IAI IA-101-TT-USB Operation Manual Download

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10. Coordinate System Definition Data Edit W

indow

188

Rtn

Roftn

Xoftn

Yoftn

Zoftn

Ztn

R-axis

Tool

Tool end

Xoftn: X tool coordinate offset

Yoftn: Y tool coordinate offset

Zoftn: Z tool coordinate offset

Roftn: R tool coordinate offset

Xtn: Tool Coordinate system, X-axis

Ytn: Tool Coordinate system, Y-axis

Ztn: Tool Coordinate system, Z-axis

Rtn: Tool Coordinate system, R-axis

(n indicate tool coordinate system No.)

10.3 Tool Coordinate System

A total of 128 different coordinates, provided as a combination of three-dimensional orthogonal

coordinates and rotation axis coordinates, are defined by the dimensions (offsets) of the tool (hand etc.)

installed on the tool installation surface. Note that tool coordinate system No. 0 is reserved in the system

as the tool coordinate system with 0 offsets.

When a defined tool coordinate system No. is selected, the tool end, not the center of the tool installation

surface, is used as the positioning destination.

(Note) For 3-axis type of IXP-3N315 and 3N4515, it is ineffective even if it is set to R-axis.

Select a defined tool coordinate system and jog the R-axis, and the machine will operate as illustrated below:

Summary of Contents for IA-101-TT-USB

Page 1: ...1 PC Software for X SEL IA 101 X MW IA 101 X MW JS IA 101 XA MW IA 101 X USBS IA 101 X USBMW IA 101 TT USB Operation Manual 22th Edition IAI Corporation ...

Page 2: ......

Page 3: ...s handling this product can reference it quickly when necessary Important This operation manual is written specifically for the product The product cannot be operated in any way unless expressly specified in this operation manual We shall assume no responsibility for the outcome of any operation not specified herein Information contained in this operation manual is subject to change without notice...

Page 4: ......

Page 5: ...ftware for USB Connection of XSEL RA SA RAX SAX RAXD SAXD 33 1 3 4 How to change the USB COM port 40 1 4 Connection to Controller 42 1 5 Starting the Software Online Connection 57 1 6 Operation System Command Restriction 60 2 How to Save Data 63 2 1 Factory Setting When a Backup Battery Is Used When the X SEL controller is shipped 63 2 2 When a Backup Battery Is Not Used Table Top Actuator TT SSEL...

Page 6: ...Clearing Position Data 152 8 Parameter Edit Window 154 8 1 Explanation of the Parameter Edit Window 154 8 2 Saving Parameter Data and Closing the Edit Window 156 8 3 Transferring a Parameter File 159 8 3 1 Selecting Categories of Parameters to Be Transferred 160 8 3 2 Default Specifications 163 8 4 Easy Parameter Setup 164 8 4 1 Explanation of Easy Parameter Setup 164 8 5 How to Initialize XSEL R ...

Page 7: ...et Operation 313 13 8 2 Procedure for Stopper Pressing Position Acquirement Operation 329 14 Supplemental Information on Controller Menu Items 349 14 1 Software Reset 349 14 2 Reset Error 349 14 3 Drive source Recovery Request and Operation pause Reset Request 350 14 3 1 In the cases of Controllers Other Than SSEL ASEL or PSEL Controllers 350 14 3 2 In the cases of SSEL ASEL or PSEL Controllers 35...

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Page 9: ...00 00 00 XSEL RA SA x6pg x6pa x6pt x6pm x6sm x6gd x6bk V13 00 00 00 XSEL RAX SAX s6spg s6spa s6spt s6spm s6ssm s6scd s6sgd s6sbk V13 00 00 00 XSEL RAXD SAXD s6dpg s6dpa s6dpt s6dpm s6dsm s6dcd s6dgd s6dbk V13 00 00 00 SSEL sspg sspa sspt sspm sssm ssgd ssbk V6 0 0 0 SSEL applicable for memory increase sspg2 sspa2 sspt sspm sssm2 ssgd ssbk2 V7 00 06 00 ASEL aspg aspa aspt aspm assm asgd asbk V7 0 0...

Page 10: ...Windows 95 Windows 98 Windows NT Windows Me and Windows 2000 Installing V7 07 12 00 Compatible V7 07 12 00 applicable for IA Super SEL Controller E Type G Type and DS Controller is also stored in the CD ROM Install it in the same manner as V6 0 0 0 The applicable OS are Windows 98 Windows Me Windows 2000 and Windows XP 1 Insert the CD ROM containing the software into the CD ROM drive 2 A screen to...

Page 11: ...3 4 Click TOOL 5 The PC SOFT V6 0 0 0 folder containing the V6 0 0 0 installer will appear Click PC SOFT V6 0 0 0 folder 6 Click the ENGLISH folder ...

Page 12: ...k PC Interface Software The PC Interface Software for X SEL installation screen will appear Install the software based on the step 3 and thereafter described in 1 3 1 How to Install the PC Interface Software for X SEL ...

Page 13: ...iple computers The user should not be allowed to have himself or a third party performs modification reverse engineering disassembly decompile translation or adaptation entirely or partially in this Software If the User violates anything in the agreement and causes any loss to IAI the User is to compensate the loss caused to IAI 3 Termination of the Agreement In the event of breach by the User of ...

Page 14: ...ver that Windows is not included with the software Port used Type Operable Windows RS 232C IA 101 X MW JS IA 101 X MW IA 101 XA MW Windows 7 1 Windows 8 8 1 2 or Windows 10 3 USB IA 101 X USBS IA 101 X USBMW IA 101 TT USB IA 101 TTA USB IA 101 N Note 1 Windows 7 1 Windows 8 8 1 2 or Windows 10 3 1 Supported by software version V8 01 00 00 or later 2 Supported by software version V12 01 00 00 or la...

Page 15: ...ical manner under the International Standards ISO IEC The safety standards that apply to industrial robots are as follows Type C standards individual safety standards ISO10218 Manipulating industrial robots Safety JIS B 8433 Manipulating industrial robots Safety Also Japanese laws regulate the safety of industrial robots as follows Industrial Safety and Health Law Article 59 Workers engaged in dan...

Page 16: ...immediate stopping of operation Article 150 3 Sign etc saying WORK IN PROGRESS Article 150 3 Provision of special education Article 36 No 31 During teaching etc Not cut off Checkup etc before commencement of work Article 151 To be preformed after stopping the operation Article 150 5 Cut off Sign etc saying WORK IN PROGRESS Article 150 5 Preparation of working rules Article 150 5 Measures to enable...

Page 17: ... axis are within 300 mm Among the products featured in our catalogs the following models are classified as industrial robots 1 Single axis ROBO Cylinders RCS2 RCS2CR SS8 RCS3 RCS3CR RCS3P RCS3PCR whose stroke exceeds 300 mm 2 Single axis robots The following models whose stroke exceeds 300 mm and whose motor capacity exceeds 80 W ISA ISPA ISB ISPB SSPA ISDA ISPDA ISWA ISPWA IF FS NS 3 Linear servo...

Page 18: ...p when the power is turned OFF and may cause an accident such as an injury or damage on the work piece 2 Transportation When carrying a heavy object do the work with two or more persons or utilize equipment such as crane When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of...

Page 19: ... the cable length Failure to do so may cause the product to malfunction or cause fire 3 Grounding The grounding operation should be performed to prevent an electric shock or electrostatic charge enhance the noise resistance ability and control the unnecessary electromagnetic radiation For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel make ...

Page 20: ...ur hand or damage the work parts with the actuator dropped by gravity Safety protection fence In the case that there is no safety protection fence the movable range should be indicated 6 Trial Operation When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers After...

Page 21: ...lt in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untighte...

Page 22: ...e product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This...

Page 23: ... cable IA 101 X MW RS232C cable CB ST E1MW050 EB 1 cable Connection Configuration Compatible controller XSEL P PX R RX RXD RA RAX RAXD PX Compatible controller SSEL ASEL PSEL MSEL RS232C cable CB ST E1MW050 EB Conversion cable CB SEL SJS002 When an NEC computer is used some models may require an adapter separately for the RS232C cable Type External Connection Cable IA 101 XA MW Cable Conforming to...

Page 24: ...rnal Connection Cable IA 101 TTA USB USB cable CB SEL USB 030 1 piece Dummy Plug DP 2 1 unit Connection Configuration Dummy plug Compatible controller DP 2 TTA and TT USB cable CB SEL USB030 Type External Connection Cable IA 101 N No USB cable enclosed Note 1 Connection Configuration Note 1 There is no USB cable enclosed Please prepare yourself a general purposed USB cable Note 2 A general purpose...

Page 25: ...yboard compatible with a PC compatible with supported OS Windows Memory Capacity of memory necessary to run a supported OS Windows Display XGA and above Pointing device Mouse or a compatible driver Storage medium drive CD ROM drive Hard disk Hard disk with at least 30 MB of available space The software is installed on the hard disk Serial port RS232C EIA S74 compliant Required for PC software of t...

Page 26: ...led data selection screen Fig 1 1 will be displayed Click the data to install Fig 1 1 Installed Data Selection Screen The displayed screen may vary depending on the version data in the CD or other factor Note If the installed data selection screen Fig 1 1 is not displayed If the Installed Date Selection Screen is not displayed after inserting the CD ROM please follow the next steps to display the ...

Page 27: ...installation screen Fig 1 3 for PC interface software for X SEL Click Next Fig 1 3 Installation Screen 4 The Customer Information registration screen Fig 1 4 will be displayed Enter your information and click Next Fig 1 4 Customer Information Registration ...

Page 28: ...e software for X SEL Fig 1 5 Normally you can install it to the displayed folder After specifying it click Next Fig 1 5 Specification of Destination Folder 6 The wizard is ready to begin installation Clicking Install will begin actual installation Fig 1 6 Installation Preparation ...

Page 29: ...tion 8 Once the installation program is completed the items of IAI X_SEL and PC Interface software will be displayed in this order from Program P in the Start menu Selecting these items will start this software 9 Remove the CD ROM 10 After starting the program click Help in the menu to confirm that the version corresponds to the version of the CD ROM If it does not uninstall the program and instal...

Page 30: ...alled data selection screen Fig 1 9 will be displayed Click USB Conversion Adapter Fig 1 9 Installed Data Selection Screen The displayed screen may vary depending on the version data in the CD or other factor 3 You are prompted to set the folder of the copy destination If you use the displayed folder as it is click Copy To change it enter it manually or click Browse to set the folder of the copy d...

Page 31: ...reen Fig 1 13 will be displayed Fig 1 13 Complete Screen 6 Once the complete screen Fig 1 13 has been displayed click OK The complete screen Fig 1 13 will disappear Then click Cancel on the screen to specify the folder of the copy destination Fig 1 10 The screen to specify the folder of the copy destination will disappear Finally click Exit on the data selection screen Fig 1 9 The data selection s...

Page 32: ...e connected to each PC and use the USB Conversion Adapter Driver Software to let the hardware found Follow the procedures from 9 to 19 for all the controllers to be connected The COM port will be made for each controller 9 Windows will open the Welcome to the Found New Hardware Wizard Select the checkbox Yes now and every time I connect a device Click Next Fig 1 14 Welcome to Found New Hardware Wi...

Page 33: ...ch Click Browse and find and select C IAI USB Fig 1 16 Search and Installation Options Selection Screen 12 The installation of the IAI USB Composite Device driver will begin The wizard will prompt you with a warning to ask if you want to continue with the installation Click Continue Anyway Fig 1 17 Installation Continuation Confirmation Screen ...

Page 34: ...ation of the driver is completed Click Finish Fig 1 18 IAI USB Composite Device Installation Finish Screen 14 Subsequently the Welcome to the Found New Hardware Wizard screen will open Select the checkbox Install from a list or specific location Advanced Click Next Fig 1 19 Installation Method Selection Screen ...

Page 35: ...rowse and find and select C IAI USB Click Next Fig 1 20 Search and Installation Options Selection Screen 16 The installation of the IAI USB to UART Bridge Controller driver will begin The wizard will prompt you with a warning to ask if you want to continue with the installation Click Continue Anyway Fig 1 21 Installation Continuation Confirmation Screen ...

Page 36: ... the Windows taskbar Settings and then Control Panel to open Control Panel Double click System to open System Properties Click the Hardware tab in System Properties to open it Click Device Manager in Hardware to open it Double click Ports COM LPT in Device Manager to expand the folder tree If there is IAI USB to UART Bridge Controller COM under Ports COM LPT in Device Manager the driver has normal...

Page 37: ... of USB conversion adapter 3 A screen to confirm whether or not an older version is installed appears If an older version is not installed click Yes If an older version is installed click No When the installation stops uninstall the older version using the Programs and Features icon in Control Panel Fig 1 24 Screen to Confirm Whether or Not an Older Version is Installed 4 The IAI Corporation USB t...

Page 38: ...dge Controller Driver Installer screen The drivers were successfully installed on this computer Click Finish Fig 1 27 IAI Corporation USB to UART Bridge Controller Driver Installer Confirmation Screen 7 Connect the PC and the USB conversion adapter with a USB cable 8 The driver installation will be completed If the installation is not completed repeat the steps from Step 9 ...

Page 39: ...B to UART Bridge Controller and click Update Driver Software Fig 1 28 Device Manager Screen 10 The Update Driver Software screen appears On the Update Driver Software screen click the Browse my computer for driver software button Fig 1 29 Update Driver Software Screen ...

Page 40: ... IAI USBv4 Vista 8 Click Next Fig 1 30 Update Driver Software Screen 12 The driver software update completion screen IAI USB to UART Bridge Controller appears Click Close on the Update Driver Software screen Fig 1 31 Driver Software Update Completion Screen IAI USB to UART Bridge Controller 13 The driver installation is now complete C Program Files IAI IAI USBv4 Vista 8 ...

Page 41: ...or in an emergency case In case you cannot prepare a switch use IA 101 X USBMW equipped with a stop switch It is not necessary to have work processes from 1 to 5 for Windows 10 Go on to Step 6 1 Insert the CD ROM containing this software into your CD ROM drive 2 The installed data selection screen will be displayed Click the Driver of USB for IAI Controller for XSEL RA SA Series Fig 1 32 Installed...

Page 42: ...pears during the process Continue operation in the steps shown in the figure The contents of the display may differ depending on the OS Fig 1 34 Install Start Screen for Windows 7 8 Fig 1 35 Install Start Screen for Windows Vista Click Install button Select Install this driver software anyway ...

Page 43: ...Before You Begin 35 Fig 1 36 Install Start Screen for Windows XP 5 After the install the following window will open Click Finish Fig 1 37 Devece Driver Install Wizard Complete Screen Click Continue Anyway ...

Page 44: ...S or PC environment Continue operation in the steps shown in the figure a For Windows 7 Although the following operation is not mandatory without doing the operation installation requires longer time b For Windows Vista Fig 1 39 Found New Hardware Screen Select Locate and install driver software recommended Click this icon to skip the acquirement process of the driver software from the Windows upd...

Page 45: ...1 Before You Begin 37 c For Windows XP Fig 1 40 Found New Hardware Wizard Fig 1 41 Hardware Installation Screen 1 Select Install the software automatically Recommended 2 Click Next Click Continue Anyway ...

Page 46: ...all complete The contents of the display may differ depending on the OS Click Close or Complete Fig 1 42 Driver Software Installation Complete Screen For Windows 7 Fig 1 43 Installation Complete Screen For Windows XP 13 The driver installation is now complete ...

Page 47: ...ded The way to change the COM port refer to 1 3 4 How to Change COM Port of IAI USB in XSEL PC Software Instruction Manual The name of the COM port is differ from the one on USB converter adapter Fig 1 44 Device Manager Screen The names of COM port is IAI USB COM Port It should be USB Serial Device for Windows 10 ...

Page 48: ...screen Click and open Hardware above the System icon Click and open Device Manager inside the Hardware folder Double click and extend Port COM and LPT inside the Device Manager folder 2 Double click IAI USB to UART Bridge Controller COM Note COM is the COM port number before the port is changed Fig 1 45 Device Manager Screen 3 Property screen of IAI USB to UART Bridge Controller COM will be displa...

Page 49: ... be set Click OK Fig 1 47 COM Port Option Screen 5 COM Port Option screen will be disappeared COM port number will be changed by clicking OK on the Property screen Fig 1 33 6 To confirm that the COM port number is changed close the Device Manager screen and display it again After confirming the change close all screens including the Device Manager screen ...

Page 50: ...1 Before You Begin 42 1 4 Connection to Controller Fig 1 48 X SEL K J Type Controller ...

Page 51: ...lector switch of the X SEL P teaching pendant to the right Warning The internal components of the controller may burn if the following cable is used to connect XSEL Q to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray Emergency Stop Switch Enable Switch ...

Page 52: ...1 Before You Begin 44 Figure shows example of TT Fig 1 50 Table Top Actuator TT TTA ...

Page 53: ...1 Before You Begin 45 Fig 1 51 X SEL KX JX Type Controller ...

Page 54: ... teaching pendant to the right Warning The internal components of the controller may burn if the following cable is used to connect XSEL QX to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray X SEL PX only ...

Page 55: ...g cable is used to connect XSEL S to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray CO NT RO LLER 1A Emergency Stop Switch Enable Switch 24 V Power Supply Panel Unit Motor cable Encoder cable Expansion I O unit optional PC ...

Page 56: ...wing cable is used to connect XSEL SX to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray Emergency Stop Switch Enable Switch 24 V Power Supply Panel Unit Motor cable Encoder cable Expansion I O unit PC 24 V Power Supply 1A ...

Page 57: ...following cable is used to connect XSEL SXD to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray Emergency Stop Switch Enable Switch Panel Unit Expansion I O unit PC 24 V Power Supply 1A 24 V Power Supply 24 V Power Supply ...

Page 58: ...hen having an actuator operated by USB connection so that you can stop the actuator in an emergency case In case you cannot prepare a switch use IA 101 X USBMW equipped with a stop switch Warning The internal components of the controller may burn if the following cable is used to connect XSEL SA to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software c...

Page 59: ...Make sure to prepare the stop switch in your reach when having an actuator operated by USB connection so that you can stop the actuator in an emergency case In case you cannot prepare a switch use IA 101 X USBMW equipped with a stop switch Warning The internal components of the controller may burn if the following cable is used to connect XSEL SAX to a computer PC software IA 101 X MW Accessory ca...

Page 60: ...e sure to prepare the stop switch in your reach when having an actuator operated by USB connection so that you can stop the actuator in an emergency case In case you cannot prepare a switch use IA 101 X USBMW equipped with a stop switch Warning The internal components of the controller may burn if the following cable is used to connect XSEL SAXD to a computer PC software IA 101 X MW Accessory cabl...

Page 61: ...1 Before You Begin 53 Emergency Stop Switch Enable Switch Conversion Cable USB Cable Mode Switch Panel Unit 1 axis 2 axis Fig 1 59 SSEL Type Controller ...

Page 62: ...1 Before You Begin 54 Fig 1 60 ASEL Type Controller USB Cable ...

Page 63: ...1 Before You Begin 55 Fig 1 61 PSEL Type Controller USB Cable ...

Page 64: ...Controller Actuator IXP Actuator RCP Series Power supply Single phase AC100 230V Absolute Battery BOX Contact for Cutoff Note 1 when supplying cutting off power source externally Host Device Note 1 PIO Fieldbus Emergency Stop Note 1 Safety Circuit Note 1 Enable Teaching tool ...

Page 65: ...rammed velocity commands the safety velocity mode must be disabled Refer to 3 3 Explanation of the Toolbar for how to enable disable the safety velocity mode 2 Turn on the power to the controller and PC and start Windows 3 Start this software When the application is started the Connection Confirmation window Fig 1 63 will open first In the list boxes of Port Name and Baud Rate bps select the commu...

Page 66: ...t Setup Online screen Fig 15 2 or Environment Setup Offline screen Fig 15 1 The screen in Fig 1 64 will be displayed at the next startup time to remove the check For the Environment Setup Online screen and Environment Setup Offline screen refer to 15 Tool If you set Two or more programs start prohibition MANU when multiple programs have already started the warning message will be displayed To proh...

Page 67: ...her or not the servo is in use MANU mode Servo not in use Before the OPEN command After the OPEN command TP port connection Connected to the PC software Forcibly switched to SEL program connection message error The program continues to run Error No A50 SCIF open error in non AUTO mode will occur following the OPEN command MANU mode Servo in use Before the OPEN command After the OPEN command TP por...

Page 68: ... immediately at hand prepared Only when Yes is selected in the safety circuit confirmation window there is a stop switch such operations as actuator operation by the XSEL PC software and SEL program execution operational system commands become available When No is selected in the safety circuit confirmation window there is no stop switch such operations as actuator operation by the XSEL PC softwar...

Page 69: ...tion window for safety circuit will not show up again when the controller is connected Operation will be made with the setting of the previous connection If it is required to show the safety circuit confirmation window again put a check mark on In connect confirm safety circuit in Environment Setup window Fig 1 68 Environment setting Screen ...

Page 70: ...window and a check mark was put on Don t show this window from next time on a warning message shown in the figure below will be displayed when a controller is connected Fig 1 69 Warning Message When Operational System Commands Permitted Click this button and Environment Setup window opens ...

Page 71: ...as illustrated below and the data will be cleared once the controller power is turned off or the controller is reset To save important data always write it in the flash memory 2 1 Factory Setting When a Backup Battery Is Used When the X SEL controller is shipped Other parameter No 20 2 Backup battery installed Encoder parameters are stored in the EEPROM of the actuator s encoder not in the control...

Page 72: ...QX controller with gateway function Other parameter No 20 2 Backup battery installed Encoder parameters are stored in the EEPROM of the actuator s encoder not in the controller s EEPROM Therefore encoder parameters will be loaded to the controller every time the controller power is turned on or a software reset is executed ...

Page 73: ...d parameters X SEL J K JX KX TT I O slot card power supply card parameters X SEL P Q PX QX SSEL ASEL PSEL Content 3 Flags variables strings and error lists 2 2 When a Backup Battery Is Not Used Table Top Actuator TT SSEL ASEL PSEL Other parameter No 20 0 Backup battery not installed Programs parameters and symbols are loaded from the flash memory after a restart Unless written to the flash memory ...

Page 74: ...rams parameters and symbols are loaded from the flash memory after a restart Unless written to the flash memory edited programs parameters and symbols will return to the original data once the controller is restarted The controller always operates according to the data excluding parameters stored in its memory indicated by dotted lines Note SEL global data cannot be retained when a backup battery ...

Page 75: ...lave card parameters encoder parameters etc Transfer after reset Write to flash memory Main CPU flash memory Main CPU RAM memory Slave card memory Slave card parameters fixed portions of driver parameters power supply parameters Cannot be changed Slave card memory Transfer after reset Write to flash memory Transfer after reset Transfer after reset Transfer after reset Transfer Retention memory Tra...

Page 76: ...arameters etc Slave card parameters fixed portions of driver parameters power supply parameters Cannot be changed Slave card memory Slave card memory Retention memory Position control axis in standard motion coordinate system data for SCARA User data retention memory positions control axis in extension motion SEL global data flags variables and strings Error list Programs Parameters other than sle...

Page 77: ...er at reset Main CPU retaining memory Position No 1 to 10000 SEL global data Flags variables and strings Error list Maintenance information Program parameter Other than driver card parameter Symbol position No 10001 to 30000 Transfer Note The positions No 1 to 10000 SEL global data error list and maintenance information are backed up to the retaining memory FRAM in standard with no use of the batt...

Page 78: ... param eter Sy m bol Pos ition N o 10 001 to 30 000 P C s oftw are T P D riv er c ard param eter T rans fer T rans fer D river C PU retaining m em ory Main CPU battery less backupmemory Pos ition N o 1 to 10 000 SE L global data F lag s v ariables and s trings Error lis t M aintenan c e inform ation Note The positions No 1 to 10000 SEL global data error list maintenance information are stored to t...

Page 79: ...ller a parameter file that has been read from the controller after the controller was started without the actuator connected will write invalid encoder parameters to the encoder s EEPROM This applies when the file is transferred to the controller to which the actuator is currently selected Save parameters to a file in a condition where the controller is connected to the actuator Note on the increa...

Page 80: ... QX controllers w gateway function compatible with increased memory The Number of Parameters X SEL P Q incompatible with increased memory X SEL PX QX incompatible with increased memory X SEL P Q PX QX compatible with increased memory I O 250 400 600 For all axes 120 300 400 For each axis 200 220 250 Driver 97 97 97 Encoder 30 30 30 I O Device 82 82 82 Others 100 120 200 Please be noted as follows ...

Page 81: ...n started the main window in Fig 3 1 will open showing the menu items with icons on the tool bar in the case of the X SEL J K or TT controller The tree view appearing on the left side of the window can be displayed by clicking View V from the menu bar and then selecting Tree View T Initial window Main menu Fig 3 1 Online Screen X SEL J K or TT Controller ...

Page 82: ... from the menu bar and then selecting Tree View T Initial window Main menu Fig 3 2 Online Screen X SEL P Q R S and RA SA Controllers 3 X SEL JX KX controller When this software has been started the main window in Fig 3 3 will open showing the menu items with icons on the tool bar in the case of the X SEL JX KX controller The tree view appearing on the left side of the window can be displayed by cl...

Page 83: ...PX QX RX SX RXD SXD RAX SAX RAXD SAXD and MSEL PCX PGX Controllers 5 SSEL controller in the program mode When this software has been started the main window in Fig 3 5 will open showing the menu items with icons on the tool bar in the case of the SSEL controller in the program mode The tree view appearing on the left side of the window can be displayed by clicking View V from the menu bar and then...

Page 84: ...selecting Tree View T Initial window Main menu However program edit or symbol edit using the menu or tool bar will become unavailable Icons will also become faint colored Two or more programs start prohibition will not be displayed either 7 ASEL controller When this software has been started the main window in Fig 3 7 will open showing the menu items with icons on the tool bar in the case of the A...

Page 85: ...ree view appearing on the left side of the window can be displayed by clicking View V from the menu bar and then selecting Tree View T Initial window Main menu 3 1 2 Offline Screen When this software has been started with no connection to any controller the screen in Fig 3 9 will be displayed The items that cannot be operated offline will be displayed as faint colored icons Fig 3 9 Offline Screen ...

Page 86: ... axis position data X SEL P Q PX QX PC software V7 2 0 0 or later and R S RX SX RXD SXD controllers with gateway function In the case of the X SEL P Q PX QX PC software V7 2 0 0 or later and R S RX SX RXD SXD controllers with gateway function RC axis Position Data File rpt can be loaded Fig 3 10 Target Selection Window The target selection window Fig 3 10 will be displayed to select the controller...

Page 87: ...controller settings will return to the default values shown below Upper margin 0 mm Left margin 10 mm Font MS Gothic Style Standard Size 10 Specify the top margin area for printing in mm Specify the left margin area for printing in mm Clicking this item will display the printer setup screen to set the printer Clicking this item will display the font setting screen to set a font for printing It is ...

Page 88: ...ater 7 Most Recently Opened Files D Selecting this menu item will display a list of files most recently loaded to the software where you can select and load desired files 8 Exit X Close the application If this check box is selected the folder name will not be printed when the file data is printed If this check box is selected the folder name will not be printed when the file data is printed ...

Page 89: ...em Data Edit Window RC axis Position Data Edit Window When this operation is performed the warning screen in Fig 3 14 will be displayed Clicking Yes will cancel the operation executed immediately before Fig 3 14 Warning 2 Cut T Cut the data corresponding to the cursor line in the edit window and save the data to the clipboard 3 Copy C Copy to the clipboard the data corresponding to the cursor line...

Page 90: ...ently running being performed 5 Position O This menu lets you operate position data Available only in the online mode Refer to 6 Position Data Edit Window 1 Edit E Load position data from the controller for editing 2 Copy Move C Copy move cut paste position data 3 Clear L Clear position data In the case of the X SEL R S RX SX or RXD SXD RA SA RAX SAX and RAXD SAXD controller the position data item...

Page 91: ...ou operate symbol data Available only in the online mode Refer to 9 Symbol Edit Window 1 Edit E Load symbol data from the controller for editing 2 Clear All C Clear all symbol data 8 Coordinate System D This item is displayed for X SEL JX KX PX QX RX SX RXD SXD RAX SAX RAXD SAXD and MSEL PCX PGX controllers and V12 03 00 00 or later and when work and tool coordinate systems are valid in TTA and MS...

Page 92: ...a local integers variables local real variables local string real numbers and local flags for each program number can be shown 14 Detailed Error Information E Open the detailed error information monitor window If you click Monitor M from the main menu and then selecting Detailed Error Information E the Error number Select screen will be displayed After setting the number of displayed errors click ...

Page 93: ...roller Can transfer global flags global integer variables global real variables and global strings to the controller 6 All Data Backup X Save to File S Save all program and position data in the controller In the case of X SEL P Q PX QX and R S RX SX RXD SXD controllers with gateway function After the program parameter position symbol is saved the following confirmation screen will be displayed How...

Page 94: ...collected in the positioner mode cannot be transferred to the controller in the program mode If any different file is transferred the following message will be displayed Fig 3 19 Message PC Interface Software of a Version V7 2 0 0 or later Online connection with the controller Transfer to Controller Divide File L Transfer to controller or dividing the file can be chosen in the Transfer Divide Sele...

Page 95: ...lay a screen to ask if the position of No 4001 or later should be erased Clicking Yes will clear all the programs of No 65 or later and positions of No 4001 or later Clicking No will not clear them Fig 3 22 Confirmation Screen Note Data saved in the extended format can be transferred to the controller incompatible with increased memory Programs of No 65 or later and positions of No 4001 or later c...

Page 96: ...f the software is reset after changing the following parameter and writing to the flash ROM UBM Data Composition Change Error 6A1 will be displayed I O parameter No 502 The largest axis No for RC gateway position data definition No 503 The position data points for RC gateway position data definition If an error message is displayed user data retained memory must be initialized However all the RC a...

Page 97: ...formation Acquire maintenance information system data in the positioner mode This item is displayed for SSEL ASEL and PSEL controllers 9 Write to Flash ROM W Clear the data areas in the flash ROM and then write the data saved in the controller s RAM to the flash ROM For SSEL ASEL PSEL and X SEL P Q PX QX w gateway function R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD compatible with increased memory ...

Page 98: ...EL controllers Note If 6BD Position data configuration change error 6BF Position data sum check error or 69E Position data management domain sum check error occurs use this command to initialize the position data Note When XSEL R S RX SX RXD SXD RA SA RAX SAX and RAXD SAXD is connected 22B Position data comment loss error will occur if the software is reset or power is turned off after this operat...

Page 99: ...e ones at the time of shipment This item is not displayed normally It is a function which will become available by inputting a password Refer to 8 5 How to Initialize X SEL R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD and SSEL ASEL PSEL Parameters at the time of shipment It is a function of X SEL R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL and PSEL controllers 12 Absolute Reset A Reset absolu...

Page 100: ...e positioner mode of SSEL ASEL and PSEL controllers This information is provided for the manufacturer This item is displayed for SSEL ASEL and PSEL controllers 11 Tool T This menu lets you specify settings relating to this application 1 Environment Setup S Set items that define how the application is run 12 Window W This menu lets you change how the windows are displayed 1 Cascade C Cascade all op...

Page 101: ... RXD SXD RAX SAX RAXD SAXD MSEL PCX PGX V12 03 00 00 or later when work and tool coordinate systems are valid in TTA and MSEL PC PG Monitor Input Port Same as clicking Monitor M and then selecting Input Port I Monitor Virtual Input Port Same as clicking Monitor M and then selecting Virtual Input Port N Monitor Output Port Same as clicking Monitor M and then selecting Output Port O Monitor Virtual ...

Page 102: ...s start prohibition MANU Prohibit the simultaneous starting of multiple programs in the manual mode Two or more programs start permission MANU Permit the simultaneous starting of multiple programs in the manual mode Supported by software version 5 0 2 0 or later This item is displayed for X SEL P Q application version 0 36 or later X SEL PX QX application version 0 17 or later XSEL R S RX SX RXD S...

Page 103: ...red parameter category to open the corresponding edit window Symbol edit items Double click a desired symbol category to open the corresponding edit window 3 4 Tree View You can display various data edit windows in the online mode by double clicking the corresponding items displayed in the tree view Fig 3 31 Fig 3 32 that appears on the left side of the main window You can show or hide the tree vi...

Page 104: ... Q RX SX RXD SXD RAX SAX RAXD SAXD and MSEL PCX PGX controllers Parameter edit items Double click a desired parameter category to open the corresponding edit window Symbol edit items Double click a desired symbol category to open the corresponding edit window Coordinate edit items Double click a desired coordinate system category to open the corresponding edit window Controller model The example o...

Page 105: ... input condition Cnd Enter a desired input condition Cmnd Enter a desired SEL command Double clicking this field or pressing the F1 key will open the SEL Command Explanation window Fig 4 6 This window provides an explanation of each SEL command You can select a desired command in this window and input it to the step data Operand 1 Enter desired operand 1 Operand 2 Enter desired operand 2 Pst Enter...

Page 106: ...In the operand to input the axis pattern the operand input values in binary system do not apply B at the top to input with the binary numbers Binary numbers are treated as an integer with no signal e g B11111111 255 Hexadecimal numbers treated as an integer with a symbol e g HFFFFFFFF 1 Restrictions Binary and hexadecimal systems cannot be used for the operand indirect indication in the program Th...

Page 107: ...dit E from the menu bar and then selecting Paste P The step data saved on the clipboard will be inserted into the cursor line Insert 1 Line I Insert one line at the cursor line Delete Selected Lines D Delete the lines in the selected range Set Comment S Set the entire cursor line as a comment invalid step If a valid step has been set as a comment by mistake you can select Release Comment explained...

Page 108: ...e edit screen to the controller Saving data on the edit screen to a file Closing of the edit screen When this operation is performed the warning screen in Fig 4 5 will be displayed Clicking Yes will cancel the operation executed immediately before Fig 4 5 Warning Double clicking the Cmnd field or pressing the F1 key will open the SEL Command Explanation window Use this window as a reference when e...

Page 109: ...aining the following items Input I Input the command in the cursor line to the step data into the cursor line in the program edit window Font F You can set a desired font for displaying the SEL command explanations Sort S You can sort the command list alphabetically or by command category Fig 4 7 Pop up Menu ...

Page 110: ...ave created as well as operands used in the program d Print Clicking this button will print the program e Run Clicking this button will run the program If the program has not yet been saved after editing you must transfer the program to the controller beforehand Caution Since the controller s processing speed is faster than the PC s communication speed the cursor position in the program edit windo...

Page 111: ...rror is found the error list will be displayed Check Program button Fig 4 9 Error List The error list has the Step No Column and Message fields Double clicking an error line will move the cursor to the location of the corresponding error 3 Information regarding the operands Cnd Operand 1 Operand 2 and Pst in the program you are editing is displayed a b c d e f g h Fig 4 10 Operand Information ...

Page 112: ...ope fields will show Unknown d Program No Use Condition Program No e Tag No Use Condition Tag No Tag number in use Declaration Jump f Subroutine No Use Condition Subroutine No Declaration Call g Position No Use Condition Position No h Axis No Use Condition Axis No If a symbol is used in any of the numbers in b through h the corresponding definition value will be displayed in the margin The above i...

Page 113: ...ram No 65 or later Select the Program File Format 2 extended format to save PC interface software version 7 2 0 0 or later Fig 4 11 Save File Select Screen 2 Transferring to the controller the program data you are editing You can save the program data you are editing to the controller s memory Click the Transfer to Controller button in the program edit window This button is selectable only in the ...

Page 114: ...0 0 or later Fig 4 15 Confirmation Fig 4 16 Confirmation X SEL P Q R S RX SX RXD SXD X SEL PX QX RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Program etc to write to the flash ROM Click Yes Y The memory data will be written to the flash ROM Click No N The memory data will not be written to the flash ROM If No N is selected the controller will clear all data in its memory ...

Page 115: ...on dialog box with the message Save edited data in the Controller Fig 4 17 Confirmation Yes Y The edited data will be transferred to the controller 3 Writing to the flash ROM No N The software will close the program edit window without saving the edited data Cancel The software will cancel the operation and return to the program edit window ...

Page 116: ...een of Open File select a program created offline and open it 2 If a controller is connected Controller Transfer button gets activated once the program is opened Press Controller Transfer button The program gets transferred to the controller Fig 4 18 Program Edit Screen 3 A confirmation screen asking if it is okay to transfer the data to the controller will appear Press Yes Fig 4 19 Confirmation S...

Page 117: ...ation Press Write Fig 4 20 Program No Select 5 A confirmation screen stating Write Flash ROM will appear Press Yes Fig 4 21 Confirmation Screen 6 The program will be transferred to the controller Also flash ROM writing will be conducted and the display below flashes during writing The display will disappear once writing is complete Fig 4 22 Writing Flash ROM Screen ...

Page 118: ...gram No selection window will be displayed Select a desired program No to read and click the Read button If you want to transfer all programs to the controller select Load All Program If you want to select programs in the all programs file and transfer them individually select desired program numbers and then click Load a Program to transfer the corresponding programs to the controller Fig 4 24 Pr...

Page 119: ...ble symbols in the symbol edit window and then transfer the definitions to the controller before transferring the all programs file again 3 If the all programs file contains any error the error window will be displayed and none of the programs will be transferred to the controller In this case double click the error shown in the error window to open the program file that contains the applicable er...

Page 120: ... all programs The number of possible transferred step depends on the number of remaining step in the controller to transfer Fig 4 26 Warning Screen If the programs are transferred separately select a program of No 65 or later and click Controller Transfer button Then the following warning screen will be displayed Fig 4 27 Warning Screen 4 Saving the all programs file 1 If the program files read fr...

Page 121: ...re reset is executed e Run Clicking this button will run the program f Run 1 Step The program will run one step every time this button is clicked g Pause Clicking this button will pause the program currently running Clicking it again will resume the program Clicking Run or Run 1 Step will resume the program h End Clicking this button will end the program currently running Breakpoint You can pause ...

Page 122: ... Select Program S Edit E and Program Number Select window appears Select a program to operate and click Read Program Edit window appears Column T marked in red box which is for the setup of measurement start point and end point for cycle time measurement should be shown in Program Edit window Fig 4 29 Program Edit window There are three types of setting in the setup in Column T S Cycle Time Measur...

Page 123: ...stablished in the steps of only input extension stays it will not be subject to measurement 1 Measurement Start Point and End Point Setup 1 Right click on Column T blank cell of the start step of the area section that you would like to measure S Measurement start point will be displayed Fig 4 30 Measurement start point Setup 2 Secondly right click on Column T blank cell of the end step of the area...

Page 124: ...T blank cell of the step that you would like to measure S Measurement start point will be displayed Fig 4 32 Measurement start point Setup 2 Secondly right click on the point that S is being displayed SE The measurement point will be displayed Fig 4 33 The measurement point Setup ...

Page 125: ... section setting is not activated Right click on a blank cell and S will be shown and the measurement area section setting gets activated Right click on the cell of E and E will be erased If S is displayed it means that the measurement area section setting is not activated Right click on a blank cell and E will be shown and the measurement area section setting gets activated Right click on the cel...

Page 126: ...asurement result will be displayed The time to be shown should be from 0 000sec to 86399 999sec one day Once the first measurement is completed and the step with S being shown has been executed measurement will start again and s will be displayed If a change is made to the cycle time measurement area section after measurement is finished the display will turn to blank Fig 4 34 Measurement Result D...

Page 127: ... case of a program being stopped by breakpoint pause the stop duration should be included to the cycle time In case the steps with S and E displayed are set to the input extension status cycle time will be measured when input extension status has been succeeded In case the step with S displayed is set to the breakpoint measurement will start once the program is executed The maximum time to be disp...

Page 128: ...m S from the menu bar and then select Copy Move C 2 The program copy move window will open Fig 5 1 Program Copy Move Double click the source program you want to copy or move Click the destination program you want to copy or move the source program to To copy the program click Copy To move the program click Move Both operations are done in the memory Clicking Cancel will cancel the selected operati...

Page 129: ... R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Program etc to write to the flash ROM Click Yes Y The memory data will be written to the flash ROM Click No N The memory data will not be written to the flash ROM Once the controller is reset the controller power is reconnected or a software reset is executed the original program arrangement befor...

Page 130: ...indow will open Fig 5 6 Program Clear Click the program you want to clear You can select multiple programs by dragging the mouse or pressing the Ctrl key and key simultaneously Next click Clear This operation is done in the memory Clicking Cancel will cancel the operation When clearing all programs in the controller click the All Clear button 3 Writing to the flash ROM When the clear is completed ...

Page 131: ...nfirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Program etc to write to the flash ROM Click Yes Y The memory data will be written to the flash ROM Click No N The memory data will not be written to the flash ROM Once the controller is reset the controller power is reconnected or a software reset is executed the cleared progra...

Page 132: ...k and tool coordinate system features are valid in TTA and MSEL PC PG a window to select the work coordinate system or the tool coordinate system opens like the SCARA axes The following position output operation data will be displayed in the position edit data when All Axes Parameter No 54 All Axes Setting Bit Pattern 3 Bit 4 7 Position Output Operation Data Effective Select in TTA and MSEL Contro...

Page 133: ... axis 7 Setting functions SCARA axis 8 Movement selection 5 Setting functions Orthogonal axis 4 1 Position data 6 Axis specific buttons SCARA axis 8 Movement selection 3 Common buttons 7 Setting functions SCARA axis Fig 6 4 Position Data Edit X SEL JX KX 1 Position data Fig 6 5 Position Data X SEL JX KX 6 6 6 7 ...

Page 134: ...ation data is displayed in the position edit data Fig 6 10 Position Data XSEL RA SA Fig 6 11 Position Data XSEL RX SX RAX SAX 10 Position output operation data 1 Position data 2 Common buttons 6 Axis specific buttons SCARA axis 8 Movement setting 9 Axis specific button setting function movement setting display axis switching SCARA axis setting Orthogonal axis setting 5 Setting functions Orthogonal...

Page 135: ...ing 7 Setting functions SCARA axis Orthogonal axis setting 4 Axis specific buttons Orthogonal axis 5 Setting functions Orthogonal axis 8 Movement setting 9 Axis specific button setting function movement setting display axis switching 6 Axis specific buttons SCARA axis 2 Common buttons 1 Position data ...

Page 136: ...ig 6 16 Position Data XSEL RAXD SAXD Version V13 02 00 00 and later 1 Position data 2 Common buttons 6 Axis specific buttons SCARA axis 8 Movement setting 9 Axis specific button setting function movement setting display axis switching SCARA axis setting SCARA axis setting 7 Setting functions SCARA axis 10 position output operation data 1 Position data 2 Common buttons SCARA axis setting SCARA axis...

Page 137: ...a is displayed in the position edit data Fig 6 18 Position Data XSEL RAXD SAXD 2 Common buttons 4 Axis specific buttons Orthogonal axis 5 Setting functions Orthogonal axis 1 Position data Data in the change line will be displayed in red Fig 6 19 Position Data Edit SSEL ASEL and PSEL Controller in the Program Mode 10 Position output operation data ...

Page 138: ...plicable position number Pressing the F11 key on the symbol edit window will return the input focus to the applicable position data in the edit window You can press the F11 key to return the input focus from the symbol edit window to the position data edit window only when the position data edit window is currently open To show or hide symbols do so in the Environment Setup window accessible from ...

Page 139: ...rrent arm system cannot be moved Servo operation SEL command that uses the position data Note When editing each arm system can be specified by entering the first letter of the pattern to be specified Example Enter L Left Enter R Right Note Arm 1 to Arm 4 are displayed only on the X SEL RX SX RXD SXD RAX SAX and MSEL PCX PGX controllers Note Arm 5 to Arm 6 are displayed only when the X SEL RXD SXD ...

Page 140: ... to 32 single byte characters 16 double byte characters Comment can be entered for position Nos 1 to 10000 Comment cannot be entered for No 10001 and subsequent positions Supported by V9 00 00 00 or later In the position edit window clicking Edit E from the menu bar and then selecting Undo U can cancel the most recent 10 operations excluding line insertion and line deletion Alternatively pressing ...

Page 141: ...e Format 1 normal format Save them by Position File Format 2 extended format Transfer to Controller Clicking this button will transfer the position data to the controller Refresh Position Data After a program that rewrites position data has been run click this button to refresh the position data display Print Clicking this button will print the position data Capture Current Position Clicking this ...

Page 142: ...ogonal axes can be selected simultaneously for simultaneous jog movement SCARA axes of X SEL PX QX RX SX and RAX SAX This button enables jog movement when only one axis is specified as the one to be operated by the common buttons Note The SCARA axis and orthogonal axis of the X SEL PX QX RX SX and RAX SAX controllers cannot be specified simultaneously Move Clicking this button will move all axes i...

Page 143: ...ltaneously In the case of the X SEL RXD SXD and RAXD SAXD controller axes of two SCARA robots cannot be moved continuously If any of the applicable position data has been changed transfer the latest position data to the controller first Stop All Axes Clicking this button will stop all axes currently moving If a checkmark is placed in the checkbox of this button the axis specific button setting scr...

Page 144: ...t position Watch the actuator movement during operation Clicking this button will move the selected axis to the position specified by the data in the position number corresponding to the cursor position if the axis servo is ON The button remains yellow while the axis is moving The selected axis will jog forward while this button is clicked if the axis servo is ON If a value 0 001 to 1 is enter red...

Page 145: ...used to jog those axes that have not yet completed homing However coordinate values have no meaning for these axes so pay due attention to avoid contact with the stroke end If a value 0 001 to 1 is entered in the Inc field in the setting function group the jog buttons will function as inching buttons Continue to click an inching button will change the operation to jogging Specifically the axis wil...

Page 146: ...the axis servo is ON Clicking this button will move the selected axis to the position specified by the data in the position number corresponding to the cursor position if the axis servo is ON The button remains yellow while the axis is moving The selected axis will perform jogging while this button is pressed if the axis servo is ON If a value 0 01 to 1 00 is entered in the Inc field under Setting...

Page 147: ...nction Move Vel Acc Dcl Set the moving speed that applies when the MV button is clicked Movement occurs in the form of PTP operation Each percentage setting indicates a percentage with respect to a corresponding parameter setting Vel percentage with respect to Axis Parameter No 28 PTP speed MAX Acc percentage with respect to Axis Parameter No 134 PTP acceleration MAX Dcl percentage with respect to...

Page 148: ...dinate system can be changed by clicking the button XY work coordinate system Can be offset using Work Coordinate System Selection No XY tool coordinate system Each axis system Fig 6 40 Selection of Jog Movement Coordinate System Work coord sys slct No A desired work coordinate system selection No can be selected by clicking the Change button Fig 6 41 Selection of Work Coordinate System Tool coord...

Page 149: ...ting functions and movement selections only for SCARA axes Axis 5 to Axis 8 or orthogonal axes Axis 5 to Axis 8 This item is displayed only when the X SEL PX QX RX SX RXD SXD RAX SAX and RAXD SAXD controllers are connected 10 Position Output Operation Data TTA MSEL Main Application V2 00 or later PC software V12 03 00 00 or later XSEL RA SA RAX SAX RAXD SAXD Fig 6 45 Position Output Operation Data...

Page 150: ...ring movement to the applicable position OutNo Set the output ports and flags applicable for operation OutPara1 Set the parameters defined for each output function OutPara2 One shot pulse will be output if output pulse timer time is set Settings for Each Output Function Output Function Code Name Function Parameter 1 Function Parameter 2 Turns ON after movement Turns OFF after movement Output Delay...

Page 151: ...ut ports of the pick place axis on CT4 that opens closes with the turn ON open OFF close of the virtual output port No 7305 Fig 6 46 User Specified Output Port Display 1 User Indicated Output Port Display It shows the user indicated output port It displays on the position edit window the same condition as 1 ON and 0 OFF displayed on the monitor output port window It is on when the light is ON and ...

Page 152: ...PGX Fig 6 47 File Save Select Screen 2 Transferring to the controller the position data you are editing Click the Transfer to Controller button in the position edit window The position data you are editing will be saved to the controller s memory This button is selectable only in the online edit mode The data saved by Position File Format 1 normal format can be transferred to the X SEL P Q PX QX w...

Page 153: ...n error is found in the position data to be transferred the position data will not be transferred If the position data to be transferred only generates a warning the warning screen appears Fig 6 50 Warning Screen Click Yes to transfer the position data Click No to cancel the transfer of position data Note The maximum number of errors warnings displayed in the position error list is set on the Envi...

Page 154: ...ncreased memory with gateway function or R S RX SX RXD SXD RA SA RAX SAX and RAXD SAXD the following screens will be displayed PC interface software version 7 2 0 0 or later Fig 6 53 Confirmation Fig 6 54 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Position etc to write to the flash ROM Click Yes The memory data will b...

Page 155: ...on dialog box with the message Save edited data in the Controller Fig 6 55 Confirmation Yes Y The edited data will be transferred to the controller 3 Writing to the flash ROM No N The software will close the point edit window without saving the edited data Cancel The software will cancel the operation and return to the position edit window ...

Page 156: ...creen of Open File select a position created offline and open it 2 If a controller is connected Controller Transfer button gets activated once the position is opened Press Controller Transfer button The position gets transferred to the controller Fig 6 56 Position Edit Screen 3 A confirmation screen asking if it is okay to transfer the data to the controller will appear Press Yes Fig 6 57 Confirma...

Page 157: ...ositions to be performed Press OK Fig 6 58 Position No Select 5 A confirmation screen stating Write Flash ROM will appear Press Yes Fig 6 59 Confirmation Screen 6 The position will be transferred to the controller Also flash ROM writing will be conducted and the display below flashes during writing The display will disappear once writing is complete Fig 6 60 Writing Flash ROM Screen ...

Page 158: ... copied to the positions specified in Destination to Copy Move Moving position data Click Move The positions specified in Source to Copy Move will move to the positions specified in Destination to Copy Move Fig 7 1 Position Data Copy Move Clicking Cancel will cancel the selected operation 3 Writing to the flash ROM When the copy or move is completed the following confirmation dialog box with the m...

Page 159: ...ation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Position etc to write to the flash ROM Click Yes The memory data will be written to the flash ROM Click No The memory data will not be written to the flash ROM The number of writing to the flash ROM is limited approx 100 000 times If you do not write all the data select Write Select...

Page 160: ...Position Data In Clear Scope specify the Top No and Last No of the position range you want to clear Then click Clear Clicking Cancel will cancel the operation 3 Writing to the flash ROM When the clear is completed the following confirmation dialog box with the message Write Flash ROM will be displayed Fig 7 7 Confirmation Fig 7 8 Confirmation X SEL J K P Q TT SSEL ASEL PSEL X SEL JX KX PX QX TTA M...

Page 161: ...e software version 7 2 0 0 or later Fig 7 9 Confirmation Fig 7 10 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Position etc to write to the flash ROM Click Yes The memory data will be written to the flash ROM Click No The memory data will not be written to the flash ROM The number of writing to the flash ROM is limited ...

Page 162: ...the parameter data to the controller Print Clicking this button will print the parameter data Click this button and you can conduct Easy Parameter Setup V12 02 00 00 or later The above window shows I O parameters You can display other parameters by clicking each category tab Caution During the positioner mode of SSEL ASEL and PSEL the parameter cannot be transferred in the setup status After stopp...

Page 163: ...ltaneously can cancel the operations However the cancel function will become disabled when any of the following operations is performed Transfer of data on the edit screen to the controller Saving data on the edit screen to a file Closing of the edit screen When this operation is performed the warning screen in Fig 8 2 will be displayed Clicking Yes will cancel the operation executed immediately b...

Page 164: ...save the parameter data you are editing to the controller s memory Click the Transfer to Controller button in the parameter edit window The number of the parameters has been increased for the X SEL P Q PX QX controllers w gateway function compatible with increased memory The Number of Parameters X SEL P Q incompatible with increased memory X SEL PX QX incompatible with increased memory X SEL P Q P...

Page 165: ... 5 Confirmation Fig 8 6 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Parameter etc to write to the flash ROM Click Yes The memory data will be written to the flash ROM Click No The memory data will not be written to the flash ROM If No is selected the controller will clear all data in its memory after a reset i e after ...

Page 166: ...se the parameter edit window will display the following confirmation dialog box with the message Save edited data in the Controller Fig 8 8 Confirmation Yes The edited data will be transferred to the controller 3 Writing to the flash ROM No The software will close the parameter edit window without saving the edited data Cancel The software will not close and go back to the parameter edit window Th...

Page 167: ...parameter in the controller for X SEL P Q PX QX R S RX SX and RXD SXD with gateway function 6A1 UBS data composition change error will occur when software reset is executed after transferring the parameter and writing to the flash ROM The alarm message will also appear when all backed up data is transferred PC interface software version 7 2 0 0 or later Fig 8 9 Warning Screen When transferring all...

Page 168: ...ransfer to Controller button in the parameter edit window 3 The Select Parameter Category window Fig 8 10 will be displayed In the case of X SEL JX KX the screen not showing Actuator specific parameters transfer from axis to axis Fig 8 11 will be displayed In the case of SSEL the screen not showing Controller basic unit Transmit options Fig 8 12 will be displayed This window has the following item...

Page 169: ...Select Parameter Category Window SSEL ASEL PSEL This window is supported by PC software version 3 0 1 0 or later 1 Transfer parameters list The parameters to be transferred to the controller are displayed in accordance with the selections made in 2 through 5 explained below Before clicking OK be sure to check the categories of parameters to be transferred ...

Page 170: ...rresponding to the axes under Transfer to you want to transfer the parameters to They are arranged in the order of axis 1 axis 2 and the like on the controller side from the top Do not select the checkboxes corresponding to the axes you do not want to transfer the parameters to In each Transfer from checkbox specify the axis number whose axis related parameters in the file you want to transfer Fig...

Page 171: ...ntroller basic unit type dependent parameters transferred will not transfer the applicable parameters Normally select Controller basic unit dependent parameters not transferred Select Controller basic unit type dependent parameters transferred only in the following conditions The flash ROM was corrupted and the parameters must be rewritten Parameters for a wrong controller type were written by mis...

Page 172: ...t Setup of I O communication IAI protocol B TCP communication and program message communication by Ethernet can be conducted Vision System Setup of Vision System I F feature can be conducted Establish the setting for the channel available for SIO communication to the SIO module mounted to the extension SIO V12 03 00 00 or later extension I O slot TTA MSEL PC PG PCX PGX 8 4 1 Explanation of Easy Pa...

Page 173: ...w Easy Parameter Setup Supported Feature List RS 232C Fieldbus Ethernet Vision System Extension SIO X SEL J K X SEL JX KX X SEL P Q X SEL PX QX X SEL R S Note 1 Note 2 X SEL RX SX Note 1 Note 2 X SEL RXD SXD Note 1 Note 2 X SEL RA SA Note 1 X SEL RAX SAX Note 1 X SEL RAXD SAXD Note 1 SSEL Note 1 Note 2 ASEL Note 1 Note 2 PSEL Note 1 Note 2 TT TTA Note 1 Note 2 MSEL PCX PGX Note 1 Note 2 MSEL PC PG...

Page 174: ...arameters saved in the PC offline and clicking Easy Parameter Setup Transmit to Controller Button in the setup window changes to Reflect to Edit Parameter Window Button Click Reflect to Edit Parameter Window Button and the settings and changes conducted in Easy Parameter Setup will be reflected changed to the setting values in the Edit Parameter window But controller transmission will not be execu...

Page 175: ... or later to a PC that NET Framework 4 0 Full or 4 5 is not installed installation window for NET Framework 4 0 Full will appear Click Install button to install NET Framework 4 0 Full PC software for X SEL will be installed after installation of NET Framework 4 0 Full is completed Installation of NET Framework 4 0 Full will not be held if there is already NET Framework 4 0 Full or 4 5 installed Fi...

Page 176: ...T Framework 1 0 before installing NET Framework 4 0 Full If it is necessary to use NET Framework 1 0 after NET Framework 4 0 Full is already installed have the following process 1 Uninstall NET Framework 4 Extended 2 Uninstall NET Framework 4 Client Profile 3 Install NET Framework 1 0 Please prepare the installer for NET Framework 1 0 on your own 4 Install NET Framework 4 0 Full You can install NE...

Page 177: ... It cannot be use for MSEL PCX PGX PC PG and TTA with current encoder resolution 1 Right click a blank space in the tool bar refer to Fig 8 21 while pressing the Ctrl button The Input Password will be displayed as shown in the Fig 8 22 Fig 8 21 Menu Bar Fig 8 22 Input Password Screen 2 Enter a password 5119 in the displayed Input Password screen The Parameter of Shipping menu will be displayed in ...

Page 178: ...log in Fig 8 24 If you have no problem click Yes Fig 8 24 Warning Dialog 4 After completion of rewriting write the parameters to the flash ROM Note Encoder parameters are not initialized Because of this an unexpected error may be detected when the actuator different from the one at the time of shipment is connected ...

Page 179: ...s in the same controllers and files of the same activated axis pattern at the same time 8 6 1 How to Compare Parameters Choose either to open parameter files by selecting File F Open O or to select Parameter P Edit E to open the parameter edit window Fig 8 25 Edit Parameter Window Click Data Compare button located on the right of Easy Parameter Setup button Parameter files which are open should be...

Page 180: ...mparable data Make sure that the file of the same controller type and same effective axis pattern or the same controller type and same effective axis pattern as the data in the controller are open when there is no parameter exist available for parameter comparison Fig 8 27 Message Select parameter data to be compared in the select dialog and press OK button Parameter comparison will start ...

Page 181: ...blue the scroll of the grid gets synchronized to the move The form that the button is not pressed also moves Tab movement also synchronizes SyncScroll Invalid When it is displayed in black each form scrolls and tab moves individually 2 PrevDiff The actuator moves to the nearest previous difference from the cell position of which PrevDiff button was pressed 3 NextDiff The actuator moves to the near...

Page 182: ...two or more local values that are each used in a different program 5 Definition of the same symbol for two or more flag numbers input ports output ports and or input output ports is prohibited The same symbol can be defined for two or more local flags ports that are each used in a different program 6 Definition of the same symbol for two or more integer variable numbers and or real variable number...

Page 183: ...ol File Format 1 normal format Save them by the Symbol File Format 2 extended format Transfer to Controller Clicking this button will transfer the parameter data to the controller Print Clicking this button will print the parameter data The above symbol edit window is for integer variables You can display other symbols by clicking each category tab 3 Right click in the symbol edit window will disp...

Page 184: ...ater Fig 9 2 Symbol Edit Window Fig 9 3 Program Edit Window In the coordinate system definition data edit window clicking Edit E from the menu bar and then selecting Undo U can cancel up to the most recent 10 input operations Alternatively pressing the Ctrl key and Z key simultaneously can cancel the operations However the cancel function will become disabled when any of the following operations i...

Page 185: ...y numbers apply B at the top of the value When using the hexadecimal numbers apply H at the top of the value Eight digits can be input at maximum for binary and hexadecimal numbers In the operand to input the axis pattern the operand input values in binary system do not apply B at the top to input with the binary numbers Binary numbers are treated as an integer with no signal e g B11111111 255 Hex...

Page 186: ...on 7 2 0 0 or later Fig 9 6 File Save Select Screen 2 Transferring to the controller the symbol data you are editing You can save the symbol data you are editing to the controller s memory Click the Transfer to Controller button in the symbol edit window This button is selectable only in the online edit mode The data saved by Symbol File Format 1 normal format can be transferred to the X SEL P Q P...

Page 187: ...ion 7 2 0 0 or later Fig 9 9 Confirmation Fig 9 10 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Symbols etc to write to the flash ROM Click Yes The memory data will be written to the flash ROM Click No The memory data will not be written to the flash ROM If No is selected the controller will clear all data in its memory...

Page 188: ...wing confirmation dialog box with the message Save edited data in the Controller Fig 9 11 Confirmation Yes The edited data will be transferred to the controller No The software will close the symbol edit window without saving the edited data Cancel The software will cancel the operation and return to the symbol edit window ...

Page 189: ...9 Symbol Edit Window 181 ...

Page 190: ...ternatively pressing the Ctrl key and Z key simultaneously can cancel the operations However the cancel function will become disabled when any of the following operations is performed Transfer of data on the edit screen to the controller Saving data on the edit screen to a file Closing of the edit screen When this operation is performed the warning screen in Fig 10 2 will be displayed Clicking Yes...

Page 191: ...is Y mm Enter the offset data for the Y axis Z mm Enter the offset data for the Z axis R deg Enter the offset data for the R axis C Simple Interference Check Zone Zone No Indicate the zone No Coordinates No Indicate the coordinate No Coordinates 1 and Coordinates 2 are available X mm Enter the interference range data for the X axis Y mm Enter the interference range data for the Y axis Z mm Enter t...

Page 192: ... respect to the base coordinate system Note that work coordinate system No 0 is reserved in the system as the base coordinates work coordinate system offsets are 0 Xofwn X work coordinate offset Yofwn Y work coordinate offset Zofwn Z work coordinate offset Rofwn R work coordinate offset Xwn Work coordinate system X axis Ywn Work coordinate system Y axis Zwn Work coordinate system Z axis Rwn Work c...

Page 193: ...ordinate system No 1 as Xofw1 150 Yofw1 200 Zofw1 0 and Rofw1 30 Set the offsets for work coordinate system No 2 as Xofw2 400 Yofw2 100 Zofw2 25 and Rofw2 20 Shown below is the work coordinate system definition data edit window when work coordinate system No 1 and No 2 are set Fig 10 3 Work Coordinate System Offset Setup Screen Fig 10 4 Work Coordinate System Offset Setup Screen X SEL RXD SXD RAXD...

Page 194: ...lled 1 When performing PTP positioning to position No 5 and No 6 in work coordinate system No 1 Fig 10 5 Position Data Screen Work Coordinate System No 1 Setting Sample program SLWK 1 Select work coordinate system No 1 SLTL 0 Select tool coordinate system No 0 PTPR Specify right arm as the PTP target arm MOVP 5 Move to position No 5 MOVP 6 Move to position No 6 The R axis position is shown at left...

Page 195: ...a Screen Work Coordinate System No 2 Setting Sample program SLWK 2 Select work coordinate system No 2 SLTL 0 Select tool coordinate system No 0 PTPR Specify right arm as the PTP target arm MOVP 5 Move to position No 5 MOVP 6 Move to position No 6 The R axis position is shown at left top view The Z axis position is as follows Position No 5 Zb 25 Position No 6 Zb 45 ...

Page 196: ...rdinates provided as a combination of three dimensional orthogonal coordinates and rotation axis coordinates are defined by the dimensions offsets of the tool hand etc installed on the tool installation surface Note that tool coordinate system No 0 is reserved in the system as the tool coordinate system with 0 offsets When a defined tool coordinate system No is selected the tool end not the center...

Page 197: ...e system No 1 as illustrated below Set the offsets for tool coordinate system No 1 as Xoft1 45 Yoft1 35 Zoft1 10 and Roft1 45 Shown below is the tool coordinate system definition data edit screen when tool coordinate system No 1 is set Fig 10 7 Tool Coordinate System Offset Setting Screen Fig 10 8 Tool Coordinate System Offset Setting Screen X SEL RXD SXD RAXD SAXD Use the DFTL instruction to set ...

Page 198: ...rforming PTP positioning of the tool end in tool coordinate system No 1 to position No 5 and No 6 in work coordinate system No 1 Fig 10 9 Tool Coordinate System Offset Setting Screen Fig 10 10 Work Coordinate System Offset Setting Screen Fig 10 11 Position Data Screen Work Coordinate System No 1 and Tool Coordinate System No 1 Setting Sample program SLWK 1 Select work coordinate system No 1 SLTL 1...

Page 199: ... Fig 10 13 Work Coordinate System Offset Setting Screen Fig 10 14 Position Data Screen Work Coordinate System No 2 and Tool Coordinate System No 1 Setting Sample program SLWK 2 Select work coordinate system No 2 SLTL 1 Select tool coordinate system No 1 PTPR Specify right arm as the PTP target arm MOVP 5 Move to position No 5 MOVP 6 Move to position No 6 The Z axis position at the tool end is as f...

Page 200: ... operation The actual motion differs between high speed operation actual operating condition and low speed operation Provide a sufficient margin to prevent interference During high speed operation the tool tends to pass along a line further inward compared with low speed operation The defined coordinates of the simple interference check zone are always handled as data linked to the base coordinate...

Page 201: ...is 425 mm or more 3 Set simple interference check zone No 3 as an area where Xb is 400 mm or less and Zb is 130 mm or more Simple interference check zone No 2 Simple interference check zone No 3 Simple interference check zone No 1 Setting example of simple interference check zones Define simple interference check zones No 1 No 2 and No 3 as shown below Shown below is the data edit screen to define...

Page 202: ... desired output number to be output when the axis enters the check zone In the case of the X SEL RX SX RXD SXD RAX SAX RAXD SAXD controller an expansion output port number can also be entered Error Type Select a desired type of errors 0 Do not handle errors 1 Output message level errors 2 Output operation cancellation level errors For Axis 5 to Axis 8 this item is displayed only on the X SEL RXD S...

Page 203: ... and port No 313 turns ON when entry into simple interference check zone No 3 is detected If physical output numbers and global flag numbers are duplicated chattering will occur and the result will become unstable Do not set overlapping numbers Use of the simple interference check zone function slows the CPU performance significantly When the function is not used set 0 in Phy Output Global Flag an...

Page 204: ...type of coordinate system data you wish to delete Next click the OK button A warning message will be displayed to confirm if you really want to delete the data Click the OK button The data will be transferred to the controller Clicking the Cancel button will cancel the operation 3 Write to the flash ROM Fig 10 19 Confirmation Note XSEL RX SX RXD SXD RAX SAX RAXD SAXD TTA MSEL PC PG PCX PGX is writ...

Page 205: ...onfirmation X SEL PX QX Click Yes The memory data will be written to the flash ROM Click No The memory data will not be written to the flash ROM Perform a reset reconnect the power or reset the software and the robot will return to the condition before the deletion The number of writing to the flash ROM is limited approx 100 000 times If you do not write all the data select Write the selection dat...

Page 206: ...te system definition data is explained below 1 Click the button in the menu if the coordinate system data definition edit window 2 Select whether to print all types or the coordinate system data being displayed Fig 10 21 Print Type Selection 3 The coordinate system definition data will be printed in accordance with the selected content ...

Page 207: ...step operation by a breakpoint by the pause button by the SSPG command etc W Waiting in response to the TIMW WTxx WZxx WRIT or READ command waiting for a servo command to be completed etc PC software version 1 1 0 5 or later H HOLD input Supported by main application version 0 26 or later for X SEL J K and all versions for other controllers PC software version 1 1 0 5 or later C CANC input main ap...

Page 208: ...r The figure on the left side shows up for some features When the super high impellent actuator is operated by the SSEL controller the belt breaking detection sensor can be monitored in Axis Status monitor PC interface software version 7 2 0 0 or later Belt breaking detection sensor Fig 11 6 Axis Status Belt breaking detection sensor is added In V12 02 01 00 or later the description shown on the r...

Page 209: ...wn for those other than TTA SSEL ASEL PSEL and MSEL Fig 11 7 Input Output Ports The 1 0 ON OFF of output ports and virtual output ports can be switched by double clicking the applicable port or pressing the Ctrl key and space key simultaneously In the case of the SSEL ASEL or PSEL controller in the positioner mode no symbol will be displayed Fig 11 8 Input Output Ports No Symbol ...

Page 210: ...ts The display on the right will be shown when a tick mark is put in the Symbol box and the display on the left will be shown when a tick mark is removed Note A48 Virtual Input Output Port Operation Error will occur if the ON OFF of the input ports in Virtual Input Output Port No 7000 to 7599 are switched over Fig 11 9 Virtual Input Output Ports with Symbol display Fig 11 10 Virtual Input Output P...

Page 211: ...responding to the cursor position The controller will always recognize the specified port as OFF 3 CLR Clicking this button will clear the debug filter currently set for the input port corresponding to the cursor position 4 ACLR Clicking this button will clear the debug filters currently set for all physical input ports While a debug filter is set the status of the port 0 or 1 for which the ON or ...

Page 212: ...FF Changing the controller mode MANUAL or AUTO will not clear debug filters Accordingly changing the controller mode back to MANUAL from AUTO will make effective again the debug filters that were set in the previous MANUAL mode If any function is assigned to an input port the applicable process will be executed Exercise caution against start of the following operations and others Functions assigne...

Page 213: ...ange the characters in global strings or assign characters to global strings The 1 0 ON OFF of global flags can be switched by double clicking the applicable global flag or pressing the Ctrl key and space key simultaneously In the integer variable monitor select Decimal or Hexadecimal for the data radix Select it from the combo box at the top of the window Fig 11 14 Decimal Notation Fig 11 15 Hexa...

Page 214: ...ram No from the Selectable Program No and click on it The background color of the Selectable Program No turns into blue Click on The data will be displayed in the Selectable Program No 2 Selection of Category of Local Data Click in the box for the item to be displayed from the Category of Local Data A tick mark will be shown in the selected box Click again to remove the tick mark and cancel the se...

Page 215: ...e first time one on top of another Fig 11 17 Local Data Display Window display at first time Drag one by one from the top to bottom and show all in the screen Fig 11 18 Local Data Display Window Numbers in the brackets show the program numbers ...

Page 216: ... setting the Error Number Select will display the Detailed Error Information screen Fig 11 19 Error Number Select Screen When errors occur error codes messages and other information will be displayed Save the error list in a file CSV format Fig 11 20 Detailed Error Information Info 1 to Info 4 is information for our company to analyze error causes The contents vary depending on the error No ...

Page 217: ... function is used Note If date time data is lost the following error occurs In this case the date time data becomes 2000 01 01 00 00 00 Fig 11 22 Error Display Note Refer to 14 4 Setting Time for how to set the internal clock of the controller Note When bits 0 to 3 of Other parameter No 47 Other setting bit pattern 2 are set to 2 Do not use the calendar function use the elapsed time after the rese...

Page 218: ...his section This screen is displayed on the X SEL R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD controller TTA and MSEL controller Fig 11 24 Maintenance Information Total movement count Indicates the accumulated total of times the actuator has moved Threshold of total movement count Indicates the thresholds for the total number of movements Total mileage km Indicates the accumulated total of distance ...

Page 219: ... transfer to the controller is complete the confirmation message Write Flash ROM appears Fig 11 25 Confirmation Click to select the items parameters etc you want to write to the flash ROM Yes Y Write the memory data to the flash ROM No N Do not write the memory data to the flash ROM When a reset is performed by turning off the power and then turning it back on or resetting the software the memory ...

Page 220: ...yed Fig 11 27 Menu Bar Fig 11 28 Input Password Screen 2 Enter a password 5119 in the displayed Input Password screen Clear Pairing ID button will show up in the bottom of Maintenance Information screen Click Clear Pairing ID button and the pairing ID for the battery less absolute encoder will be cleared Fig 11 29 Maintenance Information Or Clear Pairing ID will show up to the menu in Controller i...

Page 221: ... SEL PX QX RX SX RXD SXD RAX SAX RAXD SAXD the operation amount velocity instruction and feedback pulse all of such as position deviation of SCARA axes cannot be monitored Save the data in a file CSV format Time msec Speed Command Real command pulses sent from the controllers to the actuators Positional Pulses Positional pulses transmitted from the actuator encoder Feedback pulses Fig 11 30 Monito...

Page 222: ...tual position version 7 06 03 00 or later The following display is also available in XSEL P Q and XSEL R S XSEL RA SA Feedback current Feedback current on motor XSEL P Q is version 8 01 00 00 or later Fig 11 31 Monitoring Data Display Example of XSEL P Q orthogonal axes PX QX of orthogonal axes R S RX SX of orthogonal axes RA SA RAX SAX of orthogonal axes Sampling Cycle when Buffered The period of...

Page 223: ...of SSEL ASEL and PSEL Sampling Cycle when Buffered The period of sampling cycle for one sample should be the value set in Other Parameter No 51 Monitoring Data Buffering Cycle The value can be changed in the range from 1msec to 100msec It should be set to 10msec when delivered Buffering indicates the sampling number The cycle of one sample can be set with Other Parameter No 51 Display the syntheti...

Page 224: ...eration and deceleration Speed Command Real command pulses sent from the controllers to the actuators Feedback Pulses Positional pulses feedback pulses transmitted from the actuator encoder Position Deviation Difference between actual command pulse and feedback pulse actual position Fig 11 33 Monitoring Data Other than TTA and SCARA axis of MSEL Sampling Cycle when Buffered The period of sampling ...

Page 225: ... SXD XSEL RA SA RAX SAX RAXD SAXD TTA MSEL PC PG PCX PGX To display set Bit 8 to 1 in Other Parameter No 47 Other Setting Bit Pattern 2 Set up 1 hexadecimal number is bits 7 to 0 of the setting value If the current of the setting value is 1 hexadecimal will be 01 hexadecimal Setting value is the 101 hexadecimal Procedure for I O Data Monitoring 1 Select I O Monitor Setting tab in Servo Monitor Scr...

Page 226: ... RA SA RAX SAX RAXD SAXD TTA and MSEL PCX PGX only FLG Global flag local flag not acceptable Port No Input a port number of I O to monitor 3 Select PC Monitor Output tab in Servo Monitor Screen 4 Select the applicable axis number for monitor data It is unnecessary to set up when monitoring only I O data Fig 11 36 Applicable Axis Number Select Data with a check mark is available for monitoring Put ...

Page 227: ...y interval set in Polling Interval Composing Velocity Set display on off of composing velocity of the monitoring applicable axis Dedicated for when buffering Movement Average Frequency Set the movement average frequency with calculation of composing velocity Dedicated for when buffering Set the composing velocity display of the monitoring applicable axis Set the movement average frequency for the ...

Page 228: ...r in the output multiplying factor setting in the data type select Fig 11 34 Adjust the vertical axis position in port off level in the offset setting in the data type select Fig 11 34 The graph display setting in I O data can be adjusted also when the monitor is in stop Adjust the position for your comfort for monitoring Graph Display Setting Output Multiplying Factor Doubles Offset 0 Graph Displ...

Page 229: ...ation and Display of Current Value of Each Axis in Monitoring are added in V13 00 00 00 and later Fig 11 40 Servo Monitor Screen V13 00 00 00 or later 1 Click on Display Content Detail button and the detail information for monitoring data type will be displayed Fig 11 41 Detailed information for Monitoring Data Type 2 1 ...

Page 230: ...is in monitoring gets displayed Fig 11 42 Current Value Display Current values will be updated only when non buffering monitor is under execution Rated Current Ratio is displayed only for the models available for monitoring of the feedback current ...

Page 231: ...way Function Setting 223 12 RC Gateway Function Setting Operational manual for RC gateway function is in a separate volume Operational manual Catalogue number X SEL controller P Q PX QX RC gateway function ME0188 ...

Page 232: ...13 1 Warning For the controllers other than SSEL and ASEL Controllers that satisfy the following conditions conduct operation of 3 to 6 and 11 to 13 Condition Main Application SSEL V0 57 or ealier ASEL V0 45 or ealier XSEL PC software V12 02 05 00 or ealier Conduct operation of 7 to 13 for a version Main Application SSEL V0 57 or later ASEL V0 45 or later XSEL PC software later than V12 02 05 00 X...

Page 233: ... error If this error occurs close the PC tool reconnect the controller power and then repeat from step 2 If the encoder battery is normal the error will no longer occur after the power is reconnected and rdy or Ardy will be shown on the controller s 7 segment display Take note that the axis has not yet completed homing in this state After the Encoder Rotation Data Reset 2 process is completed the ...

Page 234: ...on Parameter and click Yes to start writing After it is finished conduct a software riset Writing to the flash ROM can be conducted at once after the absolute reset are completed on each axis Fig 13 7 Flash ROM Writing 11 When the following confirmation dialog box for software reset appears click Yes to restart the controller Fig 13 8 Confirmation 12 If no other error is present the controller s 7...

Page 235: ...are V13 00 00 00 or later In the absolute type it is necessary to conduct the absolute reset after motor replacement or when an absolute error Error No B0E or 4A9 occurred 1 Make sure to have a backup of the parameters before conducting Select Parameter P Edit E from the menu in the PC software to show the parameter edit window Press Save As button in the parameter edit window to save the paramete...

Page 236: ...indow will show up Select the tab for the axis that requires the absolute reset Fig 13 12 Absolute Reset Window 5 Click on Start button and a warning window shows up Release the emergency stop check the content and click Yes Home return operation starts on the indicated axis Absolute reset completes after home return Fig 13 13 Warning ...

Page 237: ... screen switches to the confirmation window asking Write Flash ROM Put a check mark on Parameter and click Yes to start writing After it is finished conduct a software riset Writing to the flash ROM can be conducted at once after the absolute reset are completed on each axis Fig 13 14 Flash ROM Writing ...

Page 238: ...e EMG switch before performing work The absolute reset adjustment jig is always required to perform an absolute reset for the rotation axis and vertical axis but not always required for arm 1 and arm 2 Rotation data can be reset as long as positioning preciseness of center of positioning mark label 1 graduation is ensured Fig 13 15 Example of Absolute Reset Adjustment Jig Type JG 1 Performing work...

Page 239: ...RX SX RAX SAX select Abs Reset Y Scara Axis In the case of XSEL RXD SXD RAXD SAXD select Abs Reset Y Fig 13 16 Opening Operation of Abs Encoder Reset Window 2 The Abs Encoder Reset window will open One of three Abs Encoder Reset screens for Arm1 A1c Arm2 A2c Rot Axis Rc Vert Axis Zc is displayed when a corresponding tab is clicked Fig 13 17 Abs Encoder Reset Window ...

Page 240: ...coder 232 13 3 3 Absolute Reset Procedure for Arm 1 or 2 1 Click the Encoder Rotation Data Reset1 button Fig 13 18 Encoder Rotation Data Reset1 Operation 2 Click the Reset Controller Error button Fig 13 19 Controller Reset Operation ...

Page 241: ...k the Servo ON button Fig 13 20 Servo ON Operation 4 Jog the arm to near the reference position see reference position drawing in step 7 and click the Jog end button Fig 13 21 Jog Operation 5 Click the Servo Off button Fig 13 22 Servo OFF Operation ...

Page 242: ... Remove the setscrews and remove the cover before setting the jigs It is recommended that an adjustment jig is used to perform an absolute reset With arm 1 or 2 however rotation data can be reset as long as positioning preciseness of center of positioning mark label 1 graduation is ensured To perform an absolute reset for arm 2 with an arm length of 120 turn the arm at a right angle and set the ji...

Page 243: ...300 350 Reference Position Note When performing an absolute reset for arm 1 of IX NNN2515 rotate arm 2 slightly then set with an adjustment jig pin to set it Always press the EMERGENCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and result in a serious accident Warning ...

Page 244: ...o so may cause the actuator to malfunction and result in a serious accident Warning Fig 13 26 Arm Length 120 2 Reference Position 2 When an absolute reset is performed for arm 2 arm length 120 Fig 13 25 Arm Length 120 1 150 180 Reference Position 1 When an absolute reset is performed for arm 1 arm length 120 Pin Absolute reset jig Arm 1 Positioning mark Arm 2 Positioning mark Pin Absolute reset ji...

Page 245: ...13 How to Reset an Absolute Encoder 237 8 Click the OK button Fig 13 27 Confirmation Operation 9 Click the Encoder Rotation Data Reset2 button Fig 13 28 Encoder Rotation Data Reset2 Operation ...

Page 246: ...et without writing to the flash ROM The status will be the same as the one in which the home position automatic update is not performed Always click the OK button after removing the jig and releasing the EMERGENCY STOP switch Fig 13 29 Confirmation Operation 13 Click in the top right hand corner to exit the Abs Encoder Reset window Once the absolute reset is completed be sure to perform software r...

Page 247: ... 3 4 Absolute Reset Procedure for Rotation Axis Vertical Axis 1 Click the Encoder Rotation Data Reset1 button Fig 13 30 Encoder Rotation Data Reset1 Operation 2 Click the Reset Controller Error button Fig 13 31 Reset Controller Error Operation ...

Page 248: ...ick the Temp Standard posture standby button Please note that the vertical axis returns to its home position Fig 13 33 Temp Standard Posture Standby Operation 5 Jog the rotation axis to the reference position see reference position drawing in step 8 and click the Jog end button Fig 13 34 Jog Operation ...

Page 249: ...y setting the plate and pin of the adjustment jig as illustrated below Set the jig after confirming that the EMERGENCY STOP switch is pressed Set the jig using the positioning mark as a guide The top face of the stopper should roughly align with the bottom face of arm 2 Fig 13 36 Arm Length 500 600 700 800 Reference Position Always press the EMERGENCY STOP switch before setting an adjustment jig F...

Page 250: ... 242 Bottom view Fig 13 37 Arm Length 250 300 350 Reference Position Always press the EMERGENCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and result in a serious accident Warning ...

Page 251: ...13 How to Reset an Absolute Encoder 243 Fig 13 38 Arm Length 120 Reference Position ...

Page 252: ...ngth 150 180 Reference Position Always press the EMERGENCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and result in a serious accident Pay attention to the orientation of the D cut surface of the plate jig Warning ...

Page 253: ...13 How to Reset an Absolute Encoder 245 9 Click the OK button Fig 13 40 Confirmation Operation 10 Click the Encoder Rotation Data Reset2 button Fig 13 41 Encoder Rotation Data Reset2 Operation ...

Page 254: ...olute Encoder 246 11 Click the Home pos automatic update button Fig 13 42 Home Pos Automatic Update Operation 12 Remove the adjustment jig 13 Release the EMERGENCY STOP switch 14 Click the OK Fig 13 43 Confirmation Operation ...

Page 255: ...o ON button Fig 13 44 Confirmation Operation 16 Click the Standard posture standby button Please note that the vertical axis returns to its home position Fig 13 45 Standard Posture Standby Operation 17 Click the Servo OFF button Fig 13 46 Servo OFF Operation ...

Page 256: ...button Fig 13 47 Encoder Rotation Data Reset3 Operation 19 Click the Home pos automatic update button and then click in the top right hand corner to exit the Abs Encoder Reset window Be sure to perform Software Reset upon completion Fig 13 48 Home Position Automatic Update Operation ...

Page 257: ...xecute it after it comes to a circumstance that requires the absolute reset Have it done while the normal operation can be performed Refer to 13 3 2 How to Acquire the Stopper Interfering Point When the absolute reset cannot be performed in the direction of the stopper interfering movement with the initial posture at the delivery from the factory due to such reasons as interference to the peripher...

Page 258: ...w Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 49 Edit Parameter Window 2 Select Controller Abs Encoder Reset Push type absolute reset from the menu Fig 13 50 Menu Select Window 3 A Confirmation window shows up Click Yes Fig 13 51 Confirmation Window If conducting on all the axes at once have the process of 1 When not all the axes but having one ...

Page 259: ...Axes at Once To have the push stopper type absolute reset for all the axes at once follow the steps shown below 1 Select All axes Fig 13 52 Push Type Absolute Reset Window 2 Click Encoder Rotation Data Reset Reset Controller Error Step 1 4 Fig 13 53 Encoder Rotation Data Reset Reset Controller Error ...

Page 260: ...e OK button Fig 13 54 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make to work on with the emergency stop activated when moving the axes with hand Click on the OK button after the work i...

Page 261: ...tion of coordinate Arm 2 Positive direction of coordinate Fig 13 56 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Push Stopper Operation Start Position Error may occur at operation Vertical Axis For the position put it apart from the coordinate 0mm upward end for 10mm or more Setting it at 10mm or less Err...

Page 262: ...ning Window 7 Once the push type absolute reset for all the axes is finished the Information window will appear Click OK button Fig 13 59 Information Window 8 Close the Push stopper position acquisition window by clicking on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset...

Page 263: ...ute Reset on Each Axis One by One To have the push stopper type absolute reset for each axis one by one follow the steps shown below Fig 13 60 Push Type Absolute Reset Window 1 1 st Arm and 2nd Arm 1 Select Individual axis in the push type absolute reset window and set Axis to Arm 1 or Arm 2 ...

Page 264: ...mergency stop condition After the work is finished click on the OK button Fig 13 62 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make sure to work on with the emergency stop activated whe...

Page 265: ...fer to 13 3 2 How to Acquire the Stopper Interfering Point Arm 2 Negative direction of coordinate Arm 1 Positive direction of coordinate Arm 1 Negative direction of coordinate Arm 2 Positive direction of coordinate Fig 13 64 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Push Stopper Operation Start Positio...

Page 266: ... push type absolute reset the Information window will appear Click OK button Fig 13 67 Information Window 8 If it is necessary to have the push type absolute reset for another axis move on to the axis selection When finishing the process click on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted...

Page 267: ...ype Absolute Reset Window 2 Click Encoder Rotation Data Reset Reset Controller Error Step 1 4 Fig 13 69 Encoder Rotation Data Reset Reset Controller Error 3 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the load Have the work during the emergency stop condition After the work is finished click on the OK button Fig 13 70 Confirmation Window ...

Page 268: ...the OK button after the work is finished Fig 13 71 Confirmation Window Initial posture Vertical Axis For the position put it apart from the coordinate 0mm upward end for 10mm or more Setting it at 10mm or less Error No B0D Push Stopper Operation Start Position Error may occur at operation Rotation axis There is no specific indication for the position of rotation shaft It can be set at any position...

Page 269: ...lete the information window will appear Click OK button Fig 13 74 Information Window 8 When finishing the process click on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset ...

Page 270: ...g movement direction of the initial posture set at the delivery due to such as interference with peripheral devices change the setting to the initial posture of the left arm system stopper pressing direction on opposite side and conduct the stopper pressing position acquirement Fig 13 75 Initial Posture of Left Arm System Reference Fig 13 76 Initial Posture of Right Arm System Initial Posture of L...

Page 271: ...ing them Select Parameter Edit from PC Software Menu to show the Edit Parameter window Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 77 Edit Parameter Window 2 Select Controller Abs Encoder Reset Push stopper position acquisition from the menu Fig 13 78 Menu Select Window 3 A Warning window shows up Click Yes Fig 13 79 Warning Window ...

Page 272: ...r 264 4 A Confirmation window shows up Click Yes Fig 13 80 Confirmation Window If conducting on all the axes at once have the process of 1 When not all the axes but having one or some of the 4 axes to be conducted have the process of 2 ...

Page 273: ...steps shown below 1 Select All axes in the Push stopper position acquisition window Fig 13 81 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the load Have the work during the emergency stop condition After the work is finished click on the OK button Fig 13 82 Confirmation Window ...

Page 274: ... coordinate Arm 1 Negative direction of coordinate Arm 2 Positive direction of coordinate Fig 13 84 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Push Stopper Operation Start Position Error may occur at operation Vertical Axis For the position put it apart from the coordinate 0mm upward end for 10mm or mor...

Page 275: ...nus direction Once the selection is made click on the OK button At this time the direction of movement from the current position of the initial posture to Arm 1 1st arm and Arm 2 2nd arm is automatically selected Check the selected movement direction Fig 13 85 Confirmation Window 5 Click Execution button Fig 13 86 Execution Window 6 A Warning window shows up Click Yes Process to acquire the push s...

Page 276: ...13 88 Information Window 8 Close the Push stopper position acquisition window by clicking on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 9 Once the controller reboot is finished conduct the push type absolute reset on all the axes together ...

Page 277: ...ect Individual axis in the Push stopper position acquisition window and set Axis to Arm 1 or Arm 2 Fig 13 89 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the load Have the work during the emergency stop condition After the work is finished click on the OK button Fig 13 90 Confirmation Window ...

Page 278: ...m system or the right arm system It is set to right arm system when the unit is shipped out Arm 2 Negative direction of coordinate Arm 1 Positive direction of coordinate Arm 1 Negative direction of coordinate Arm 2 Positive direction of coordinate Fig 13 92 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Pus...

Page 279: ...s Process to acquire the push stopper position will start Fig 13 95 Warning Window 7 Once the push stopper position acquisition is complete the Information window will appear Click OK button Fig 13 96 Information Window 8 If it is necessary to have the push stopper position a acquisition for another axis move on to the axis selection When finishing the process click on the upper right side of the ...

Page 280: ...n window and set Axis to Vert Axis Rot Axis Fig 13 97 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the load Have the work during the emergency stop condition After the work is finished click on the OK button Fig 13 98 Confirmation Window ...

Page 281: ...rtical Axis For the position put it apart from the coordinate 0mm upward end for 10mm or more Setting it at 10mm or less Error No B0D Push Stopper Operation Start Position Error may occur at operation Rotation axis There is no specific indication for the position of rotation shaft It can be set at any position 4 It is not necessary to change the direction to move for the vertical axis and rotation...

Page 282: ...Information window will appear Click OK button Fig 13 103 Information Window 8 When finishing the process click on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 9 Once the controller reboot is finished conduct the push type absolute reset on the axis with the push stopp...

Page 283: ...bsolute reset is not conducted after the motor is replaced and robot is dismantled There may be a case that the indicated coordinates for positioning point cannot be achieved before and after the absolute reset is conducted 1 Make sure to have a backup of the parameters before conducting Select Parameter Edit from the menu in the PC software to show the parameter edit window Press Save As button i...

Page 284: ...p Check the content and click OK Fig 13 106 4 Calibration Home Abs Encoder Reset appears Select the tab for the axis that requires the absolute reset C0onduct absolute reset to all the axes Note An arrow is displayed in the window for V12 02 01 00 and later Fig 13 107 ...

Page 285: ... return posture and not to have interference to peripheral equipment The home return operation is to be conducted with the revolution limiting stopper when revolution limitation is to be performed Refer to 1 2 2 Operation Range and Operation Limit In this case check that the home return posture can be performed and there is no interference to peripheral equipment In case there is any interference ...

Page 286: ...7 for the datum position of the J1 axis and J2 axis Also change JOG Vel and Inc Distance if necessary Click OK once the arm gets near the datum position Click OK when moving the arm new the datum position manually by hand Fig 13 109 7 Have the emergency stop conducted and insert the home position adjustment tool 4 at the datum position of J1 axis or J2 axis Fig 13 110 Home Position Adjusting Tool ...

Page 287: ...tion adjustment tool 4 being inserted click OK in Emergency stop Positioning pin insertion window Fig 13 111 9 Remove the home position adjustment tool 4 and release the emergency stop Click OK in Positioning pin removeal Emergency stop release window Fig 13 112 ...

Page 288: ...sure to secure enough area for home return posture and not to have interference to peripheral equipment In case there is any interference to peripheral equipment during the home return operation the home return operation completes at the position of interference and the proper home position cannot be acquired In such cases it may cause malfunction of robot or peripheral equipment or critical opera...

Page 289: ...k Yes There is no movement on the R axis by home return Fig 13 114 12 JOG Basic Position window appears Press and buttons to move the arm to a place near the datum position Refer to Step 13 for the datum position of the J1 axis and J2 axis Also change JOG Vel and Inc Distance if necessary Click OK once the arm gets near the datum position Click OK when moving the arm new the datum position manuall...

Page 290: ...ent tool 3 D cut surface on the R axis tip and the D cut surface on the hole for insertion of the home position adjustment tool 3 face in the same direction Caution The datum position of the R axis is in the same position for every 360deg Pay attention so the wires or pipes of tools get twisted Fig 13 116 14 With the home position adjustment tool 3 being inserted click OK in Emergency stop Positio...

Page 291: ...p release window Fig 13 118 16 Once Calibration Home Abs Encoder Reset window is closed the screen switches to Write Flash ROM confirmation window Put a check mark on Parameter and click Yes and then conduct the software reset Writing to the flash ROM can be conducted at once after the home position adjustment and absolute reset are completed on each axis Fig 13 119 ...

Page 292: ...PC software You also need a special jig to perform an absolute reset Versions supporting absolute reset on ZR unit V7 4 0 0 or later Absolute reset adjustment jig Model number JG ZRS for ZRS JG ZRM for ZRM Fig 13 120 Connect the robot controller and PC cable to enable operation from the PC software Before proceeding be sure to confirm that the EMG switch operates properly Carrying out any inspecti...

Page 293: ... spline adjustment window from the PC software Fig 13 121 Absolute Reset Window Launching Operation 2 The ball screw spline adjustment window starts When a Lnr Axis No linear movement axis number is selected Rot Axis No Rotational Movement Axis Number Mating Axis Number and Encoder Type are displayed Fig 13 122 Absolute Reset Window ...

Page 294: ...ncludes items that require robot operation confirm the range of operation of the actuator absence of obstructions etc to make sure the robot can be operated 1 Select a Lnr Axis No linear movement axis number which will be used to perform an absolute reset ball screw spline adjustment Fig 13 123 Linear Movement Axis Number Selection Operation 2 Click the Encoder Rotation Data Reset Lnr Axis Rot Axi...

Page 295: ... Encoder 287 3 When the dialog box appears click the Yes button Fig 13 125 Encoder Multi Rotation Data Reset 1 Operation 4 When the dialog box appears click the Yes button Fig 13 126 Encoder Multi Rotation Data Reset 1 Operation ...

Page 296: ...13 How to Reset an Absolute Encoder 288 5 Click the Reset Controller Error button Fig 13 127 Controller Error Reset Operation 6 Click the Servo ON Lnr Axis Rot Axis button Fig 13 128 Servo ON Operation ...

Page 297: ...Up down axis will have a home return operation Fig 13 129 Tentative Reference Posture Operation 8 Jog the rotational movement axis R axis to the reference posture position refer to the illustration of reference posture and then click the Jog end button Fig 13 130 Jogging Illustration of reference posture ...

Page 298: ...r 290 9 Click the Servo OFF Lnr Axis Rot Axis button Fig 13 131 Servo OFF Operation 10 Press the emergency stop switch emergency stop button on the PC cable 11 Release the brake Release the brake using the switch on the controller side ...

Page 299: ... jig is vertical to the ball screw spline and that the D cut surface and surface a are firmly in contact Applicable screw Hexagonal socket head setscrew M5 Tightening torque 20 N cm reference 5 Insert the supplied shaft into the hole in the ZR unit Exercise caution because the shaft will come off if the hand is released 6 Turn the ball screw spline until the supplied shaft contacts lightly with th...

Page 300: ...lute Encoder 292 12 Click the OK button Fig 13 132 Adjustment Jig Installation Confirmation Screen Operation 13 Click the Encoder Rotation Data Reset 2 Rot Axis button Fig 13 133 Encoder Multi Rotation Data Reset 2 Operation ...

Page 301: ...Encoder 293 14 When the dialog box appears click the Yes button Fig 13 134 Encoder Multi Rotation Data Reset 2 Operation 15 When the dialog box appears click the Yes button Fig 13 135 Encoder Multi Rotation Data Reset 2 Operation ...

Page 302: ...button Fig 13 136 Home Position Automatic Update Operation 17 Remove the adjustment tool 18 Lock the brake on the front panel of the controller 19 Cancel the emergency stop by releasing the emergency stop button on the PC cable 20 Click the OK button Fig 13 137 Adjustment Jig Removal Confirmation Operation ...

Page 303: ... Lnr Axis Rot Axis button Fig 13 138 Servo ON Operation 22 Click the Standard Posture standby Lnr Axis Rot Axis 0 button Note Up down axis starts home return operation after the rotary axis finishes moving to 0 point Fig 13 139 Reference Posture Standby Operation ...

Page 304: ...et an Absolute Encoder 296 23 Click the Servo OFF Lnr Axis Rot Axis button Fig 13 140 Servo OFF Operation 24 Click the Encoder Rotation Data 3 Lnr Axis button Fig 13 141 Encoder Multi Rotation Data Reset 3 Operation ...

Page 305: ...ck the Yes button Fig 13 142 Encoder Multi Rotation Data Reset 3 Operation 26 Click the Home pos automatic update Indispensability Lnr Axis button and then click in the top right hand corner of the window to close the window Fig 13 143 Home Position Automatic Update Operation ...

Page 306: ...w spline adjustment window following the ball screw spline adjustment opens the following screen Click the Yes button Fig 13 144 Confirmation 28 When all data has been written to the flash ROM the following screen appears Click the Yes button Fig 13 145 Confirmation ...

Page 307: ... screw spline adjustment on ZR unit V7 4 0 0 or later Absolute reset adjustment jig Model number JG ZRS for ZRS JG ZRM for ZRM Fig 13 146 Connect the cables for the robot controller and teaching pendant to enable operation from the teaching pendant Before proceeding be sure to confirm that the EMG switch operates properly Carrying out any inspection or maintenance work without fully understanding ...

Page 308: ...w from the PC software Fig 13 147 Ball screw Spline Adjustment Window Launching Operation 2 The ball screw spline adjustment window starts When a Lnr Axis No llinear movement axis number is selected Rot Axis No Rotational Movement Axis Number Mating Axis Number and Encoder Type are displayed Fig 13 148 Ball screw Spline Adjustment Window ...

Page 309: ...procedure includes items that require robot operation confirm the range of operation of the actuator absence of obstructions etc to make sure the robot can be operated 1 Select a Lnr Axis No llinear movement axis number which will be used to perform a ball screw spline adjustment Fig 13 149 Linear Movement Axis Number Selection Operation 2 Click the Reset Controller Error button Fig 13 150 Control...

Page 310: ...302 3 Click the Servo ON Lnr Axis Rot Axis button Fig 13 151 Servo ON Operation 4 Click the Temp Standard posture standby Lnr Axis button Note Up down axis will have a home return operation Fig 13 152 Tentative Reference Posture Operation ...

Page 311: ... Note Rotary axis starts home return operation Fig 13 153 Home Return Operation 6 Jog the rotational movement axis to the reference posture position refer to the illustration of reference posture and then click the Jog end button Fig 13 154 Jogging Illustration of reference posture ...

Page 312: ...er 304 7 Click the Servo OFF Lnr Axis Rot Axis button Fig 13 155 Servo OFF Operation 8 Press the emergency stop switch emergency stop button on the PC cable 9 Release the brake Release the brake using the switch on the controller side ...

Page 313: ... jig is vertical to the ball screw spline and that the D cut surface and surface a are firmly in contact Applicable screw Hexagonal socket head setscrew M5 Tightening torque 20 N cm reference 5 Insert the supplied shaft into the hole in the ZR unit Exercise caution because the shaft will come off if the hand is released 6 Turn the ball screw spline until the supplied shaft contacts lightly with th...

Page 314: ...ion Screen Operation 11 Click the Home pos automatic update Indispensability Rot Axis button Fig 13 157 Home Position Automatic Update Operation 12 Remove the adjustment tool 13 Lock the brake on the front panel of the controller 14 Cancel the emergency stop by releasing the emergency stop button on the PC cable ...

Page 315: ...g 13 158 Adjustment Jig Removal Confirmation Operation 16 Closing the ball screw spline adjustment window following the ball screw spline adjustment opens the following screen Click the Yes button Fig 13 159 Confirmation 17 When all data has been written to the flash ROM the following screen appears Click the Yes button Fig 13 160 Confirmation ...

Page 316: ...1 6 10 11 12 21 38 42 43 44 46 47 50 51 66 67 68 Driver parameter No 26 Please follow the instructions below to perform Absolute Reset by using PC Software for X SEL 13 7 1 Instructions of Absolute Reset 1 Supply main power DC24V to controller and simple absolute unit If there is no adjustment item besides ABS unit encoder error 2 7 seg LED will display E41C when panel unit is connected 2 Connect ...

Page 317: ... ABS unit encoder error 2 following error message will appear on screen Fig 13 162 ABS Unit Encoder Error Message 5 Current Error status can be checked by selecting Monitor M Error detail information E Following figure is an example of ABS Unit Encoder Error 2 example of when using simple absolute unit as primary axis Close dialog box window after checking error detail information Fig 13 163 Error...

Page 318: ...ect Controller Absolute reset from Menu 7 Warning window will appear on screen Click OK button Fig 13 164 Warning 8 Abs Encoder Reset window will appear on screen Click here to select axis to perform Absolute reset Fig 13 165 Absolute Reset Window ...

Page 319: ...Warning After finished processing Absolute reset completion confirmation red arrow will be back to normal display as same as 8 If there is another axis to perform absolute reset select axis of symmetry here then process from 8 To finish processing click close button to close the Absolute reset window Note To process several axis absolute reset finish process of 8 to 9 for all of axis before start ...

Page 320: ...ng movement with the initial posture at the delivery from the factory due to such reasons as interference to the peripheral equipment There was a change in the stopper position due to such reasons as a removal of the stopper of the vertical axis It is necessary to prepare tools shown below for Stopper Pressing Type Absolute Reset and Stopper Pressing Position Acquirement for the four axis type Mod...

Page 321: ...Select Parameter Edit from PC Software Menu to show the Edit Parameter window Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 169 Edit Parameter Window 2 Select Controller Abs Encoder Reset Scara Q Push type absolute reset from the menu Fig 13 170 Menu Select Window 3 A Confirmation window shows up Click Yes Fig 13 171 Confirmation Window ...

Page 322: ... for all the axes at once follow the steps shown below 1 Select All axes The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 172 Push Type Absolute Reset Window 2 Click Encoder Rotation Data Reset Reset Controller Error Step 1 4 Fig 13 173 Encoder Rotation Data Reset Reset Controller Error ...

Page 323: ...he spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on the spline shaft For how to detach and attach the spline cover refer to 4 6 How to Inspect Visually on Timing Belt for Vertical Axis and Rotary Axis in IXA SCARA Robot Instruction Manual ME3776 Jig B...

Page 324: ...13 175 Confirmation Window For 3 Axis Type Fig 13 176 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs depending on the movement direction Make sure the work is conducted with the emergency stop activated when moving the axes by hand Click on the OK button after the work is finished For 4 Axis Type Fig 1...

Page 325: ... Stopper Pressing Position Acquirement Operation Fig 13 179 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Initial posture of left arm system Arm 1 Movement in Positive Side of Coordinate Arm 2 Movement in Negative Side of Coordinate Ini...

Page 326: ...eration Fig 13 180 Initial Posture Rotation Axis For 4 Axis Type Only For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Fig 13 181 Initial Posture 5 Click on the Execution button For 4 Axis Type Fig 13 182 Execution Window For 3 Axis Type Fig 13 183 Execut...

Page 327: ... work is finished Fig 13 185 Jig Removing Window 8 For the four axis type a warning window will be displayed Click Yes The stopper pressing system absolute reset operation will be resumed Fig 13 186 Warning Window 9 Once the push type absolute reset for all the axes is finished the Information window will appear Click OK button Fig 13 187 Information Window 10 Close the Push stopper position acqui...

Page 328: ... 2 The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 188 Push Type Absolute Reset Window 2 Click Encoder Rotation Data Reset Reset Controller Error Step 1 4 Fig 13 189 Encoder Rotation Data Reset Reset Controller Error 3 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the lo...

Page 329: ...to the initial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make sure to work on with the emergency stop activated when moving the axes with hand Click on the OK button after the work is finished Fig 13 191 Confirmation Window ...

Page 330: ...r Stopper Pressing Position Acquirement Operation Fig 13 192 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Arm 2 Negative Direction of Coordinate Arm 2 Positive Direction of Coordinate Arm 1 Positive Direction of Coordinate Arm 1 Negati...

Page 331: ...nce the push type absolute reset the Information window will appear Click OK button Fig 13 195 Information Window 8 If it is necessary to have the push type absolute reset for another axis move on to the axis selection When finishing the process click on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is ...

Page 332: ... Rot Axis for the four axis type and Vert Axis for the three axis type The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 196 Push Type Absolute Reset Window 2 Click Encoder Rotation Data Reset Reset Controller Error Step 1 4 Fig 13 197 Encoder Rotation Data Reset Reset Controller Error ...

Page 333: ...he spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on the spline shaft For how to detach and attach the spline cover refer to 4 6 How to Inspect Visually on Timing Belt for Vertical Axis and Rotary Axis in IXA SCARA Robot Instruction Manual ME3776 Jig B...

Page 334: ... Axis Type Fig 13 200 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make to work on with the emergency stop activated when moving the axes with hand Click on the OK button after the work i...

Page 335: ... operation Fig 13 203 Initial Posture Rotation Axis For 4 Axis Type Only For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Fig 13 204 Initial Posture 5 Click Execution button For 4 Axis Type Fig 13 205 Execution Window For 3 Axis Type Fig 13 206 Execution ...

Page 336: ...ke sure the work is conducted with the emergency stop activated Click on the OK button after the work is finished Fig 13 208 Jig Removing Window 8 Once the push type absolute reset for the axis is complete the information window will appear Click OK button Fig 13 209 Information Window 9 When finishing the process click on the upper right side of the window Once the window is closed the parameters...

Page 337: ...that the absolute reset cannot be performed with the stopper pressing movement direction of the initial posture set at the delivery due to such as interference with peripheral devices change the setting to the initial posture of the left arm system stopper pressing direction on opposite side and conduct the stopper pressing position acquirement Initial Posture of Left Arm System Opposite interferi...

Page 338: ...meter window Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 212 Edit Parameter Window 2 Select Controller Abs Encoder Reset Scara Q Push stopper position acquisition from the menu Fig 13 213 Menu Select Window 3 A Warning window shows up Click Yes Fig 13 214 Warning Window 4 A Confirmation window shows up Click Yes Fig 13 215 Confirmation Window ...

Page 339: ...e the push stopper position for all the axes at once follow the steps shown below 1 Select All axes in the Push stopper position acquisition window The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 216 Push Stopper Position Acquisition Window ...

Page 340: ...he spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on the spline shaft For how to detach and attach the spline cover refer to 4 6 How to Inspect Visually on Timing Belt for Vertical Axis and Rotary Axis in IXA SCARA Robot Instruction Manual ME3776 Jig B...

Page 341: ...d click on the OK button For 4 Axis Type Fig 13 218 Confirmation Window For 3 Axis Type Fig 13 219 Confirmation Window 3 Adjust each axis to the initial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make to work on with the emergency stop activated when moving the axes with hand Click on the OK button a...

Page 342: ...g or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Arm 2 Negative Direction of Coordinate Arm 2 Positive Direction of Coordinate Arm 1 Positive Direction of Coordinate Arm 1 Negative Direction of Coordinate Initial posture of left arm system Arm 1 Movement in Positive Side of Coordinate Arm 2 Movement in Negative Side o...

Page 343: ...pper Pressing Operation Start Position Error may occur at operation Fig 13 222 Initial Posture Rotation axis For 4 Axis Type Only For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Fig 13 223 Initial Posture Vertical Axis Negative Direction of Coordinate ...

Page 344: ...Once the selection is made click on the OK button At this time the moving directions of Arm 1 1st Arm and Arm 2 2nd Arm should be automatically selected from the current position in the initial posture set in 3 Check the selected movement direction For 4 Axis Type Fig 13 224 Confirmation Window For 3 Axis Type Fig 13 225 Confirmation Window 5 Click on the Execution button For 4 Axis Type Fig 13 22...

Page 345: ...g At this time make sure the work is conducted with the emergency stop activated Click on the OK button after the work is finished Fig 13 229 Jig Removing Window 8 For the four axis type a warning window will be displayed Click Yes Operation for the stopper pressing position acquirement will be resumed Fig 13 230 Warning Window 9 Once the push stopper position acquirement for all the axes is compl...

Page 346: ... by clicking on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 11 Once the controller reboot is finished conduct the push type absolute reset on all the axes together ...

Page 347: ... 232 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the load At this time make sure the work is conducted with the emergency stop activated After the work is finished click on the OK button Fig 13 233 Confirmation Window 3 Adjust 1st Arm and 2nd Arm to the initial posture The posture differs depending o...

Page 348: ... or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Initial posture of left arm system Arm 1 Movement in Positive Side of Coordinate Arm 2 Movement in Negative Side of Coordinate Initial posture of right arm system At the delivery Arm 1 Movement in Negative Side of Coordinate Arm 2 Movement in Positive Side of Coordinate ...

Page 349: ...nt position of the initial posture is automatically selected Once the selection is made click on the OK button Fig 13 236 Confirmation Window 5 Click Execution button Fig 13 237 Execution Window 6 A Warning window shows up Click Yes Process to acquire the push stopper position will start Fig 13 238 Warning Window 7 Once the push stopper position acquisition is complete the Information window will ...

Page 350: ...hing the process click on the upper right side of the Push stopper position acquisition window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 9 Once the controller reboot is finished conduct the push type absolute reset on the axis with the push stopper position acquisition ...

Page 351: ...1 Select Individual axis in the Push stopper position acquisition window and set Axis to Vert Axis Rot Axis The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 240 Push Stopper Position Acquisition Window ...

Page 352: ...he spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on the spline shaft For how to detach and attach the spline cover refer to 4 6 How to Inspect Visually on Timing Belt for Vertical Axis and Rotary Axis in IXA SCARA Robot Instruction Manual ME3776 Jig B...

Page 353: ...nitial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make to work on with the emergency stop activated when moving the axes with hand Click on the OK button after the work is finished Fig 13 244 Confirmation Window Initial posture Vertical Axis For the position put it apart from the coordinate 0mm upwar...

Page 354: ...Error may occur at operation Fig 13 246 Initial Posture 4 Select the movement method Make to select Motor drive on the selection of Motor drive Hand It is not necessary to change the direction to move for the vertical axis and rotation axis Make the Vert Axis is in the Coordinates minus direction Once the selection is made click on the OK button For 4 Axis Type Fig 13 247 Confirmation Window For 3...

Page 355: ...Fig 13 251 Warning Window 7 For the four axis type press Execute and proceed to Removing and then take off the rotary axis pressing absolute reset jig At this time make sure the work is conducted with the emergency stop activated Click on the OK button after the work is finished Fig 13 252 Jig Removing Window 8 Once the push stopper position acquisition is complete the Information window will appe...

Page 356: ... stopper position acquisition window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 10 Once the controller reboot is finished conduct the push type absolute reset on the axis with the push stopper position acquisition ...

Page 357: ...at is not yet written to the flash ROM will be lost after this operation Click Controller C from the menu bar and then select Software Reset R 14 2 Reset Error Selecting this menu item will reset message level errors and operation cancellation level errors Even after selecting Reset Error those errors whose cause has not been removed will occur again Click Controller C from the menu bar and then s...

Page 358: ...W during automatic operation recovery after release stop operation pause release When you set other parameter No 10 to 2 emergency stop recovery according to type continuous operation recovery during automatic operation only emergency stop during automatic operation recovery after emergency stop release operation pause release When you set other parameter No 11 to 2 according to recovery type duri...

Page 359: ...uring automatic operation recovery after release of emergency stop operation pause release When you set other parameter No 11 to 2 Deadman SW Enable SW recovery according to type continuous operation recovery during automatic operation only stop by Deadman SW or Enable SW during automatic operation recovery after emergency stop release operation pause release Specify any input port for the operati...

Page 360: ...s shown Show controller time The time date time currently set in the controller is shown Setting button Set the time date time shown on the screen to the controller 14 5 SEL Global Data Backup 1 Saving to a file Global flags global integer variables global real variables and global strings can be saved Select SEL global data backup G from the Controller pop up menu and then click Save File AS S Th...

Page 361: ...and then click Transmit to Controller L The SEL global data backup screen Transmit to Controller will be displayed If an error occurs focus will move to the Detailed Error Information tag to display the error description Fig 14 3 SEL Global Data Backup Screen Transmit to Controller Clicking will display the SEL global data type select screen Select a desired data type and click OK The data will be...

Page 362: ...of control constant tables for the encoder and motor can be checked Select Controller C from the menu tool bar and then click Control constant table management information Z Supported by X SEL P Q PX QX R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL and PSEL only Fig 14 5 Control Constant Table Management Information ...

Page 363: ...O ports and others Select Positioner Mode O from the Controller pop up menu and then click Execute E Pressing the EMERGENCY STOP button or Stop in the screen of Fig 14 6 will stop the positioner mode Select Positioner Mode O from the Controller pop up menu and then click Stop S Fig 14 6 Execue or Stop of Positioner Mode Note When the SSEL ASEL or PSEL controller is in the positioner mode and being...

Page 364: ...lers After the dialog indicating Getting Pos mode data has been displayed select the Pos mode sys1 data for PSEL and click the Save S button The system data can be saved This function is used when making inquiries for support regarding the positioner mode Select Positioner Mode O from the Controller pop up menu and then click Get Pos mode Info G Fig 14 7 Dialog Box Indicating System Data is Being ...

Page 365: ...ed This information is intended for manufacturers 1 Mng Info Tab Mode Display a specified positioner mode Management Info 1 2 Display the management information of system data 2 Detail tab Display the mode name and management information for each system data Click Pos mode Management Info M from the Controller pop up menu Fig 14 9 Pos Mode Management Info Management Info Tab Fig 14 10 Pos Mode Man...

Page 366: ...way feature SSEL Controller TTA MSEL PC PG and PCX PGX controllers File Save Format Selection window will appear after clicking Save As button Fig 14 11 File Save Select Screen Note For XSEL P Q PX QX and SSEL Controllers a file will be saved in Position Format 2 regardless of which format you have chosen Next the file save dialog will show up Select Excel 97 2003 Workbook xls put a file name and ...

Page 367: ... axes is four and two columns when the number of activated axes is eight for XSEL RXD SXD and RAXD SAXD Controllers 2 These should be displayed when the output operation feature is valid in TTA MSEL and XSEL RA SA RAX SAX RAXD SAXD Controllers 3 It should be displayed only on the models with the position comment feature available Explanation of Each Column Data No Column Position No Data with only...

Page 368: ... Files and all the xls files should appear Fig 14 13 Open File Dialog The controller selection window will show up once a Excel 97 2003 Workbook xls file with the correct position data file format is selected Select a controller to be used press OK button and Microsoft Office Excel opens and the file will start to be read out File readout error will be displayed if the file format is incorrect Fig...

Page 369: ...data on the Excel sheet Refer to 14 10 1 Position Data Format for the title line 14 10 4 Caution 1 Do not attempt to input any information except for those described in the position data format to the title line and position number column Doing so will disturbs reading the data correctly In the area hatched in the figure below can be used for free input Note Once the file gets overwritten in the X...

Page 370: ...d symbols will be shown in the variable window I O window flag monitor window and position data edit window Position data editing is permitted for four axes in the case of X SEL J K controllers and six axes in the case of the P Q and PX QX controllers In the case of the R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD type editing of position data for eight axes is permitted This function is not supporte...

Page 371: ...mpatible with increased memory Choose the format type When saving programs or position data either saving by the normal format Format 1 or saving with the extended format Format 2 can be chosen in the select screen Fig 15 3 Setting PC interface software V7 2 0 0 or later 2 Timer You can set the times required for the controller to make reference to the various data Normally the settings need not b...

Page 372: ... data can be edited is shown after Permit editing of position data for all axes Fig 15 5 Environment Setup Screen V9 00 00 00 or later Note In the case of the X SEL R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD controller the maximum axis number for which position data editing is permitted varies depending on how the controller is set up The largest axis number among the editable axes is now shown Set...

Page 373: ...sition Data window Also paste is operated in Edit Program window it can be chosen from overwriting and inserting Fig 15 6 Environment Setup Window V12 02 00 00 or later Put a checkmark to enable cut copy and paste in cell unit Put a checkmark here and the copy data overwrites when paste is operated in Edit Program window With no checkmark the copy data is inserted when paste is operated in Edit Pr...

Page 374: ...d after power reconnection or software reset since system specific settings are lost immediately after parameter initialization Under such conditions all parameters cannot be transferred to the controller The recovery method in that case is explained below Note This method is intended to write the parameter data back to the controller for recovery Please note that serious effects such as home disp...

Page 375: ...he effective axis patterns of the controller and the parameter file to transfer mismatch the parameter file cannot be transferred A warning dialog in Fig 16 2 will be displayed during file transfer Fig 16 1 Effective Axis Pattern Immediately after Initialization Fig 16 2 Parameter Transfer when Effective Axis Patterns Mismatch Clicking the transfer to the controller button Fig 16 1 after changing ...

Page 376: ... 0 or later X SEL P Q R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD compatible with increased memory X SEL PX QX compatible with increased memory Fig 16 4 Flash ROM Write Confirmation Dialog The number of writing to the flash ROM is limited approx 100 000 times If you do not write all the data select Write Selected Data Region and write to the flash ROM Once the parameters have been written to the fla...

Page 377: ...ransfer of Actuator Non specific Parameters First open a parameter file for recovery Clicking the transfer to the controller button will display the Select Parameter Category form Fig 16 6 Parameter File Form for Recovery ...

Page 378: ...ide in Basic Setting Select I O System Device in addition when controller is XSEL RA SA RAX SAX or RAXD SAXD After completing the above settings click the OK button Parameter transfer will start Fig 16 7 Transfer of Actuator Non specific Parameters After performing this procedure always write the parameters to the flash ROM and reset software Since the data specific to each axis of the actuator ha...

Page 379: ... selected parameters under Select parameter transfer options After completing the above settings click the OK button Fig 16 8 Transfer of Actuator Specific Parameters Once the OK button has been clicked a dialog in Fig 16 9 will be displayed Select Yes to execute parameter transfer Fig 16 9 Warning Dialog before Transfer of Actuator Specific Parameters After performing this procedure always write ...

Page 380: ...t Reset all the programs except for the I O processing program at action abort time Errors other than axis related errors become reset factors only in an error occurring moment Yes Errors interfering with action For a minor errors with a level lower than this error reset is attempted with the auto reset function at the external active command SIO PIO receipt Main application part D00 D8F Main core...

Page 381: ...dit window first 987 Cannot initialize memory being edited on line Memory initialization was performed while the program symbol position data online edit window was open Close the applicable online edit window first 988 Cannot Jog when Servo OFF Jogging was performed for an axis whose servo was OFF Turn ON the servo first 989 Acceleration specification error for jog move or continuous move The spe...

Page 382: ...n 9A5 Extension motion control board position data file transfer prohibited while being edited on line The extension motion control board position data file cannot be transferred during the on line editing 9A6 Extension motion control board parameter cam data file transfer prohibited while being edited on line The extension motion control board parameter cam data file cannot be transferred during ...

Page 383: ...aring prohibited in operating mode An operation to clear the error list was performed in operating mode Check the type of manual operation or other parameter No 21 and the type of manual operation with the PC software currently selected AAD Slave unit type not entered AAE Slave unit type error AAF Slave device number not entered AB0 Slave device number error AB1 Slave command ID not entered AB2 Sl...

Page 384: ...prohibited during online edit SEL program symbol position data initialization was performed while the program symbol position data online edit window was open Close the applicable online edit window first ACC Symbol not defined An undefined symbol or symbols is are used in the program step data ACD File not found The specified file cannot be found Check the file name ACE File not supported The spe...

Page 385: ...net Receive Timeout Error PC Communication error Check the HUB cable connection short noise etc ECE Disconnection Error PC Communication error Check the HUB cable connection short noise etc ECF Socket Error PC Communication error The cable may be removed or disconnected ED0 Service Port No Being Used PC The specified port number may be being used by another connection Change the port number ED1 Ca...

Page 386: ...16 Appendix 378 ...

Page 387: ...d of Caution Operating environment Windows Vista and Windows 7 were added 32 35 The installation procedure for Windows 7 or Windows Vista was added to the USB conversion adapter driver installation procedure September 2012 The 10th edition Pages 1 7 Added a Safety Guide 3 2 Explanation of command Eliminated the contents regarding 3 RC gateway 12 Eliminated the section of RC position data edit 12 A...

Page 388: ...on Page 68 126 136 140 Contents added for Easy Parameter Setup 286 Explanation made for additional functions of environment setting window The 17B edition Page 181 182 Correction made Actual command pulse Manipulated variable The 18th edition Page 167 Axis status screen added for V12 02 01 00 and later 189 191 Operation of new absolute reset window for SSEL and ASEL added 192 194 13 2 Orthogonal A...

Page 389: ...to 2 for IXP SCARA April 2017 The 21th edition Page 6 17 Windows 10 added Windows XP Vista deleted Page 33 39 Contents added to be applicable for Windows 10 Page 57 Connection window deleted for V7 2 0 0 and later 4 2 2 Transferring a Program Created Offline added Page 121 132 133 Changed contents added for Version 13 02 00 00 and later 6 2 2 Transferring a Position Created Offline added Page 162 ...

Page 390: ...e 21E edition Page 15 to 16 43 to 52 Change made to Cable Type CB ST A1MW050 EB CB ST A2MW050 EB The 21E edition Page 58 94 TTA deleted The 22th edition Page 127 Position data added for IXA SCARA Robot 3 axis type 13 8 IXA SCARA Axes and Procedure for absolute reset added for IXA The 22B edition Page 312 Model code changed to JG IXA1 The 22C edition Page 127 Change made to Figure 6 12 for window o...

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Page 392: ...889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com 825 PhairojKijja Tower 12th Floor Bangna Trad RD Bangna Bangna Bangkok 10260 Thailand TEL 66 2 361 4458 FAX 66 2 361 4456 Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0...

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