IAI MSEL, Instruction Manual, Page: 228 / 234

Chapter 7
Appendix
220
(2) While in operation of either X-axis or Y-axis (or R-axis) in a SEL program, or with operation
of PC software or TP, X-axis and Y-axis (and R-axis) cannot be operated in another SEL
program.
(3) When operating either X-axis or Y-axis (or R-axis), it is basically necessary that servo is
turned on and home return operation is completed on all of X-axis and Y-axis (and R-axis). It
could cause an error if operation is attempted with those conditions above unsatisfied.
(4) In the position edit window for the PC software and teaching tools applicable for the feature,
when operation is made to turn on/off the servo to the coordinate system definition unit axes,
servo turns on/off on all the axes in the applicable units.
(5) When performing CP operation on the R-axis by setting the tool coordinate system offset,
the operation speed and acceleration / deceleration on the X-axis and Y-axis will be limited
so they do not exceed the indicated velocity and acceleration / deceleration. Therefore, even
if the indicated velocity 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 Track Soft Limit Exceeding Error” could occur. In such a case,
use the PC software or a teaching pendant and have JOG operation on each axis system to
have the axis moved inside the soft limit from outside.
(7) When a velocity change command is issued to CP operation including the R-axis, the
specification could be limited depending on the condition. Refer in the section for CHVL
Command for details. [Refer to the separate SEL Language Programming Manual.]
(8) When a synchronized master axis is indicated as the coordinate system definition unit axis,
the applicable synchronized slave axes are to be treated as the axes outside the unit (*
Operation will be synchronized to the synchronized master axis as it does in ordinary use).
Therefore, the work coordinate system and the tool coordinate system are not considered in
the current