IAI PSEL, Operation Manual

Page: 491 / 1062

Contents
Table of Contents of Commands in Alphabetical Order ······················································ 1
Table of Contents of Commands by Function ··································································· 12
Safety Guide ····················································································································· 25
1. Preparation in Advance······························································································ 33
1.1 Related Manuals ················································································································· 33
1.2 Programming Tool ··············································································································· 34
1.3 PC Operational Environment ······························································································ 35
1.4 Axes on Each Actuator and Precautions············································································· 36
1.4.1 Single-Direction Axis ······································································································ 36
1.4.2 Rectangular Axes, TT* ··································································································· 37
1.4.3 Rotational Axis ··············································································································· 38
1.4.4 Gripper ··························································································································· 39
1.4.5 SCARA Robot ················································································································ 39
2. Connection with Host System ···················································································· 72
2.1 I/O Signal····························································································································· 72
2.1.1 XSEL-J/K Type Controllers ···························································································· 73
2.1.2 XSEL-P/Q/PCT/QCT Controllers ··················································································· 79
2.1.3 XSEL-PX/QX Controllers ······························································································· 85
2.1.4 XSEL-R/S Controllers ···································································································· 89
2.1.5 XSEL-RX/SX/RXD/SXD Controllers ·············································································· 95
2.1.6 SSEL, ASEL, PSEL Controllers ····················································································· 97
2.1.7 Tabletop Robot TT/TTA································································································ 100
2.1.8 MSEL Controller··········································································································· 103
3. Program ··················································································································· 106
3.1 Position Table and Program Format·················································································· 106
3.1.1 Position Table··············································································································· 106
3.2 Program······························································································································ 111
3.3 Program Format ·················································································································112
3.4 Relationship of program and position table········································································115
3.5 Basic Stage (Program creation and position table creation) ··············································116
3.5.1 Home Return and Home Return Completion Signal·····················································116
3.5.2 Positioning Operation (Moving position) ·······································································117
3.5.3 Moving Back and Forth between Two Points································································118
3.5.4 Repeated Operation······································································································119
3.5.5 PATH Operation (Continuous operation among multiple positions) ···························· 120
3.5.6 External Signal Output during Path Movement ··························································· 121
3.5.7 Circle/Arc Operation····································································································· 122
3.5.8 Axis Movement by External Signals and Output of Completion Signal to
External Device············································································································ 123
3.5.9 Changing the Moving Speed························································································ 124
3.5.10 Speed Setting Change during PATH (Continuous) Operation ····································· 125
3.5.11 Variables and Flags [Global/Local] ·············································································· 126
3.5.12 How to Use Subroutines ······························································································ 127
3.5.13 Pausing the Operation ································································································· 128
3.5.14 Canceling the Operation ······························································································ 129
3.5.15 Aborting from Other Program ······················································································ 130
3.5.16 Operation by Position Number Specification via External Signals
and Output of Completion Signal to External Device ·················································· 131