.
Appendix 14. How to Use Subroutines Description When the same processes are performed several times in one program, a group of these steps that are isolated from others and called together as a set is called a “Subroutine.” Subroutines are used to reduce program steps and make the program less convoluted. Up to 99 subroutines can be used in one program. Subroutine calls can be nested by up to 15 times.
Appendix 15. Pausing of Operation Description Use a declarative command HOLD to pause the moving axis via an external input. How to Use You can interrupt and pause the movement of the axis (= cause the axis to decorate to a stop) by declaring a HOLD command in the program. While HOLD is input, all movement commands issued in the same program are paused (all moving axes decelerate to a stop). Example of Use HOLD 20 Declare that if general-purpose input 20 turns ON, a pause process will be performed.
Appendix 16. Aborting of Operation 1 (CANC) Description Use a declarative command CANC to cause the moving axis to decelerate a stop and cancel the remaining operation of the axis. How to Use While CANC is input, all movement commands issued in the same program are paused are aborted. CANC command CANC 20 : MOVP MOVP : WTON : * * Abort the movement command in the middle when input port 20 turns ON. (Declaration) 1 2 21 Declare this command in a step before a movement command.
Appendix 17. Aborting of Operation 2 (STOP) Description Cause the moving axis to decelerate a stop and cancel the remaining operation of the axis. (STOP) How to Use Implement an abort using a STOP command issued from other program. (Multi-tasking mode) Use an axis pattern to specify the axis you want to abort. Speed o Input port 20 ON This operation is cancelled. Remaining operation Time o Example of Use 1 STOP command Main program Aborting control program Start an aborting program.
Appendix 18. Movement by Position Number Specification Description Read an external BCD code input as a position number to move the actuator. How to Use Use an INB command to read a position number as a BCD code via an input port. A position number consisting of up to three digits can be specified.
Appendix 19. Movement by External Position Data Input (for Linear Axes) Description Receive from the host device an absolute value indicating the position data to be used in the movement, and move the actuator accordingly. Example of Use Use an INB command to read position data as a BCD via an input port. The BCD value to be received has four digits, with the last digit specifying a decimal place. Axis 1 is moved. Example: If the value of BCD is “1234,” the axis will move to the position at 123.4 mm.
Appendix 20. Output of Coordinate Values Description Read the current coordinates of the actuator in real time and output BCD data via an output port. Example of Use Use a PRDQ command to read the current coordinate position of axis 1. Output the current coordinate data of axis 1 as a BCD every 0.2 second. The output range is 0.00 to 999.99 mm. Assignment of BCD output Output port No. Description 324 0.01 325 0.02 326 0.04 327 0.08 328 0.1 329 0.2 330 0.4 331 0.8 332 1 333 2 334 4 335 8 Output port No.
Appendix 21. Conditional Jump Description Select the destination of jump specified by GOTO, using the state of an external input, output or internal flag as each condition. The actuator waits for one of multiple inputs and performs a different process according to the input received. Example of Use 1 If input 10 is ON, the actuator jumps to TAG 1. If input 10 is OFF, the actuator performs the subsequent processes.
Appendix 22. Waiting for Multiple Inputs Description The actuator waits for one of several different inputs, and proceeds to an applicable process when a given input is received. Point With a WTON command, the actuator cannot perform any process unless one of the specified inputs is received. In other words, the actuator cannot wait for multiple inputs. Example of Use Inputs 10 and 11 are monitored and when an input is received from either of the two (OR gate), the actuator will proceed to the next step.
Appendix 23. How to Use Offsets (for Linear Axes) Description If you want to move (offset) all teaching points by several millimeters to compensate for the deviation resulting from the installation of the actuator, you can specify an offset amount for position data using an OFST command. It is also possible to perform pitch feed operation using an OFST command. (Refer to 25, “Constant Pitch Feed Operation.”) Move to point A. Offset axis 1 by 80 mm. Move to point B.
Appendix 24. Execution of Operation n Times Description Execute a specific operation n times. Example of Use The actuator repeats going back and forth between P1 and P2 10 times, after which the program ends. Use a CPEQ command to compare the number of times the operation has actually been repeated, against 10. It is assumed that home return has been completed. Application Program Set a speed. Clear a variable. Move to P1 Move to P2. Increment variable 1 by 1.
Appendix 25. Constant Pitch Feed Operation (for Linear Axes) Description Move the actuator at a specified pitch n times from a given reference point. The pitch amount and number of movements are specified using variables in advance. Flow Chart Start Default setting Start input Movement Example of Use Use an OFST command to perform pitch feed. Count the number of times the actuator has been fed by using a variable as a counter. The X-axis is used.
Appendix 26. Jogging (for Linear Axes) Description The slider moves forward or backward while an input is ON or OFF. In addition to an input, an output or global flag can also be used. If the specified input does not meet the condition when this command is executed, nothing is done and the program will move to the next step. Regardless of the input status, the slider stops when it reaches to its soft limit and the command will move to the next stop.
Appendix 27. Program Switching Description Use an EXPG/ABPG command to switch programs from within a program. Example 1 Start program 2 when the processing by program 1 is completed, and end program 1. Program 1 EXPG 2 EXIT Program 2 Example 2 Start a program via an external signal and end other program. Program 1 ABPG 2 Program 2 ABPG 1 If program 2 is started while program 1 is operating, program 1 will be aborted.
Appendix 28. Aborting of Program Description Abort a program currently running. In the multi-tasking mode, execute an ABPG command (abort other program) from other program. Note * If the program to be aborted is executing a movement command, any axis moving at the time will immediately decelerate to a stop. Example of Use Main program (Prg. 1) EXPG n Start an aborting control program. WTON 10 MOVP 1 BTON 303 * Aborting control program (Prg. n) WTON 20 Wait for an abort input. ABPG 1 Abort Prg. 1.
Appendix General-purpose RS232 (2-channel RS232 Unit) (1) Specifications The 2-channel RS232 unit is a dedicated D-sub, 9-pin RS232 interface. It can be used when a general-purpose RS232 device is connected. RS232C Connector Specifications Item Overview Applicable connector D-sub, 9-pin (DTE) Connector name S1/S2 Maximum connection distance 10M Applicable interface protocol RS232 Connected unit AT-compatible PC, etc.
Appendix (3) Parameter Settings The SIO channel numbers and specifications are set as follows according to the factory-set parameters. Channel 1 Specifications Baud rate: 38.4 kbps Data length: 8 Stop bit: 1 Parity type: None Communication mode: RS232 Channel 2 For advanced settings, set the following parameters sequentially: Channel 1 o I/O parameter Nos. 201 to 203 Channel 2 o I/O parameter Nos. 213 to 215 I/O Parameter Settings (Reference) No.
Appendix No. 202 214 Parameter name Attribute 2 of SIO channel 1 opened to user (mount standard) Attribute 2 of SIO channel 2 opened to user (mount standard) z Set Values Bits 28 to 31: Bits 24 to 27: Bits 20 to 23: Bits 16 to 19: Bits 12 to 15: Bits 8 to 11: Bits 0 to 7: No. 203 215 Bits 24 to 27: Bits 20 to 23: Bits 16 to 19: Bits 8 to 15: Bits 0 to 7: 414 Input range Unit 00000001H 0H to FFFFFFFFH None 00000001H 0H to FFFFFFFFH None For future extension Reserved by the system.
Appendix (4) Program [1] String process commands A “string” refers to a series of characters. This controller supports global strings and local strings. Global strings can be read or written commonly from any program, while local strings are effective only within a given program and cannot be used in other programs.
Appendix [3] Explanation of string Strings sent by the aforementioned transmission format can be used freely in a program. To put it in simple words, each string is stored in boxes. Strings are classified into two types: global strings that can be read or written by all programs, and local strings that can be read or written only in an individual program. These strings are differentiated by column numbers. Column Local string Column Global string Each character in a string is stored in one box.
Appendix [4] Definition of transmission format In the sample application program provided here, only three types of transmission formats, or namely home return command, movement command and movement complete, are required. These formats are defined as follows. Take note that these definitions are only examples and the user can define each format freely. A. Format for home return command This format is used to issue a home return command from the PC to the controller. B.
Appendix [5] Processing procedure The processing procedure to be followed to program this sample application is explained. A. Set “LF” as a character to indicate the end of a string (terminator character). B. Open channel 1 so that channel 1 of the RS232 unit can be used. C. If data is sent to channel 1, the data is received in columns starting from local string column 1. D.
Appendix Battery Backup Function The X-SEL controller uses the following two types of batteries. x System-memory backup battery This coin battery is used to back up the position data, SEL program variables, etc., in the controller. Each controller ships with the system-memory backup battery. x Absolute-encoder backup battery A separate battery is used to retain the absolute encoder’s rotation data, so that the motor rotation data can be retained/refreshed when the controller power is cut off.
Appendix To replace the system-memory backup battery, open the panel window on the front side of the controller and replace the coin battery in the battery holder. It is recommended that the battery be replaced regularly in accordance with the frequency/duration of controller usage. The battery must be replaced as soon as the controller’s battery voltage monitor function generates a battery voltage low alarm. After an alarm is detected, a battery error will occur in approx.
Appendix 2. Absolute-Encoder Backup Battery If the X-SEL controller is to drive an absolute-type actuator, an absolute-encoder backup battery must be installed in the robot or controller. An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from the absolute-encoder backup battery, even when the controller’s control power is not supplied.
Appendix The X-SEL-PX/QX controller provides an absolute-encoder backup battery enable switch for each linear movement axis. When replacing any absolute-encoder backup battery following a battery error, turn OFF the absolute-encoder backup battery enable/disable switch corresponding the applicable axis (the controller power should be turned off during the battery replacement).
Appendix Expansion I/O Board (Optional) Type: IA-103-X-32 Type: IA-103-X-16 Pin No. Category Port No.
Appendix Number of Regenerative Units to be Connected Regenerative energy produced when a linear movement axis decelerates to a stop or moves downward in a vertical installation is absorbed by means of the capacitor and resistor in the controller. If the produced regenerative energy is not fully absorbed internally, an overvoltage error will occur and the controller cannot operate any more. The specific error that will generate in this condition is “Error No. 60C, Powersystem overheat error.
Appendix 5 425
Appendix ~ List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section. After changing a parameter, record the new and old parameter settings. If you have purchased the PC software, we recommend that you back up the parameters immediately after the controller is delivered and when the system incorporating the controller is started.
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Appendix I/O Parameters No. Parameter name 78 Input target axis pattern for acceptance permission of PC/TP servo movement command Input port number for remote mode control 79 Default value (Reference) 0 Input range Unit Remarks 0B ~ 11111111B 0 0 ~ 299 1~1 Reference only The system mode is MANU when the specified DI is ON or the AUTO/MANU switch is set to MANU. (Invalid if “0” is set) * Debug filter is invalid for remote-mode control input ports. Switching of DIP switches Fixed to 153 (99H).
Appendix I/O Parameters No.
Appendix I/O Parameters 123 Network attribute 4 Default value (Reference) 0H 124 Network attribute 5 0H No. Parameter name Input range 0H ~ FFFFFFFFH 0H ~ FFFFFFFFH Unit Remarks Bits 0 to 3: Ethernet TCP/IP message communication IP address of connection destination on server Whether to permit 0.0.0.
Appendix I/O Parameters 126 Network attribute 7 Default value (Reference) 7D007D0H 127 Network attribute 8 5050214H 0H ~ FFFFFFFFH 128 Network attribute 9 10000H 0H ~ FFFFFFFFH 129 Network attribute 10 0H 0H ~ FFFFFFFFH 130 Own MAC address (H) 0H 131 Own MAC address (L) 0H 132 133 134 135 136 137 138 139 140 141 142 143 192 168 0 1 255 255 255 0 0 0 0 0 Reference only (HEX) Reference only (HEX) 1 ~ 255 0 ~ 255 0 ~ 255 1 ~ 254 0 ~ 255 0 ~ 255 0 ~ 255 0 ~ 255 0 ~ 255 0 ~ 255 0 ~ 255 0 ~ 255
Appendix I/O Parameters No.
Appendix I/O Parameters No. Parameter name 201 Attribute 1 of SIO channel 1 opened to user (mount standard) Default value (Reference) 28100000H Input range 0H ~ FFFFFFFFH 202 Attribute 2 of SIO channel 1 opened to user (mount standard) 00000001H 0H ~ FFFFFFFFH 203 Attribute 3 of SIO channel 1 opened to user (mount standard) 01118040H 0H ~ FFFFFFFFH Unit Remarks Bits 28 to 31: Baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2 kbps) * If flow control is performed, specify 38.
Appendix I/O Parameters No.
Appendix I/O Parameters Default value (Reference) 01118040H No.
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Appendix 2. No.
Appendix Parameters Common to All Axes No. Parameter name Default value (Reference) 10000H Input range Unit 29 All-axis setting bit pattern 1 30 31 32 Default division angle Default division distance Arch-trigger start-point check type 150 0 0 0 ~ 1200 0 ~ 10000 0~5 0.
Appendix Parameters Common to All Axes No. 51 52 ~ 60 61 ~ 109 110 ~ 130 131 Parameter name SCARA axis control 1 (For extension) Default value (Reference) 0H Input range Remarks Bits 8 to 11: Z position Æ horizontal move optimization for SCARA (PTP) (0: Disable 1: Enable) (Available only on high-speed SCARA robots of main application version 0.45 or later.
Appendix Parameters Common to All Axes No. Parameter name 204 Maximum deceleration of linear movement axis 205 Minimum emergency deceleration of linear movement axis Safety speed of linear movement axis in manual mode 206 207~ (For extension) 300 301~ (For extension) 400 Default value (Reference) 100 Input range Unit Remarks 1 ~ 999 0.01 G 30 1 ~ 300 0.01 G 250 1 ~ 250 mm/s * Valid for linear movement axes (axes 5 and 6 (6-axis type)) only. (Main application version 0.
Appendix 3. No.
Appendix Axis-Specific Parameters No.
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Appendix Axis-Specific Parameters No. Parameter name 51 Gear ratio numerator 52 53 (For extension) Setting bit pattern 1 of each axis Travel distance for pushmotion stop detection at movement to absolute reset position/home return Travel distance for pushmotion stop detection at positioning Default value (Reference) 50, 50, 10, 15, 1, 1 0 0 Input range Unit 1 ~ 99999999 Reference only for SCARA axes (axes 1 to 4) 20 0H ~ FFFFFFFFH 1 ~ 99999 0.001 mm 30 1 ~ 99999 0.
Appendix Axis-Specific Parameters Default value (Reference) 0 No.
Appendix Axis-Specific Parameters No.
Appendix Axis-Specific Parameters No. Parameter name Default value (Reference) 0 Input range Unit -99999999 ~ 99999999 Reference only for SCARA axes (axes 1 to 4) 0 ~ 899 Reference only for SCARA axes (axes 1 to 4) 0.001 mm -99999999 ~ 99999999 Reference only for SCARA axes (axes 1 to 4) -99999999 ~ 99999999 Reference only for SCARA axes (axes 1 to 4) 0 ~ 899 Reference only for SCARA axes (axes 1 to 4) 0.001 mm Remarks Valid only when MAX > MIN. * Must be inside the range for at least 3 msec.
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Appendix 4. Driver Card Parameters No.
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Appendix 6. No.
Appendix 7. Other Parameters No. Parameter name 1 Auto-start program number I/O processing program number at operation/program abort 2 Default value (Reference) 0 Input range 0 0 ~ 64 The start trigger is determined from the “I/O processing program start type at operation/program abort.” (Note: This program will be started before confirming an abort of other programs.) (Invalid if “0” is set) * If the setting is valid, the number of user program tasks that can be used will decrease by 1.
Appendix Other Parameters No.
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Appendix Other Parameters No. Parameter name 49 Panel 7-segment display data type Default value (Reference) 0 Input range 0~9 Unit Remarks 0: Display controller status 1: Display motor current indicator The current pattern of each axis is displayed instead of “ready status” or “program run number.” “Minimum indicator-displayed axis number” (farright column) is specified by “Other parameter No. 50.” (Main application version 0.
Appendix 8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operation type” parameter (Other parameter No. 21). (1) PC software [1] Setting = 0 (Always enable edit and SIO/PIO start) Operation type Password With safety speed Without safety speed Edit Safety speed Not required. { { Not required.
Use Examples of Key Parameters I/O parameter No. 36 = 1 Input port No. 3 can be set as an auto program start input. Input port No. 6 can be set as a pause input. Input port No. 5 can be set as a pause reset input. Want to execute auto program start using an external input signal. (Under the default setting, the specified program will restart upon power ON or restart (software reset) in the AUTO mode.) (More steps will be required to execute auto program start.
472 Program numbers can be input from input port Nos. 7 to 13 in binary. Error level can be checked from the ON/OFF combination of output port Nos. 300 and 301. Emergency stop status can be checked from ON/OFF of output port No. 302. Output port No. 303 can be set as an AUTO mode output signal. Output port No. 303 can be set as an automatic operation output. Want to input program numbers from input ports in binary. (The default setting is BCD input.
Output port No. 304 can be set as a signal indicating that all valid linear movement axes are at their home. Note: Do not use a HOME command when the controller is of the absolute specification. Output port No. 304 can be set as a signal indicating that all valid linear movement axes have completed home return. A general-purpose input port can be set as a brake forced-release input (dedicated input). Set a desired input port number in the applicable parameter.
474 After the emergency-stop button is released, the system will automatically execute restart (software reset) and start the auto-start program. After the emergency-stop button is released, the system will automatically execute error reset and start the autostart program. A general-purpose input port can be set I/O parameter No. 79 = Input port as a mode switching input (dedicated number input). Set a desired input port number in I/O parameter No. 79.
Other parameter No. 20 = 0 The controller can be used without installing a system-memory backup battery. Do not want to use a system-memory backup battery. Parameter setting Other parameter No. 10 = 2 I/O parameter No 35 = 1 (Input port No. 5 is set as a pause reset input.) I/O parameter No. 31 = 1 (Input port No. 1 is set as a restart input. This is to provide a means of canceling the operation.
476 A desired zone can be set for each linear movement axis. A desired output port to turn ON when the axis enters the zone can be set for each axis. A maximum of four zones can be set (zones 1 to 4). Max. value of zone 1: Axis-specific parameter No. 86 Min. value of zone 1: Axis-specific parameter No. 87 Zone 1 output port number: Axis-specific parameter No. 88 Want to output signal when a linear movement axis enters a specified area (zone).
Axis-specific parameter No. 1, Axis operation type 0 (Linear movement axis) Invalid 1 (Index mode) 0 (Short-cut control not selected) * “0” must be specified if the normal mode is selected. 0 (Normal mode) 1 (Short-cut control selected) 0 (Short-cut control not selected) Invalid Invalid x { { x Axis-specific parameter No. 68, Mode selection for linear movement axis 1 (Infinite-stroke mode) * Duty cycle timeout check must be reviewed. Axis-specific parameter No.
478 Operationcancellation level Message level Secret level Error level AA0 ~ ACF AD0 ~ AFF PC TP 4D0 ~ 4DF 4E0 ~ 4EF 4F0 ~ 4FF PC PC (Update tool) TP MAIN core MAIN application TP PC (Update tool) PC MAIN core 400 ~ 4CF A70 ~ A9F MAIN core MAIN application 9C0 ~ 9FF A00 ~ A6F MAIN application 9B0 ~ 9BF PC (Update tool) TP 940 ~ 97F 980 ~ 9AF 900 ~ 93F MAIN application PC 2D0 ~ 2FF TP MAIN core 2A0 ~ 2CF PC (Update tool) 250 ~ 29F PC MAIN core MAIN application TP PC (
BC0 ~ BDF BE0 ~ BFF C00 ~ CCF CD0 ~ CDF CE0 ~ CEF CF0 ~ CFF PC TP MAIN application 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 FF0 ~ F8F FC0 ~ FCF FD0 ~ FDF FE0 ~ FEF PC TP { { { { { { Display (7Error list segment (Application display, etc.
480 Unsupported control constant table ID error Control constant table change/query error Control constant table write data type specification error Control constant table management information mismatch error Flash busy reset timeout error Motorola S-byte count error Updating target specification error (Received by the application) RC axis multiple use error (SIO) RC axis right-of-use acquisition error (SIO) RC gateway operation mode error 209 20A 20B 20C 20D 20E 20F 220 221 223 RC pos
Check driver parameter Nos. 38, 39, 40, 43, 44, 45, etc. Mounted-SIO duplicate WRIT execution error Mounted-SIO unused channel selection error Flash busy reset timeout Control constant table management information mismatch error Control constant table ID error Encoder control constant error (power-source voltage control) An encoder control constant relating to power-source voltage control is invalid.
482 Tracking received message error (tracking data communication) Received tracking load count error (tracking data communication) Steady-state (non-push) torque limit over error SCARA/linear movement axis simultaneous specification error Mounted SIO communication mode error 416 417 420 421 425 UBM SRAM data corruption error RC gateway minor failure error RC gateway RC axis detachment detection error 433 434 UBM data checksum error 432 431 UBM management area checksum error Unsupported I
Description, action, etc. Servo-OFF RC axis use error RC axis home return incomplete error Bad RC axis position complete position error 440 441 442 RC axis with error use error RC axis right-of-use acquisition error 43F 43D 43E RC axis in-use servo OFF error RC axis multiple use error 43C RC axis pattern not-yet-set error 43B Operation is not possible in the current RC gateway operation mode.
484 Power-system overheat error Slave board CPU ready OFF error (other than power supply) Dynamic brake ON/OFF timeout error Power-supply board synchronous send timing error 1 (CPSDBSYER) Power-supply board synchronous send timing error 2 (CPCLKER) Power-supply board synchronous communication LRC error Power-supply board synchronous communication timeout error Driver synchronous communication driver read error Driver synchronous communication LRC error Driver synchronous communication toggle error Mounte
Speed control parameter setting command busy error Speed control parameter setting command timeout error ABZ encoder logic error Encoder/motor control constant table flash ROM status error Encoder/motor control constant table checksum error ABZ encoder specification error 639 63A 63B 63C 63D Error name Mounted-SIO undefined control command receive error Driver error detail code acquisition error Undefined driver error Driver-side detection synchronous communication error Driver IPM15V voltage low e
486 656 657 658 651 652 653 654 655 64F 650 64D 64E 64A 64B 64C 646 647 648 649 Error No. 63E 63F 640 641 642 643 644 645 Description, action, etc. Check if the encoder cable is connected. The encoder control constant is invalid. The motor control constant is invalid. Check driver parameter Nos. 32, 33, etc. Check driver parameter Nos. 43, 44, 45, etc. Check “Axis-specific parameter No. 43: Encoder division ratio.” Check driver parameter No. 26, encoder parameter No. 11.
Driver initialization communication type specification error Mechanical angle 360-degree pulse count calculation error 662 666 Encoder/motor combination mismatch error (linear/rotary type) 661 Driver/encoder communication line channel number specification error Maximum motor speed mismatch error 660 665 Main/driver motor control data mismatch error 65F Software DB specification error Current detection circuit type mismatch error 65E Current control band number specification error Unsupported
488 Error name Invalid driver initialization communication line specification error at specification of valid axis Driver target information initialization error Encoder target information initialization error Power-system target information initialization error Slave communication error response error SCI LRC error (slave communication) Slave communication target ID error Slave communication block number error Target specification error due to no axis number Target board type error Encoder contr
6B5 Belt breakage error RC axis control job timeout error RC gateway emergency-stop mismatch error Mounted SIO RC gateway logic error 6B0 6B4 Mounted SIO RC gateway function selection parameter error 6AF 6B3 Mounted SIO operation mode specification error 6AE RC gateway unsupported error (mounted SIO) RC axis control command logic error 6AD RC gateway I/O assignment parameter error RC axis control job logic error 6AC 6B2 RC gateway command issuance timeout error 6AB 6B1 RC gateway DPRAM
490 Stop deviation overflow error (when home return is not yet completed) SCIF overrun status (IAI protocol reception) SCIF receive ER status (IAI protocol reception) Receive timeout status (IAI protocol reception) SCIF overrun status (SEL reception) SCIF receive ER status (SEL reception) SCIF receive ER status due to other factor (SEL reception) Drive-source cutoff relay ER status Power OFF status during slave parameter write Power OFF status during data write to flash ROM Expanded-SIO overrun s
Mounted-SIO parity ER status (SEL reception) Mounted-SIO framing ER status (SEL reception) Mounted-SIO S-receive queue overflow status (SEL reception) Mounted-SIO M-receive temporary queue overflow status (SEL reception) Mounted-SIO M-receive buffer overflow status (SEL reception) DRV status 820 (TO_SELECTEDDATA) Tracking system adjustment-type specification error Belt rupture error 81B 81C 81D 81E 81F 820 821 822 Maintenance information (for analysis) Communication failure.
492 Command error (IAI protocol HT reception) PC/TP-servo movement command acceptance permission input OFF error Multiple-program simultaneous start prohibition error Abnormal absolute-data backup battery voltage Coordinate system number error Coordinate system type error Coordinate system definition data count-specification error Axis number error Operation type error for SCARA ABS-reset special movement Positioning operation type error Simple interference check zone number error 912 913 914
Head sector number specification error Write-destination offset address error (Odd-numbered address) Write-source data buffer address error (Odd-numbered address) Invalid core-code sector block ID error Core-code sector block ID erase count over A0F A10 A11 A12 Flash-ROM ACK timeout Sector count specification error Flash-ROM verify error A0B A0C A0E Error erasing/writing the flash ROM Flash-ROM timing limit over error (Erase) A0A A0D Error erasing the flash ROM Flash-ROM timing limit ove
494 Program non-registration error Reorganization disable error during program run Active-program edit disable error A28 A29 A26 A27 Step count specification error Program count specification error A25 A23 An edit operation was attempted to a program currently not running. End the applicable program first. A program-area reorganization operation was attempted while a program was running. End all active programs first. The applicable program is not registered.
Card manufacturing/function information change refusal error Parameter change refusal error during servo ON Non-acquired card parameter change error Device number error Memory initialization type specification error Unit type error SEL write data type specification error Flash-ROM write refusal error during program run Data change refusal error during flash ROM write Duplicate flash-ROM write commands refusal error Direct monitor prohibition error during flash ROM write P0/P3-area direct monitor prohibiti
496 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-character count error warning with SCPY command SCIF open err
Software reset is prohibited while data is being written to the flash ROM or slave parameters are being written. A FBRS link error was detected.
498 B1B B1C B18 B19 B1A B15 B16 B17 B13 B14 B12 B11 B10 B09 B0A B06 B07 B08 B05 B04 Error No. B00 B01 B02 B03 Error name Description, action, etc. The setting of SCHA command is invalid. The setting of TPCD command is invalid. The setting of SLEN command is invalid. The setting of “Axis-specific parameter No. 10, Home-return method” is invalid. (Not incremental encoder AND current position 0 home is specified, etc.
Ethernet multiple WRIT execution error Ethernet job busy error Ethernet non-initialization device use error Ethernet IP address error Ethernet port number error Load mass setting error “Load mass change prohibited while servo is in use” error Checksum error in coordinate system definition data Coordinate system number error Coordinate system type error B1E B1F B20 B21 B22 B44 B4B B70 B71 B72 Error name Ethernet non-open error B1D Error No. Description, action, etc.
500 Singular-point calculation error Current arm system setting error Current arm system indetermination error R-axis servo OFF detection error during position control correction Z-axis servo OFF detection error during RZ mechanism correction Error due to target locus inside rear entry prohibition area Error due to target locus inside CP-operation restriction zone (PTP/jogging of each axis enabled) Physically unrealizable target error Servo use purpose error Specification-prohibited axis error Ax
Arm length error Operation start-position acquisition error inside work area using application servo SEL PTRQ command preparation error Error due to target locus error inside tool-center entry prohibition circle Logic error during calculation of valid target data SCARA CP logic error Detection of entry into simple interference check zone (Operation-cancellation level specification) SLPR parameter type specification error SEL STPR command preparation error Positioning time calculation error Passing
502 Error name SLCT over-nesting error Subroutine over-nesting error DO/IF/IS under-nesting error SLCT under-nesting error Subroutine under-nesting error SLCT next-step command code error Create stack failed C0F C10 C11 C12 C13 C14 C15 C16 Extension-condition LD shortage error 2 DO/IF/IS over-nesting error C0E C1A BGSR no pair-end error C0D Extension-condition LD shortage error 1 DW/IF/IS/SL no pair-end error C0C C19 DW/IF/IS/SL pair-end mismatch error C0B Extension-condition cod
C33 C34 C35 C36 C37 C38 C39 C3A C3B C3C C2F C30 C32 C2C C2D C2E C2B C23 C24 C25 C26 C27 C28 C29 C2A C1F C21 C22 Description, action, etc. An attempt was made to execute a command based on multiple LD condition that has been saved, without using it in extension condition AB or OB. Input-condition CND shortage error The necessary input condition is not found when an extension condition is used.
504 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 C53 C54 C55 Flash-ROM ACK timeout error (Flash ROM erase) Backup SRAM data destruction error C52 C58 Point data checksum error C51 Timing limit over error (Flash ROM erase) Symbol definition table checksum error C50 Flash-ROM verify error (Flash ROM erase) SEL program/source symbol checksum error C4F C57 SIO invalid
Push-motion flag logic error Deviation overflow error Movement error during absolute data acquisition Maximum installable axes over error Servo-OFF axis use error Home-return incomplete error C6C C6D C6E C6F Axis duplication error C66 C6B Servo ON/OFF logic error C65 C6A Invalid servo acceleration/deceleration error C64 Servo-control-right non-acquisition error Servo operation condition error C63 C69 Operation command error at servo OFF C62 Servo-control-right acquisition error SEL-
506 Motion-data-packet overflow error Pole sense operation error Servo unsupported function error Odd-pulse slide error Odd-pulse processing logic error Packet pulse shortage error C78 C79 C7A C7B C7C C7D Operation-amount logic during servo ON Servo direct command type error Servo calculation method type error C81 C82 C83 Servo-packet calculation logic error Handling-packet overflow error C77 C80 Movement-point count over error C76 Quadratic equation solution error Motion-data-pack
The specified acceleration/deceleration is invalid. The arc calculation logic is invalid. Position data that cannot be used in arc movement was specified. Check the position data. The final point data was deleted while continuous point movement was being calculated. The axis operation type is invalid. Check “Axis-specific parameter No. 1, Axis operation type” and perform operation appropriate for the operation type specified.
508 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 error Palletizing position number error Palletizing position number setting over Palletizing PX/PY/PZ-axis duplication error Insufficient valid axes for palletizing 3-point teaching data
Target track boundary over error Positioning distance overflow error CBE CBF Driver parameter list number error Angle error SEL data error Positioning boundary pull-out error Driver error primary detection Palletizing movement PZ-axis pattern non-detection error Arch top Z-axis pattern non-detection error Arch trigger Z-axis pattern non-detection error Arch top/end-point reversing error CC2 CC3 CC4 CC5 CC6 CC7 CC8 CC9 CCA Axis mode error MOD command divisor 0 error CBD Speed change
510 Arch end-point/trigger reversing error Drive-source cutoff axis use error Error axis use error Palletizing reference-point/valid-axis mismatch error CCC CCD CCE CCF Error name Arch start-point/trigger reversing error CCB Error No. Description, action, etc. The PX/PY(/PZ)-axes set by PASE/PCHZ are not valid in the axis pattern of the reference-point data set by PAST. An attempt was made to use an axis currently generating an error.
Encoder full-absolute status error Encoder counter overflow error Encoder rotation error D1D D1E D1F Failure in the interface with the main CPU Serial bus receive error Encoder receive timeout error Driver command error D19 D1A Encoder overspeed error Speed loop underrun error D18 D1B The encoder is faulty or failure occurred in the encoder communication. An error occurred in the CPU bus command.
512 Encoder rotation reset error Encoder alarm reset error Encoder ID error Encoder configuration mismatch error Motor configuration mismatch error Fieldbus error (FBMIRQ timeout) Fieldbus error (FBMIRQ reset) Fieldbus error (FBMBSY) Fieldbus error (BSYERR) Window lock error (LERR) Fieldbus error (Min busy) Fieldbus error (MinACK timeout) Fieldbus error (MoutSTB timeout) D23 D24 D25 D26 D50 D51 D52 D53 D54 D55 D56 D57 Error name D22 Driver error D20 Error No.
Expanded-SIO assignment error D64 Expanded-SIO 2/4 CH insulation power error D60 Expanded-SIO UART paging error Fieldbus error (Mailbox response) D5E D63 Fieldbus error (FBRS link error) D5D Expanded-SIO 1/3 CH insulation power error Fieldbus error (Access-privilege open error) D5C Expanded-SIO baud-rate-generator clock oscillation error Fieldbus error (Access-privilege retry over) D5B D62 Fieldbus error (TOGGLE timeout) D5A D61 Fieldbus error (DPRAM write/read) D59 Error name Fieldbu
514 Simple interference check zone output-number specification error A value other than an output port/global flag number (0 is allowed) may have been input, or the specified number may be already used as a system output number via the I/O parameter for output function selection. * SCARA only.
Description, action, etc. The WAIT logic is invalid. Point-data valid address is not set. WAIT logic error Point-data valid address error Source data error Unaffected output number error Zone parameter error I/O assignment parameter error I/O assignment duplication error I/O assignment count over error Header error (Slave communication) E1A E1B E1C E1D E1E E1F E20 E21 E22 The task ID is invalid. The header in the message received from the slave card is invalid.
516 Parameter checksum error Gain parameter error Rotational-movement axis parameter error Servo-motion data packet shortage error Servo job error Servo undefined command detection error Maximum receive size over error at absolute-data acquisition E3E E3F E40 E41 E42 E45 E46 E2E E2F E30 E31 E32 E33 E34 E37 E38 E39 E3A E3C E3D E2D E2C Error name Card ID error (Slave communication) Response type error (Slave communication) Command type error (Slave communication) Target type error No target error EEPROM
Drive unit error (DRVESR) E51 Slave maximum receive size over error Slave no normal response reception error Sending-slave CPU type error Message-buffer information type error Abnormal standby power detection error E61 E62 E63 E64 E5C E60 Hold-at-stop servo job error E5B Length conversion parameter error Detection OFF error upon pole sense completion E5A E5F Pole sense non-detection error E59 Servo packet error Brake ON/OFF timeout error E58 Servo-control-right management array numbe
518 Safety-gate open status requiring reset recovery (not error) Shutdown factor indeterminable error DO output current error Drive-source cutoff relay error Power-stage rating (W) mismatch error Power-stage rating (V) mismatch error Motor-drive power rating (V) mismatch error Encoder configuration information outside supported function information range Motor configuration information outside supported function information range Encoder resolution mismatch error Encoder division ratio mismatch error En
Stroke parameter error Unsupported card error Priority auto-assignment card non-detection error Card mismatch error I/O slot card error Resolution parameter error Driver ready OFF factor indeterminable error Fieldbus error (FBVCCER) Fieldbus error (FBPOWER) Power error (Other) SCIF open error in non-AUTO mode (Servo in use) SEL program flash-ROM status error Symbol definition table flash-ROM status error Point data flash-ROM status error Parameter flash-ROM status error Flash busy reset timeo
520 Error name Shutdown error (hi_sysdwn () definition ) A regenerative resistance temperature error was detected. The flash ROM type anticipated in the software does not match the flash ROM type actually installed. Check the combination of software and hardware. An undefined NMI interruption occurred.
Flash verify error Flash ACK timeout Head sector number specification error Sector count specification error Write-destination offset address error (Odd-numbered address) Write-source data buffer address error (Odd-numbered address) Invalid code sector block ID error Code sector block ID erase count over A7F A80 A81 A82 A83 A84 Flash timing limit over error (Erase) A7C A7E Flash timing limit over error (Write) A7D Motorola S write address over error Motorola S record type error A77 A7B
522 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 The unit code in the message received with the updating target specification command does not match any updatable unit in the controller. Check the target specification and other settings in the updating PC tool.
Flash ACK timeout (Flash write) Write-destination offset address error (Flash write) E9B E9C 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 EA4 EA5 EA6 EA7 EA8 EA9 EAA EAB EA2 EA3 Bit exception reset due to command/data TLB duplication
524 * Error name Installed flash ROM type mismatch (Core) EAE EAF Description, action, etc. The flash ROM type anticipated in the software does not match the flash ROM type actually installed. Check the combination of software and hardware. Excessive data is received from outside. (Confirm that a PC and IAI’s update tool are used to update the application.) A FPGA boot watchdog was detected. The core program may not be running properly. A servo control underrun error was detected.
Appendix Troubleshooting of X-SEL Controller The X-SEL Controller has a panel window on its front face. Error numbers will be displayed in this panel window. When the power is turned on, normally “rdy” or “Ardy” will be displayed. “P01” or other code will be displayed 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.
526 Safety gate open Deadman switch OFF Defective phase-Z position error Abnormal absolute-data backup battery voltage oPG dSF C9C 914 CA2 CA5 Emergency stop (This is not an error.) ErG The safety gate is open. The switch is set to the manual side even when the teaching connector or other connector is not connected. The phase-Z position is defective or the reversing amount at home return is small. Cause Momentary power failure has occurred or the voltage has dropped.
Shutdown relay ER status 807 d18 Encoder receive timeout error Speed loop underrun error d19 Replace the encoder cable. Countermeasure Check if any of the mounting bolts for the linear movement axis is contacting inside the axis, or if the slider attachment is contacting any surrounding mechanical part. Remove the motor cover of the linear movement axis and apply cleaning air spray for OA equipment, etc., over the cord wheel. If the problem persists, replace/readjust the encoder.
Appendix Servo Gain Adjustment for Linear Movement Axis Caution: Do not adjust the servo gains of SCARA axes. The servo has been adjusted at the factory according to the standard actuator specification, so the servo gains need not be changed in a normal condition. However, vibration or abnormal noise may occur depending on how the actuator is affixed, load conditions, etc. Accordingly, the servo adjustment parameters are disclosed so that the user can take prompt actions upon encountering such conditions.
Appendix z Speed loop integral time constant (parameter list 1) Driver card parameter number Unit Input range 44 1 ~ 1000 Speed Default (reference) 30 Small parameter value (overshoot) Large parameter value Time z Current loop control band number Driver card parameter number 46 Unit - Input range 0~4 Default (reference) 4 This parameter sets the control band for the PI current control system. It need not be changed in a normal condition.
Appendix Trouble Report Sheet Company name TEL IAI agent 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 = 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 Revision Date Description of Revision First edition February 2008 Second edition May 2008 Third edition April 2009 Fourth edition August 2009 June 2010 December 2010 April 2011 March 2012 November 2012 Fifth edition Sixth edition Added “Before Using the Product” on the first page after the cover. Deleted “Safety Precautions” before the table of contents and added “Safety Guide” immediately after the table of contents.
Manual No.: ME0152-9B (November 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.