IAI MSEL Instruction Manual Download Page 221

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Chapter 7

Appendix

213

7.4.4 Tool Coordinate System

It is the 128 kinds of coordinate systems defined by the too (such as hand) dimensions (offset)

of that attached on the tool attached position.

(Note) Work Coordinate System No. 0 is reserved as offset = 0 of Tool Coordinates by the

system.

Select the defined tool coordinate system number, and it is used as the destination point at

positioning of the tool tip as well as the tool attached position.

Select the defined Tool Coordinate System and operate the R axis with JOG operation, and

such movement as shown in the figure below can be performed.

Regarding directions of X and Y axes (Xtn and Ytn) in tool coordinate system

With R-Axis

Varies relying on coordinates of R-axis

Without R-Axis : Always fixed, the directions depends on R offset of tool coordinate system

R-axis

Tool

Tool Tip

Xoftn : X Tool Coordinate offset

Yoftn : X Tool Coordinate offset

Zoftn : X Tool Coordinate offset

Roftn : X Tool Coordinate offset

Xtn : Tool Coordinate X-axis

Ytn : Tool Coordinate X-axis

Ztn : Tool Coordinate X-axis

Rtn : Tool Coordinate X-axis

(n is coordinate system number)

Summary of Contents for MSEL

Page 1: ...MSEL Controller Instruction Manual Fifth Edition ...

Page 2: ......

Page 3: ...ep this Instruction Manual at hand so that the operator of this product can read it whenever necessary Important This Instruction Manual is original The product cannot be operated in any way unless expressly specified in this Instruction Manual IAI shall assume no responsibility for the outcome of any operation not specified herein Information contained in this Instruction Manual is subject to cha...

Page 4: ......

Page 8: ...ke can be performed with no abnormality If an alarm is generated connect the PC or teaching pendant and check the content of the alarm to have the right treatment Yes Yes Check of Packed Items Are there all the delivered items Caution To ensure safety it is recommended that safety speed be enabled during initial movements When putting the brake release switch to RLS side on a robot installed verti...

Page 9: ...ant safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity e...

Page 10: ...the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the ...

Page 11: ...oseness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock or electros...

Page 12: ... to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire 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 5 Teaching When the work is carried out with 2 or more persons make it c...

Page 13: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready...

Page 14: ...sult 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 untigh...

Page 15: ...he 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 Thi...

Page 16: ...on 4 MSEL PGX4 Safety category compliant specification 2 Power con SCARA robot additional axis within 1 axis 5 MSEL PC Standard specification 6 MSEL PG Safety category compliant specification 2 Multi Axis 4 axes or less 1 With no connection of high thrust axis 7 MSEL PCF High thrust specification 8 MSEL PGF High thrust safety category compliant specification 2 Multi Axis 4 axes or less 1 With high...

Page 17: ...is shut down However make sure to save the latest data so a quick recovery action can be taken in case when the controller is broken and needs to be replaced with another one How to Save Data 1 Save the data to external memory or hard disk with using the PC software 2 Hard copy the information of position tables and parameters on paper 5 Clock Setting in Calendar Function There may be a case that ...

Page 18: ...setting to be done with the minimum setting Setting to 1 for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer from 0 to 10msec for some PLC Therefore the same process as when the timer is not set is held and may cause a failure Set 2 as the minimum value for the setting of 10msec timer and when setting to 100msec use 10msec timer and set to 10 As shown in the diagram the i...

Page 19: ...f the stepping motor At that time the current position displayed on the teaching tool before turning the servo on is the coordinates before adjustment operation Shown below is the maximum amount of movement Linear Drive Axis Actuator Lead Length 0 025 mm SCARA Axis J1 J2 Axis 4 9 mm ꞏ ꞏ Arm Length 350mm Type 4 3 mm ꞏ ꞏ Arm Length 450mm Type Vertical Axis 0 2 mm Rotary Axis 2 7deg 2 After the first...

Page 20: ...Standards Compliances MSEL comply with the following international standards Refer to Overseas Standard Compliance Manual ME0287 for more detailed information RoHS Directive CE Marking UL except for PCX To be scheduled ...

Page 21: ... Simple absolute status LED lamps for each axis 10 System I O connector 5 Panel window 9 USB connector 7 Operation mode setting switch 12 Status LED for extension I O 13 Extension I O connector 14 Motor drive power supply line connector 8 SIO connector 4 Brake release switch 11 Standard I O connector 3 Actuator connection connector y MPG1 1st axis y MPG2 2nd axis y MPG3 3rd axis y MPG4 4th axis ...

Page 22: ...e mounted for Incremental Type and Battery less Absolute Type 3 Actuator connection connector MPG1 to MPG4 Connect the motor encoder cable of the actuator Connect the 1st axis J1 to MPG1 and connection made up to MPG4 4th axis J4 in order 3 Actuator connection connector SCARA Robot y MPG1 J1 axis y MPG2 J2 axis y MPG3 J3 axis y MPG4 J4 axis 1 AC Power input connector 2 Extension connectors Not equ...

Page 23: ...shows the controller status with the 4 digit 7 segment display and 5 LED lamps 6 Simple Absolute Status LED Lamps for Each Axis PC PG type dedicated This displays the status of simple absolute This status display is not equipped for Incremental Type and Battery less Absolute Type Refer to 3 3 3 Status LED 7 Operation mode setting switch It is a switch to indicate the operation mode of the controll...

Page 24: ... Status LED for extension I O It shows the status of PIO or fieldbus plugged to the extension I O connector Refer to Status LED in Section 3 3 3 13 Extension I O connector It is equipped when PIO or fieldbus is selected as the extension I O It is a connector for the general purposed I O signal for PIO type and for connection of each fieldbus for fieldbus type 14 Motor drive power supply line conne...

Page 25: ...ype 2 Slider Type 3 Table Type 4 Rotary Type 330 rotation specification Multi rotation specification For multiple rotation type with the origin reversed type the directions of and are the other way around Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 0 330 0 0 0 0 0 0 ...

Page 26: ...dicated controller P1 in IK2 IK3 Series There are three types of coordinate systems base coordinate system work coordinate system and tool coordinate system Refer to 7 4 Cartesian Axis Coordinate Systems for detail Finger attachment Note 3rd axis Z axis AXIS3 2nd axis Y axis AXIS2 1st axis X axis AXIS1 1st axis X axis AXIS1 3rd axis Z axis AXIS3 2nd axis Y axis AXIS2 0 Home ...

Page 27: ...nate system No 0 work coordinate system offset 0 Base coordinate system The origin of X and Y axes is the center of the base rotation center of the 1 st arm The origin of Z axis is the upper end of the effective stroke on the Z axis The origin of R axis is the position that the D cut surface faces Xb direction X axis of base coordinate system is described as Xb Y axis as Yb Z axis as Zb and R axis...

Page 28: ...ork coordinate system offset 0 by the system Xb Zb Yb Zofwn Xwn Zwn Ywn Yofwn Rofwn Rwn Xofwn Xofwn X Work coordinate system offset Yofwn Y Work coordinate system offset Zofwn Z Work coordinate system offset Rofwn R Work coordinate system offset Xwn Work coordinate system X axis Ywn Work coordinate system Y axis Zwn Work coordinate system Z axis Rwn Work coordinate system R axis n is the work coor...

Page 29: ... reach point at the positioning not the center of the tool attachment surface Select the defined tool coordinate system and operate the R axis with JOG operation and such movement as shown in the figure below can be performed Xoftn X Tool coordinate system offset Yoftn Y Tool coordinate system offset Zoftn Z Tool coordinate system offset Roftn R Tool coordinate system offset Xtn Tool coordinate sy...

Page 30: ...22 ...

Page 31: ... common for both standard I O and extension I O PIO type 1 or 2 for number of mounted PIO Model CC MSTB2 5 5 STF 5 08AU Supplier PHOENIX CONTACT 7 CC Link Connector Model CC2 TMSTBP2 5 5 STF 5 08 AUBD FG Supplier PHOENIX CONTACT 1 Model DV MSTB2 5 5 STF 5 08AUM Supplier PHOENIX CONTACT 8 DeviceNet Connector Model DV2 TMSTBP2 5 5 STF 5 08 AUM Supplier PHOENIX CONTACT 1 9 First Step Guide 1 10 Instr...

Page 32: ...0 frame 20SP 20 frame 28P 28 frame 28SP 28 frame 35P 35 frame 42P 42 frame 42SP 42 frame 56P 56 frame SA Note 2 Note 3 simple absolute B brake MSEL PC standard type PG 1 safety category compliant type 1 1 axis 2 2 axes 3 3 axes 4 4 axes WUS Note 4 WUM NP NPN PIO connect PN PNP PIO connect E Not for use DV DeviceNet connect CC CC Link connect PR PROFIBUS DP connect EP EtherNet IP connect NP NPN PIO...

Page 33: ...P connect EP EtherNet IP connect NP NPN PIO connect EC EtherCAT connect PRT PROFINET IO connect DV2 DeviceNet connect Connector for multidrop enclosed CC2 CC Link connect Connector for multidrop enclosed SE1 RS232C connect SE2 RS485 connect IA IA net connect 0 no cable 2 2m standard 3 3m 5 5m 4 AC100 to 230V input ABB Note 2 Simple absolute with battery box ABBN Note 2 Simple absolute without batt...

Page 34: ...dard type PGX4 1 4 axes safety category compliant type 4axestype 4N1808WAI 4N2508WAI 4 3515WAI 4 4515WAI 4 5520WAI 4 6520WAI 3axestype Grippermounted 3N1808GMWAI 3N2508GMWAI 3N3515GMWAI 3N4515GMWAI 3N3510GLWAI 3N4510GLWAI 3N5515GLWAI 3N6515GLWAI 3N5515GWWAI 3N6515GWWAI B Note2 Brake NP NPN PIO connect PN PNP PIO connect E not for use DV DeviceNet connect CC CC Link connect PR PROFIBUS DP connect E...

Page 35: ...ock Function Retaining time after power turned OFF approximately 10 days Time for battery charge after the clock data is lost approximately 100 hours System I O Emergency stop input safety gate input Drive source cutoff method Contact point for semiconductor connect externally such as driving source cutoff relay when required to comply with safety categories for PG PGF PGX types Emergency stop inp...

Page 36: ...circuit breaker perform it according to the following items Select the breaker that does not trip with the rush current Refer to the Operation Characteristic Curve described in the catalogue of each manufacturer For the rated breaking current select the current value which can break the current even when a short circuit occurs Rated Interrupting Current Short Circuit Current Power Source Current R...

Page 37: ...tions Check 29 116 185 4 4 5 130 195 10 9 5 9 125 75mm from DIN Rail center 3 3 1 3 External Dimensions 1 Main Body 2 Absolute Battery Box Simple Absolute Type 59mm from DIN Rail center 5 111 123 98 10 5 5 5 108 115 4 4 5 ...

Page 38: ...ution If a non contact circuit is connected externally malfunction may result from leakage current Use a circuit in which leakage current in a OFF state does not exceed 1mA At the default settings the system recognizes the ON OFF durations of input signals if they are continuous approx 4 msec or longer The ON OFF duration settings can also be changed using I O parameter No 20 input filtering frequ...

Page 39: ... a non contact circuit is connected externally malfunction may result from leakage current Use a circuit in which leakage current in a OFF state does not exceed 1mA At the default settings the system recognizes the ON OFF durations of input signals if they are continuous approx 4 msec or longer The ON OFF duration settings can also be changed using I O parameter No 20 input filtering frequency MSE...

Page 40: ...te ME0309 EtherNet IP Network Connecting Communication Board I O data communication also can be executed Refer to the separate ME0308 EtherNet IP Communication is established with Ethernet Communication teletype procedure communication Refer to the separate ME0140 1 5 Absolute Battery Box to be Connected for Simple Absolute Type The dedicated absolute battery box is to be used for simple absolute ...

Page 41: ...oil or chemical droplets Environment that blocks the air vent 1 7 Noise Prevention and the Installation When using the product in any of the locations specified below provide a sufficient shield Location subject to electrostatic noise Location where high electrical or magnetic field is present Location with the mains or power lines passing nearby 2 Storage and Preservation Environment Storage and ...

Page 42: ...upply lines separate from each other 3 Noise Sources and Elimination Carry out noise elimination measures for power devices on the same power path and in the same equipment The following are examples of measures to eliminate noise sources 1 AC solenoid valves magnet switches and relays Measure Install a Surge Absorber parallel with the coil 2 DC solenoid valves magnet switches and relays Measure I...

Page 43: ...ave exhaust of bottom side controllers flow directly to the inlet of the upper controllers Especially around the battery the performance may drop in both low and high temperature Keep it in ambient temperature as much as possible Approximately 20 C is the recommended temperature Direction Vertical installation Exhaust on top Installation Method Screw attachment or DIN rail attachment Ceiling 100mm...

Page 44: ...Chapter 1 Specifications Check 36 ...

Page 45: ...utoff 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 Option Actuator RCP Absolute Battery Box Contact for Cutoff Note 1 when supplying cutting off power source externally Host Device Note 1 PIO Emergency Stop Note 1 Safety Circuit Note 1 Enable Teaching Tool Option Fieldbus Power Supply Sing...

Page 46: ...e the power is turned ON causes a controller failure Caution A number is shown on the cable for SCARA Robot Connect it according to the controller connector number For the actuator regarded as that for single axis robot the connector Nos are not indicated In such case give a number to each connector to avoid any mistake If the cable is not correctly connected it might cause a damage to or malfunct...

Page 47: ...vironment Therefore when protective measures from the leakage are taken measure the leakage current at the locations where the leakage breaker is installed Regarding the leakage breaker it is necessary to have a clear purpose for selection such as a fire protection or protection of human body L N MSEL AC Power Supply Input Connector Circuit Breaker Leakage Breaker L N PE Protective Grounding ...

Page 48: ... always enabled regardless of MANU AUTO mode 0V Teaching pendant 24V System I O Connector Motor driving power supply line connector SIO Connector CR1 CR2 Safety gate CR1 MC1 Emergency stop reset switch CR2 MC1 Emergency stop switch CR1 CR2 MC1 CR1 Teaching pendant connected 2 3 and 6 7 short circuited Teachingpendantdisconnected 3 4 and 5 6 short circuited MANU mode 2 3 and 6 7 short circuited AUT...

Page 49: ...d MPI terminals Specifications Voltage 24V DC Built in power supply Type PC PCX PCF Numbers in brackets are in case of high thrust axis 1 axis type 2A 1 5A 2 axis type 4A 3 5A 3 0A 3 axis type 6A 5 5A 5 0A Rated current 4 axis type 8A 7 5A 7 0A 1 axis type 4A 6A 2 axis type 8A 10A 12A 3 axis type 12A 14A 16A Maximum current 4 axis type 16A 18A 20A Note 4 The ratings for the emergency stop signal E...

Page 50: ...stop switch and the dead man s switch on the teaching pendant are always valid Apply the dummy plug DP 4S if the teaching pendant is not connected 0V Teaching pendant 24V System I O Connector SIO Connector CR1 CR2 Safety gate CR1 MC1 Emergency stop reset switch CR2 MC1 Emergency stop switch CR1 CR2 MC1 CR1 Dummy plug DP 4S Note 1 Note 2 Note 3 Note 2 Note 3 Motor driving power supply line connecto...

Page 51: ...brackets are in case of high thrust axis 1 axis type 2A 1 5A 2 axis type 4A 3 5A 3 0A 3 axis type 6A 5 5A 5 0A Rated current 4 axis type 8A 7 5A 7 0A 1 axis type 4A 6A 2 axis type 8A 10A 12A 3 axis type 12A 14A 16A Maximum current 4 axis type 16A 18A 20A Note 2 The ratings for the emergency stop signal EMGIN that turns on off at the contact CR1 and the enable signal ENBIN that turns ON OFF at the ...

Page 52: ...5 and IXP 3N3515 4515 Equipped with Grippers MSEL MPG1 MPG2 MPG3 MPG4 Actuator Connection Connector When equipped with grippers CB IXP AT008 AS MSEL MPG1 MPG2 MPG3 MPG4 Actuator Connection Connector Connection cable Note 1 Added axis RCP series Connection cable Note 1 CB CAN MPA cable length Example 030 3 m ...

Page 53: ...e RCP5 RCP6 IXP CB CAN MPA Standard cable from 0 5 to 20m CB CFA MPA RB Robot cable from 0 5 to 20m RCP2 High thrust type CB CFA MPA Standard cable from 0 5 to 20m CB CFA2 MPA RB Robot cable from 0 5 to 20m RCP4 High thrust type CB CFA2 MPA Standard cable from 0 5 to 20m CB CFA3 MPA RB Robot cable from 0 5 to 20m RCP5 6 High thrust type CB CFA3 MPA Standard cable from 0 5 to 20m Caution In such ca...

Page 54: ...lar ON 0 Universal input 005 No 35 1 Pause release ON edge processing signal 0 Universal input 006 No 36 1 Pause signal level signal of regular ON No Consideration of Value in Input Function Select 000 0 Universal input Input Function Select 000 Setting 1 007 No 37 Input Function Select 000 Setting 2 1 Program No select 0bit No Consideration of Value in Input Function Select 000 0 Universal input ...

Page 55: ...Value in Input Function Select 000 1 Driving source cut off cancellation input ON edge Effective when cancelling the cause of driving source cutoff Input Function Select 000 Setting 1 014 No 44 Input Function Select 000 Setting 2 2 Program No select 7bit 0 Universal input 1 Home return operation on all the linear axes ON edge 015 No 45 2 Home return operation on all the incremental effective axes ...

Page 56: ...al output 1 Emergency stop output ON 302 No 48 2 Emergency stop output OFF 0 Universal output 1 AUTO mode 303 No 49 2 Output during automatic operation Other parameter No 12 0 Universal output 1 Output when all the effective axes at home position 0 2 Output when home return operation on all the effective axes in complete condition coordinates confirmed 304 No 50 3 Output when all the effective axe...

Page 57: ...No 23 1 16 to 31 48 to 299 Indicate port number to assign function set in I O Parameter No 37 Input port 007 when negative 291 Input Function Select 008 Physical Input Port No 24 1 16 to 31 48 to 299 Indicate port number to assign function set in I O Parameter No 38 Input port 008 when negative 292 Input Function Select 009 Physical Input Port No 25 1 16 to 31 48 to 299 Indicate port number to ass...

Page 58: ...et in I O Parameter No 56 Output port 311 when 0 310 Output Function Select 311 Physical Input Port No 327 0 316 to 331 348 to 599 Indicate port number to assign function set in I O Parameter No 57 Output port 312 when 0 311 Output Function Select 312 Physical Input Port No 328 0 316 to 331 348 to 599 Indicate port number to assign function set in I O Parameter No 58 Output port 313 when 0 312 Out...

Page 59: ...20 321 322 323 324 325 326 327 328 329 330 331 Output function is parameter setup Input function is parameter setup Use the attached cable for the I O connection Model CB PAC PIO indicates the cable length L Example 020 2m Flat Cable 20 core 2 BK 4 20B BR 3 1B BK 2 20A BR 1 1A 20A 20B 1A 1B Half Pitch MIL Socket HIF6 40D 1 27R Hirose Electric A B L No treatment conducted No treatment conducted ...

Page 60: ...tput 24VDC 0V NPN Type 048 049 050 348 349 350 Use the attached cable for the I O connection Model CB PAC PIO indicates the cable length L Example 020 2m Flat Cable 20 core 2 BK 4 20B BR 3 1B BK 2 20A BR 1 1A 20A 20B 1A 1B Half Pitch MIL Socket HIF6 40D 1 27R Hirose Electric A B L No treatment conducted No treatment conducted ...

Page 61: ...ttery Box only for PC PG PCF PGF Type Simple Absolute Note Do not attempt to plug in or take off the cable with force in the tilted direction to the connector MSEL Absolute Battery Connector Absolute Battery Box MSEL ABB CB MSEL AB005 Cable Length 0 5m ...

Page 62: ...ng the wires turn the screw to the right with a slotted slotted screwdriver to fix the wires Drive Power Supply Input Connector Model Remarks Cable side MSTB2 5 3 STF 5 08 SK N PE PHOENIX CONTACT Enclosed in standard package Controller side DFK MSTB2 5 3 GF 5 08 PHOENIX CONTACT Pin No Signal Name Description Applicable Cable Diameter 3 N 2 L Power supply input 100 AC to 230V 1 25 to 0 5mm2 AWG16 t...

Page 63: ...12 EMGIN IN Emergency stop detection input 11 EMGOUT 24V 24 V power output for emergency stop detection input 30V DC Max0 5A 10 EMGS1 line 9 EMGS1 line They are the cables to connect to the emergency stop circuit on the teaching pendant when a teaching pendant is to be connected When no teaching pendant is to be connected 1 and 1 are short circuited the PC PCF PCX type 8 EMGS2 line Left side 7 EMG...

Page 64: ...Motor power 3 B Motor driving B phase 4 VMM Motor power 5 A Motor driving A phase 6 B Motor driving B phase 7 LS Limit switch positive side 8 LS Limit switch negative side 9 BK Brake release positive side 10 BK Brake release negative side 11 ABS_SA Absolute encoder differential input 12 ABS_SB Absolute encoder differential input 13 A Encoder A phase differential input 14 A Encoder A phase differen...

Page 65: ...upply external output KIV1 25 to 0 75mm2 AWG16 to 18 Select the cable thickness allowable for the current figured out in the power capacity 2 3 5 Wiring to Single Absolute Battery Unit Connect the absolute battery unit and controller for simple absolute type Absolute Battery Connector Model Remarks Cable side CZHR 12V S Controller side S12B PADSS 1 Pin No Signal Name Description Applicable Wire Di...

Page 66: ...eely Model CB PAC PIO indicates the cable length L Example 020 2m L B A Flat Cable 20 core 2 20A 20B 1A 1B Half Pitch MIL Socket HIF6 40D 1 27R Hirose Electric No treatment conducted No treatment conducted No Cable Color Wiring No Cable Color Wiring 1A BR 1 1B BR 3 2A RD 1 2B RD 3 3A OR 1 3B OR 3 4A YW 1 4B YW 3 5A GN 1 5B GN 3 6A BL 1 6B BL 3 7A PL 1 7B PL 3 8A GY 1 8B GY 3 9A WT 1 9B WT 3 10A BK...

Page 67: ...or DTR Terminal ready Connected to DSR inside 5 EMGS2 Emergency stop contact output 2 6 EMGS2 Emergency stop contact output 2 7 NC Unconnected 8 RSVVCC 24V power input connector 9 EMGS1 Emergency stop contact output 1 10 NC Unconnected 11 NC Unconnected 12 EMGS1 Emergency stop contact output 1 13 RTS Connected to DSR externally 14 CTS Connected to RTS externally connector connection detection inpu...

Page 68: ... to MANU side when a teaching device is connected 2 Turn the power OFF before disconnecting a teaching pendant 3 USB connector and SIO connector cannot be used at the same time USB connector is prioritized 4 When using a USB connector in MANU Mode apply the dummy plug DP 4S or connect the cable enclosed to the PC software to the SIO connector as the enable signal detection activates Front view of ...

Page 69: ...n Power On Operation via PIO interface Operation via serial communication commands Operation using a teaching tool Operation with PIO 24V I O Refer to the 3 4 2 Starting a Program by Specifying its Program Number Operation with Fieldbus communication option DeviceNet CC Link PROFIBUS DP EtherNet IP EtherCAT and PROFINET IO are supported Refer to the separate operation manual for each Fieldbus prot...

Page 70: ... use PIO or fieldbus is set by a parameter indicates flow of data Refer to Section 2 2 5 for the PIO interface For the each fieldbus refer to each instruction manual Host Controller I O unit Fieldbus master unit MSEL Controller I O Ports I O interface Standard I O Extension I O Fieldbus interface DeviceNet CC Link PROFIBUS DP EtherNet IP Input Port Output Port 16 316 17 317 18 318 19 319 20 320 21...

Page 71: ...6 Program number indication BCD 81 BIN 8 326 027 Program number indication BCD 10 BIN 16 327 028 Program number indication BCD 20 BIN 32 328 029 Program number indication BCD 40 BIN 64 329 030 330 External DI I O1 031 General purpose input External DO I O1 331 General purpose output 032 332 7 segment user display digit 033 333 7 segment user display digit 034 334 System reservation 035 335 System ...

Page 72: ... 7 segment user display bit 042 342 DT2 7 segment user display bit 043 343 DT3 7 segment user display bit 044 344 DT4 7 segment user display bit 045 345 DT5 7 segment user display bit 046 346 DT6 7 segment user display bit Internal DI I O1 047 System reservation Internal DO I O1 347 System reservation 048 Program start 348 Alarm output 049 349 READY output 050 350 Emergency stop output 051 351 052...

Page 73: ... O Parameter No 10 and No 18 to 0 Unmonitored 2 Supply the main power 3 Once the startup of the controller CPU startup is held in normal condition I O Port No 317 turns ON A timing chart of the above operation is shown below Main power Controller state Peripheral device Initialized Self checking Normal operation state Prior supply Status of power supply and connection diagnosed at initializing DIO...

Page 74: ...er cutoff E F 1 A system shutdown level error is present 8 8 8 8 2 Operation test on all 7 seg LED lamps Initialization sequence I n 2 Initialization sequence number display I n n 2 Field network board initialization sequence number display P r d 3 Data written to flash ROM E r G 4 Display switches in turn In emergency stop condition e n b 4 Display switches in turn The enable switch deadman s swi...

Page 75: ...cold start level error is present E C 1 An operation cancellation level error is present E A 2 A message level error is present J P A 2 Jump to the application C H F C 2 Flash ROM check process core C H F A 2 Flash ROM check process application C H S d 2 SDRAM check process Note 1 The smaller the value to be displayed the higher the priority ...

Page 76: ...en Orange Self checking test In the normal communication Green Online status no connection Critical link error Orange Connection timeout NS Green Orange Self checking test 3 CC Link Type Status LED Illuminating OFF Flashing Name Lamp condition Color Description RUN Green In the normal operation Error occurrence CRC station setting baud rate setting ERR Orange Change made to station number and baud...

Page 77: ...to recover Online status Connection established on one or more Green Online status connection not being established Critical error such as IP address duplication NS Orange Timeout in connection on one or more 6 Simple Absolute Status LED Lamps PC PG PCF PGF type Illuminating OFF Flashing Name Lamp condition Color Description Green Battery fully charged Orange Battery in charge 0 Red Battery not co...

Page 78: ...SEL language Refer to the separate SEL language programming manual Write the position table and program data in the controller Refer to the separate instruction manual for your PC software Caution A margin of error could accumulate between each pitch if the incremental relative position indication movement commands are repeated continuously To avoid accumulation of errors utilize the absolute posi...

Page 79: ...ameter No 1 for others is executed The input port 019 can be used as a universal input port I O parameter No 33 2 When input port 019 is turned ON the program whose number is set in other parameter No 1 is executed When this port is turned OFF all currently running programs stop I O parameter No 286 19 Indicate the port number to assign the feature in I O Parameter No 33 Input Function Select 003 ...

Page 80: ... when input port 019 is turned ON and stops when the port is turned OFF 2 Set the operation mode setting switch on the MSEL controller to the AUTO position 3 Turn off the power and then turn it back on 4 Make sure input port 019 is turned ON after a wait time of 0 01 sec following the start of the MSEL controller the RDY signal turns ON to indicate a successful start 5 The specified program starts...

Page 81: ...rpose inputs No 30 1 or 2 I O parameters No 37 to 44 1 No 44 2 Input ports 023 to 030 are set as start program number specification ports 1 No 44 2 Caution The maximum number of programs is 255 However the programs able to start up with the BCD Code indication are from No 1 to No 99 To start up No 100 to No 255 when using BCD Code start them up with using the automatic start program startup or the...

Page 82: ... 334 335 336 Cannot be used 337 7 segment display refresh 338 7 segment SEL system alternate 339 7 segment display specification 340 DT0 7 segment user display bit 341 DT1 7 segment user display bit 342 DT2 7 segment user display bit 343 DT3 7 segment user display bit 344 DT4 7 segment user display bit 345 DT5 7 segment user display bit 346 DT6 7 segment user display bit 347 Cannot be used 1 In po...

Page 83: ... it occurs an operation cancel level error cold start level error or system shutdown level error System display error display would not be conducted when it occurs a message level error or is in a condition other than an error occurrence data flash ROM under writing etc When it is required to display the condition in a message level error or in a condition other than an error occurrence set DO No ...

Page 84: ...of User and System by Turns 3 BTOF 337 4 1st digit data set 5 LET 99 0 6 OUT 332 333 Indicate 1st Digit 7 LET 99 3 3 Display Data 1 8 OUT 340 346 7 segment Pattern 1 9 BTON 337 Refresh ON 10 BTOF 337 Refresh OFF 11 2nd digit data set 12 LET 99 1 13 OUT 332 333 Indicate 2nd Digit 14 LET 99 118 118 Display Data 2 15 OUT 340 346 7 segment Pattern 2 16 BTON 337 Refresh ON 17 BTOF 337 Refresh OFF 18 3r...

Page 85: ...y axis and grippers When power is turned on 0 4 1 RCP5 RCP6 Linear rotary axis and grippers 2 4 2 Battery less Absolute IXP SCARA Robot At motor replacement When absolute error generated 2 4 3 Simple Absolute RCP4 to 2 Linear rotary axis and grippers At initial startup When the power to the controller is turned OFF and battery is replaced When the encoder cable is taken off the controller 2 4 4 De...

Page 86: ...tor replacement Otherwise it may cause a malfunction or critical operation error on the robot 1 Turn ON the power to the controller and connect the PC software 2 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 in the parameter edit window to save the parameters to file data ...

Page 87: ...heck the content and click Yes to start the home return operation on the axis subject to home position adjustment Caution As soon as clicking Yes the home return operation starts 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 Make sure not ...

Page 88: ...alibration Home Abs Encoder Reset window after the home return operation is complete After that the window switches to Flash ROM Writing window Put a check mark on Parameter and click Yes to start writing After it is finished conduct a software reset ...

Page 89: ...solute reset Note 1 Operation Absolute reset Note 1 Operation R axis Absolute reset Note 1 Operation Note 1 It is necessary to perform when the absolute error is occurred or after dismantled the robot for a reason such as to replace motor Described below is how to conduct an absolute reset In this manual states the procedure for the PC software For how to treat and process on a teaching pendant re...

Page 90: ...ay be a case that the indicated coordinates for positioning point cannot be achieved before and after the absolute reset is conducted Refer to Scattered Positioning Points in IXP SCARA Robot instruction 1 Turn ON the power to the controller and connect the PC software 2 Make sure to have a backup of the parameters before conducting Select Parameter Edit from the menu in the PC software to show the...

Page 91: ...click OK 5 Calibration Home Abs Encoder Reset appears Select the tab for the axis that requires the absolute reset Select a tab for the axis to have home position adjustment from J1 Axis 1 Axis or J2 Axis 2 Axis Process for Z Axis 3 Axis and R Axis 4 Axis are to be conducted after J1 and J2 ...

Page 92: ...osition of interference and the proper home position cannot be acquired In such cases it may cause a crash or unexpected operation which could cause malfunction or critical operation error to the robot or the peripherals Make sure to secure enough space for home return posture to avoid any interference to the peripherals during the home return operation 7 Jog Basic position window appears once the...

Page 93: ...Have the emergency stop conducted and insert the home position adjustment tool φ4 at the datum position of J1 axis or J2 axis 9 With the home position adjustment tool φ4 being inserted click OK in Emergency stop Positioning pin insertion window Home Position Adjusting Tool φ4 J1 axis ...

Page 94: ... operation starts on the Z axis Absolute reset completes after home return Caution As soon as clicking Yes the home return operation starts The standard home position is the posture stated in the beginning of this section 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...

Page 95: ...the home return operation on the selected axes starts 14 JOG Basic Position window appears Press and buttons to move the arm to a place near the datum position Refer to the figure in Step 15 for the datum position Also change Jog Vel JOG speed and Inc Distance inching distance if necessary Click OK once the arm gets near the datum position Click OK when moving the arm new the datum position manual...

Page 96: ...re below align the position of either the D cut surface on the R axis tip or the D cut surface on the hole for insertion of the home position adjustment tool φ3 Caution Pay attention not to get the cables and pipes on the tool twisted 16 With the home position adjustment tool φ4 being inserted click OK in Emergency stop Positioning pin insertion window Home Position Adjusting Tool φ3 D cut Surface...

Page 97: ...djustment on all the axes necessary to have an absolute reset is finished close Calibration Home Abs Encoder Reset window After that the window switches to Flash ROM Writing window Put a check mark on Parameter and click Yes to start writing After it is finished conduct a software reset Reference After the absolute reset on each axis is finished it is available to have the flash ROM writing at onc...

Page 98: ... It displays the status condition for absolute for each connected axis Illuminating OFF Flashing 4 4 2 Absolute Reset Preparation Stated below is the procedure to conduct an absolute reset In this manual shows the procedure using the PC software For handling and procedure on a teaching pendant refer to each instruction manual 1 For handling and procedure on a teaching pendant refer to each instruc...

Page 99: ... below to establish the connections z Front View after Absolute Battery Unit Cover Removed Not to use AX3 AX7 AX1 AX4 AX5 AX6 AX7 AX3AX2AX1AX0 AX4 AX6 AX0 AX2 AX5 Not to use Not to use 1st battery Axis No 0 3rd battery Axis No 2 Not to use Not to use 2nd battery Axis No 1 4 th battery Axis No 3 Connector for connection to MSEL 4 th axis Axis No 3 Position for Connector Insertion for Battery Cable ...

Page 100: ... data Charge the battery as early as possible A battery has its life and the capable duration to retain data decreases gradually Replace the battery if the retaining duration is remarkably dropped even after charging it properly e g Conditions of Use Monday to Friday Charged for 8 hours per day discharged for 16 hours Saturday and Sunday Discharge 1 If setting is Parameter No 19 3 Total Charging O...

Page 101: ...Alarm 2 5V 8 or less 41C ABS Unit Encoder Error 2 An absolute reset is necessary after battery replacement when an alarm gets generated The controller checks the battery voltage when the power is turned on It would not be detected when the battery voltage drops to the alarm level during the power conducted to the controller Normal 3 6V 2 5V Alarm occurrence Battery voltage Absolute reset is requir...

Page 102: ...Chapter 4 Home Return Absolute Reset 94 ...

Page 103: ...the power It will not be active only with writing on the teaching tool The initial settings reference described in the tables in the sections from 5 1 I O Parameters to 5 7 Other Parameters may differ depending on the connected actuators and control systems The range for input is the range that a teaching tool can apply In the actual setting input a value in the remark column which activates the f...

Page 104: ...Hexadecimal number In the Hexadecimal number system the figure is expressed using nine numerical characters from 0 to 9 and alphabetical characters from A to F The figure is gradually increased from 0 to 1 2 3 4 5 6 7 8 9 A B C D E F and then moves on to the next digit to 10 11 etc Decimal number 10 11 12 13 14 15 16 Hexadecimal number 0 9 Same expression in the decimal number system and the hexad...

Page 105: ...gnment 48 1 299 0 Multiple of 8 Invalid if a negative value is set 17 Output port start number at I O2 affixed assignment 348 1 599 300 Multiple of 8 Invalid if a negative value is set 18 I O2 error monitor 1 0 5 0 Do not monitor 1 Monitor Some exceptions apply 19 For extension 0 20 Input filtering periods 2 1 9 msec Input signal is recognized when the status is held for twice the period set by th...

Page 106: ...o 288 Physical input port number for input function selection 005 36 Input function selection 006 0 0 5 0 General purpose input 1 Operation pause reset signal OFF level Valid only during automatic operation Cancel pause when an operation pause reset signal is received Note The port number assigned to this function can be changed using I O Parameter No 289 Physical input port number for input funct...

Page 107: ... Output error of operation cancellation level or higher emergency stop OFF 7 Output error of maintenance information alert related message level Error No 231 to 232 ON 8 Output error of maintenance information alert related message level Error No 231 to 232 OFF Note The port number assigned to this function can be changed using I O Parameter No 299 Physical input port number for input function sel...

Page 108: ... selection 310 0 0 5 0 General purpose output Note The port number assigned to this function can be changed using I O Parameter No 309 Physical input port number for input function selection 310 57 Output function selection 311 0 0 5 0 General purpose output Note The port number assigned to this function can be changed using I O Parameter No 310 Physical input port number for input function select...

Page 109: ...rations are paused servo axis soft interlock output port soft interlock 599 0 599 74 Number of TP user output ports used hand etc 0 0 8 Referenced by TP Invalid if 0 is set 75 TP user output port start number hand etc 0 0 599 Referenced by TP 76 AUTO mode physical output port number 0 0 599 Invalid if 0 is set 77 Input port number for acceptance permission of PC TP servo movement command 0 0 299 C...

Page 110: ...IO system reservation 0 0H FFFFFFFFH 116 IAI protocol communication attribute 10H 0H FFFFFFFFH Bits 0 to 3 IAI protocol multiple channel communication permission select 0 Unpermitted Communication exclusively in priority of Teaching port Ethernet 1 Permitted Bits 4 to 11 IAI protocol execution command communication valid channel select at AUTO Mode 01H Teaching Port 02H Extension SIO Attribute 2 o...

Page 111: ...ted simultaneously per server port channel 1 Bits 0 to 3 IAI protocol B TCP MANU mode Can be connected to the PC software only if clients Bits 4 to 7 IAI protocol B TCP AUTO mode Can be connected to the PC software only if clients Bits 8 to 11 User open channel 31 Bits 12 to 15 User open channel 32 Bits 16 to 19 User open channel 33 Bits 20 to 23 User open channel 34 If the parameter settings for ...

Page 112: ...B TCP IP address of connection destination MANU mode ML 0 0 255 152 IAI protocol B TCP IP address of connection destination MANU mode L 100 0 254 Setting of 0 and 255 is prohibited 153 IAI protocol B TCP Port number of connection destination MANU mode 64611 0 65535 0 can be set if server 0 Port number of connection destination ignored Only IP address is checked 0 cannot be set if client 154 IAI pr...

Page 113: ...ion 0 176 For extention 0 177 For extention 0 178 For extention 0 179 For extention 0 180 For extention 0 181 For extention 0 182 For extention 0 183 For extention 0 184 For extention 0 185 For extention 0 186 For extention 0 187 For extention 0 188 For extention 0 189 For extention 0 190 For extention 0 191 For extention 0 192 For extention 0 193 For extention 0 194 For extention 0 195 For extent...

Page 114: ... 229 For extention 0 230 For extention 0 231 System reservation 0 0 240 232 System reservation 0 0 240 233 System reservation 1 1 299 234 System reservation 1 1 599 235 System reservation 0 0 5 236 For extention 0 237 System reservation 0 0 99999999 238 System reservation 0 0 9 239 For extention 0 240 For extention 0 241 For extention 0 242 For extention 0 243 For extention 0 244 For extention 0 2...

Page 115: ...selection 006 22 1 299 Specify the port number to be assigned to the function of I O Parameter No 36 Input function selection 006 If a negative value is set the function will be assigned to input port No 6 290 Physical input port number to input function selection 007 23 1 299 Specify the port number to be assigned to the function of I O Parameter No 37 Input function selection 007 If a negative v...

Page 116: ...ut port number to output function selection 300 316 0 599 Specify the port number to be assigned to the function of I O Parameter No 46 Output function selection 300 If 0 is set the function will be assigned to output port No 300 300 Physical output port number to output function selection 301 317 0 599 Specify the port number to be assigned to the function of I O Parameter No 47 Output function s...

Page 117: ...ned to the function of I O Parameter No 335 Output function selection 304 Area 2 If 0 is set the function will not be assigned to any port 320 Physical output port number to output function selection 305 Area 2 0 0 599 Specify the port number to be assigned to the function of I O Parameter No 336 Output function selection 305 Area 2 If 0 is set the function will not be assigned to any port 321 Phy...

Page 118: ...ome coordinates 336 Output function selection 305 Area 2 0 0 5 0 General purpose output 1 Axis 1 in position output OFF if the work part is missed during push motion operation 2 Output when axis 1 servo is ON System monitored task output 3 System reservation 337 Output function selection 306 Area 2 0 0 5 0 General purpose output 1 Axis 2 in position output OFF if the work part is missed during pus...

Page 119: ...rvation 353 Vision system I F 1 function selection 3 For PC PG PCF PGF type 54313C0DH 0H FFFFFFFFH PCX PGX is system reservation Bits 0 to 7 Vision system I F 1 communication delimiter Bits 8 to 15 Vision system I F 1 communication header 1 No header when 0 Bits 16 to 31 Vision system I F 1 communication header 2 No header when 0 354 System reservation 0 355 System reservation 0 356 Vision system ...

Page 120: ... reservation 0H 0 FFFFFFFFH 694 System reservation 0H 0 FFFFFFFFH 695 System reservation 0H 0 FFFFFFFFH 696 System reservation 0H 0 FFFFFFFFH 697 System reservation 0H 0 FFFFFFFFH 698 System reservation 0H 0 FFFFFFFFH 699 System reservation 0H 0 FFFFFFFFH 700 System reservation 0H 0 FFFFFFFFH 701 System reservation 0 0 240 702 704 For extention 0 0 705 Extension I O unit use select 0H 0 FFFFFFFFH ...

Page 121: ...he indication of all axes 10 System reservation 0 0H FFFFFFFFH 11 Default acceleration PC PG PCF PGF type SCARA axis CP default acceleration PCX PGX type 20 PC PG PCF PGF 10 PCX PGX 1 200 0 01G Used if not specified in position data program or SIO message etc 12 Default deceleration PC PG PCF PGF type SCARA axis CP default deceleration PCX PGX type 20 PC PG PCF PGF 10 PCX PGX 1 200 0 01G Used if n...

Page 122: ...pe 100 PC PG PCF PGF 30 PCX PGX 1 999 0 01G Differ depending on structure 23 Maximum deceleration PC PG PCF PGF type SCARA axis CP Max deceleration PCX PGX type 100 PC PG PCF PGF 30 PCX PGX 1 999 0 01G Differ depending on structure 24 Minimum Emergency Deceleration PC PG PCF PGF type SCARA axis CP Min emergency deceleration PCX PGX type 30 1 300 0 01G 25 System reservation 0 1 300 0 01G 26 System ...

Page 123: ...is system reservation 47 SCARA axis PTP acceleration initial value For PCX PGX type 20 1 100 PC PG PCF PGF is system reservation Used when not indicated in position data program and SIO message in continuous recovery movement etc 48 SCARA axis PTP deceleration initial value For PCX PGX type 20 1 100 PC PG PCF PGF is system reservation Used when not indicated in position data program and SIO messag...

Page 124: ...Bits 8 to 11 Z Indicated Axis Number 0 to 4 Bits 12 to 15 R Indicated Axis Number 0 to 4 Bits 16 to 31 Reservation Bits 0 to 15 Main application Ver 2 00 or later No applicable definition axis when Axis No 0 57 Coordinate system definition 1 R Axis coordinates direction setting PC PG PCF PGF type 0 0 1 PCX PGX type is system reservation Relation between direction of rotation from X axis to Y axis ...

Page 125: ...tion Robot coordinate Y on vision system I F 1 coordinate X 0 Y 0 Setting is to be established at vision system I F adjustment 124 Vision system I F 1 coordinate offset angle For PC PG PCF PGF type 0 99999999 99999999 0 001deg PCX PGX is system reservation Rotation angle of vision system I F 1 coordinate when robot coordinate is taken as the datum Setting is to be established at vision system I F ...

Page 126: ...System reservation Change prohibited 97500 1 99999999 For adjustment by the manufacturer 141 For extension 0 142 For extension 0 143 For extension 0 144 For extension 0 145 For extension 0 146 For extension 0 147 For extension 0 148 For extension 0 149 For extension 0 150 For extension 0 151 199 For extension 0 200 Linear sliding axis default acceleration For PCX PGX type 20 1 200 0 01G PC PG PCF ...

Page 127: ...or 3rd axis Fixed at 0deg inside when liner axis in index mode Invalid when linear axis in infinite stroke mode Differ depending on structure 9 Soft limit actual position margin 2000 PC PG PCF PGF 1000 PCX PGX 0 9999 0 001mm 0 001deg Positioning boundary critical zone actual position margin in infinite stroke mode 10 Home return method 0 PC PG PCF PGF 0 0 0 1 PCX PGX 0 5 0 Search phase Z after end...

Page 128: ...xis Linear sliding axes PCX PGX type 300 PC PG PCF PGF 161 266 189 500 PCX PGX 1 9999 mm s deg s PG PGX type Maximum SCARA CP velocity is set in All Axes Parameter No 21 29 VLMX speed PC PG PCF PGF type Linear sliding axis VLMX speed PCX PGX type 300 PC PG PCF PGF 800 PCX PGX 1 9999 mm s During VLMX operation the maximum operating speed of each axis or VLMX speed whichever is lower is used as the ...

Page 129: ...at the time of home return 55 Travel distance for push stop detection at positioning 30 1 99999 0 001mm Used to confirm pusing action according to the PUSH command 56 Push abort deviation ratio at home return 2000 PC PG PCF PGF 5000 PCX PGX 1 99999 Deviation is compared against Steady state deviation of push speed Push speed pulse speed Abort deviation ratio 57 Push abort deviation ratio at positi...

Page 130: ...servation 1 999 999 DRVVR Change prohibited To maintain symmetry of the positive and negative sides 73 System reservation 0 999 999 DRVVR Change prohibited To maintain symmetry of the positive and negative sides 74 System reservation 32436 0 32767 DRVVR Change prohibited 75 System reservation 32435 0 32767 DRVVR Change prohibited 76 System reservation 1 0 1 Change prohibited 77 System reservation ...

Page 131: ...ge for at least 3 msec Valid only on linear sliding axes 87 Zone 1 MIN PC PG PCF PGF type Linear sliding axis zone 1 MIN PCX PGX type 0 99999999 99999999 0 001mm 0 001 deg Valid only when maximum minimum Must be inside the range for at least 3 msec Valid only on linear sliding axes 88 Zone 1 output No PC PG PCF PGF type Linear sliding axis zone 1 output No PCX PGX type 0 0 899 Physical output port...

Page 132: ...r extension 0 102 For extension 0 103 For extension 0 104 For extension 0 105 For extension 0 106 For extension 0 107 For extension 0 108 For extension 0 109 For extension 0 110 For extension 0 111 For extension 0 112 For extension 0 113 For extension 0 114 For extension 0 115 For extension 0 116 For extension 0 117 For extension 0 118 For extension 0 119 FSG 0 0 100 120 FFF 10 0 100 Change is pro...

Page 133: ... Used only for 2nd axis J2 Change prohibited unless any indication from the supplier 144 System reservation Change prohibited 0 99999999 99999999 0 001mm 145 SIO current arm system changed velocity initial value J2 For PCX PGX type 0 PC PG PCF PGF 0 3 0 0 PCX PGX 0 10 PC PG PCF PGF is system reservation Used only for 2nd axis J2 146 System reservation Change prohibited 0 PC PG PCF PGF 5000 PCX PGX...

Page 134: ...rvation 200 Max PTP ceceleration 2 SCARA axis For PCX PGX type 0 PC PG PCF PGF 800 2500 40 4000 PCX PGX 0 99999999 0 01G deg sec2 PC PG PCF PGF is system reservation 201 212 For extension 0 213 System reservation Change prohibited 99999999 99999999 99999999 214 System reservation Change prohibited 99999999 0 99999999 215 PSG2 For PCX PGX type 0 PC PG PCF PGF 50 PCX PGX 0 9999 s PC PG PCF PGF is sy...

Page 135: ...H Motor ID bit pattern 16 Function information 08 Soft Motor support information lower word 003FH 0000H FFFFH Motor ID bit pattern 17 Function information 09 Soft Encoder support information upper word 0000H 0000H FFFFH Encoder ID bit pattern 18 Function information 10 Soft Encoder support information lower word 0003H 0000H FFFFH Encoder ID bit pattern 19 Function information 11 Soft Software supp...

Page 136: ...ervation 0H 0000H FFFFH 39 System reservation 0H 0000H FFFFH 40 System reservation 0H 0000H FFFFH 41 High output pattern table select 0 0 1 42 Torque filter constant 0 0 2500 43 System reservation Complete stop characteristics of the word High resolution 0H 8001H High resolution 0000H FFFFH Note Following is for high resolution encoder Bit 15 Fine Current Response Realizing Feature 0 Disable 1 Ena...

Page 137: ...ion 0H 0000H FFFFH 89 System reservation 0H 0000H FFFFH 90 System reservation 0H 0000H FFFFH 91 System reservation 0H 0000H FFFFH 92 System reservation 0H 0000H FFFFH 93 System reservation 0H 0000H FFFFH 94 System reservation 0H 0000H FFFFH 95 System reservation 0H 0000H FFFFH 96 System reservation 0H 0000H FFFFH 97 System reservation 0H 0000H FFFFH 98 System reservation Query information 0H 0000H...

Page 138: ... reservation 0000H 0000H FFFFH 13 Function information 05 System reservation 0000H 0000H FFFFH 14 Function information 06 System reservation 0000H 0000H FFFFH 15 Function information 07 System reservation 0000H 0000H FFFFH 16 Function information 08 System reservation 0000H 0000H FFFFH 17 Function information 09 System reservation 0000H 0000H FFFFH 18 Function information 10 System reservation 000...

Page 139: ... By board type 0000H 0000H FFFFH 15 Function information 07 By board type 0000H 0000H FFFFH 16 Function information 08 By board type 0000H 0000H FFFFH 17 Function information 09 By board type 0000H 0000H FFFFH 18 Function information 10 By board type 0000H 0000H FFFFH 19 Function information 11 By board type 0000H 0000H FFFFH 20 Function information 12 By board type 0000H 0000H FFFFH 21 Function i...

Page 140: ...000H FFFFH 51 Card parameter By board type 0000H 0000H FFFFH 52 Card parameter By board type 0000H 0000H FFFFH 53 Card parameter By board type 0000H 0000H FFFFH 54 Card parameter By board type 0000H 0000H FFFFH 55 Card parameter By board type 0000H 0000H FFFFH 56 Card parameter By board type 0000H 0000H FFFFH 57 Card parameter By board type 0000H 0000H FFFFH 58 Card parameter By board type 0000H 0...

Page 141: ... FFFFH 87 Card parameter By board type 0000H 0000H FFFFH 88 Card parameter By board type 0000H 0000H FFFFH 89 Card parameter By board type 0000H 0000H FFFFH 90 Card parameter By board type 0000H 0000H FFFFH 91 Card parameter By board type 0000H 0000H FFFFH 92 Card parameter By board type 0000H 0000H FFFFH 93 Card parameter By board type 0000H 0000H FFFFH 94 Card parameter By board type 0000H 0000H...

Page 142: ...eference Input range Unit Remarks 108 Card parameter By board type 0000H 0000H FFFFH 109 Card parameter By board type 0000H 0000H FFFFH 110 Card parameter By board type 0000H 0000H FFFFH 111 Card parameter By board type 0000H 0000H FFFFH 112 Card parameter By board type 0000H 0000H FFFFH ...

Page 143: ...arameter No 4 0 is considered Only when a program is running 3 All operation cancellation factor Error of operation cancellation level or higher Other Parameter No 4 0 is considered Always 6 PC TP reconnection delay at software reset 11000 1 99999 msec Effective after the controller PC software or TP is restarted 7 For extension 0 8 For extension 0 9 System reservation 0 0 2 10 Emergency stop reco...

Page 144: ...rvation 80H 0H FFFFFFFFH For adjustment by the manufacture 42 System reservation 7H 0H FFFFFFFFH For adjustment by the manufacture 43 Special monitor type 0H 0H FFFFFFFFH Change is prohibited unless instructed by the manufacturer 44 For extension 0H 0H FFFFFFFFH 45 Special start condition setting 0H 0H FFFFFFFFH Bits 0 to 3 Enable start from PC TP in AUTO mode Used exclusively by the manufacturer ...

Page 145: ...status monitoring setting 2 0H 0H FFFFFFFFH Bits 0 to 15 System reservation Bits 16 to 19 Fan status monitoring error level 0 Message level 1 Cold start level Bits 20 to 31 System reservation 55 PC TP data protect setting 1 0H 0H FFFFFFFFH Bits 0 to 3 Protect type Program 0 Read write 1 Read only 2 No read write Bits 4 to 7 Protect release method Program 0 Special operation Bits 8 to 11 Protect ty...

Page 146: ...d 0 for both the protect range maximum minimum numbers Referenced by the PC TP 58 PC TP data protect setting 4 For PCX PGX type 0H 0H FFFFFFFFH PC PG PCF PGF is system reservation Bits 0 to 3 Type Tool coordinate system offset 0 Read write 1 Read only 2 No read write Bits 4 to 7 Protect release method Tool coordinate system offset 0 Special operation Bits 8 to 11 Protect type Tool coordinate syste...

Page 147: ...nt Position Expression Approximately Counter range 10000 to 9999 999 Rotary Counter range Counter range 00 to 359 999 Rotary Incremental Simple ABS Encoder Process Type Accepted Unaccepted Battery less ABS Each Axis Parameter No 67 Short cut Control Selection for Rotational Movement Axis 0 No shortcut 0 No shortcut 1 Shortcut control Each Axis Parameter No 66 Rotation Movement Axis Mode Select Dis...

Page 148: ...is 1 on the rotary axis The shortcut control is available when Index Mode is selected Set Value Description 0 Normal Mode 1 Index Mode Short Cut Control Selection for Rotational Movement Axis Axis specific parameter No 67 Make a setting whether to valid or invalid the shortcut at positioning except for the relative position movement for the multi rotary type rotary actuator Shortcut defines a move...

Page 149: ... can be performed in one way when the shortcut select is set enable Example for Operation Position No Position 1 0 2 90 3 180 4 270 Position data is to be input as 1deg 1mm e g 1 2 is treated as 1 2deg The operation will differ when shortcut select is disabled from when it is enabled if movement is made in the order of positions 1 2 3 4 1 When Disabled When Enabled Position No 1 Position No 4 Posi...

Page 150: ... safety speed 1817 SIO start and jog 1818 SIO PIO start and jog 1819 2 Teaching pendant 1 Setting 0 Always enable edit and SIO PIO start Functions Safety speed enable selection Password Edit Safety speed Jog move continuous move SIO program start PIO program start Enable Not required Disable Not required 2 Setting 1 Select edit and start with password Functions Safety speed enable selection Passwo...

Page 151: ...n of Emergency Stop 5 10 6 7 Want to Return to the Condition Immediately before Emergency Stop 5 10 7 8 Want to Restart the Controller Externally 5 10 8 9 Want to Turn ON the Servo Externally 5 10 9 10 Want to Make a Home return on Actuators Externally 5 10 10 11 Want to Execute the Program Externally 5 10 11 12 Want to Execute a Program Externally by Making an Indication of a Program Number in Bi...

Page 152: ...t port 319 Classification during an automatic operation is changed by the setting in Other Parameter No 12 Parameter No Set Value Description I O parameter No 49 2 Turn output port 319 ON during auto operation When I O Parameter No 302 319 Other parameter No 12 0 Auto operation if a program is running 5 10 3 Want to Retain Current Output Statuses Even during Emergency Stop To retain the current st...

Page 153: ...low Parameter No Description Other Parameter No 5 0 When a program is running or When all operation cancellation factor has generated 1 When all operation cancellation factor has generated Starts in no relation to program executed or not 2 When an error over operation level is generated and cause to release all operation is generated during program execution 3 When an error over operation level is...

Page 154: ...fore the emergency stop signal was input Cancel the emergency stop switch and then turn ON input port 021 to produce an OFF ON edge Parameter No Set Value Description Other parameter No 10 2 Continue operation upon cancellation of emergency stop I O parameter No 35 1 Set input port 021 as operation pause cancellation signal input port When I O Parameter No 288 21 5 10 8 Want to Restart the Control...

Page 155: ... When I O Parameter No 286 19 5 10 12 Want to Execute a Program Externally by Making an Indication of a Program Number in Binary By setting I O Parameter No 30 to 2 an indication of program number can be conducted in binary to execute a program The program number is to be indicated in Input Port No 023 to 030 BCD is indicated as a program number at delivery Parameter No Set Value Description I O p...

Page 156: ...to assign input function selection 014 to I O parameter No 298 Input port number to assign input function selection 015 to Explanation below shows how to assign Input Function Select 000 Start set in Input Function Select 000 to another input port Set the physical input port number of Input Function Select 000 Start in I O Parameter No 283 Input Function Select 000 Physical Input Port Number For i...

Page 157: ... in I O Parameter No 299 Output Function Select 300 Physical Output Port Number For instance when 316 is set the function of Output Function Select 300 ALM is assigned to Output Port No 316 The signal output port of Output Function Select 300 ALM becomes Output Port 316 Output Port No 300 after the assignment becomes an output port for general purpose Note Even though the output port numbers can b...

Page 158: ... are set to 317 5 10 19 Want to Output the Emergency Stop Status Whether or not an emergency stop status is currently actuated can be checked from the status of output port 318 Current status Output port 318 Emergency stop not actuated ON Emergency stop actuated OFF Parameter No Set Value Description I O parameter No 48 2 Turn OFF output port 318 if an emergency stop is actuated When I O Parameter...

Page 159: ...electric shock and remove the cables on the measured part to avoid conductivity due to sneak circuit prior to the check 8 Check the I O signals Check with using a teaching tool such as the host controller or PC software that there is no inconsistency in the conditions of the input and output signals 9 Check on noise preventing actions e g connection of ground line connection of noise killer etc 10...

Page 160: ...tc MAIN application MAIN core PC PC Update tool TP MAIN application 400 to 4CF MAIN core PC 4D0 to 4DF PC Update tool 4E0 to 4EF Operation cancellation level TP 4F0 to 4FF The program in which the error generated will be cancelled Except for axis errors a cancellation factor is present only for the moment the error occurs However in the case of an error requiring servo OFF or error requiring all a...

Page 161: ...or errors below this level using an auto reset function via external active command SIO PIO application only MAIN application MAIN core PC PC Update tool TP MAIN application 600 to 6CF MAIN core PC 6D0 to 6DF PC Update tool 6E0 to 6EF TP 6F0 to 6FF MAIN application D00 to D8F MAIN core D90 to DAF PC DB0 to DCF PC Update tool DD0 to DDF TP DE0 to DFF MAIN application E00 to E8F MAIN core E90 to EBF...

Page 162: ... Net properly or if the station numbers are duplicated in the IA Net network 212 IA Net break station detection error A station that cannot be joined in the IA Net communication cycle was detected Check if there is a controller or unit with the station number greater than what is set in I O parameter No 604 IA Net Final Station Number 213 IA Net mail undefined error code receive error Undefined IA...

Page 163: ...ve maintenance conducted on each axis 232 Travelled distance threshold exceeded Detail Cause The total distance of axis operation has exceeded the distance set in Each Axis Parameter No 222 Threshold for total travelled distance Countermeasure Have maintenance conducted on each axis 233 Fan error Detail Cause Drop or stop in fan revolution has been detected Countermeasure Contact IAI as there is a...

Page 164: ... the setting not to exceed the upper limit This is an error generated only on MSEL PC PG PCF PGF 418 Work Piece Information Handling Busy Error It is an error in internal process of the vision system I F The process cannot be continued due to the work piece information handling process in busy condition There is a concern that Error No 419 is also generated This is an error generated only on MSEL ...

Page 165: ...operly during the IAI protocol transfer in IA Net Confirm that the IA Net board is mounted in the appropriate way or the IA Net is working properly 492 IA Net IAI protocol mail sending error IAI protocol communication failed in IA Net Check the condition of IA Net connection communication station number I O parameters No 602 to 605 etc 49B SEL program source symbol management domain sum check erro...

Page 166: ...ncel the error have the data initialized Contact IAI in case the same error occurs even after initializing 4A6 Maintenance information data sum check error Detail Cause An error was detected in maintenance information data stored in the retention memory Countermeasure The maintenance information data will not be initialized even if an error is detected To cancel the error have the data initialized...

Page 167: ...I O assignment number overflow error The number of IA Net I O assignments has exceeded the specified range 562 Extension I O unit parameter error There is a failure in the extension I O unit parameters 1 The station numbers for a controller and an extension I O unit are duplicated 2 Eextension I O unit with a station number greater than the value set in I O parameter No 604 IA Net final station nu...

Page 168: ... gear angle detection Info 1 3 in Error List 4 Error in ABS data Info 1 4 in Error List Countermeasure Reboot the power In case the error occurs even after power reboot for several times contact IAI 574 System construction definition ROM data error Detail Cause There is an error in the flash ROM data 1 Data is not written in normal condition to the flash ROM 2 The power was turned off during data ...

Page 169: ...t encoder command was issued Countermeasure y Turn on the power to the simple absolute unit before or at the same time as turning on the controller y Check if any noise influence or cable breakage 630 Update system code error Detected by the application The update system code is invalid 631 Update unit code error Detected by the application The update unit code is invalid 632 Update device number ...

Page 170: ...n operation such as servo ON absolute reset and so on during the system semi closing encoder stop Countermeasure Reboot the power or execute the software reset 685 I O function selection port number error The I O port number setting specified for a given I O function selection is invalid Check the settings of I O parameter Nos 62 to 65 76 77 283 to 330 etc e g A value out of the range of input and...

Page 171: ...he flash ROM from No 10001 Info 1 2 Data stored in the retention memory from No 1 to 10000 Countermeasure The position data will not be initialized even if an error is detected To cancel the error have the data initialized Also conduct the flash ROM writing if the error was detected in the flash ROM domain Contact IAI in case the same error occurs even after initializing flash ROM writing 6BB Devi...

Page 172: ...SEL global data stored in the retention memory This may occur also when the power is accidently turned off during the initialization of SEL global data Countermeasure SEL global data will not be initialized even if an error is detected To cancel the error have the data initialized Contact IAI in case the same error occurs even after initializing 6C8 SEL global data control domain ID error Detail C...

Page 173: ...source is cut off The drive source cut off relay contacts may have been melted 808 Power OFF status during slave parameter write The power was turned off while writing slave parameters 809 Power OFF status during data write to flash ROM The power was turned off while writing data to the flash ROM 80F Ethernet control status 1 Ethernet control information For analysis 810 Ethernet control status 2 ...

Page 174: ...rror Any axis movement command issued to the axis specified in I O parameter No 78 from the PC TP will not be accepted while the input port specified in I O parameter No 77 is OFF Important The acceptance enable input port will become invalid once the operation is started 913 Multiple program simultaneous start prohibition error Starting of multiple programs is prohibited 916 Non mounted device in...

Page 175: ...or The core program already written to the flash ROM is invalid A12 Core code sector block ID erase count over The number of times the flash ROM can be erased was exceeded A13 Flash ROM write request error when erase is incomplete When updating a flash ROM write command was received before a flash ROM erase command Check the update program file and perform update again A14 Busy status reset timeou...

Page 176: ...nnector in the AUTO mode A2C Program number error The program number is invalid A2D Inactive program resumption error A resumption request was received for a program currently not running A2E Inactive program pause error A pause request was received for a program currently not running A2F Breakpoint error The step number specified as a breakpoint is invalid A30 Breakpoint setting count specificati...

Page 177: ...cy stop etc has not been removed A51 Operation pause reset request refusal error The all operation pause factor drive source cutoff operation pause signal deadman switch safety gate emergency stop etc has not been removed A53 Refusal error due to servo ON A processing not permitted during servo ON was attempted A54 Refusal error due to unsupported function The function is not supported A55 Refusal...

Page 178: ... parity error SIO bridge Communication failure Check for noise shorting circuit failure and slave card A69 Data change refusal error during operation An attempt was made to change data whose change is prohibited during operation program is running servo is in use etc A6A Software reset refusal error during write Software reset is prohibited while data is being written to the flash ROM or slave par...

Page 179: ...out error Escape from the home position sensor cannot be confirmed Check in restriction on operation wiring motor home position and so on B12 Storage variable number error for SEL command return code Storage variable number error for SEL command return code B15 Input port debug filter type error The setting of input port debug filter type is invalid B16 SEL operand specification error The operand ...

Page 180: ...nction error It is a function the driver part does not support Check the driver applicable version B26 Ethernet communication mode error A communication mode error B27 Vision System Indication Error The vision system I F intended to be used is different from the vision system I F in use Cancel SLVS Command Operation 1 0 the vision system I F in use and then indicate the vision system I F to be use...

Page 181: ...d job operation of each axis are available It is an error only for SCARA B75 Singularity calculation error CP calculation cannot be conducted as it is the singularity Check if there is any problem to the coordinates due to such as the 2nd arm home position It is an error only for SCARA B77 Current arm system setting error The arm system to be set and the 2nd arm actual angle do not match with each...

Page 182: ...point keep out circle error The target position or the track of the movement is in the tool datum point keep out circle It is an error only for SCARA B88 Logic error in effective target data calculation Internal logic error has been issued during effective target data calculation B89 SCARA CP logic error Internal logic error was detected during SCARA CP process It is an error only for SCARA B8C Si...

Page 183: ...mmand and EDSL C0E BGSR no pair end error There is no EDSR for BGSR or no BGSR for EDSR Check the correspondence between BGSR and EDSR C0F DO IF IS over nesting error The number of nests in a DO or IF IS command exceeds the limit value Check for excessive nesting or branching out of or into the syntax using a GOTO command C10 SLCT over nesting error The number of nests in a SLCT command exceeds th...

Page 184: ...as specified as the divisor in the DIV command C2A SQR command range error The operand value in the SQR command is invalid Input a value larger than 0 as data in a SQR command C2B BCD display digit range error The specified number of BCD display digits is invalid Specify a value between 1 and 8 C2C Program number error The program number is invalid C2D Step number error The step number is invalid ...

Page 185: ...rial channel 1 opened to the user is not opened in the target task Open the channel using an OPEN command first C4B Delimiter non definition error An end character is not defined Set an end character using a SCHA command first C4E SIO1 invalid usage OPEN error The usage of serial channel opened to the user does not match the parameter Check I O parameter No 90 Usage of SIO channel opened to user C...

Page 186: ...wer may have been turned or a software reset executed while the actuator was moving due to external force such as reactive force of a self supported cable or while the installation location was vibrating Or a software reset may have been executed Absolute coordinates cannot be confirmed in this condition C6D Maximum installable axes over error The specified number of axes exceeded the number of in...

Page 187: ... reset operation in the absolute reset window alone does not allow the controller to recognize the current position correctly Always perform an absolute reset by strictly following the specified procedure C81 Operation amount logic during servo ON Servo processing logic error C82 Servo direct command type error Servo processing logic error C83 Servo calculation method type error The servo calculat...

Page 188: ...ve error response An error response was returned from the slave CA5 Stop deviation overflow error Movement may have occurred during stopping due to external force or operation may have been restricted during deceleration This error may also generate when jog operation is restricted due to contact with an obstacle contact with a mechanical end before home return etc or when wiring error faulty enco...

Page 189: ...prising the PX PY axes as set by 3 point teaching CBB Reference point PX axis end point duplication error at palletizing angle acquisition Angle cannot be calculated because the reference point of 3 point teaching is the same as the PX axis end point data other than the PZ axis component and thus arc tangent cannot be calculated CBC Palletizing motion calculation error Trapezoid control calculatio...

Page 190: ...eversed during arch motion operation CCC Arch end point trigger reversing error The coordinates of end point and end point arch trigger are reversed during arch motion operation CCD Drive source cutoff axis use error An attempt was made to use an axis whose drive source is cut off CCE Error axis use error An attempt was made to use an axis currently generating an error Operation cancellation level...

Page 191: ... Failure in the interface with the main CPU D18 Speed loop underrun error Failure in the interface with the main CPU D19 Encoder receive timeout error The encoder is faulty or failure occurred in the encoder communication D1A Driver command error An error occurred in the CPU bus command D1B Serial bus receive error Failure in the interface with the main CPU D1D Encoder full absolute status error T...

Page 192: ...imeout was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for your field network D51 Fieldbus error FBMIRQ reset A FBMIRQ reset error was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for your field network D52 Fieldbus error FBMBSY A FBMBSY was detected Check the st...

Page 193: ...esponse error was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for your field network D5F Network I F module class unmatched error The network I F module class in I O Parameter No 225 and the actual mounted network module class do not match with each other Check on such settings as the combination of the setting in I O Parameter N...

Page 194: ...specific parameter Nos 7 8 138 etc D82 Simple interference check zone output number specification error A value other than an output port global flag number 0 is allowed may have been input or the specified number may be already used as a system output number via the I O parameter for output function selection D83 Simple interference check zone number error The simple interference check zone numbe...

Page 195: ...timeout error Communication failure Check for noise shorting circuit failure and slave card E15 SCI overrun error Communication failure Check for noise shorting circuit failure and slave card E16 Program end confirmation timeout error The program cannot be ended E17 I O processing program start logic error The I O processing program start logic is invalid E18 Task ID error The task ID is invalid E...

Page 196: ...command The checksum of receive data is invalid when a slave EEPROM information acquisition command is sent E2E No required power stage error The required power stage is not installed for the valid axes E2F No required regenerative resistance error The required regenerative resistance is not installed for the valid axes E30 No required motor drive power error The required motor drive power is not ...

Page 197: ...r completion of pole sense E5C Hold at stop servo job error The servo job is invalid E5D Servo packet error The servo packets are invalid E5E Servo control right management array number error The servo control right management array number is invalid E5F Length conversion parameter error Check axis specific parameter Nos 47 50 51 42 1 etc E60 Slave maximum receive size over error The slave receive...

Page 198: ...size over error when sending EEPROM data setting slave command The receive size exceeded the limit value when an EEPROM data setting slave command was sent E7B Motor drive power ON timeout error Abnormal current flow from the motor drive power source E7C Register read write test error Error reading writing the register E7D Linear axis parameter error Check in each axis parameter No 38 No 68 or No ...

Page 199: ...ble flash ROM status error Data is not written to the flash ROM correctly or written in an old incompatible application version E8C Position data flash ROM status error Data is not written to the flash ROM correctly or written in an old incompatible application version E8D Parameter flash ROM status error Data is not written to the flash ROM correctly or written in an old incompatible application ...

Page 200: ... communication error between the driver board and main CPU board FPGA has been detected F6A FA0 Undefined exception interruption error An undefined exception interruption occurred FB0 TMU0 interruption error A TMU0 interruption error was detected FB1 Application code SDRAM copy error Checksum The sum of 4 bytes does not match between the corresponding sections after FROM SDRAM program copy FB2 Ins...

Page 201: ...ol error Check for noise and connected equipment When updating the application connect to a PC and use IAI s update tool A75 IAI protocol command ID error Communication protocol error Check for noise and connected equipment When updating the application connect to a PC and use IAI s update tool A76 IAI protocol checksum error Communication protocol error Check for noise and connected equipment Whe...

Page 202: ... target was correctly specified during update processing Check if an appropriate update PC tool is used and if the target specification and other settings of the update PC tool are correct A8A Update system code error Detected by the core The system code in the message of the received update target specification command does not match the controller system Check the target specification and other ...

Page 203: ... error A WDT watchdog timer was manually reset error detection E9F Exception occurrence error while BL 1 NMI An exception occurred while the block bit in the CPU status register was 1 NMI EA0 Exception occurrence error while BL 1 Other than NMI An exception occurred while the block bit in the CPU status register was 1 Other than NMI EA1 Bit exception reset due to command data TLB duplication This ...

Page 204: ...en detected the operation is made in an unsupported or inappropriate CPU clock operation mode There is a concern of an error operation caused by malfunction of the hardware noise and so on Countermeasure Contact IAI EB4 FROM writing and reading test error It is the FROM access error It is a logic error occurred It is necessary to repair the PC board Cold start level errors EBC Logic error It is a ...

Page 205: ...yourself the circuit that conforms to your condition of use and the applicable category Refer to 2 3 2 Wiring of Emergency Stop Circuit System I O for the names of the signals 1 System configuration When it is necessary to construct a system that complies with Safety Category use a teaching pendant y TB 01D R TB 02D By changing the connection of the system I O connector it can conform up to Safety...

Page 206: ... 8 EMGS2 12 EMGIN 3 ENBS1 4 ENBS1 1 ENBS2 2 ENBS2 6 ENBIN 11 EMGOUT 5 ENBOUT VP24S VP24S 12 EMGS1 _TP 9 EMGS1 _TP 5 EMGS2 _TP 6 EMGS2 _TP 24 ENBS1 _TP 23 ENBS1 _TP 22 ENBS2 _TP 25 ENBS2 _TP EMG Status Detection ENBOK MPO MPI Motor Driving Circuit 24V MSEL SDWN Status Detection ENB Put the dummy plug DP 4S when a connection of the teaching pendant such as PC software is not necessary ...

Page 207: ...GS1 10 EMGS1 7 EMGS2 8 EMGS2 12 EMGIN 3 ENBS1 4 ENBS1 1 ENBS2 2 ENBS2 6 ENBIN 11 EMGOUT 5 ENBOUT VP24S VP24S 12 EMGS1 _TP 9 EMGS1 _TP 5 EMGS2 _TP 6 EMGS2 _TP 24 ENBS1 _TP 23 ENBS1 _TP 22 ENBS2 _TP 25 ENBS2 _TP ENBOK MPO MPI 24V SDWN MSEL ENB EMG Status Detection Motor Driving Circuit Status Detection Put the dummy plug DP 4S when a connection of the teaching pendant such as PC software is not nece...

Page 208: ... ENBS2 6 ENBIN 11 EMGOUT 5 ENBOUT VP24S VP24S 12 EMGS1 _TP 9 EMGS1 _TP 5 EMGS2 _TP 6 EMGS2 _TP 24 ENBS1 _TP 23 ENBS1 _TP 22 ENBS2 _TP 25 ENBS2 _TP ENBOK MPO MPI 24V SDWN MSEL EMG Status Detection Motor Driving Circuit Status Detection ENB Reset SW Enable SW Emergency Stop SW Solenoid Contactor Solenoid Contactor Put the dummy plug DP 4S when a connection of the teaching pendant such as PC software...

Page 209: ...ve source is cut off by hardware means the deceleration operation plan may have to be forcibly stopped beforehand SEL program command 1 Stop is made when the following four commands are issued HOLD CANC STOP ABPG Errors not described in list 1 Errors in list 2 Error of stop with immediate servo OFF in 2 Error No Error name 614 Driver synchronizing communication LRC error 6BB Deviation overflow err...

Page 210: ... from the menu of the PC software and then select Operation pause Reset Request L 2 Situation where reset of operation pause must be requested Reset of operation pause must be requested only in the following situations When other parameter No 10 was set to 2 emergency stop recovery type recovery with continued operation only during auto operation after which you have cancelled the emergency stop a...

Page 211: ... Language Programing Manual for more details The number of maximum available channels is one channels user release channels 2 2 IAI Protocol Communication It is the communication mode for the host system to refer to the data inside the controller or to indicate the command execution by using the serial communication protocol dedicated for IAI IAI protocol communication makes only one channel User ...

Page 212: ... 2 opened to user Extension 68100010H 0 FFFFFFFFH Bits 28 31 Baud rate type 0 9 6 1 19 2 2 38 4 3 57 6 4 76 8 5 115 2k 6 230 4kbps Bits 24 27 Data length 7 to 8 Bits 20 23 Stop bit length 1 to 2 Bits 16 19 Binary Classification 0 None 1 Odd 2 Even Bits 12 15 System reservation Bits 8 11 Reception Operation Classification 0 RS485 Reception compulsorily enabled straight after sending process RS232C ...

Page 213: ...n I O Parameter No 116 IAI Protocol Communication Attribute In order to perform the IAI protocol communication on User Release SIO Channel 2 it is necessary to set IAI Protocol Multiple Channel Communication Permission Select 1 Permitted No Parameter name Initial value Reference Input range Remarks 116 IAI protocol communication attribute 0 0 FFFFFFFFH Bits 0 3 IAI protocol multiple channel commun...

Page 214: ...I Protocol Communication Individual Setting A SEL Program Communication x Set the way to use for the extension SIO user release channel number to be used I O Parameter 101 103 105 107 SIO Channel 2 Opened to User bit0 3 Example When having the SEL program communication in User Release Channel No 2 set as I O Parameter 101 User Release Channel 2 Attribute 2 bit 0 to 3 0 B IAI Protocol Communication...

Page 215: ...ate axes at the maximum X axis Y axis Z axis and R axis At this time it should be premised that the physical axes applicable for each coordinate axis satisfy the following conditions Figure Example for orthogonal unit satisfying conditions above X axis Y axis and Z axis are laid orthogonally to each other The center axis of rotary for the R axis is laid orthogonally to XY plane It is parallel to Z...

Page 216: ...t face Work Coordinate System No 0 work coordinate system offset 0 Base Coordinate System X axis of Base Coordinate System is described as Xb Y axis as Yb Z axis as Zb and R axis as Rb 3rd axis Zb Axis AXIS3 2nd axis Yb Axis AXIS2 1st axis Xb Axis AXIS1 4th axis Rb Axis AXIS4 4th axis Rb Axis AXIS4 1st axis Xb Axis AXIS1 3rd axis Zb Axis AXIS3 2nd axis Yb Axis AXIS2 0 Home ...

Page 217: ...ibed below by the axis structure of the coordinate system definition unit Xb Yb Xb Yb Rb Xwn Ywn Xwn Ywn Rオフセット量 0時の回転方向 R軸なし R軸あり Xb Yb Rb Xwn Ywn x When no R axis in constructing axes x x x x x x x Rotating Direction from Xb positive direction to Yb positive direction x When there is R axis in constructing axes x x x Rb Direction x X Y Z Offset Distance from the base coordinate system home to th...

Page 218: ...1 Yw1 Xw2 Yw2 ワーク座標系No 1 原点ワーク座標系No 2 原点 120 200 300 150 Xb Yb Rb 25 45 The offset of Work Coordinate System No 1 and No 2 are to be set as shown in the table below Work Coordinate System No Offset X mm Y mm Z mm R deg 1 200 000 120 000 0 000 25 000 2 150 000 300 000 0 000 45 000 Home of Work Coordinate System No 2 Home of Work Coordinate System No 1 ...

Page 219: ...program complete and after rebooting 1 When having PTP positioning to Position No 5 and No 6 on Work Coordinate System No 1 Work Coordinate System No Offset X mm Y mm Z mm R deg 1 200 000 120 000 0 000 25 000 Position No Coordinate Data Axis1 X Axis2 Y Axis3 Z Axis4 R 5 0 000 0 000 0 000 0 000 6 50 000 40 000 0 000 45 000 Xw1 Yw1 50 40 45 25 Example for when the datum surface on the R axis orients...

Page 220: ... No 5 and No 6 on Work Coordinate System No 2 Work Coordinate System No Offset X mm Y mm Z mm R deg 2 150 000 300 000 0 000 45 000 Position No Coordinate Data Axis1 X Axis2 Y Axis3 Z Axis4 R 5 0 000 0 000 0 000 0 000 6 50 000 40 000 0 000 45 000 40 50 45 45 Xw2 Yw2 ...

Page 221: ...lect the defined Tool Coordinate System and operate the R axis with JOG operation and such movement as shown in the figure below can be performed Regarding directions of X and Y axes Xtn and Ytn in tool coordinate system With R Axis Varies relying on coordinates of R axis Without R Axis Always fixed the directions depends on R offset of tool coordinate system R axis Tool Tool Tip Xoftn X Tool Coor...

Page 222: ...ure below The figure below is assumed to show that each axis system coordinates for all the unit constructing axes is 0 PT0 ツール先端 The offset of Tool Coordinate System No 1 are to be set as shown in the table below Tool Coordinate System No Offset X mm Y mm Z mm R deg 1 10 000 21 000 6 000 45 000 X Y Z offset Distance from the tool attached position to the tool tip along Xb Yb and Zb directions of ...

Page 223: ... valid after program complete and after rebooting 1 When having the tool tip on Tool Coordinate System No 1 to perform PTP positioning from Position No 5 to No 6 in Work Coordinate System No 1 Work Coordinate System No Offset X mm Y mm Z mm R deg 1 200 000 120 000 0 000 25 000 Tool Coordinate System No Offset X mm Y mm Z mm R deg 1 10 000 21 000 6 000 45 000 Position No Coordinate Data Axis1 X Axi...

Page 224: ...6 in Work Coordinate System No 2 Work Coordinate System No Offset X mm Y mm Z mm R deg 2 150 000 300 000 0 000 45 000 Tool Coordinate System No Offset X mm Y mm Z mm R deg 1 10 000 21 000 6 000 45 000 Position No Coordinate Data Axis1 X Axis2 Y Axis3 Z Axis4 R 5 0 000 0 000 0 000 0 000 6 50 000 40 000 0 000 45 000 40 50 45 45 Xw2 Yw2 ...

Page 225: ...inition axis when Axis No 0 Stated below are the caution items regarding the setting of All Axes Parameter No 56 5C0 Coordinate System Setting Error will occur when there is an error in setting related to these caution items described below x The patterns of constructing axes that are available to indicate should be either of XY XYZ XYZR and XYR x Duplicated indication of one physical axis is not ...

Page 226: ...arameter is not established correctly the axes will not operate as expected Pay attention when establish the setting for this parameter as the controller cannot judge right or wrong for the contents of the setting Establish the setting as described below for the value in All Axes Parameter No 57 Example In the construction below Rb positive direction clockwise is opposite the rotating direction fr...

Page 227: ...r Arc Movement 2 Arc Movement with Center Indication CIR2 ARC2 ARCC ARCD 2 1 Permitted only when operated physical axis is one axis to the indicated axis 2 Permitted only when operated axes are two axes in total Example To indicate X axis in PUSH Command 1 Work coordinate system R offset is 0 in such case as Work Coordinate System No 0 Available to indicate Only X axis operates 2 Work coordinate s...

Page 228: ...ocity and acceleration deceleration are the same the actual operation speed may tend to be slower as the tool length distance from the tool attachment datum point to the tool tip gets longer 6 When attempted to perform CP operation or JOG operation on the work coordinate system or tool coordinate system while the coordinate system definition unit axis is out of the soft limit Error No C73 Target T...

Page 229: ...ranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading of pa...

Page 230: ...pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product i...

Page 231: ...and Pg 26 43 75 Fourth Edition Applicable for cleanroom dust proof and drip proof and for new coordinate systems and serial communication board Edition 4B Pg 23 to 26 New fieldbus added Fifth Edition PCF PGF type added Edition 5B Values changed for parameter settings at delivery for field network type 1 2 2 2 1 Descriptions revised for leakage breaker 1 1 5 Model code added for wrist unit 1 4 2 Co...

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Page 234: ...89524 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 Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 35...

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IAI MSEL, Instruction Manual, Page: 221 / 234

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