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IAI PSEL, Operation Manual

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1. Preparation in 

Advance

39

1.4.4 Gripper 

The coordinate value (opening side) from the home corresponds to 0mm in position data.   
1/2 stroke

*1

 from the home represent position data. 

*1 Stroke : Distance between both grippers 

1.4.5 SCARA 

Robot 

[1] Coordinates 

A horizontal articulated (SCARA) robot has three coordinate systems including the base 
coordinate system, work coordinate system and tool coordinate system. 

Coordinates 

Base coordinate system 

Work coordinate system 

Tool coordinate system 

ࣇ࢕ࣥ࢞࢔ࢱࢵࢳ࣓ࣥࢺ

Finger Attachment

Summary of Contents for PSEL

Page 1: ...1 Operation Manual Tenth Edition PSEL Controller Operation Manual PSEL Controller Eleventh Edition Operation Manual PSEL Controller Twelfth Edition ...

Page 2: ......

Page 3: ... Operation Manual keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary Important x This Operation Manual is original x The product cannot be operated in any way unless expressly specified in this Operation Manual IAI shall assume no responsibility for the outcome of any operation not specified herein x Information contained in this Operatio...

Page 4: ...CE Marking If a compliance with the CE Marking is required please follow Overseas Standards Compliance Manual ME0287 that is provided separately ...

Page 5: ... 6 3 Connecting the Actuator 36 6 4 Connecting the PIO Cable I O 37 6 5 External I O Specifications 42 6 6 Connecting the Teaching Pendant PC Software TP Optional 46 6 7 Connecting the Panel Unit Optional 46 6 8 Installing the System memory Backup Battery Optional 52 Chapter 4 Operation 53 1 Startup 53 1 1 Power ON Sequence 54 1 2 Power Cutoff Sequence 54 2 How to Use the Simple Absolute Unit Opti...

Page 6: ...le Assignment 101 1 2 Arithmetic Operation 104 1 3 Function Operation 107 1 4 Logical Operation 110 1 5 Comparison Operation 113 1 6 Timer 114 1 7 I O Flag Operation 117 1 8 Program Control 128 1 9 Task Management 131 1 10 Position Operation 136 1 11 Actuator Control Declaration 151 1 12 Actuator Control Command 167 1 13 Structural IF 190 1 14 Structural DO 193 1 15 Multi Branching 195 1 16 System...

Page 7: ... System 270 1 Equipment 270 2 Operation 270 3 Overview of the Screw Tightening System 271 4 Hardware 272 5 Software 273 Chapter 10 Example of Building a System 275 1 Position Table 275 2 Programming Format 276 3 Positioning to Five Positions 277 4 How to Use TAG and GOTO 278 5 Moving Back and Forth between Two Points 279 6 Path Operation 280 7 Output Control during Path Movement 281 8 Circle Arc O...

Page 8: ...itching Mode 314 1 I O Interface List 314 2 Parameters 315 3 Details of Each Input Signal 316 4 Details of Each Output Signal 319 5 Timing Chart 320 5 1 Recognition of I O Signals 320 5 2 Home Return 321 5 3 Movements through Positions 322 Chapter 4 2 axis Independent Mode 324 1 I O Interface List 324 2 Parameters 325 3 Details of Each Input Signal 326 4 Details of Each Output Signal 328 5 Timing ...

Page 9: ...n Examples Reference 394 4 Servo Gain Adjustment 398 List of Parameters 400 1 I O Parameters 401 1 1 I O Parameters 401 1 2 I O Function Lists 408 1 Input Function List 408 2 Output Function List 409 2 Parameters Common to All Axes 410 3 Axis Specific Parameters 412 4 Driver Parameters 417 5 Encoder Parameters 420 6 I O Devices 421 7 Other Parameters 422 8 Manual Operation Types 427 Combination Ta...

Page 10: ......

Page 11: ...standards are established in a hierarchical manner under the International Standards ISO IEC The safety standards that apply to industrial robots are as follows Type C standards individual safety standards ISO10218 Manipulating industrial robots Safety JIS B 8433 Manipulating industrial robots Safety Also Japanese laws regulate the safety of industrial robots as follows Industrial Safety and Healt...

Page 12: ...ping of operation Article 150 3 Sign etc indicating that work is in progress Article 150 3 Provision of special education Article 36 31 During teaching etc Not cut off Checkup etc before commencement of work Article 151 To be performed after stopping the operation Article 150 5 Cut off Sign etc indicating that work is in progress Article 150 5 Preparation of work rules Article 150 5 Measures to en...

Page 13: ...part 3 Multi joint robot whose movable radius and Z axis are within 300 mm Among the products featured in our catalogs the following models are classified as industrial robots 1 Single axis ROBO Cylinders RCS2 RCS2CR SS8 whose stroke exceeds 300 mm 2 Single axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W ISA ISPA ISDA ISPDA ISWA ISPWA IF FS N...

Page 14: ...xercise due caution not to bump or drop the product z Use appropriate means for transportation z Do not step on the package z Do not place on the package any heavy article that may deform the package z When using a crane with a capacity of 1 ton or more the crane must be operated by personnel qualified to operate cranes and perform slinging operations z When using a crane or other equipment never ...

Page 15: ...e may result z Implement safety measures so that the product will not start upon cancellation of an emergency stop or recovery of power following a power outage Failure to do so may result in injury equipment damage etc z Put up a sign saying WORK IN PROGRESS DO NOT TURN ON POWER etc during installation adjustment etc If the power is accidently turned on electric shock or injury may result z Imple...

Page 16: ...ide the safety fences prepare work rules and make sure the operator understands the procedures thoroughly z When working inside the safety fences turn off the power switch as a rule z When working inside the safety fences the operator should carry a handy emergency stop switch so that the operation can be stopped any time when an abnormality occurs z When working inside the safety fences appoint a...

Page 17: ...to observe the instruction will result in an imminent danger leading to death or serious injury Danger Warning Failure to observe the instruction may result in death or serious injury Warning Caution Failure to observe the instruction may result in injury or property damage Caution Note The user should take heed of this information to ensure the proper use of the product although failure to do so ...

Page 18: ...8 Part 1 Installation ...

Page 19: ...xplained in this manual as prohibited Utmost effort has been made to ensure precision and completeness of the information contained in this manual However should you find any error in the manual or if you have any comment regarding its content please contact IAI Keep this manual in a convenient place so that you can quickly reference it whenever necessary 2 Type Refer to the following table for de...

Page 20: ... which position numbers are specified from the host PLC to operate the actuator s The positioner mode provides five sub modes to meet the needs of various applications The program mode has been selected at the factory prior to the shipment of the controller Other parameter No 25 0 Caution Two modes cannot be selected at the same time Program mode Positioner mode Standard mode Product switching mod...

Page 21: ...carry high voltages for a short period x About actuator duty IAI recommends that our actuators be used at a duty of 50 or less as a guideline in view of the relationship of service life and precision Duty Inactivity time Motion Time on Decelerati on Accelerati X 100 x After turning off the control power be sure to wait for at least 5 seconds before turning it back on x Do not insert or remove conn...

Page 22: ...12 Part 1 Installation 4 System Setup Host system Conversion cable Teaching pendant Dummy plug Emergency stop switch Enable switch 24 VDC power supply Panel unit ...

Page 23: ...Defect caused by inappropriate or erroneous maintenance inspection x Defect caused by use of a part other than IAI s genuine part x Defect caused by unauthorized modification etc not approved by IAI or its agent x Defect due to an act of God accident fire etc The warranty covers only the product as it is delivered IAI shall not be liable for any loss arising in connection with the delivered produc...

Page 24: ...al power supply type Position detection method Incremental encoder of A B two phase output type Battery System memory backup battery Optional Lithium battery AB 5 by IAI 3 6 V 2000 mAh Programming language Super SEL language Number of program steps 2000 steps total Number of positions 1500 positions total Number of programs 64 programs Multi tasking capability 8 programs Storage device Flash ROM D...

Page 25: ...and 6 are not installed and the front panel is masked 9 PIO connector 10 MANU AUTO switch 11 USB connector 12 Teaching connector 1 Axis 1 motor connector 2 Axis 2 motor connector 3 Axis 1 brake release switch 4 Axis 1 encoder connector 5 Axis 2 brake release switch 6 Axis 2 encoder connector 7 LED indicators 8 Panel unit connector ...

Page 26: ...16 Part 1 Installation 2 1 2 Down View 2 1 3 Top View 14 Control power system I O connector 15 Motor power connector 13 System memory backup battery connector ...

Page 27: ...motor connector M2 This connector is used to connect the motor drive source cable for axis 2 The specifications are the same as those of the axis 1 motor connector 3 Axis 1 brake release switch BK1 This switch is used to forcibly release the electromagnetic brake of the actuator constituting axis 1 Name Description RLS Supply the power to the brake and forcibly release the brake NOM Turn the brake...

Page 28: ...nnected cable Motor cable AWG22 X 6P Shielded Encoder cable Controller end Actuator end CN2 pin assignments CN1 pin assignments Brown Green Purple Pink Blue Orange Yellow Red Gray Ground Blue White with blue Yellow White with yellow White with red Red Green Yellow White with purple Ground Standard cable Robot cable Cable color Pin No Signal symbol Pin No Cable color Signal symbol Robot cable Stand...

Page 29: ... is receiving power RDY Green The controller is ready ALM Orange An alarm is present an error of message level or higher has generated EMG Red An emergency stop is being actuated SV1 Green The servo for axis 1 is on SV2 Green The servo for axis 2 is on 8 Panel unit connector This connector is used to connect the optional panel unit 9 PIO connector This 34 pin flat DIO connector consists of 24 inpu...

Page 30: ...neral purpose input 2 Green 8B 006 General purpose input 2 Blue 9A 007 General purpose input 2 Purple 9B 008 General purpose input 2 Gray 10A 009 General purpose input 2 White 10B 010 General purpose input 2 Black 11A 011 General purpose input 3 Brown 11B 012 General purpose input 3 Red 12A 013 General purpose input 3 Orange 12B 014 General purpose input 3 Yellow 13A Input 015 General purpose inpu...

Page 31: ...while the controller is in use This is to cancel the disabled condition If a dummy plug is used always operate the controller in a condition where the emergency stop switch is within an easy reach 11 USB connector This connector is used to connect the PC software and the controller via a USB cable Connector USB connector B XM7B 0442 Connected to USB cable The maximum USB cable length is 5 m Notes ...

Page 32: ...232C Connected unit Dedicated teaching pendant Connection cable Dedicated cable Power supply 5 VDC or 24 VDC A multi fuse MF R090 is installed to protect each line against short current the fuse will trip with currents of between 1 1 A and 2 2 A Protocol X SEL teaching protocol The connector supports the X SEL teaching pendant interface protocol Emergency stop control Series emergency stop relay d...

Page 33: ...top contact output negative 10 Out RSVVCC Power output ANSI compliant IA T XA power supply 24 V 11 NC Not connected 12 Out EMGOUT2 Emergency stop contact output positive 13 Out RTS Request to send Not used fixed to 0 V 14 In CTS Clear to send Not used Used as the TP connection detection terminal 15 Out TXD Transmitted data 16 In RXD Received data 17 Out DSR Data set ready Shorted to DTR 18 NC Not ...

Page 34: ...s connected to the ground for the controller s internal power supply and is not isolated Item Specification Remarks 3 5 mm 2 piece COMBICON 6 pins MC1 5 6 G 3 5 by Phoenix Contact Cable end connector MC1 5 6 ST 3 5 by Phoenix Contact Applicable wire size AWG20 16 0 5 1 25 sq Applicable connector Recommended stripped wire length 7 mm Connector name CP EMG ENB Input voltage 24 VDC 10 10 Maximum inpu...

Page 35: ...y the 0 V terminals of both are connected inside the controller They are also connected to the ground for the controller s internal power supply and are not isolated Item Specification Remarks 5 08 mm 2 piece COMBICON 2 pins MSTB2 5 2 GF 5 08 by Phoenix Contact Cable end connector MSTB2 5 2 STF 5 08 by Phoenix Contact Applicable wire size AWG20 14 0 5 2 0 sq Applicable connector Recommended stripp...

Page 36: ...26 Part 1 Installation Chapter 3 Installation and Wiring 1 External Dimensions 1 2 axis specification The same external dimensions also apply to the 1 axis specification 5 ...

Page 37: ...27 Part 1 Installation 2 2 axis specification with battery ...

Page 38: ...h as a heat treating furnace 4 Use the controller in a non condensing environment free from corrosive or inflammable gases 5 Use the controller in an environment where it will not receive external vibration or impact 6 Prevent electrical noise from entering the controller or its cables Environmental Condition of Controller Item Specification and description Surrounding air temperature range 0 40qC...

Page 39: ...rementioned direction and provide a minimum clearance of 50 mm above and below the controller If multiple controllers are to be installed side by side providing additional suction fans on top of the controllers will help maintain a uniform surrounding air temperature Provide a minimum clearance of 95 mm between the front side of the controller and a wall enclosure If multiple controllers are to be...

Page 40: ...al power supply Wire the controller cables separately from lines creating a strong electric field such as power circuit lines by not bundling them together or placing in the same cable duct If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable please contact IAI s Technical Service Section or Sales Engineering Section Metal enclosure Controller Other equip...

Page 41: ...a diode in parallel with the coil Determine the diode capacity in accordance with the load capacity In a DC circuit connecting a diode in reversed polarity will damage the diode internal parts of the controller and DC power supply Exercise due caution The above noise elimination measures are particularly important when a 24 VDC relay is driven directly by a controller output and there is also a 10...

Page 42: ...32 Part 1 Installation Reference Circuit Diagram Controller Surge absorber Solenoid valve OUT COM CR 24 V 0 V 100 VAC CR 0 V ...

Page 43: ...pply current varies depending on the number of axes as shown below 1 axis specification 2 axis specification 1 Control power supply current 1 2 A 2 Rated motor power input current 1 2 A 2 4 A 3 Maximum motor power input current 2 0 A 4 0 A 4 Rated current 1 2 2 4 A 3 6 A 5 Maximum current 1 3 3 2 A 5 2 A ...

Page 44: ...itch and Enable Switch As shown to the left insert the stripped end of each cable into the control power system I O connector and tighten the screws with a screwdriver Recommended cable size 0 75 mm2 AWG18 Recommended stripped wire length 7 mm 24 VDC Emergency stop switch Enable switch ...

Page 45: ... to the left insert the stripped end of each cable into the motor power connector and tighten the screws with a screwdriver Recommended cable size 2 mm2 AWG14 Recommended stripped wire length 7 mm As shown to the left tighten the screws to affix the connector 24 VDC ...

Page 46: ...able M1 M2 Connect the motor cable from the actuator to the applicable motor connector on the front face of the controller 6 3 2 Connecting the Encoder Cable PG1 PG2 Connect the encoder cable from the actuator to the applicable encoder connector on the front face of the controller ...

Page 47: ... Brown 1 9B Gray 2 1B Red 1 10A White 2 2A Orange 1 10B Black 2 2B Yellow 1 11A Brown 3 3A Green 1 11B Red 3 3B Blue 1 12A Orange 3 4A Purple 1 12B Yellow 3 4B Gray 1 13A Green 3 5A White 1 13B Blue 3 5B Black 1 14A Purple 3 6A Brown 2 14B Gray 3 6B Red 2 15A White 3 7A Orange 2 15B Black 3 7B Yellow 2 16A Brown 4 8A Green 2 16B Red 4 8B Blue 2 17A Orange 4 9A Purple 2 Flat cable pressure welded 1...

Page 48: ...ral purpose input General purpose input General purpose input General purpose input General purpose input General purpose input Input 1 Brown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue 1 Purple 1 Gray 1 White 1 Black 2 Brown 2 Red 2 Orange 2 Yellow 2 Green 2 Blue 2 Purple 2 Gray 2 White 2 Black 3 Brown 3 Red 3 Orange 3 Yellow 3 Green 3 Blue 3 Purple 3 Gray 3 White 3 Black 4 Brown 4 Red 4 Yellow Pin No...

Page 49: ...pose input General purpose input General purpose input General purpose input General purpose input General purpose input General purpose input Input 1 Brown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue 1 Purple 1 Gray 1 White 1 Black 2 Brown 2 Red 2 Orange 2 Yellow 2 Green 2 Blue 2 Purple 2 Gray 2 White 2 Black 3 Brown 3 Red 3 Orange 3 Yellow 3 Green 3 Blue 3 Purple 3 Gray 3 White 3 Black 4 Brown 4 Red ...

Page 50: ...on input 5 Position input 6 Position input 7 Position input 8 Position input 9 Position input 10 Position input 11 Position input 1 Position input 2 Position input 3 Position input 4 Position input 5 Position input 6 Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 Input 9 Position input 7 Position input 8 Position input 9 Position input 10 Position input 11 Position input 12 Positi...

Page 51: ...e 3 Yellow 3 Green 3 Blue 3 Purple 3 Gray 3 White 3 Black 4 Brown 4 Red 4 Yellow Cable color 4 Orange Output Category Port No Alarm Alarm Alarm Alarm Alarm Ready Ready Ready Ready Ready Positioning complete Positioning complete Positioning complete Positioning Home return complete Home return complete Home return complete Servo ON output Servo ON output Servo ON output Push motion complete Push mo...

Page 52: ...t open collector type 4 Sequencer contact output minimum load of approx 5 VDC 1 mA Input circuit P24 I O interface pin No 1 Caution If a non contact circuit is connected externally malfunction may result from leakage current Use a circuit in which leakage current in a switch off state does not exceed 1 mA PSEL controller s input signal At the default settings the system recognizes the ON OFF durat...

Page 53: ...valent Isolation method Photocoupler isolation External devices 1 Miniature relay 2 Sequencer input unit Note 400 mA is the maximum total load current of output port Nos 300 to 307 Output circuit P24 I O interface pin No 1A N I O interface pin No 17B Caution In the event that the load is short circuited or current exceeding the maximum load current is input the overcurrent protection circuit will ...

Page 54: ...type 4 Sequencer contact output minimum load of approx 5 VDC 1 mA Input circuit N I O interface pin No 17B Caution If a non contact circuit is connected externally malfunction may result from leakage current Use a circuit in which leakage current in a switch off state does not exceed 1 mA PSEL controller s input signal At the default settings the system recognizes the ON OFF durations of input sig...

Page 55: ...ut unit Note 400 mA is the maximum total load current of output port Nos 300 to 307 Output circuit P24 I O interface pin No 1A N I O interface pin No 17B Caution In the event that the load is short circuited or a current exceeding the maximum load current is input the overcurrent protection circuit will be actuated to cut off the circuit However give due consideration to the circuit connection lay...

Page 56: ... PC software cable connect the cable to a connector conversion cable and then connect the conversion cable to the teaching connector on the controller 6 7 Connecting the Panel Unit Optional When the optional panel unit is connected the controller status program number of each active program error codes etc can be monitored Note ޓ PSEL C Type ޓ CB SEL SJ002 PSEL CS Type ޓ CB SEL SJS002 ...

Page 57: ... level error 5 Operation cancellation level error 6 Waiting for a drive source cutoff reset input except during the update mode 6 Operation is in pause waiting for restart except during the update mode 7 All servo axes are interlocked except during the update mode 8 Message level error 8 Message level error 9 Core update mode 9 Core update is in progress 9 Core update has completed 9 Slave update ...

Page 58: ...tus auto mode Program mode 9 Ready status manual mode Program mode 9 Operating in positioner mode No indicates positioner mode number 9 Ready status auto mode Positioner mode 9 Ready status manual mode Positioner mode 1 The priority increases as the number decreases ...

Page 59: ... Message level error 2 Message level error 2 Application update mode 2 Application update is in progress 2 Application update has completed 2 Hardware test mode process 2 Clearing the application flash ROM 2 Application flash ROM has been cleared 2 Jump to the application 2 Core flash ROM check process 2 Application flash ROM check process 2 SDRAM check process 1 The priority increases as the numb...

Page 60: ...ar right segment digit will show the current for axis 1 Axis 2 Axis 1 When data is written to the flash ROM or a software reset restart is executed after the parameter values have been input the panel window will show the motor current to rating ratio by a segment pattern instead of ready status or program run number The segment display patterns and corresponding motor current to rating ratios are...

Page 61: ...arameter No 49 2 Other parameter No 50 Variable number of the global integer variable to be monitored When data is written to the flash ROM or a software reset restart is executed after the parameter values have been input the panel window will show the content of the global integer variable instead of ready status or program run number The far left segment digit should read U Display example ...

Page 62: ...attery Optional As shown to the left install the supplied battery holder on the left side face of the controller Insert the battery into the holder Connect the battery connector Pay attention to the connector orientation The connector hook should face the right side ...

Page 63: ... MANU switch to the MANU side 5 Supply the 24 V PIO power through the flat cable 6 Turn on the control power and motor power at the same time They should be taken from the same power supply 7 Reset the emergency stop The EMG lamp turns off If the ALM lamp is lit an error is present Check the error list to identify the problem If the 24 V PIO power is not supplied an E69 error will generate To chec...

Page 64: ...r x The PIO power can be turned off much later than the control power and motor power as long as it is turned off after the control power motor power Taken from the same power supply Control power Motor power Controller status Must be turned on first as a rule PIO power The PIO power must be turned on before the control power in order to perform checks during initialization and self diagnosis and ...

Page 65: ... refer to the Simple Absolute Unit Operation Manual Note The connector for the dedicated harness of the simple absolute unit comes in two types RCA actuator type and RCP2 actuator type Connect the dedicated harness of the simple absolute unit to the RCP2 actuator connector PSEL controller Dedicated harness Simple absolute unit Encoder cable Actuator Dedicated harness Encoder cable Actuator Simple ...

Page 66: ...the ON position Rotation Speed Setting Switch If the motor reaches or exceeds the specified rotation speed while the controller power is OFF the absolute data will be lost and an absolute encoder error will occur Four setting levels are available where a lower motor speed results in a longer data retention time Switch 1 2 Motor rotation speed rpm Battery retention time guide OFF OFF 100 20 days ON...

Page 67: ...rror 3 has occurred 4 One of the parameters relating to home return or axis operation Axis specific Parameter Nos 1 6 10 11 12 21 38 42 43 44 46 47 50 51 66 67 68 and Driver Parameter No 26 has been changed or otherwise the home position may have been changed Perform an absolute reset using the X SEL PC software by following the procedure below 1 Supply the main power 24 VDC to the controller and ...

Page 68: ... unit encoder error 2 has been detected the following error message appears 5 You can check the condition of the present error by clicking Monitor M and then selecting Error Details E If ABS unit encoder error 2 is present the following window appears a simple absolute unit is used for axis 1 in this example After checking the condition close the Error Details window ...

Page 69: ... 6 From the menu click Controller C and then select Absolute Reset A 7 When the Warning window appears click the OK button 8 The Absolute Reset window appears Click here to select the axis which is the target of absolute reset ...

Page 70: ...warning diagram box appears to alert you that an absolute reset will commence Click the Yes Y button When a confirmation screen appears again click the Yes Y button When the Confirm Completion of Absolute Reset process has completed the red arrow returns to the condition shown in 8 If you want to perform an absolute reset for a different axis select the target axis here and then perform the proces...

Page 71: ...appears click the Yes Y button to restart the controller Note After an absolute reset be sure to perform a software reset 11 As long as no error is present after the restart the 7 segment LED should show rdy if the panel unit is connected 12 This completes the absolute reset ...

Page 72: ...he operation For details on starting from the teaching pendant read the operation manual for the optional teaching pendant For starting from the PC software read the applicable explanation in the manual supplied with the PC software The latter two methods are starting automatically via parameter setting and starting via external signal selection This chapter only explains the methods for starting ...

Page 73: ...ng function such as allowing the program execution to proceed only after receiving a confirmation signal at the beginning of the program If you wish to start multiple programs at the same time write multiple EXPG commands at the beginning of the main program to start the remaining programs Provide safety measures for each program to be started If the following setting is performed the program of t...

Page 74: ...ergency stop signal ON ALARM signal confirmed ALARM processing Note The assignments of dedicated input output port functions such as RDY output start signal reflect the factory settings When the READY signal Output port No 301 turns ON the RDY lamp green on the controller front panel will illuminate Input a desired program number as a BCD code from the external device Input port Nos 16 through 22 ...

Page 75: ...tion value 3 soft reset signal can be input to input port No T1 10 msec min T2 Time until the soft reset signal starts functioning T2 1 sec min T3 Time after the soft reset signal is cancelled until the ready signal is output 4 Servo ON signal Set the input function specification value 4 servo ON signal for input port No T1 Time after the ready output turns ON until the input function specificatio...

Page 76: ...et signal for input port No Set the input function specification value 17 drive source cutoff reset input signal for other input port No T1 Time after the emergency stop input is reset until the drive source cutoff reset signal can be input T1 2 sec min T2 Drive source cutoff reset input time T1 10 msec min T3 Pause reset input time T1 10 msec min Program starting Emergency stop Drive source cutof...

Page 77: ...eset x The automatic operation was stopped using the deadman switch or enable switch when other parameter No 11 was set to 2 Deadman enable switch recovery type Continued operation only during automatic operation o Recovery reset of operation pause after the stop is reset x Specify a desired input port for receiving the operation pause input signal dedicated function Set the input function specifi...

Page 78: ... to implement SEL language PSEL Controller Data Structure The user must create position data and application programs The parameters are predefined but their settings can be changed in accordance with the user s system Refer to Appendix List of Parameters for details on the parameters Parameters Main SEL language Position data Application programs ...

Page 79: ...e original data before edit unless the edited data are written to the flash memory The controller always operates in accordance with the data in the main CPU memory excluding the parameters Note SEL global data cannot be retained if the backup battery is not installed SEL global data will be cleared once the control power is turned off or a software reset is executed The error list will be cleared...

Page 80: ...e controller always operates in accordance with the data in the main CPU memory excluding the parameters Data edited on the PC or teaching pendant Data will be retained while the power is on and cleared upon reset Data will be retained even after the power is turned off PC software TP Transfer Transfer Main CPU memory Programs Parameters other than encorder parameters Symbols Write to flash memory...

Page 81: ...parameters are saved to a file after turning on the controller or restarting it via a software reset without an actuator encoder connected the encoder parameters saved to the file will become invalid Point to note when transferring a parameter file to the controller When a parameter file is transferred to the controller the encoder parameters will be transferred to the EEPROM of the encoder exclud...

Page 82: ...ose screws or cable disconnection x Check the controller mounting screws etc for looseness x Inspect each cable axis link cable general purpose I O cable system I O cable power cable for loose connection disconnection play etc 2 Spare consumable parts Without spare parts a failed controller cannot be repaired even when the problem is identified quickly We recommend that you keep the following cons...

Page 83: ... Window in Operation Manual for X SEL PC Software 1 Turn on the controller power 2 Record write down the current setting of Other parameter No 20 Backup battery installation function type This will be used when reverting the parameter to its original setting following the replacement of system memory backup battery 3 If the PC software is installed in your PC save the position data to a file using...

Page 84: ... Other parameter No 20 Backup battery installation function type to the value recorded in step 2 transfer the setting to the controller and then perform a flash ROM write Confirm that the flash ROM writing process has completed 10 Perform a software reset restart the controller Note Commencing the operation without first executing a software reset or reconnecting the power may generate the followi...

Page 85: ...n number 1 1500 1500 Program number 1 64 64 Step number 1 2000 2000 Task level NORMAL HIGH 2 SIO channel number 0 1 Wait timer 1 1 shot pulse timer 16 Number of timers that can be operated simultaneously Ladder timer Local flag 100 Virtual input port SEL system o SEL user program 7000 7299 300 Virtual output port SEL user program o SEL system 7300 7599 300 Number of symbol definitions 500 Number o...

Page 86: ...456 0 12345 If a floating point is used in operations the number of valid digits will be limited to seven Also note that operations using a floating point are subject to error 2 Position data The input range of position data consists of four integer digits and three decimal digits 9999 999 to 9999 999 The maximum value varies depending on the actuator model If position data are used in internal op...

Page 87: ...use factor is present including when waiting for restart switch signal Valid only during automatic operation recognition 7013 All servo axis interlock factor is present all operation pause factor interlock input port factor 7014 For future expansion Use strictly prohibited 7015 Voltage low warning for axis 1 absolute data backup battery 7016 Abnormal voltage of axis 1 absolute data backup battery ...

Page 88: ...cancellation factor is present 7011 latch is cancelled only when operation cancellation factor is no longer present 7300 will be turned OFF following an attempt to cancel latch 7301 7380 For future expansion Use strictly prohibited 7381 7399 For future expansion Use strictly prohibited 7400 7599 For future expansion Use strictly prohibited ...

Page 89: ...in each program Global flags will be retained backed up by battery even after the power is turned off Local flags will be cleared when the power is turned off Flag number 600 899 Can be used in all programs Global flags Flag number 900 999 Used only in each program Local flags Program 1 Program n BTON 600 WTON 600 BTON 900 BTON 900 Turn on flag 600 Wait for flag 600 to turn ON Like this global fla...

Page 90: ...putting in or taking out a value and performing addition or subtraction Command Operand 1 Operand 2 ADD 1 1 If this command is applied to variable box 1 which already contains 2 then 1 will be added to the current value and 3 will result Variable box 1 A variable can be used in many ways such as Putting in a value 1234 Taking out a value 456 or Adding a value 1 Variable box 1 1 is added Already co...

Page 91: ...system uses in integer operations Any value in the range from 9 999 999 to 99 999 999 can be input in programs 2 Real variables Actual values These variables can handle decimal places Example 1234 567 Decimal point Real variable number 300 399 1300 1399 Can be used in all programs Global real variables Real variable number 100 199 1100 1199 Used only in each program Local real variables Real numbe...

Page 92: ...t of variable box 1 will be put in variable box 2 If variable box 1 contains 1234 then 1234 will be put in variable box 2 Command Operand 1 Operand 2 LET 1 1234 Command Operand 1 Operand 2 LET 2 1 The above use of variables is called indirect specification An is also used when indirectly specifying a symbol variable refer to 1 8 Symbols Command Operand 1 Operand 2 LET ABC 1 LET BCD 2 ADD ABC BCD V...

Page 93: ...e used in the same way you attach labels to the pages in a book you want to reference frequently A tag is a destination specified in a jump command GOTO Command Operand 1 TAG Tag number Integer between 1 and 256 They are used only in each program Tag TAG 1 GOTO 1 ...

Page 94: ...of 15 nests are accommodated They are used only in each program Command Operand 1 EXSR Subroutine number Integer between 1 and 99 variable is also supported Subroutine execution command Command Operand 1 BGSR Subroutine number Integer between 1 and 99 Subroutine start declaration Command Operand 1 EDSR Subroutine end declaration Subroutines are called Subroutines EXSR 1 EXSR 1 EXSR 1 BGSR 1 EDSR ...

Page 95: ...st not be defined within each function The same local symbol can be used in different programs 3 Symbols of the same name must not be defined within the flag number input port number or output port number group The same local symbol can be used in different programs 4 Symbols of the same name must not be defined within the integer variable number or real variable number group The same local symbol...

Page 96: ...tated Each of multiple axes is stated as follows Axis number How axis is stated 1 Axis 1 2 Axis 2 The axis numbers stated above can also be expressed using symbols Use axis number if you wish to specify only one of multiple axes x Commands that use axis specification based on axis number BASE PPUT PGET ACHZ AXST PASE PARG PRDQ ECMD 1 5 ...

Page 97: ...e axis pattern is considered a binary value and a converted decimal value is assigned to a variable Example To perform home return for axis 2 only you can specify as follows based on axis pattern HOME 10 In indirect specification 10 binary is expressed as 2 decimal so the same operation can be specified as follows LET 6 2 HOME 6 If you must select and specify multiple axes at the same time use axi...

Page 98: ...of position data set in operand 1 Value of position data set in operand 1 2 Value set by a VEL command Value set by an ACC DCL command 3 All axis parameter No 11 Default acceleration All axis parameter No 12 Default deceleration Values pertaining to a rotating axis are processed in degrees instead of millimeters If axis specific parameter No 1 axis operation type is set to 1 rotational movement ax...

Page 99: ...e next step regardless of the command that follows e g WTON WTOF Obviously nothing will happen at the output port but caution must be exercised 2 If no condition is set the command will be executed unconditionally 3 To use the condition in reverse logic so called contact b logic add N NOT to the condition 4 The input condition supports input port output port and flag 5 The operand 1 operand 2 and ...

Page 100: ... Extension condition Input condition Command Operand 1 Operand 2 Output Condition 1 O Condition 2 Command Operand 1 Operand 2 Command Extension condition Input condition Command Operand 1 Operand 2 Output Condition 1 A Condition 2 O Condition 3 Command Operand 1 Operand 2 AND extension Ladder diagram Condition 1 Condition 2 Condition 3 AND AND OR extension Condition 1 Condition 2 OR AND extension ...

Page 101: ...r variable 103 Optional ADD Augend variable Addend ZR Add 104 Optional SUB Minuend variable Subtrahend ZR Subtract 104 Optional MULT Multiplicand variable Multiplier ZR Multiply 105 Optional DIV Dividend variable Divisor ZR Divide 105 Arithmetic operation Optional MOD Remainder assignment variable Divisor ZR Calculate remainder 106 Optional SIN Sine assignment variable Operand radian ZR Sine 107 O...

Page 102: ... direct 141 Optional PTST Confirmation axis pattern Confirmation position number CC Confirm position data 142 Optional PVEL Speed mm sec Assignment destination position number CP Assign position speed 143 Optional PACC Acceleration G Assignment destination position number CP Assign position acceleration 144 Optional PDCL Deceleration G Assignment destination position number CP Assign position dece...

Page 103: ...ange speed 184 Optional ARCD End position number Center angle deg PE Move along arc via specification of end position and center angle 185 Optional ARCC Center position number Center angle deg PE Move along arc via specification of center position and center angle 186 Optional PBND Axis pattern Distance CP Set positioning band 187 Optional CIR Passing position 1 number Passing position 2 number PE...

Page 104: ...ibited CP Open channel 206 Optional CLOS Channel number Prohibited CP Close channel 206 Optional READ Channel number Column number CC Read from channel 207 Optional TMRW Read timer setting Write timer setting CP Set READ timeout value 209 Optional WRIT Channel number Column number CC Output to channel 211 Communica tion Optional SCHA Character code Prohibited CP Set end character 212 Optional SCPY...

Page 105: ...Offset amount Count CP Set zigzag 233 Optional PTNG Palletizing number Variable number CP Get palletizing position number 234 Optional PINC Palletizing number Prohibited CC Increment palletizing position number by 1 234 Optional PDEC Palletizing number Prohibited CC Decrement palletizing position number by 1 235 Optional PSET Palletizing number Data CC Set palletizing position number directly 235 ...

Page 106: ...tart of palletizing setting BGSR 129 Prohibited Declaration subroutine number Prohibited CP Start subroutine BTPF 119 Optional Output port flag Timer setting CP Output OFF pulse BTPN 118 Optional Output port flag Timer setting CP Output ON pulse BT 117 Optional Start output flag End output flag CP Output flag ON OF NT C CANC 161 Optional Input port to abort CANC type CP Declare port to abort CHPR ...

Page 107: ...time GVEL 148 Optional Variable number Position number CP Get speed data H HOLD 160 Optional Input port to pause HOLD type CP Declare port to pause HOME 168 Optional Home return axis pattern Prohibited PE Return to home I IF 190 Optional Comparison variable Comparison value CP Compare EQ NE GT GE LT LE INB 122 Optional Head I O flag Conversion digits CC Input BCD 8 digits max IN 121 Optional Head ...

Page 108: ...on number Prohibited CP Set palletizing reference point PATH 175 Optional Start position number End position number PE Move along path PAXS 146 Optional Axis pattern assignment variable number Position number CP Read axis pattern PBND 187 Optional Axis pattern Distance CP Set positioning band PCLR 138 Optional Start position number End position number CP Clear position data PCPY 139 Optional Copy ...

Page 109: ...lumn number character literal CC Copy character string SCRV 155 Optional Ratio Prohibited CP Set sigmoid motion ratio SGET 215 Optional Variable number Column number character literal CP Get character SIN 107 Optional Sine assignment variable Operand ZR Sine SLCT 195 Optional Prohibited Prohibited CP Declare start of multi branching SLEN 221 Optional Character string length Prohibited CP Set lengt...

Page 110: ...ut condition is not specified TRAN 102 Optional Copy destination variable Copy source variable ZR Copy TSLP 240 Prohibited Time Prohibited CP Task sleep V VAL 219 Optional Variable number Column number character literal CC Convert character string data decimal VALH 220 Optional Variable number Column number character literal CC Convert character string data hexadecimal VEL 151 Optional Speed Prohi...

Page 111: ...e variable specified in operand 1 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 LET 1 10 Assign 10 to variable 1 Example 2 LET 3 10 Assign 10 to variable 3 LET 1 3 Assign the content of variable 3 10 to variable 1 Note When data in a real variable is assigned to an integer variable all decimal fractions are rounded to the nearest integer LET 100 13 5 A...

Page 112: ...e specified in operand 1 Example 1 TRAN 1 2 Assign the content of variable 2 to variable 1 LET 1 2 A LET command of the same effect as the above operation Example 2 LET 3 4 Assign 4 to variable 3 LET 4 10 Assign 10 to variable 4 TRAN 1 3 Assign the content of variable 3 which is variable 4 or 10 to variable 1 Note When data in a real variable is assigned to an integer variable all decimal fraction...

Page 113: ...es from the one specified in operand 1 through the other specified in operand 2 The contents of the variables that have been cleared become 0 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 CLR 1 5 Clear variables 1 through 5 Example 2 LET 1 10 Assign 10 to variable 1 LET 2 20 Assign 20 to variable 2 CLR 1 2 Clear the variables from the content of variab...

Page 114: ... 3 ADD 1 3 Add the content of variable 3 2 to the content of variable 1 2 4 2 2 4 will be stored in variable 1 z SUB Subtract Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional SUB Variable number Data ZR Function Subtract the value specified in operand 2 from the content of the variable specifi...

Page 115: ...he content of variable 3 2 8 4x2 8 will be stored in variable 1 z DIV Divide Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional DIV Variable number Data ZR Function Divide the content of the variable specified in operand 1 by the value specified in operand 2 and assign the result to the variable...

Page 116: ...by the value specified in operand 2 The output will turn ON when the operation result becomes 0 Note A MOD command is used with integer variables Example 1 LET 1 7 Assign 7 to variable 1 MOD 1 3 Obtain the remainder of dividing the content of variable 1 7 by 3 1 7y3 2 with a remainder of 1 will be assigned to variable 1 Example 2 LET 1 7 Assign 2 to variable 1 LET 3 3 Assign 3 to variable 3 MOD 1 ...

Page 117: ...be converted to radian and assigned to variable 101 Assign the sine of the content of variable 101 0 5 to variable 100 z COS Cosine operation Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional COS Variable number Data ZR Function Assign the cosine of the data specified in operand 2 to the variab...

Page 118: ...180 radian 45q will be converted to radian and assigned to variable 101 Assign the tangent of the content of variable 101 1 to variable 100 z ATN Inverse tangent operation Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional ATN Variable number Data ZR Function Assign the inverse tangent of the da...

Page 119: ...ag Optional Optional SQR Variable number Data ZR Function Assign the root of the data specified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 SQR 1 4 Assign the root of 4 2 to variable 1 Example 2 LET 2 5 SQR 100 2 Assign 5 to variable 2 Assign the root of the content of variable 2 5 to variable 100 ...

Page 120: ...value specified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 AND 1 170 Assign the logical AND operation result 136 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 204 Assign 204 to variable 1 LET 3 170 Assign 170 to variable 3 AND 1 3 Assign the logical AND operati...

Page 121: ...ified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 OR 1 170 Assign the logical OR operation result 238 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 204 Assign 204 to variable 1 LET 3 170 Assign 170 to variable 3 OR 1 3 Assign the logical OR operation result 238 ...

Page 122: ...fied in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 EOR 1 170 Assign the logical exclusive OR operation result 102 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 204 Assign 204 to variable 1 LET 3 170 Assign 170 to variable 3 EOR 1 3 Assign the logical exclusive OR ...

Page 123: ...n the variable does not change The output will be turned OFF if the condition is not satisfied Note The output will not be turned OFF when the command is executed CP EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 GT Operand 1 Operand 2 GE Operand 1 t Operand 2 LT Operand 1 Operand 2 LE Operand 1 d Operand 2 Example 1 LET 1 10 Assign 10 to variable 1 CPEQ 1 10 600 Turn ON flag 600 if the content o...

Page 124: ...ional TIMW Time Prohibited TU Function Stop the program and wait for the time specified in operand 1 The setting range is 0 01 to 99 and the unit is second The output will turn ON when the specified time has elapsed and the program proceeds to the next step Example 1 TIMW 1 5 Wait for 1 5 seconds Example 2 LET 1 10 Assign 10 to variable 1 TIMW 1 Wait for the content of variable 1 10 seconds ...

Page 125: ...TOF and READ commands even if timeout is not specified it is assumed that an unlimited timer has been specified and the wait time will be cancelled Example 1 TIMC 10 Cancel the wait time in program 10 Example 2 LET 1 10 Assign 10 to variable 1 TIMC 1 Cancel the wait time in the content of variable 1 program 10 Example 3 Program 1 Program 10 WTON 8 20 Program 10 waits for input 8 for 20 seconds Wai...

Page 126: ... 0 which corresponds to the time the controller is started Accordingly the elapsed time can be identified from the acquired time difference provided that it is within approx 248 days 21474836 47 seconds after the controller was started and that the controller has been operating continuously since then Example 1 GTTM 1 Read the reference time to variable 1 ADD 1 500 Set the ending time to 5 seconds...

Page 127: ...ne specified in operand 1 through the other specified in operand 2 BT ON Switch the status to ON OF Switch the status to OFF NT Reverse the status Example 1 BTON 300 Turn ON output port 300 Example 2 BTOF 300 307 Turn OFF output ports 300 through 307 Example 3 LET 1 600 Assign 600 to variable 1 BTNT 1 Reverse the content of variable 1 flag 600 Example 4 LET 1 600 Assign 600 to variable 1 LET 2 607...

Page 128: ...lag already ON the output port or flag will be turned OFF upon elapse of the timer setting Note 2 If the program ends after the command has been executed but before the timer is up the output port or flag will not be turned OFF Note 3 This command will not be cancelled by a TIMC command Note 4 A maximum of 16 timers including BTPN and BTPF can be operated simultaneously in a single program There i...

Page 129: ...0 seconds including up to two decimal places Note 1 If this command is executed with respect to an output port or flag already OFF the output port or flag will be turned ON upon elapse of the timer setting Note 2 If the program ends after the command has been executed but before the timer is up the output port or flag will not be turned ON Note 3 This command will not be cancelled by a TIMC comman...

Page 130: ... ON upon elapse of the specified time only when operand 2 is specified Note A local flag cannot be entered in operand 1 WT ON Wait for the applicable I O port or flag to turn ON OF Wait for the applicable I O port or flag to turn OFF Example 1 WTON 15 Wait for input port 15 to turn ON Example 2 WTOF 307 10 Wait for 10 seconds for output port 307 to turn OFF Example 3 LET 1 600 Assign 600 to variab...

Page 131: ... OFF ON 1 0 0 0 0 1 0 1 Binary 27 0 0 0 0 22 0 20 128 0 0 0 0 4 0 1 133 133 Variable 99 Note 1 A maximum of 32 bits can be input Note 2 When 32 bits have been input and the most significant bit is ON the value read to variable 99 will be treated as a negative value Note 3 The read data format can be changed using a FMIO command refer to the section on FMIO command Example 1 IN 8 15 Read input port...

Page 132: ...number ON OFF OFF OFF OFF ON OFF ON 85 Variable 99 Note 1 A maximum of eight digits 32 bits can be input Note 2 The number of I O ports and flags that can be used is 4 x n digits Note 3 The read data format can be changed using a FMIO command refer to the section on FMIO command Example 1 INB 8 2 Read input ports 8 through 15 to variable 99 as a BCD Example 2 LET 1 8 Assign 8 to variable 1 LET 2 2...

Page 133: ...Upper Lower 1 0 0 0 0 1 0 1 Binary 307 306 305 304 303 302 301 300 Output port number ON OFF OFF OFF OFF ON OFF ON Note 1 A maximum of 32 bits can be output Note 2 The write data format can be changed using a FMIO command refer to the section on FMIO command Example 1 OUT 300 307 Write the value in variable 99 to output ports 300 through 307 as a binary Example 2 LET 1 300 Assign 300 to variable 1...

Page 134: ...port number ON OFF OFF OFF OFF ON OFF ON Note 1 A maximum of eight digits 32 bits can be output Note 2 The number of output ports and flags that can be used is 4 x n digits Note 3 The write data format can be changed using a FMIO command refer to the section on FMIO command Example 1 OUTB 300 2 Write the value in variable 99 to the output ports from 300 for two digits until output port 307 as a BC...

Page 135: ...67h 0000 0001 0010 0011 0100 0101 0110 0111 Variable 99 Temporary data I O port flag status 0 OFF 1 ON OUT B command IN B command 2 Operand 1 1 Data is read or written after its upper eight bits and lower eight bits are reversed every 16 bits I O flag number upper I O flag number lower 01234567h 23h 01h 67h 45h 0010 0011 0000 0001 0110 0111 0100 0101 Variable 99 I O port flag status 0 OFF 1 ON Tem...

Page 136: ...B command IN B command Example 1 Variable 99 00123456h Decimal 1193046 BCD 123456 00123456h Variable 99 1193046 IN OUT command 123456 INB OUTB command I O flag number upper I O flag number lower FMIO 0 00h 12h 34h 56h 0000 0000 0001 0010 0011 0100 0101 0110 FMIO 1 12h 00h 56h 34h 0001 0010 0000 0000 0101 0110 0011 0100 FMIO 2 34h 56h 00h 12h 0011 0100 0101 0110 0000 0000 0001 0010 FMIO 3 56h 34h 1...

Page 137: ...a I O port flag status 0 OFF 1 ON Example 3 Variable 99 00000012h Decimal 18 BCD 12 00000012h Variable 99 18 IN OUT command 12 INB OUTB command I O flag number upper I O flag number lower FMIO 0 00h 00h 00h 12h 0000 0000 0000 0000 0000 0000 0001 0010 FMIO 1 00h 00h 12h 00h 0000 0000 0000 0000 0001 0010 0000 0000 FMIO 2 00h 12h 00h 00h 0000 0000 0001 0010 0000 0000 0000 0000 FMIO 3 12h 00h 00h 00h ...

Page 138: ...sts is defined for each conditional branching command or subroutine call a nest will be infinitely repeated if an ED is not passed and a nest overflow error will generate In the case of palletizing setting an error will generate if the second BGPA is declared after the first BGPA declaration without passing an EDPA 1 IF or IS and EDIF syntax 2 DW and EDDO syntax 3 SLCT and EDSL syntax 4 BGSR and E...

Page 139: ...rogram Example 1 EXSR 1 Execute subroutine 1 EXIT BGSR 1 Start subroutine 1 EDSR End subroutine 1 Example 2 LET 1 10 Assign 10 to variable 1 EXSR 1 Execute the content of variable 1 subroutine 10 z BGSR Start subroutine Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited BGSR Subroutine numbe...

Page 140: ...laration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDSR Prohibited Prohibited CP Function Declare the end of a subroutine This command is always required at the end of a subroutine Thereafter the program will proceed to the step next to the EXSR that has been called Example 1 Refer to the section on EXSR command ...

Page 141: ...g Optional Optional EXIT Prohibited Prohibited CP Function End the program If the last step has been reached without encountering any EXIT command the program will return to the beginning Note Status at program end x Output ports Retained x Local flags Cleared x Local variables Cleared x Current values Retained x Global flags Retained x Global variables Retained Example 1 EXIT End the program ...

Page 142: ...at generate in accordance with the status of the specified program Errors caused by other factors are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple EXPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running ...

Page 143: ...specification of a number smaller than 1 or exceeding 64 2 If an own task own program is specified in an ABPG command the own task will be terminated and then deleted The output will turn OFF When multiple ABPG programs are specified both operands 1 and 2 are specified No program number error 3 Registered program exists inside the specified range 4 Status of the specified program Running program e...

Page 144: ...rs are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple SSPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running program exists inside the specified range 4 None of programs inside the specified range are run...

Page 145: ...ram number error indicates specification of a number smaller than 1 or exceeding 64 When multiple RSPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running program exists inside the specified range 4 None of programs inside the specified range are running None of programs ...

Page 146: ...a specified in operand 2 Data will not be stored in variable 199 the PGET command will not be executed if no data is available in the position data table the position data table shows X XXX on the poison data display of the teaching pendant is blank in the PC software when the PGET command is executed Example 1 PGET 2 3 Read to variable 199 the data of axis 2 at position 3 Example 2 LET 1 2 Assign...

Page 147: ...alue in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2 Example 1 LET 199 150 Assign 150 to variable 199 PPUT 2 3 Write the content of variable 199 150 to axis 2 at position 3 Example 2 LET 199 150 Assign 150 to variable 199 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 PPUT 1 2 Write the content of variable 199 150 to the content ...

Page 148: ...operand 1 through the other specified in operand 2 The cleared data is no longer stored which is different from storage of 0 000 The position data table shows X XXX on the teaching pendant or the poison data display becomes blank in the PC software Example 1 PCLR 10 20 Clear the data from position Nos 10 through 20 Example 2 LET 1 10 Assign 10 to variable 1 LET 2 20 Assign 20 to variable 2 PCLR 1 ...

Page 149: ...onal PCPY Position number Position number CP Function Copy the position data specified in operand 2 to the position number specified in operand 1 Example 1 PCPY 20 10 Copy the data of position No 10 to position No 20 Example 2 LET 1 20 Assign 20 to variable 1 LET 2 10 Assign 10 to variable 2 PCPY 1 2 Copy the data of the content of variable 2 position 10 to the content of variable 1 position 20 ...

Page 150: ... in operand 1 to the position specified in operand 2 Example 1 PRED 11 10 Read the current positions of axes 1 and 2 to position No 10 Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary o 3 decimal LET 1 3 Assign 3 to variable 1 PRED 1 10 Example 3 LET 1 10 Assign 10 to variab...

Page 151: ...ut flag Optional Optional PRDQ Axis number Variable number CP Function Read the current position of the axis number specified in operand 1 to the variable specified in operand 2 The current position can be obtained more quickly than when a PRED command is used The current position of a synchronized slave axis can also be read Example PRDQ 2 100 Read the current position of axis 2 to variable 100 ...

Page 152: ...PC software 0 is recognizes as valid data Example 1 PTST 11 10 300 Turn ON output 300 if there are no valid values of axes 1 and 2 at position 10 Output 300 will turn OFF if the position data is given as follows Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary o 3 decimal LE...

Page 153: ...ecified in operand 1 to the position number specified in operand 2 Note If a negative value is written with a PVEL command an alarm will generate when that position is specified in a movement operation etc Exercise caution Example 1 PVEL 100 10 Write speed 100 mm s to position No 10 Example 2 LET 1 100 Assign 100 to variable 1 LET 2 10 Assign 10 to variable 2 PVEL 1 2 Write the content of variable...

Page 154: ... Write the acceleration specified in operand 1 to the position number specified in operand 2 Note Range check is not performed for a PACC command Be careful not to exceed the limit set for each actuator Example 1 PACC 0 3 10 Write acceleration 0 3 G to position No 10 Example 2 LET 100 0 3 Assign 0 3 to variable 100 LET 2 10 Assign 10 to variable 2 PACC 100 2 Write the content of variable 100 accel...

Page 155: ...1 Operand 2 Output Output flag Optional Optional PDCL Deceleration Position number CP Function Assign the deceleration data specified in operand 1 to the deceleration item in the position data specified in operand 2 The deceleration is set in G and may include up to two decimal places Example 1 PDCL 0 3 3 Assign 0 3 to the deceleration data at position No 3 ...

Page 156: ... at position 99 to variable 1 If the position is given as follows 1 binary 01 will be read to variable 1 Example 2 LET 1 3 Assign 3 to variable 1 LET 2 101 Assign 101 to variable 2 PAXS 1 2 Read the axis pattern at the content of variable 2 position 101 to the content of variable 1 variable 3 If the point is given as follows 3 binary 11 will be stored in variable 3 The table below shows different ...

Page 157: ...eter setting x When Other parameter No 23 PSIZ function type 0 The maximum number of position data that can be stored in the controller will be set Regardless of whether the data are used or not x When Other parameter No 23 PSIZ function type 1 The number of point data used will be set Example PSIZ 1 When Other parameter No 23 PSIZ function type 0 The maximum number of position data that can be st...

Page 158: ... Function Obtain speed data from the speed item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GVEL 100 10 Set the speed data at position No 10 in variable 100 Position data display in PC software Position No Axis1 Axis2 Vel Acc Dcl 1 2 x x x 10 50 000 100 000 200 0 30 0 30 x x If the position data is set as above when the command is ex...

Page 159: ...nction Obtain acceleration data from the acceleration item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GACC 100 10 Set the acceleration data at position No 10 in variable 100 Position data display in PC software No Axis1 Axis2 Vel Acc Dcl 1 2 x x x 10 50 000 100 000 200 0 30 0 30 x x If the position data is set as above when the comm...

Page 160: ...nction Obtain deceleration data from the deceleration item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GDCL 100 10 Set the deceleration data at position No 10 in variable 100 Position data display in PC software No Axis1 Axis2 Vel Acc Dcl 1 2 x x x 10 50 000 100 000 200 0 30 0 30 x x If the position data is set as above when the comm...

Page 161: ... operand 1 The unit is mm s The maximum speed will vary depending on the model of the actuator connected Set a speed not exceeding the applicable maximum speed Note 1 Decimal places cannot be used An error will generate Note 2 The minimum speed is 1 mm s Example 1 VEL 100 Set the speed to 100 mm s MOVP 1 Move to point 1 at 100 mm s Example 2 VEL 500 Set the speed to 500 mm s MOVP 2 Move to point 2...

Page 162: ...imit speed that can be generated Travel distance per encoder pulse mm pulse time msec Smoothness of actual operation cannot be guaranteed Movement must be checked on the actual machine Calculation formula of travel distance per encoder pulse Rotary encoder Travel distance per encoder pulse mm pulse Screw lead 0 001 mm x Gear ratio numerator Encoder resolution pulses rev x Gear ratio denominator 2 ...

Page 163: ...ding on the load and model of the actuator connected The acceleration is set in G and may include up to two decimal places Note If the position data contains no acceleration AND acceleration is not set by an ACC command the actuator will move based on the default value set in All axis parameter No 11 Default acceleration Example 1 ACC 0 3 Set the acceleration to 0 3 G Note Setting an acceleration ...

Page 164: ... of the actuator connected The deceleration is set in G and may include up to two decimal places Note If the position data contains no deceleration AND deceleration is not set by a DCL command the actuator will move based on the default value set in All axis parameter No 12 Default deceleration A DCL command cannot be used with CIR and ARC commands Example DCL 0 3 Set the deceleration to 0 3 G Not...

Page 165: ... Function Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1 The ratio is set as an integer in a range from 0 to 50 a b X 100 If the ratio is not set using this command or 0 is set a trapezoid motion will be implemented A SCRV command can be used with the following commands MOVP MOVL MVPI MVLI JBWF JBWN JFWF JFWN MOVD MVDI Example 1 SCRV 30 Set the sigmoid ...

Page 166: ... OFST command is processed with respect to soft axes before a BASE shift Note An OFST command cannot be used outside the applicable program To use OFST in multiple programs the command must be executed in each program An OFST command cannot be used with MVPI MVLI and MVDI commands Example 1 OFST 10 50 Add 50 mm to the specified position of axis 2 OFST 10 0 Return the offset of axis 2 to 0 Example ...

Page 167: ...e will be divided by the angle set here to calculate the passing points The angle is set in a range from 0 to 120 degrees If the angle is set to 0 an appropriate division angle will be calculated automatically so that the actuator will operate at the set speed maximum 180 degrees The angle is set in degrees and may include up to one decimal place Note If a CIR or ARC command is executed without se...

Page 168: ...ially based on the axis number specified in operand 1 being the first axis A BASE command can be used with PRED PRDQ AXST actuator control and zone commands Note that each zone range is assigned to the actuator via parameter Example 1 HOME 1 Axis 1 returns to the home BASE 2 Axis 2 is considered the first axis HOME 1 Axis 2 returns to the home Example 2 LET 1 2 Assign 2 to variable 1 BASE 1 The co...

Page 169: ...s are run simultaneously assigning axes will allow the same position data to be used effectively among the programs A GRP command can be used with operand axis pattern specification commands excluding an OFST command as well as with servo operation commands using position data A GRP command is processed with respect to soft axes before a BASE shift Example 1 GRP 10 Data of axis 2 becomes valid Exa...

Page 170: ...FF will generate an Error No C66 Axis duplication error If the servo of that axis was ON prior to the HOLD stop the system will automatically turn on the servo when the HOLD is cancelled Therefore do not issue a servo ON command to any axis currently stopped via a HOLD servo OFF If any axis currently stopped via a HOLD servo OFF is moved by external force etc from the stopped position and when the...

Page 171: ...ation will become invalid A CANC type can be specified in operand 2 CANC type 0 Contact a Deceleration stop 1 Contact b Deceleration stop The CANC type is set to 0 contact a when the program is started If nothing is specified in operand 2 the current CANC type will be used Note 1 The input port or global flag specified by a CANC command will only abort the axes used in the task program in which th...

Page 172: ...is specific parameter No 29 VLMX speed as the travel speed Note If the VLMX speed is specified in a continuous position travel command PATH PSPL the target speed to each position will become a composite VLMX speed not exceeding the maximum speed of each axis set in Axis specific parameter No 28 Maximum operating speed of each axis To make the target speed constant a desired speed must be expressly...

Page 173: ...xecuted a passing point will be calculated at each distance set here and the calculated passing points will be used as interpolation points If the distance is set to 0 an appropriate division distance will be calculated automatically so that the actuator will operate at the set speed The distance is input in mm Note If a PSPL command is executed without setting a distance with a DIS command the de...

Page 174: ... specified in the output field will be incremented and turned ON when each specified position approaches At the last position however the output will turn ON upon completion of operation This setting provides a rough guide for output in sequence control Note 1 The default value of POTP before it is set is 0 Note 2 If POTP 1 and there is no valid data at the specified position the output number wil...

Page 175: ...approach distance specified in operand 1 may contain up to three decimal places while the speed specified in operand 2 cannot contain any decimal place Example PAPR 100 30 Set the push motion approach distance in a PUSH command to 100 mm and the push motion approach speed to 30 mm sec MOVP 2 Move to position No 2 PUSH 10 Move by push motion from position No 2 to position No 10 Note The push motion...

Page 176: ...he positioning band set by a PBND command will not be cancelled Note 2 If a given axis is used even once in the quick return mode the program will not release the right to use the axis until the QRTN is set to 0 normal mode or the program ends Any attempt to use the axis from other program will generate an Error No C66 Axis duplication error Note 3 Following a return from a normal deceleration com...

Page 177: ...1 SVON 11 Turn ON the servos of axes 1 and 2 Nothing will occur if the axis servos are already ON Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary o 3 decimal LET 1 3 Assign 3 to variable 1 SVON 1 Warning If the servo is turned on near the mechanical end excited phase detect...

Page 178: ...e I O parameter Output function setting nnn use a MOVP command not a HOME command when moving each absolute encoder axis for the purpose of turning ON the applicable output If the operation is stopped or cancelled while a HOME command is being executed for an absolute encoder axis in a mode other than the absolute reset mode provided by the PC software or teaching pendant an actual position soft l...

Page 179: ...o the position corresponding to position No 1 200 100 Example 2 VEL 100 Set the speed to 100 mm s LET 1 2 Assign 2 to variable 1 MOVP 1 Move the axes to the position corresponding to the content of variable 1 position No 2 or 100 100 Position data display in PC software No Axis1 X axis Axis2 Y axis Vel Acc Dcl 1 200 000 100 000 2 100 000 100 000 Note If acceleration or deceleration is not specifie...

Page 180: ...100 with interpolation Example 2 VEL 100 Set the speed to 100 mm s LET 1 2 Assign 2 to variable 1 MOVL 1 Move the axes to the position corresponding to the content of variable 1 position No 2 or 100 100 with interpolation Position data display in PC software No Axis1 X axis Axis2 Y axis Vel Acc Dcl 1 200 000 100 000 2 100 000 100 000 Note If acceleration or deceleration is not specified in the pos...

Page 181: ...eleration or deceleration is not specified in the position data table or by an ACC DCL command the actuator will operate according to all axis parameter No 11 Default acceleration or all axis parameter No 12 Default deceleration Travel path from 50 50 by the travel distance corresponding to position No 1 150 100 Note If the specified travel distance is equal to or less than the travel distance per...

Page 182: ...eleration or deceleration is not specified in the position data table or by an ACC DCL command the actuator will operate according to all axis parameter No 11 Default acceleration or all axis parameter No 12 Default deceleration Travel path from 50 50 by the travel distance corresponding to position No 1 150 100 Note If the specified travel distance is equal to or less than the travel distance per...

Page 183: ... the axis pattern in operand 2 to the target position corresponding to the value specified in operand 1 If operand 2 is not specified all axes will be moved The output will turn OFF at the start of axis movement and turn ON when the movement is complete The target position is set in mm and the set value is valid to the third decimal place Example 1 MOVD 100 10 Move axis 2 to position 100 Example 2...

Page 184: ...s may not move Calculation formula of travel distance per encoder pulse Rotary encoder Travel distance per encoder pulse mm pulse Screw lead 0 001 mm x Gear ratio numerator Encoder resolution pulses rev x Gear ratio denominator 2 Encoder division ratio Linear encoder Travel distance per encoder pulse mm pulse Encoder resolution 0 001 Pm pulse x 1000 2 Encoder division ratio Reference Use the value...

Page 185: ... position upon execution of the applicable command Inputting a point number corresponding to the predicted current position will trigger movement to the same point during continuous movement thereby causing the speed to drop Note 2 Continuous operation is possible even when all positions are not continuous As shown in the example specify the position number of the discontinuous position for both t...

Page 186: ...mand is also valid on an axis not yet completing home return In this case the maximum speed will be limited by All axis parameter No 15 Maximum jog speed before home return Since coordinate values do not mean anything before home return pay due attention to prevent contact with the stroke ends Example 1 VEL 100 Set the speed to 100 mm s JBWF 11 10 Move axes 1 and 2 backward while input 10 is OFF E...

Page 187: ...ot wait for stopping to complete Issuing other servo commands to a decelerating axis will either become invalid or generate an axis duplication error etc Set a timer etc in the program so that the next servo command will be issued after a sufficient deceleration stop processing time elapses Even when a STOP command is to be issued to an axis currently stopped provide a minimum interval of 0 1 seco...

Page 188: ...end position numbers that position number will be skipped during continuous movement The above diagram is only an example Note If the acceleration and deceleration are different between points the speeds will not be connected smoothly In this case input in operand 1 the point number of the next target instead of the predicted current position upon execution of the applicable command Inputting a po...

Page 189: ...by a PAPR command If the output field is specified the output will turn ON when a contact is confirmed and turn OFF when a missed contact is detected The push force can be adjusted using Driver parameter No 38 Push torque limit at positioning default value 70 Note 1 A PUSH command only moves a single axis If multiple axes are specified an Error No C91 Multiple push axes specification error will ge...

Page 190: ...sh motion movement from position Nos 2 to 10 The diagram below describes a push motion movement based on the position data shown in the table below Position data display in PC software Position No Axis 1 Axis 2 Vel Acc Dcl 1 2 50 000 100 000 x x x x 10 200 000 200 0 30 0 30 x x Move at 200 mm sec Axis 2 Position No 2 Perform push motion approach operation speed 20 mm sec Axis 1 50 100 200 Position...

Page 191: ...lding a system using the PTRQ command in every program explicitly specify a push torque limit using a PTRQ command before each push motion operation Assuming that the push torque limit will be reset to the original value when push motion operation ends in one program can cause an unexpected problem in another program because a different push torque limit will be used if the program is aborted due ...

Page 192: ...wing priorities Priority Speed Acceleration deceleration 1 Setting in the position data specified in operand 1 Setting in the position data specified in operand 1 2 Setting by VEL command Setting by ACC DCL command 3 Default acceleration in all axis parameter No 11 Default deceleration in all axis parameter No 12 If speed is not set a C88 speed specification error will generate If acceleration dec...

Page 193: ...ing in the position data specified in operand 1 2 Setting by VEL command Setting by ACC DCL command 3 Default acceleration in all axis parameter No 11 Default deceleration in all axis parameter No 12 If speed is not set a C88 speed specification error will generate If acceleration deceleration is not valid a C89 acceleration deceleration specification error will generate Note This command is valid...

Page 194: ...change processing so caution must also be exercised against the locus shift Program 1 Program 2 x VEL 300 x x x x CHVL 11 100 PATH 1 5 x x x If CHVL is executed in program 1 while PATH is executed in program 2 or specifically during the PATH movement from point No 2 to point No 3 the speed specified by CHVL 100 mm sec in the above example will become valid only during the PATH movement to point No...

Page 195: ...led how the two axes are combined and so on Perform test operation to check the rotating direction The center angle is set in degrees and may include up to three decimal places The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting in the position data specified in operand 1 Setting in the position data specified in op...

Page 196: ...xis is installed how the two axes are combined and so on Perform test operation to check the rotating direction The center angle is set in degrees and may include up to three decimal places The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting in the position data specified in operand 1 Setting in the position data sp...

Page 197: ...s specific parameter No 58 Positioning band will be used Note 2 If the positioning band is changed the new setting will remain valid even after the program ends Therefore to build a system using PBND commands a positioning band must be expressly specified with a PBND command before operation of each program An assumption that the positioning band will be reset to the original value when the operat...

Page 198: ...on angle is set to a value other than 0 with a DEG command normal division angle the speed specified in the target position data will be used The speed set by a VEL command will become valid if position data is not specified In the case of circular movement the axes will return from passing position 2 to the start position at the speed declared by a VEL command Therefore a VEL command must always ...

Page 199: ... 2 will have no meaning Note 2 If the division angle is set to a value other than 0 with a DEG command normal division angle the speed specified in the target position data will be used The speed set by a VEL command will become valid if position data is not specified Note 3 The acceleration is selected in the order of the acceleration in the data at passing position 1 followed by the value in All...

Page 200: ...and is not executed the program will proceed to the step next to the corresponding EDIF A maximum of 15 nests are supported when IS and DW are combined IF EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 GT Operand 1 Operand 2 GE Operand 1 t Operand 2 LT Operand 1 Operand 2 LE Operand 1 d Operand 2 Example 1 600 IFEQ 1 1 Select an axis IFGE 2 0 Select a moving direction JFWN 01 5 Move axis 1 forwar...

Page 201: ...d and the IS command is not executed the program will proceed to the step next to the EDIF A maximum of 15 nests are supported when IF and DW are combined IS EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 Example 1 SCPY 10 GOFD Move forward SCPY 14 GOBK Move backward LET 1 5 LET 2 14 SLEN 4 Set the number of comparing characters to 4 600 ISEQ 1 1AXS Axis 1 Select an axis ISEQ 5 10 Select a moving...

Page 202: ...ily in conjunction with an IF or IS command to declare the command part to be executed when the condition is not satisfied Example 1 Refer to the sections on IF and IS z EDIF End IF Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDIF Prohibited Prohibited CP Function Declare the end of a...

Page 203: ...rted when IF and IS are combined DW EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 GT Operand 1 Operand 2 GE Operand 1 t Operand 2 LT Operand 1 Operand 2 LE Operand 1 d Operand 2 Example 1 008 DWEQ 1 0 Repeat the command up to an EDDO command while variable 1 contains 0 EDDO If DW is specified at the start and input 8 is OFF nothing will occur and the program will proceed to the step next to EDDO...

Page 204: ...O command while variable 1 contains 0 600 ITER Forcibly switch the control to an EDDO command and perform end judgment if flag 600 is ON EDDO z EDDO End DO WHILE Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDDO Prohibited Prohibited CP Function Declare the end of a loop that began wit...

Page 205: ...onditions are satisfied A SLCT command must be followed by a WH WS or EDSL command A maximum of 15 nests are supported Note Using a GOTO command to branch out of or into a SLCT EDSL syntax is prohibited Example 1 SCPY 1 Right Assign right to columns 1 and 2 600 SLCT Jump to a W whose condition is satisfied WSEQ 1 Right If right is stored in columns 1 and 2 this command will be executed WSEQ 1 Left...

Page 206: ... to variable 1 LET 2 10 Assign 10 to variable 2 SLCT Execute multi branching WHEQ 1 10 1 1 will be executed if the content of variable 1 is 10 Since variable 1 contains 20 however the next condition will be referenced WHGT 1 2 This command will be executed if the content of variable 1 is greater than the content of variable 2 2 Since variable 1 20 variable 2 10 2 will be executed OTHE 3 This comma...

Page 207: ...SLEN 3 Set the number of comparing characters to 3 SCPY 1 ABC Assign ABC to column 1 LET 1 2 Assign 2 to variable 1 SLCT Execute multi branching WSEQ 1 XYZ 1 1 will be executed if columns 1 to 3 contain XYZ Since columns 1 to 3 contain ABC however this command will not be executed WSEQ 2 1 2 2 will be executed if the content of the number of characters specified by SLEN after column 2 is the same ...

Page 208: ...een SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied Example 1 Refer to the sections on SLCT WH and WS z EDSL End selected group Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDSL Prohibited Prohibited CP Function Declare the end of ...

Page 209: ...the status axis error number of the axis specified in operand 2 Note 1 If the obtained result is 0 it means no axis error is present Note 2 Since the error lists are written in hexadecimals they must be converted to decimals Example AXST 1 2 Read the error number for axis 2 to variable 1 If 3188 decimal is stored in variable 1 after the execution of this command 3188 y 16 199 4 199 y 16 12 C 7 318...

Page 210: ...tore in the variable specified in operand 1 the status program error number of the program specified in operand 2 Note 1 If the obtained result is 0 it means no program error is present Note 2 Although the error lists are written in hexadecimals the status to be stored program error number is a decimal Therefore the decimal program error numbers must be converted to hexadecimals Example PGST 1 2 R...

Page 211: ...ror number in the variable specified in operand 1 Note 1 If the obtained result is 0 it means no system error is present Note 2 Since the error lists are written in hexadecimals they must be converted to decimals Note 3 Relationship of error statuses System errors Program errors Axis errors Other errors An axis error that generates during operation with a program command will be registered both as...

Page 212: ...ne output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example 1 WZNA 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 and 2 becomes ON inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased b...

Page 213: ... output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example 1 WZNO 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 or 2 becomes ON inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased base...

Page 214: ...output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example WZFA 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 and 2 becomes OFF inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based...

Page 215: ...e output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example 1 WZFO 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 or 2 becomes OFF inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased ba...

Page 216: ...et an end character Example SCHA 10 OPEN 0 Specify 10 LF as the end character Open channel 0 Note If OPEN 0 is executed communication with the teaching pendant or PC software will be cut off z CLOS Close channel Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional CLOS Channel number Prohibited CP...

Page 217: ...d Example SCHA 10 Set LF 10 as the end character OPEN 0 Open channel 0 READ 0 2 Read a character string from channel 0 to column 2 until LF is received TRAN 1 99 Assign the return code variable 99 to variable 1 CLOS 0 Close the channel SLCT The processing flow branches out in accordance with each return code Note Using a GOTO command to branch out of a BGPA EDPA syntax or to other branch processin...

Page 218: ...r Receive disabled 4 READ SCIF receive error framing error or parity error Receive disabled 5 READ factor error program abort error Receive disabled Cannot be recognized by SEL commands 6 READ task ended program end request etc Receive disabled Cannot be recognized by SEL commands 7 READ SCIF receive error due to other factor Receive disabled 8 READ SIO overrun error Receive disabled 9 READ SIO pa...

Page 219: ...g up to two decimal places A variable can be specified indirectly in operand 1 Note TMRW is set to 0 in the default condition before TMRW setting is performed Example SCHA 10 Set LF 10 as the end character TMRW 30 Set the READ timeout value to 30 seconds OPEN 0 Open channel 0 READ 0 2 Read the character string from channel 0 to column 2 until LF is read TRAN 1 99 Assign the return code to variable...

Page 220: ...hin 30 seconds o Variable No 1 0 Timeout occurs o Variable No 1 1 The return code of READ command may not be limited to 0 or 1 The variable to store the return code can be set in Other parameter No 24 Refer to the explanation of READ command for details ...

Page 221: ...nel Once the channel has been opened a WRIT command can be executed data can be sent for other tasks besides the one that opened the channel Accordingly if a READ command is executed for a channel opening task and then a WRIT command is executed for other task the response from the other side can be received without delay after the applicable data is sent from the PSEL The return code is stored in...

Page 222: ... flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional SCHA Character code Prohibited CP Function Set the end character to be used by a READ or WRIT command Any character from 0 to 255 character code used in BASIC etc can be specified Example Refer to the sections on READ and WRIT commands ...

Page 223: ...umn number character literal CC Function Copy the character string in the column specified in operand 2 to the column specified in operand 1 Copy will be performed for the length set by a SLEN command If a character literal is specified in operand 2 copy will be performed for the entire length of the literal Example SCPY 1 ABC Copy ABC to column 1 SLEN 10 Set the copying length to 10 bytes SCPY 10...

Page 224: ...unction Compare the column specified in operand 1 with the column specified in operand 2 Comparison will be performed for the length set by a SLEN command If a character literal is specified in operand 2 comparison will be performed for the entire length of the literal Example SCMP 1 ABC 600 Flag 600 will turn ON if columns 1 to 3 contain ABC SLEN 5 Set the comparing length to five bytes SCMP 10 3...

Page 225: ...Function Assign one character from the column specified in operand 2 to the variable specified in operand 1 If a character string literal is specified in operand 2 the first character will be assigned Example SGET 1 100 Assign one byte from column 100 to variable 1 LET 1 3 Assign 3 to variable 1 LET 2 1 Assign 1 to variable 2 SCPY 1 A Copy A to column 1 SGET 1 2 Assign A from the content of variab...

Page 226: ...1 Operand 2 Output Output flag Optional Optional SPUT Column number Data CP Function Set the data specified in operand 2 in the column specified in operand 1 Example SPUT 5 10 Set 10 LF in column 5 LET 1 100 Assign 100 to variable 1 LET 2 50 Assign 50 to variable 2 SPUT 1 2 Set the content of variable 2 50 2 in the content of variable 1 column 100 ...

Page 227: ...operand 2 is a 10 digit integer including eight or more valid digits conversion of the values in the eighth and subsequent digits will not be guaranteed the values through the seventh digits will be converted properly Example SLEN 5 3 Set a length consisting of five integer digits and three decimal digits STR 1 123 The following values will be set in columns 1 to 9 1 2 3 4 5 6 7 8 9 1 2 3 0 0 0 LE...

Page 228: ...erted within the length set by a SLEN command the output will turn ON Note If the data specified in operand 2 is a negative value eight columns will be required to covert the entire data Example SLEN 5 Set a format consisting of five integer digits STRH 1 255 The following values will be set in columns 1 to 5 1 2 3 4 5 F F LET 1 10 Assign 10 to variable 1 LET 102 987 6543 Assign 987 6543 to variab...

Page 229: ...f a character string literal is specified in operand 2 conversion will be performed for the entire length of the literal Note Keep the converting length to 18 characters or less Example SCPY 10 1234 Set 1234 in column 10 SLEN 4 Set the converting length to four bytes VAL 1 10 Assign 1234 which is a binary converted from 1234 in column 10 to variable 1 LET 1 100 Assign 100 to variable 1 LET 2 20 As...

Page 230: ...l be converted with the decimal part being ignored If a character string literal is specified in operand 2 conversion will be performed for the entire length of the literal Note Keep the converting length to 8 characters or less Example SCPY 10 1234 Set 1234 in column 10 SLEN 4 Set the converting length to four bytes VALH 1 10 Assign 4660 which is a binary converted from hexadecimal 1234 in column...

Page 231: ...er string length Prohibited CP Function Set the length to be processed by a string command This must always be set before using the following commands SCMP Decimal part is invalid SCPY Decimal part is invalid ISXX Decimal part is invalid WSXX Decimal part is invalid STRH Decimal part is invalid VAL VALH Decimal part is invalid STR Decimal part is valid Example Refer to the examples of the above co...

Page 232: ...for the composite section from ascent to horizontal movement or from horizontal movement to descent Be careful not to cause interference x The arch motion Z axis coordinate of the end point will become the arch motion Z axis component of the point data specified in operand 1 if any plus the arch motion Z axis offset If there is no arch motion Z component the arch motion Z axis coordinate of the en...

Page 233: ...f the resulting operation is undesirable change the arch trigger and or Z point to improve the efficiency of movement The table below shows a program and data to cause the actuator to perform arch motion operation by moving back and forth along the above path Z point Palletizing start point Arch trigger point Palletizing start point Arch trigger point Start point End point Start point End point Po...

Page 234: ... Operand 1 Operand 2 Output Output flag Optional Optional ACHZ Axis number Prohibited CP Specify the axis number representing the arch motion Z direction The axis number specified in operand 1 will be set as the axis number representing the arch motion Z direction If the output field is specified the output will turn ON after this command is executed ...

Page 235: ...h trigger and set the arch motion Z axis position data in the point data specified in operand 2 as the end point arch trigger ATRG 13 11 Refer to Palletizing Setting Arch triggers under How to Use For an arch motion operation set it so that a horizontal movement will begin when the start point arch trigger is reached during ascent from the start point and that the end point arch trigger will be re...

Page 236: ...he arch motion Z axis direction The value specified in operand 1 will be set as the offset in the arch motion Z axis direction The offset amount is set in mm and the effective resolution is 0 001 mm A negative value can also be specified as the offset as long as the operation range will not be exceeded This offset is valid only at the end point of ARCH arch motion operation If the output field is ...

Page 237: ...DPA command and then execute a BGPA command again If the output field is specified the output will turn ON after this command is executed Palletizing numbers are in the local range Therefore a given palletizing setting is valid only within the program in which it is set Note Using a GOTO command to branch out of or into a BGPA EDPA syntax is prohibited z EDPA Declare end of palletizing setting Com...

Page 238: ...is not enabled an error will generate If the output field is specified the output will turn ON after this command is executed z PAPN Set palletizing pattern Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PAPN Pattern number Prohibited CP Set a palletizing pattern The palletizing pattern spec...

Page 239: ...uires high precision If this command is executed before BGPA is declared while palletizing setting is not enabled an error will generate If the output field is specified the output will turn ON after this command is executed z PAPT Set palletizing pitches Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optiona...

Page 240: ... position number setting for storing reference point data will become invalid This command is used in conjunction with PASE and PAPT If this command is not set coordinates 0 0 are used as the reference point If this command is set the set coordinates are used as the reference point in calculating the position coordinates of palletizing points Coordinates in both the PX and PY axis directions must ...

Page 241: ...osition data for the end point should be stored in position No n 3 In operand 2 specify the applicable palletizing position setting type Palletizing position setting type If operand 2 is 0 or blank 3 point teaching will be specified As shown in Fig 1 a palletizing positions will be set on the quadrilateral pallet plane determined by the three points including the start point end point in the PX ax...

Page 242: ...a GRP command thereafter with a different setting will have no effect x If there are not enough valid axes an error CAE Insufficient valid axes for palletizing 3 point teaching data will generate x This command cannot be used with a PASE set palletizing axes command Whichever was set later will be given priority A single PAPS command can substitute a set of PASE PAPT and PAST commands x If this co...

Page 243: ... for even numbered rows will become the same as the count for odd numbered rows If a setting is performed by 3 point teaching with PAPS set palletizing points the PX and PY axes need not be parallel with the physical axes In this case the offset will apply in parallel with the PX axis If the offset is a positive value the absolute value of offset will be applied toward the end point direction of t...

Page 244: ...s command is executed z PINC Increment palletizing position number by 1 Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PINC Palletizing number Prohibited CC Increment by 1 the palletizing position number for the palletizing number specified in operand 1 If the incremented value is considered...

Page 245: ...utput will turn ON when the value was successfully decremented and turn OFF if the decrement failed z PSET Set palletizing position number directly Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PSET Palletizing number Data CC Set the value specified in operand 2 as the palletizing position ...

Page 246: ...two valid axes associated with the point data an error CBA Reference axis PX PY axis mismatch error at palletizing angle acquisition will generate If the reference point data is the same as the point data at the PX axis end point in 3 point teaching an error Reference point PX axis end point duplication error at palletizing angle acquisition will generate and angle calculation will be disabled The...

Page 247: ...OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PMVP Palletizing number Prohibited PE Move to the calculated palletizing points via PTP The axes will move to the palletizing points specified in operand 1 via PTP Executing this command will not increment the palletizing position number by 1 ...

Page 248: ... flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PMVL Palletizing number Prohibited PE Move to the calculated palletizing points via interpolation The axes will move to the palletizing points specified in operand 1 via interpolation Executing this command will not increment the palletizing position number by 1 ...

Page 249: ...r HIGH will require a TSLP command explained below Without TSLP tasks of the User NORMAL level will not be processed z TPCD Specify processing to be performed when input condition is not specified Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited TPCD 0 or 1 Prohibited CP Function Specify t...

Page 250: ...will sleep in order to distribute the processing time to other tasks If the task level is set to User HIGH this command must always be specified The applicable task will sleep during the set time The time in operand 1 is set in msec An appropriate time setting must be examined on the actual system Normally approx 1 to 3 is set If the ladder statement becomes long state this command multiple times ...

Page 251: ...ptional ECMD 1 Axis number CC Function Store the motor current value percentage of the rated current corresponding to the axis number specified in operand 2 in variable 99 Note The current value data percentage of the rated current obtained by this command has been processed by feedback current filtering and includes analog error Example ECMD 1 2 Extended command 1 Store the motor current value pe...

Page 252: ...ied in operand 2 C44 SEL data error will generate Example ECMD 5 2 Store the status of axis 2 in variable 99 If 28 decimal value was stored in variable 99 after the command was executed the status of axis 2 is interpreted as follows Variable 99 Servo axis in use 0 Not in use 1 In use Home return 00 Not yet complete 01 In progress 10 Complete Servo ON OFF 0 OFF 1 ON Successful execution of movement...

Page 253: ...7 Device number axis number 0 0 1 2 1 2 1 2 0 7 0 Parameter number 1 300 1 120 1 200 1 97 1 30 1 82 1 100 Specify an integer variable in operand 2 integer variables 98 99 298 299 1098 1099 1298 and 1299 cannot be specified because three consecutive integer variables cannot be allocated if any of these integer variables is specified If a variable of non integer type is specified C3C Variable number...

Page 254: ... and end position number in the PATH command In this example position No 6 is a skip point The actuator moves continuously in the sequence of position Nos 1 o 2 o 3 o 4 o 6 o 9 o 10 PATH 1 4 ARC2 6 6 Discontinuous position PATH 9 10 3 Continuous movement will not be achieved if an input condition is specified for any continuous movement command PATH 1 5 20 ARC2 6 7 PATH 8 12 4 The output field of ...

Page 255: ...ion is complete 5 When executing continuous movement commands sequentially the controller is calculating approx 100 positions ahead This is why the steps are displayed continuously on the PC screen or teaching pendant screen regardless of the actual operation The last step in the continuous operation section executed by continuous movement commands will wait for the applicable operation to complet...

Page 256: ... angle may cause the speed to drop CIR2 ARC2 ARCD and ARCC commands actually perform arc interpolation 4 CIR2 ARC2 ARCD ARCC Commands With a CIR2 ARC2 ARCD or ARCC command the speed can be changed only in the arc interpolation section by inputting a speed for the point specified in operand 1 These commands are effective when you must lower the speed partially because the radius is small and the ar...

Page 257: ...alculation commands 3 Palletizing movement Execute motion using palletizing movement commands 2 Palletizing Setting Use the palletizing setting commands to set items necessary for palletizing operation The setting items include the following 1 Palletizing number setting Command BGPA At the beginning of a palletizing setting determine a palletizing number using a BGPA command to declare the start o...

Page 258: ...ing counts Command PAPI Set the palletizing counts PAPI 3 4 Count for preferential axis PX axis 3 Count for PY axis 4 4 Palletizing position setting Palletizing position setting is performed mainly by method A or B as explained below Set the palletizing positions for each palletizing setting based on method A or B Setting method Commands A 3 point teaching method Set three position data points spe...

Page 259: ...ion data fields When three points are taught from position No 11 Position No 11 1 Start point First palletizing position Position No 12 3 Palletizing position corresponding to the end point in the PX axis direction Position No 13 10 Palletizing position corresponding to the end point in the PY axis direction The encircled numbers indicate palletizing position numbers palletizing order Use a PAPS c...

Page 260: ...nting the PY axis direction to be used in palletizing An actuator axis number parallel with the preferential axis PX axis and another perpendicular to the preferential axis PAST 100 Teach position data No 100 as the start point PAPT 45 30 The PX axis direction pitch is 45 mm and the PY axis direction pitch is 30 mm PASE 2 1 Set the PX axis as axis 2 and PY axis as axis 1 Note When the above pallet...

Page 261: ... axis direction which will be applied when even numbered rows are placed Even numbered rows refer to the rows occurring at the even numbers based on the row placed first representing the first row Zigzag count Number in the even numbered rows Two in the diagram below PSLI 35 2 Preferential axis PX axis Offset 35 Odd numbered row PY axis Even numbered row ...

Page 262: ...ly next to the start point in the PX axis direction 2 Palletizing angle Command PARG This is the angle formed by the physical axis actuator and the preferential palletizing axis PX axis T in the figure below In the figure below T will become a negative value if axis 1 is used as the reference for angle calculation Fig 4 With PSEL commands executing a get palletizing angle command following a palle...

Page 263: ...alletizing point are calculated and movement is performed using the calculated point as the end point The axes will move to the palletizing point of the palletizing position number specified in the executed command Two actuator axes will be required to comprise a two dimensional plane PMVP Move from the current position to a palletizing point via PTP PMVL Move from the current position to a pallet...

Page 264: ...xis end point coordinates Position No 3 152 71 Reference point Position No 2 70 70 z Picking position Position No 1 Set 3 point for teaching Start setting palletizing number 1 Palletizing counts 3x7 Zigzag offset 20 mm End palletizing number 1 setting Speed 20 mm sec Move to pick position Set palletizing position number to 1 Move to palletizing points via PTP Move to pick position via PTP Palletiz...

Page 265: ...ing position Position No 10 PX axis 1 PY axis 2 Start setting palletizing number 2 Palletizing counts 4x5 Pitch X 20 Y 15 Position number 11 reference point Speed 20 mm sec Move to pick position Set palletizing position number to 1 Move to palletizing points via PTP Move to pick position via PTP Palletizing position number by 1 Loop begging when PINC successful Zigzag offset 10 mm End palletizing ...

Page 266: ...expert engineers with a full knowledge of PLC software design 1 Basic Frame Extension condition N Input condition Command Operand 1 Operand 2 Output E Cnd Cmnd Pst LD 7001 CHPR 1 TPCD 1 TAG 1 l l l l l l l l l l l l l l l l l l l l l l l l LD 7001 TSLP 1 100 l l l l l l l l l l l l l l l l l l l l l l l l LD 7001 TSLP 1 100 LD 7001 GOTO 1 LD 7001 EXIT Virtual input 7001 Normally ON contact Ladder ...

Page 267: ...dders using an interpreter Therefore the processing time is much longer than that of a dedicated commercial sequencer This system is not suitable for large scale ladder processing x If an extension condition is not specified for steps in which an input condition is specified the steps will be treated as LD LOAD x Always specify a normally ON contact for those steps that must be processed without f...

Page 268: ...N Input condition Command Operand 1 Operand 2 Output E Cnd Cmnd Pst LD 7001 CHPR 1 TPCD 1 TAG 1 LD 8 A N 9 O 10 LD N 11 A 12 LD 13 A N 14 OB AB OUTR 314 A 15 TIMR 900 0 5 LD 7001 TSLP 3 LD 7001 GOTO 1 LD 7001 EXIT OUTR314 TIMR900 0 5 SEC 8 9 11 12 10 13 14 15 ...

Page 269: ...chine consisting of axis 1 and axis 2 actuators Pushbutton switches corresponding to the two axes are provided on an external operation switch box and these switches are used to move the actuators to a desired position to grab and pick up dolls inside the case Axis 2 Hand control unit Axis 1 Hand Work part Axis 1 movement pushbutton switch Axis 2 movement pushbutton switch ...

Page 270: ...on external I O assignments and operation flow chart of this operation are shown below Operation Position I O Assignments Category I O No Signal name Specification 16 Axis 1 movement command Pushbutton switch 17 Axis 2 movement command Pushbutton switch Input 18 Hand operation completion External control unit Output 307 Hand start command 24 VDC PSEL Flag is not used Operation Flow Chart Operation...

Page 271: ... while axis 1 movement switch is ON 6 WTON 17 Wait for input from axis 2 movement switch 7 JFWN 10 17 Move forward while axis 2 movement switch is ON 8 BTON 307 Start command for external control unit turns ON 9 WTON 18 Wait for external control unit to complete operation 10 BTOF 307 Start command for external control unit turns OFF 11 JBWF 11 18 Axes 1 and 2 move backward while 18 is ON 12 GOTO 1...

Page 272: ...eting system consisting of an XY table operated by axis 1 and axis 2 actuators and a riveter By setting a work part on the XY table at the operation home and turning on the start switch rivets will be driven at the three points specified on the work part Riveter Work part XY table Axis 2 Axis 1 Operation box Body frame ...

Page 273: ...have been riveted the table will return to the operation home P1 The above operation will be repeated The operation position external I O assignments and operation flow chart of this operation are shown below Operation Position I O Assignments Category I O No Signal name Specification 16 Start command Pushbutton switch Input 17 Riveting completion Contact signal Output 307 Riveting command 24 VDC ...

Page 274: ...ounter 6 BTOF 600 Clear completion flag 7 WTON 16 Wait for start command 8 TAG 2 9 MOVL 1 Move to work part counter position 10 BTON 307 Riveting command turns ON 11 WTON 17 Wait for riveting to complete 12 BTOF 307 Riveting command turns OFF 13 ADD 1 1 Increment work part counter by 1 14 CPEQ 1 5 600 Turns ON flag if operation is complete 15 N 600 GOTO 2 Jump to TAG2 if not complete 16 GOTO 1 Jum...

Page 275: ...age is the only language used an efficient system can be designed The current version of SEL language represents a pioneering evolution of the widely proven programming language evidenced by higher performance features and advanced functions The latest version is also easier to use compared with the conventional SEL language General system Robot control unit Robot language IfxxxThenxxxElsexxx MOVP...

Page 276: ...s 1 and axis 2 actuators and a screw tightening machine up down air cylinder etc Operation Flow Although the flow chart is simple the movement of axis 1 and axis 2 actuators and the operation of the parts feeder must take place simultaneously This requires multi tasking operation Move Tighten screw Move XY Tighten screw Parts feeder prepares screws Parts feeder prepares screws Start Program 1 Move...

Page 277: ...ogram and outputs only where the condition is satisfied On the other hand a system consisting of a microcomputer and a real time operating system no longer uses parallel processing scan by always scanning the entire program but adopts an event driven method instead whereby the system operates only when an event occurs such as upon receipt of an input signal Since no extra scan is necessary the sys...

Page 278: ... excluding I O processing programs operation when program is aborted x Output ports local flags local variables Cleared x Global flags global variables Retained If the peripherals are to be controlled by program create a management program beforehand and use the program to control the peripherals Alternatively start EXPG or abort ABPG other programs in accordance with the status of each general pu...

Page 279: ...am 1 External start method Refer to Chapter 4 2 2 Standing via External Signal Selection in Part 1 2 Program method Single tasking Executing an EXIT command end program at the end of each program will end the program and cause the system to return to the condition immediately after the power is turned on However since the home position is retained another program can be started by an external star...

Page 280: ...ws at 30 mm pitches on axes 1 and 2 1 The actuators move to a screw tightening position 2 The Z axis air cylinder of the screw tightening machine comes down 3 The screw tightening machine starts operating 4 When the screw tightening is complete the Z axis air cylinder rises 5 The actuators move to the next position 2 The parts feeder operates in parallel with the above operation 1 The parts feeder...

Page 281: ...nsists of axis 1 and axis 2 actuators Z axis cylinder screw tightening device and parts feeder and tightens the screws fed by the parts feeder at the specified positions on the work part Axis 1 Axis 2 Parts feeder Z axis cylinder Screw tightening device Work part Operation box ...

Page 282: ...ral purpose input 9B 008 General purpose input 10A 009 General purpose input 10B 010 General purpose input 11A 011 General purpose input Screw tightening start 11B 012 General purpose input Screw tightening end 12A 013 General purpose input Z axis air cylinder top 12B 014 General purpose input Parts feeder all screws tightened 13A Input 015 General purpose input Screw tightening complete 13B 300 A...

Page 283: ... tightening pushbutton Move Z axis air cylinder down Start screw tightening Screw tightening complete Z axis air cylinder up 6 screws tightened Screw tightening complete Stop program 2 Stop parts feeder End YES YES NO NO Sub program Parts feeder Program 2 Screws short Parts feeder ON Screws fully loaded Parts feeder OFF 5 seconds on timer ...

Page 284: ...p screw tightening stopped 14 WTON 13 Check Z axis air cylinder top position 15 ADD 1 1 Increment screw counter by 1 16 CPEQ 1 7 900 Compare after tightening six screws 17 N900 GOTO 2 Go to next screw tightening cycle after tightening one screw 18 N17 GOTO 1 Restart screw tightening 19 ABPG 2 Stop program 2 20 BTOF 307 Stop parts feeder 21 EXIT End of program 1 Position program No X Y 1 30 30 2 60...

Page 285: ...osition of each axis for each position number Vel Set a speed The speed set in this field takes precedence over the speed specified in the program In other words the actuator uses the speed specified here when moving to the position specified for the corresponding position number Acc Set an acceleration The acceleration set in this field takes precedence over the acceleration specified in the prog...

Page 286: ...t to set a breakpoint Once a breakpoint has been set B is shown in the line Breakpoint A breakpoint is set in a step where you want to stop the program temporarily while the program is run from the PC software E Enter a desired extension condition A O LD AB or OB N Specify N to indicate negation of the input condition Cnd Enter an input condition Cmnd Enter a SEL command Operand 1 Enter operand 1 ...

Page 287: ...art x Homing must be performed and a speed must be set before the actuator can be operated x The actuator moves to the position data coordinates specified by the respective move commands x With the absolute specification homing HOME command is not required Application program Position data Start Homing Set speed Move to P1 Move to P2 Move to P3 Move to P4 Move to P5 End of program ...

Page 288: ...he same operation within the program or to jump to a desired step if a condition is satisfied A TAG command can be written in a step either before or after a GOTO command Example of Use 1 Repeat the same operation Example of Use 2 Skip steps Repeated Steps to be repeated Jump Steps to be ignored ...

Page 289: ...ween two points Flowchart x The actuator moves back and forth between P1 and P2 indefinitely x Use of only 1 axis is assumed x Enter TAG in the first of the steps to be repeated and enter GOTO in the last of the steps to be repeated Application program Position data Start Homing Move to P1 Move to P2 ...

Page 290: ...ought closer to the specified positions by increasing the acceleration Even if PATH 2 3 and PATH 3 4 are input successively the actuator will still move in the same way as when PATH 2 4 is input If PATH 4 1 is executed while the actuator is stopped at P4 the actuator will move along the same path in the opposite direction P4 o P3 o P2 o P1 Continuous operation is possible even when all positions a...

Page 291: ...e position specified in the PATH command Example of Use 1 The actuator moves from P1 to P5 along the positions shown at right without stopping As the actuator approaches P2 output port 304 turns ON A declaration command to specify signal output during path movement 304 turns ON when the actuator approaches P2 specified in this step Outputs and flags can only be turned ON The output or flag that wa...

Page 292: ...pecify an arc specify the starting point passing point and end point Example of Use 1 Circle x Specify CIR2 2 3 after the actuator has moved to P1 x If CIR2 2 3 is specified in the figure shown at left the actuator will move along this circle clockwise x To cause the actuator to move counterclockwise specify CIR2 3 2 Example of Use 2 Arc x Specify ARC2 2 3 after the actuator has moved to P1 ...

Page 293: ... started It will turn OFF upon emergency stop etc but the ON status can be maintained using an I O parameter I O parameter Nos 70 and 71 Example of Use a Output a home return completion signal Execute homing General purpose output arbitrary b Use a home return completion signal to make sure the actuator will not perform homing if it has already been performed Execute homing if output 303 is OFF Ho...

Page 294: ...chart Example of Use The actuator waits until input port 10 turns ON and then moves to P1 The actuator waits until input port 11 turns ON and then moves to P2 A movement completion signal is output from 303 upon reaching P1 and from 304 upon reaching P2 Application program Start Input 10 Move to P1 Output 303 ON Input 11 Output 303 OFF Move to P2 Output 304 ON End of program ...

Page 295: ...m The actuator moves at 100 mm sec Position at 200 mm The actuator moves at 500 mm sec Position at 300 mm The actuator moves at 1000 mm sec Position at 400 mm The actuator moves at 50 mm sec If a speed is specified in the position data table this speed takes precedence over the speed specified in the application program as shown above In general speeds are set in the application program using VEL ...

Page 296: ...on volume changes in the middle Example of Use The actuator moves through linear sections a b and c at 50 mm sec 20 mm sec and 50 mm sec respectively without stopping PATH movement Position data Application program PATH 1 4 is the only movement command required Reference The speed can also be changed from other program using a CHVL speed change command in the multi tasking mode Application width S...

Page 297: ... among the programs Example of Use Program handshake Program A Program B Use of global flags with the above two programs permits handshake between the programs and the actuator moves per MOVL 1 in program A moves per MOVL 2 in program B and then move per MOVL 3 in program A for example Backup in Battery If the PSEL controller has a built in battery optional variables and flags used in the programs...

Page 298: ... used in one program Up to 15 subroutine calls can be nested How to Use Declare call subroutines using the following commands EXSR Call a subroutine BGSR Declare the start of a subroutine start of a group of steps EDSR Declare the end of a subroutine end of a group of steps Example of Use Caution Jumping from within a subroutine to a TAG position outside the subroutine using a GOTO command is proh...

Page 299: ...e pause if general purpose input 15 turns ON Application You can specify a global flag instead of an input port in Operand 1 of the HOLD command Use of a global flag allows the actuator to be paused from other program The input signal pattern and stop action can be selected using Operand 2 0 Contact a Decelerates to a stop Same as when Operand 2 is not specified 1 Contact b Decelerates to a stop 2...

Page 300: ...l operation commands are cancelled sequentially while tasks other than operation commands such as I O processing and calculation processing are executed sequentially Caution Since execution of this command makes it no longer possible to specify which program step is currently executed it is recommended that a WTON command be used to create an input wait step Application A desired input signal patt...

Page 301: ...ator will continue its operation from MOVL 2 Example of Use 2 Main program Stop control program If STOP 10 is executed while MOVL 1 is being executed only the axis 2 part of MOVL 1 will be cancelled Both axes 1 and 2 will operate under MOVL 2 Caution If a STOP command is executed during a CP operation interpolation operation initiated by MOVL etc the operations of all axes will be cancelled regard...

Page 302: ...ent Output Port Description 303 Movement completion 1 Start input 2 Position specification 1 3 Position specification 2 4 Position specification 4 5 Position specification 8 6 Position specification 10 7 Position specification 20 8 Position specification 40 9 Position specification 80 10 Position specification 100 11 Position specification 200 12 Position specification 400 13 Position specificatio...

Page 303: ... four digits with the last digit indicating a decimal place The moving axis is axis 1 Example If a BCD of 1234 is received the axis will move to the position at 123 4 mm Note When using input port Nos 16 and 17 do so after changing them to general purpose inputs Flowchart Input assignment Output Port Description 303 Movement completion Start input Application program Start Initial setting Start in...

Page 304: ...ator will proceed to the next processing If input 10 turns ON the actuator will skip processing a and perform processing b If input 10 turns OFF the actuator will perform processing a and then perform processing b Example of Use 2 The controller waits for an input signal to be received at input port 10 or 11 If an input signal is received at input 10 the actuator will perform processing a If an in...

Page 305: ...oller cannot wait for multiple inputs Example of Use Inputs 10 and 11 are monitored and the actuator will proceed to the next step when either input is received OR logic Program a Program b As shown in the sample the controller waits for input without using a WTON command This method can also be used when multiple input conditions must be combined Input 10 Input 11 Next processing Both programs a ...

Page 306: ...sition or for other reasons An OFST command can also be used to perform pitch feed Refer to 24 Constant pitch Feed Caution Once an offset has been set the offset applies to all movement commands executed thereafter To cancel the offset execute an offset command again by specifying 0 mm An offset does not apply to other programs even in the multi tasking mode If a given offset must be applied to al...

Page 307: ... actuator moves back and forth between P1 and P2 ten times and then the program ends Use a CPEQ command to compare the number of times the movement has been actually repeated against 10 It is assumed that homing has been completed Application program Reference The same operation can also be performed using a DWEQ command ...

Page 308: ...of times the actuator has been fed is counted by a counter variable The X axis is fed in the positive direction Point An OFST command applies to movement commands Executing an OFST command alone does not move the axis Application program Reference Pitch feed can also be performed using a MVPI or MVLI command Start Initial setting Start input Move Increment pitch variable Apply offset Increment fee...

Page 309: ... How to Use x Explanation of commands Axis 1 moves forward while input 1 is ON Axis 1 moves forward while input 2 is OFF Axis 2 moves backward while input 3 is ON Axis 2 moves backward while input 4 is OFF Example of Use 1 x Stop the axis when a sensor input is received Example of Use 2 x Cause the actuator to jog just like in teaching pendant operation 2 axes are operated Application program Refe...

Page 310: ...nning program 2 will be aborted Application If a program number is specified in operand 2 the programs from the one corresponding to the program number in operand 1 to the other corresponding to the program number in operand 2 can be started EXPG or ended ABPG simultaneously Caution z The PSEL controller supports multi tasking Up to 8 programs can be run at the same time To use other programs when...

Page 311: ...arget program was executing a movement command the actuator immediately decelerates to a stop and the program ends Example of Use Main program Prg 1 Abort control program Prg n The abort control program starts Wait for an abort input Prg 1 is aborted The program ends If ABPG was executed while the actuator was moving via a MOVP command the actuator immediately decelerates to a stop and the program...

Page 312: ...ner mode provides five sub modes associated with different PIO parallel I O patterns Select a mode appropriate for your specific purpose To select a desired mode set a number between 1 and 4 or 16 in other parameter No 25 Operation mode type 1 Feature of Each Mode Value set in parameter No 25 Feature of each mode 1 Standard mode Positioning to up to 1 500 positions can be performed Push motion ope...

Page 313: ...2 3 4 16 I O Function Standard mode Product switching mode 2 axis independent mode Teaching mode DS S C1 compatible mode Push motion operation x x x Error reset x CPU reset x x x x Home return Note 1 Note 2 Servo ON x Cancellation x Interpolation x x Input Jog x x x x Home return complete x Servo ON output x Output System battery error x Note 3 Note 1 In the teaching mode home return will be perfo...

Page 314: ...nput 1 Axis 2 servo ON Position input 5 Position No 8 input 2 Purple 9B 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position No 10 input 2 Gray 10A 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position No 20 input 2 White 10B 10 Position input 4 Input 4 Position input 1 Position input 8 Position No 40 input 2 Black 11A 11 Position input 5 Input 5 Position input 2 Po...

Page 315: ...ut 2 PC2 2 Gray 10A 009 Position input 3 PC3 2 White 10B 010 Position input 4 PC4 2 Black 11A 011 Position input 5 PC5 3 Brown 11B 012 Position input 6 PC6 3 Red 12A 013 Position input 7 PC7 3 Orange 12B 014 Position input 8 PC8 3 Yellow 13A Input 015 Position input 9 PC9 Input the position number corresponding to the position you want to move the actuator to Be sure to specify a position input by...

Page 316: ...as follows 2 0 for PC1 21 for PC2 22 for PC3 23 for PC4 24 for PC5 and 210 for PC11 By combining these bits any position number between 0 and 1500 maximum can be specified The input mode can be changed to BCD by changing the setting of other parameter No 71 as follows Other parameter No 71 1 BCD input Default setting of other parameter No 71 0 Binary input In the BCD input mode PC1 through 4 indic...

Page 317: ...t signal is OFF these operation commands will not be accepted Only the commands will be ignored and no error will generate Note When this signal turns OFF while the actuator is moving the actuator will not decelerate to a stop It will complete the movement to the target position after which the servo will turn off Warning If the servo is turned on near the mechanical end excited phase detection ma...

Page 318: ...position No n 1 multiplied by 100 indicates the current limiting value during push motion operation The speed data for position No n 1 indicates the push speed Example The position data for position No 1 as specified in the table below is used for push motion operation Target position 100 mm Push width 30 mm Current limiting value 50 Acceleration deceleration until the push width before the target...

Page 319: ...e this signal turns ON it will not turn OFF until the input power is cut off or the home return signal is input again Alarm ALM This signal remains ON while the controller is normal and will turn OFF if an alarm occurs This signal will turn OFF when an error of operation cancellation level or higher generates Program the PLC so that it will monitor this signal and implement appropriate safety meas...

Page 320: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 321: ...g the home return signal input the servo ON input signal must be ON These operation commands will not be accepted if the servo ON input signal is OFF Note however that only the commands will be ignored and no error will generate Warning If the servo is turned on near the mechanical end excited phase detection may not be performed properly and an excited pole indetermination error or excited pole d...

Page 322: ...y following the procedure explained below Confirm beforehand that the positioning complete output signal home return complete output signal and servo ON status output signal are all ON 1 Change the previous position number input to a different position number 2 Turn ON the start input signal 3 Confirm that the positioning complete output signal is OFF 4 Turn OFF the start input signal 5 Confirm th...

Page 323: ...N While the start input signal is ON the positioning complete output signal will not turn ON even after the actuator physically completes moving to the target position Therefore always turn OFF the start input signal 4 to detect the completion of positioning As for the positioning complete output signal and push motion complete output signal they will not be output until the start signal turns OFF...

Page 324: ... linear interpolation operation will start when the start input signal is turned ON while this signal is ON 2 Blue 9A 007 Input 1 PC1 2 Purple 9B 008 Input 2 PC2 2 Gray 10A 009 Input 3 PC3 2 White 10B 010 Input 4 PC4 2 Black 11A 011 Input 5 PC5 3 Brown 11B 012 Input 6 PC6 3 Red 12A 013 Input 7 PC7 3 Orange 12B 014 Input 8 PC8 3 Yellow 13A Input 015 Input 9 PC9 These input signals specify position ...

Page 325: ...at the parameters are set as follows Other parameter No 71 0 Binary Position number input mode specification Other parameter No 72 6 Number of position number input bits Other parameter No 73 50 Number of positions per product Each position number is assigned to six bits of inputs 1 through 6 007 through 012 as a binary code and position Nos 1 through 63 can be specified Each product number is ass...

Page 326: ...put bits Other parameter No 73 50 Number of positions per product Each position number input is assigned to six bits of inputs 1 through 6 007 through 012 as a binary code Each product number input is assigned to 10 bits of inputs 7 through 16 013 through 022 as a binary code Position numbers and product numbers are specified as shown in the table below based on the ON OFF levels of inputs 1 throu...

Page 327: ...gnal detection Note When this signal is input during home return the movement command will be held if the actuator has not yet contacted the mechanical end If the signal is input after the actuator has reversed upon contacting the mechanical end home return will be performed again Cancellation CANC If this signal turns OFF while the actuator is moving the controller will cause the actuator to dece...

Page 328: ...following items The position data for position No n indicates the target position The position data for position No n 1 indicates the push width The speed data for position No n 1 indicates the push speed The acceleration data for position No n 1 multiplied by 100 indicates the current limiting value during push motion operation Example The position data for position No 1 as specified in the table...

Page 329: ...is OFF when the power is input and will turn ON when the home return operation initiated by input of the home return signal is completed Once this signal turns ON it will not turn OFF until the input power is cut off or the home return signal is input again Alarm ALM This signal remains ON while the controller is normal and will turn OFF if an alarm occurs This signal will turn OFF when an error o...

Page 330: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 331: ...input the servo ON input signal must be ON These operation commands will not be accepted if the servo ON input signal is OFF Note however that only the commands will be ignored and no error will generate Warning If the servo is turned on near the mechanical end excited phase detection may not be performed properly and an excited pole indetermination error or excited pole detection error may genera...

Page 332: ...ll ON 1 Change the previous product position number inputs to different product position numbers 2 Turn ON the start input signal 3 Confirm that the positioning complete output signal is OFF 4 Turn OFF the start input signal 5 Confirm that the positioning complete output signal is ON Repeat steps 1 through 5 sequentially Pause and cancellation inputs are contact B input signals always ON so keep t...

Page 333: ...N While the start input signal is ON the positioning complete output signal will not turn ON even after the actuator physically completes moving to the target position Therefore always turn OFF the start input signal 4 to detect the completion of positioning As for the positioning complete output signal and push motion complete output signal they will not be output until the start signal turns OFF...

Page 334: ... operation at the leading edge of this signal 2 Blue 9A 007 Axis 2 servo ON SON2 The servo for axis 2 will remain on while this signal is ON and remain off while this signal is OFF 2 Purple 9B 008 Axis 2 pause STP2 Axis 2 can be moved when this signal turns ON and will decelerate to a stop when the signal turns OFF 2 Gray 10A 009 Axis 2 cancellation CANC2 The remaining travel distance of axis 2 wi...

Page 335: ...d to axis 1 from among the 13 bits of position inputs 1 through 13 The remainder of the bits will be assigned to axis 2 By specifying binary or BCD in the position number input mode specification parameter the setting unit of this parameter will change between bit and BCD digit Example Assume that the parameters are set as follows Other parameter No 71 0 Binary Position number input mode specifica...

Page 336: ...r parameter No 71 1 BCD Position number input mode specification Other parameter No 72 8 Specification of position number input bits for axis 1 Bits are input in units of four Each position number input for axis 1 is assigned to eight bits of PC1 through 8 010 through 017 as a two digit BCD code position Nos 1 to 99 can be specified Specify the one s place in PC1 through 4 and ten s place in PC5 t...

Page 337: ...ot yet contacted the mechanical end If the signal is input after the actuator has reversed upon contacting the mechanical end home return will be performed again Axis 2 pause STP2 Axis 2 will decelerate to a stop if this signal turns OFF while axis 2 is moving Other details of this signal are the same as those explained under Axis 1 pause STP1 except that CANC2 is used to cancel the movement comma...

Page 338: ...se errors For details refer to Appendix Error Level Management 4 Details of Each Output Signal Axis 1 positioning complete PEND1 This signal indicates that axis 1 reached the target position and the positioning has completed Use it together with the aforementioned MOVE signal to determine the positioning completion status on the PLC side After the power was input and the servo has turned on this s...

Page 339: ... or the axis 2 home return signal HOME2 is input again Alarm ALM This signal remains ON while the controller is normal and will turn OFF if an alarm occurs This signal will turn OFF when an error of operation cancellation level or higher generates Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect the entire system when the signal turns OFF For...

Page 340: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 341: ... signal 4 Confirm that the positioning complete output signal is OFF 5 Turn OFF the home return input signal 6 Confirm that the home return complete output signal is ON Home return is now completed Pause and cancellation inputs are contact B input signals always ON so keep these signals ON while home return is in progress To initiate home return using the home return signal input the servo ON inpu...

Page 342: ...s ON Repeat steps 1 through 5 sequentially Pause and cancellation inputs are contact B input signals always ON so keep these signals ON while the actuator are moving through the specified positions While the actuator is moving to the target position only the pause or cancellation input is accepted The servo cannot be turned off even if the servo ON input signal is turned OFF The servo can be turne...

Page 343: ...of the following measures must be taken x Install the optional system memory backup battery to back up the position data To do this the setting of other parameter No 20 must be changed to 2 Note however that the position data may still be lost if the battery voltage drops The battery should be replaced after approx five years If the battery is replaced as soon as a voltage low warning generates th...

Page 344: ... input 8 PC8 2 Black 11A 011 Position input 9 PC9 3 Brown 11B 012 Position input 10 PC10 3 Red 12A 013 Position input 11 PC11 Input the position number corresponding to the position you want to move the actuator to Be sure to specify a position input by no later than 6 msec before the start input signal turns ON Position numbers are input as binary codes factory setting In the teaching mode specif...

Page 345: ...bining these bits any position number between 0 and 1500 maximum can be specified In the teaching mode specify the position number for which the current position will be written When the PWRT input signal is turned ON the current position will be written to the position number specified by the binary code Also the input mode can be changed to BCD by changing the setting of other parameter No 71 as...

Page 346: ...t it will accept PWRT JOG1 and other operation commands after confirming that the TCMD output signal is ON To return the controller to the normal positioning mode turn this signal OFF Program the PLC so that it will accept operation commands in the normal positioning mode after confirming that the TCMD output signal is OFF The controller will not return to the positioning mode right away when this...

Page 347: ...s input first The actuator will decelerate to a stop upon detection of the ON o OFF trailing edge of the signal while the actuator is moving Note Exercise due caution not to perform jogging before home return is complete because the soft limits are still invalid and the actuator may collide with the mechanical end Inching IN001 through 1 These signals are used to specify the inching distance for i...

Page 348: ...n this condition exercise due caution not to let the actuator contact the stroke end Once this signal turns ON it will not turn OFF until the input power is cut off or the home return signal is input again Teaching mode specification MODES This signal will turn ON when the teaching mode was selected by the teaching mode input signal turning ON the MODE signal and the teaching mode has become effec...

Page 349: ...s signal will turn ON when the servo turns on Issue a movement command after the servo ON output signal has turned ON System battery error This signal will turn ON when the voltage of the optional system memory backup battery drops to a specified level ...

Page 350: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 351: ...p this signal ON while home return is in progress To operate the actuator using the start input the servo ON input signal must be ON If the servo ON input signal is OFF this operation command will not be accepted Note however that only the command will be ignored and no error will generate Warning If the servo is turned on near the mechanical end excited phase detection may not be performed proper...

Page 352: ...al is ON Repeat steps 1 through 5 sequentially Pause input is a contact B input signal always ON so keep this signal ON while home return is in progress While the actuator is moving to the target position only the operation pause signal is accepted The servo cannot be turned off even if the servo ON input signal is turned OFF The servo can be turned off only when the positioning complete output si...

Page 353: ... desired inching distance IC001 through 1 before the jog command is input If the current position write PWRT input signal has remained ON for at least 20 msec the current actuator position will be written to the selected command position number Once the data write is complete the write complete WEND output signal will turn ON To confirm if the controller has finished writing data check if the WEND...

Page 354: ...PC8 2 Purple 9B 008 Position No 10 input PC10 2 Gray 10A 009 Position No 20 input PC20 2 White 10B 010 Position No 40 input PC40 2 Black 11A 011 Position No 80 input PC80 3 Brown 11B 012 Position No 100 input PC100 3 Red 12A 013 Position No 200 input PC200 3 Orange 12B 014 Position No 400 input PC400 3 Yellow 13A Input 015 Position No 800 input PC800 Input the position number corresponding to the ...

Page 355: ...f PC1 through 1000 A desired position number between 1 and 1500 can be specified Specify the one s place in PC1 through 8 ten s place in PC10 through 80 hundred s place in PC100 through 800 and thousand s place in PC1000 An example of position number specification based on ON OFF levels of PC1 through 1000 is shown below Pause STP If this signal turns ON while the actuator is moving the controller...

Page 356: ...error occurs identify and eliminate the cause and then turn this signal ON Interpolation LINE With the 2 axis specification input of the position signal and start signal while this signal is ON will cause the two axes to perform interpolation operation the two axes will start simultaneously and arrive at the target position simultaneously To perform interpolation operation turn ON the interpolatio...

Page 357: ... Positioning complete PEND This signal indicates that the actuator reached the target position and the positioning has completed When a movement command is executed by turning ON the start signal this signal will turn OFF Thereafter it will turn ON when the position deviation from the target position has entered the in position band regardless of whether the start signal is ON or OFF Once this sig...

Page 358: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 359: ... end excited phase detection may not be performed properly and an excited pole indetermination error or excited pole detection error may generate Move the slider rod etc away from the mechanical end before turning on the servo With the 2 axis specification the controller has been configured at the factory so that the two axes will start home return simultaneously You can cause either axis to start...

Page 360: ...positioning complete output signal turns ON when the actuator completes moving to the specified position regardless of whether the start input signal is ON or OFF Take note that the time after the start signal turns ON until the positioning complete output signal turns OFF is 60 msec or less which is different from 15 msec or less with the DS S C1 controller Caution Unlike in other modes the pause...

Page 361: ...nd the specified push force will not generate Actuator series Type Feed screw Encoder resolution Lead mm Mounting direction Maximum speed mm s Maximum acceleration deceleration G Minimum push force N Maximum push force N Rated push speed mm s RA2C Ball screw 800 1 Horizontal vertical 25 0 05 50 100 3 5 Horizontal vertical 187 21 73 5 RA3C Ball screw 800 2 5 Horizontal vertical 114 0 2 50 156 8 20 ...

Page 362: ... 8 Horizontal vertical 210 130 470 RA6C Ball screw 800 4 Horizontal vertical 130 0 2 300 800 20 Horizontal 450 16 Vertical 400 75 240 8 Horizontal vertical 210 130 470 RGS6C Ball screw 800 4 Horizontal vertical 130 0 2 300 800 20 Horizontal 450 16 Vertical 400 75 240 8 Horizontal vertical 210 130 470 RGD6C Ball screw 800 4 Horizontal vertical 130 0 2 300 800 20 5 Horizontal vertical 250 0 3 26 90 ...

Page 363: ...orizontal 0 3 12 Vertical 600 at 50 550 st 540 at 600 st 0 2 Horizontal 0 3 6 Vertical 300 at 50 550 st 270 at 600 st 0 2 Horizontal 0 2 SA6R Ball screw 800 3 Vertical 150 at 50 550 st 135 at 600 st 0 2 Horizontal 0 3 16 Vertical 533 at 50 700 st 480 at 800 st 0 2 90 250 Horizontal 0 3 8 Vertical 266 at 50 700 st 240 at 800 st 0 2 150 500 Horizontal 0 2 SA7C Ball screw 800 4 Vertical 133 at 50 700...

Page 364: ...t 900 st 125 at 1000 st 0 2 SS8C Ball screw 800 5 Vertical 150 at 50 800 st 150 at 900 st 125 at 1000 st 0 2 180 630 20 Horizontal 600 at 50 800 st 600 at 900 st 515 at 1000 st 0 3 20 Vertical 333 at 50 800 st 333 at 900 st 333 at 1000 st 0 2 Horizontal 300 at 50 800 st 300 at 900 st 255 at 1000 st 0 3 10 Vertical 250 at 50 800 st 250 at 900 st 250 at 1000 st 0 2 Horizontal 160 at 50 800 st 155 at...

Page 365: ...27 high speed 75 7 5 20 5 GR3LS 800 Gear ratio 1 30 200 5 18 5q s GR3LM 800 Gear ratio 1 30 200 15 51 5q s GR3SS 800 Gear ratio 1 30 40 7 22 5 RCP2 gripper type GR3SM 800 Gear ratio 1 30 50 30 102 5 Gear ratio 1 30 400q s RTBS 800 Gear ratio 1 45 266q s Gear ratio 1 30 400q s RTBSL 800 Gear ratio 1 45 266q s Gear ratio 1 30 400q s RTCS 800 Gear ratio 1 45 266q s Gear ratio 1 30 400q s RTCSL 800 Ge...

Page 366: ... 16 1 2 100 1 9 28 3 RA2AC Lead screw 800 1 Horizontal vertical 50 0 2 3 8 39 5 5 6 180 at 25 st 280 at 50 st 300 at 75 150 st 0 6 11 9 4 180 at 25 st 200 at 50 100 st 0 9 16 1 RA2BC Lead screw 800 2 Horizontal vertical 100 0 2 1 9 28 3 5 4 180 at 25 st 200 at 50 150 st 0 9 16 1 2 100 1 9 28 3 RA2AR Lead screw 800 1 Horizontal vertical 50 0 2 3 8 39 5 5 6 180 at 25 st 280 at 50 st 300 at 75 150 st...

Page 367: ... 44 20 Horizontal 0 3 6 Vertical 300 0 2 9 15 Horizontal 0 3 4 Vertical 200 0 2 14 22 Horizontal 0 2 SA3R Ball screw 800 2 Vertical 100 0 2 27 44 Horizontal 0 7 10 Vertical 500 0 3 20 34 Horizontal 0 7 5 Vertical 250 0 3 40 68 Horizontal 0 7 SA4C Ball screw 800 2 5 Vertical 125 0 3 82 136 20 Horizontal 0 3 10 Vertical 500 0 2 20 34 Horizontal 0 3 5 Vertical 250 0 2 40 68 Horizontal 0 2 SA4R Ball s...

Page 368: ...Vertical 200 0 2 5 4 9 Horizontal 200 0 3 4 Vertical 133 0 2 8 4 14 Horizontal 100 0 2 TA3C Ball screw 800 2 Vertical 67 0 2 16 8 28 20 Horizontal 300 0 3 6 Vertical 200 0 2 5 4 9 Horizontal 200 0 3 4 Vertical 133 0 2 8 4 14 Horizontal 100 0 2 TA3R Ball screw 800 2 Vertical 67 0 2 16 8 28 20 Horizontal 0 3 6 Vertical 300 0 2 9 15 Horizontal 0 3 4 Vertical 200 0 2 13 2 22 Horizontal 0 2 TA4C Ball s...

Page 369: ...6C Ball screw 800 3 Vertical 150 0 2 112 189 20 Horizontal 560 0 3 12 Vertical 500 0 2 30 47 Horizontal 0 3 6 Vertical 300 0 2 58 95 Horizontal 0 2 TA6R Ball screw 800 3 Vertical 150 0 2 112 189 20 Horizontal 600 0 3 12 Vertical 580 0 2 30 47 Horizontal 0 3 6 Vertical 300 0 2 58 95 Horizontal 0 2 TA7C Ball screw 800 3 Vertical 150 0 2 112 189 20 Horizontal 600 0 3 12 Vertical 580 0 2 30 47 Horizon...

Page 370: ... shown after each type code indicates a lead Horizontal installation Vertical installation High speed type Medium speed type Low speed type Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec ...

Page 371: ...e shown after each type code indicates a lead Horizontal installation Vertical installation High speed type Medium speed type Low speed type Loading capacity kg Loading capacity kg Loading capacity kg Loading capacity kg Loading capacity kg Loading capacity kg Speed mm sec Speed mm sec Speed mm sec Speed mm sec Speed mm sec Speed mm sec ...

Page 372: ... 1 The values for horizontal installation assume use of an external guide Speed mm sec Speed mm sec Speed mm sec Speed mm sec Speed mm sec Speed mm sec Horizontal installation Note 1 Vertical installation High speed type Medium speed type Low speed type Loading capacity kg Loading capacity kg Loading capacity kg Loading capacity kg Loading capacity kg Loading capacity kg ...

Page 373: ...after each type code indicates a lead Horizontal installation Vertical installation High speed type Medium speed type Low speed type Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec ...

Page 374: ...after each type code indicates a lead Horizontal installation Vertical installation High speed type Medium speed type Low speed type Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec ...

Page 375: ...aximum loading capacity for the applicable speed overshoot may occur due to vibration Select an applicable specification so that the load becomes around 70 of the maximum loading capacity Horizontal installation Note 1 Vertical installation Note 2 High speed type Medium speed type Low speed type Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Loading capacity kg Speed mm sec Load...

Page 376: ...ng value ratio Push force N Caution x The relationship of push force and current limiting value is based on the rated push speed factory setting and provides only a guideline x Make sure the actual push force is equal to or greater than the minimum push force If not the push force will not stabilize x Do not change the setting of push speed parameter No 7 If you must change the push speed consult ...

Page 377: ...nt limiting value ratio Push force N Slider Type RCP2 Series Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N SA5C SA6C SS7C Type SS8C Type Lead 2 5 Lead 5 SA7C Type ...

Page 378: ...miting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Push force N Standard type High speed type ...

Page 379: ... 3 finger Gripper RCP2 Series Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N ...

Page 380: ... value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N RA2AC RA2AR Lead 1 RA2BC RA2BR Lead 2 RA2AC RA2AR Lead 2 RA2BC RA2BR Lead 4 RA2AC RA2AR Lead 4 RA2BC RA2BR Lead 6 ...

Page 381: ...lue ratio Push force N SA5C SA6C Type Slim Compact Table Type RCP3 Series Current limiting value ratio Push force N TA3C TA3R Type Current limiting value ratio Push force N TA4C TA4R Type Lead 2 Lead 4 Lead 6 Lead 2 Lead 4 Lead 6 Table Type RCP3 Series TA5C Type TA6C TA7C Type Current limiting value ratio Push force N Current limiting value ratio Push force N ...

Page 382: ...372 Appendix Micro cylinder RCL Series Current limiting value ratio Push force N ...

Page 383: ...ute controller Each battery is explained in details 1 System Memory Backup Battery The system memory backup battery can be installed on the top face of the controller so that the data stored in the PSEL controller s SRAM will be retained even after the power is cut off Data to be backed up include controller parameters SEL language variable data global variables position table data and error list ...

Page 384: ...acuate the data in the SRAM to the flash ROM and then reload the flash ROM data to the SRAM after a new battery is installed The battery specifications are shown in the table below List of System Memory Backup Battery Functions Battery type AB 5 by IAI Battery voltage 3 6 V Current capacity 2000 mAH Switching voltage at momentary power failure Typical 2 81 V 2 7 V a 2 93 V System reset detection v...

Page 385: ... is charging Also charge the battery for at least 72 hours after the power has been cut off for a long period but within the specified data retention time For the specified data retention time refer to 2 2 Setting the Piano Switches in Chapter 4 Replacing the Battery The battery is a consumable part The initial characteristics of the battery will deteriorate after repeated charges If the data rete...

Page 386: ...ed while the power is cut off the absolute data may be lost If the RDY ALM LED illuminates in green or STATUS1 LED illuminates in red on the front panel the next time the power is turned on an absolute encoder error is present In this case you must reset the alarm and perform home return Do not move the slider or rod while the power is cut off 2 Since the surrounding air temperature during charge ...

Page 387: ...ave purchased the PC software we recommend that you back up the parameters immediately after the controller is delivered and when the system incorporating the controller is started Since a number of customizing settings use parameters you should back up the parameters regularly as you back up the programs To make the new parameters effective write them to the flash ROM and then execute a software ...

Page 388: ...FF in specific conditions Dedicated outputs cannot be turned ON OFF in SEL programs 1 I O parameters A desired input output port can be specified as a dedicated input output or general purpose input output Set an appropriate input function specification value in the I O parameter Input output function selection n corresponding to the input output port number you want to set The relationship of inp...

Page 389: ...orresponds to output port No 307 to 24 Axis 1 servo ON status output I O parameter No 53 24 Example 3 How to set input port Nos 21 and 22 as general purpose inputs Change the input function specification values of I O parameter Nos 256 and 257 which correspond to input port Nos 21 and 22 respectively to 0 General purpose input I O parameter No 256 0 I O parameter No 257 0 If the above parameter ch...

Page 390: ... turn off the servo of a valid axis at its OFF edge Note There must be an interval of at least 1 5 seconds between ON and OFF edges Warning If the servo is turned on near the mechanical end excited phase detection may not be performed properly and an excited pole indetermination error or excited pole detection error may generate Move the slider rod etc away from the mechanical end before turning o...

Page 391: ...ram number Input function specification value 15 Start program number specification bit 7 This bit specifies the seventh bit of a program number Input function specification value 16 Error reset ON edge This signal is used to reset errors Note Only errors of operation cancellation level or lower can be reset using this signal Input function specification value 17 Drive source cutoff reset input ON...

Page 392: ...t function specification value 22 Axis 1 forced brake release Forcibly release the brake axis 1 Note This function is effective only when the brake switch is tilted down NOM Input function specification value 23 Axis 2 forced brake release Forcibly release the brake axis 2 Note This function is effective only when the brake switch is tilted down NOM Input function specification value 24 27 For fut...

Page 393: ...er program operation enabled A signal will be output after the check is completed following the controller power input The signal will turn ON only when the controller is able to perform program operation Output function specification value 6 READY output Absence of operation cancellation level or higher error The function is the same as that of output function specification value 5 but absence of...

Page 394: ...voltage of the system memory backup battery drops to approx 2 6 V Output function specification value 16 Voltage low warning output for absolute data backup battery A signal will be output when the voltage of the absolute data backup battery drops to approx 3 2 V Once an abnormal voltage level is detected the signal will remain ON until a power ON reset or software reset is performed Output functi...

Page 395: ... axis specific parameters Before changing a given parameter always read the applicable section in the parameter list x Change the home return direction x Set a home preset x Set a home offset x Apply length measurement correction x About the axis operation type and rotational axis mode x Operate a rotational axis in the multi rotation mode or with short cut control x About the zone output ...

Page 396: ...can be selected z Set value 0 Motor CCW o Positive coordinate direction 1 Motor CCW o Negative coordinate direction Example 1 A linear axis whose home is at the standard position When the parameter is set to 1 Example 2 A linear axis whose home is at the standard position When the parameter is set to 0 Note On rod type actuators except for the RCP2 RA3C 4C and 6C the home return direction cannot b...

Page 397: ... Normally the actuator should be at 0 mm coordinate upon completing home return z Set value Unit 0 001 mm Example 1 Do not set a home preset value Home return complete o 0 000 mm is displayed Example 2 Set 3000 as a home preset value Home return complete o 3 000 mm is displayed z Note Take note that when a home return preset value is set the effective stroke will also change In particular the stro...

Page 398: ...ing unit 0 001 mm Example Set the offset to 0 5 mm 500 z Note If the offset travel distance is near an integer multiple of the ball screw lead such as 0 6 12 or 18 mm when the lead is 6 mm the home will come directly above Z phase and thus rotation data may shift by one revolution upon absolute reset due to an unstable servo lock condition a phenomenon where the coordinate values shift by one moto...

Page 399: ...tween the actual distance traveled and the measured distance for the commanded travel distance Example Move the actuator from 0 mm to 1000 mm by specifying a position Correct the travel distance of 2 with respect to 1 In the above example enter 1000 because the actual distance traveled is 999 mm Setting unit 0 001 1 m C10 class ball screws are subject to a margin of error of r 0 21 mm per 300 mm 1...

Page 400: ... rotational axis No Parameter name Default value Input range Unit 66 Rotational axis mode selection 0 0 5 None z Explanation of setting Select the mode for a rotational axis Related parameter Axis specific parameter No 7 Soft limit z Set value 0 Normal 1 Index mode If a rotational axis is used this parameter will be fixed to 1 When the index mode is set the soft limit will be fixed to 359 999 mm i...

Page 401: ...ated in a specified direction A table summarizing the information on Axis operation type Mode selection for linear movement axis Mode selection for rotational movement axis Short cut control selection for rotational movement axis Expression of current position approx Software limit and Software limit etc is provided as Combination Table of PSEL Linear Rotary Control Parameters in the Appendix Use ...

Page 402: ...m Example To set 50 mm set the value 50000 Axis specific parameter No 87 Zone 1 MIN Set the minimum limit of the zone in units of 0 001 mm Example To set 10 mm set the value 10000 Axis specific parameter No 88 Zone 1 output number Set an output port or flag number for the zone The output number set in this parameter cannot be used in programs z Note Set the zone so that the passing time through th...

Page 403: ...99999 0 001 mm 88 Zone 1 output number 0 0 899 None 89 Zone 2 MAX 0 99999999 99999999 0 001 mm 90 Zone 2 MIN 0 99999999 99999999 0 001 mm 91 Zone 2 output number 0 0 899 None 92 Zone 3 MAX 0 99999999 99999999 0 001 mm 93 Zone 3 MIN 0 99999999 99999999 0 001 mm 94 Zone 3 output number 0 0 899 None 95 Zone 4 MAX 0 99999999 99999999 0 001 mm 96 Zone 4 MIN 0 99999999 99999999 0 001 mm 97 Zone 4 output...

Page 404: ...e set as an input for auto program start signal Set the following value in the I O parameter Input function selection n corresponding to the selected input port I O parameter Input function specification value 5 Other parameter No 7 0 The program will start at the ON edge of the specified port The program will end at the OFF edge 5 Pause operations using an external input signal A desired input po...

Page 405: ...put function specification value 10 The specified port will turn ON during the AUTO mode 12 Output a signal during auto operation A desired output port can be set as an auto operation status output Set the following value in the I O parameter Output function selection n corresponding to the selected output port I O parameter Output function specification value 11 The specified port will turn ON du...

Page 406: ...on specification value 22 Axis 1 I O parameter Input function specification value 23 Axis 2 Setting example To set input port No 12 as the brake release input for axis 2 set 23 in I O parameter No 42 The brake will be forcibly released when the specified port turns ON 19 Retain output conditions upon actuation of an emergency stop or opening of the safety gate The minimum and maximum output port n...

Page 407: ...or after an emergency stop has been reset resume actuator operation from immediately before the emergency stop input signal turned ON When an emergency stop input signal is ON all programs remain active and only programs involving actuator operation will be stopped When an emergency stop is actuated all programs in which actuator operations are not specified will remain active Programs in which ac...

Page 408: ...reference 60 sec 1 9999 45 This parameter determines the level of response with respect to a position control loop Increasing the setting improves compliance with the position command However increasing the setting too much increases the tendency of the actuator to overshoot If the setting is low compliance with the position command drops and the positioning time increases as a result z Speed loop...

Page 409: ...ommand If the mechanical resonance frequency is equal to or lower than the servo loop response frequency the motor will vibrate This mechanical resonance can be suppressed by increasing the setting of this parameter It should be noted however that increasing the setting too much may affect the stability of the control system z Current control band number Driver parameter number Unit Input range De...

Page 410: ... as you back up the programs To make the new parameters effective write them to the flash ROM and then execute a software reset or reconnect the power The lists below are examples of default values displayed on the PC software The default parameter settings vary depending on the operating condition and actuators used The values in the Input range column represent input limitations on the teaching ...

Page 411: ... will not generate even when the 24 V I O power source presents abnormality However the actual outputs from digital I Os will be cut off by circuitry thereafter to protect the controller 11 13 For future expansion 1 0 5 14 Network I F module Number of remote input ports used 0 0 256 Multiple of 8 15 Network I F module Number of remote output ports used 0 0 256 Multiple of 8 16 Network I F module B...

Page 412: ... 34 Input function selection 004 0 0 99 Input function specification value For details refer to 1 2 I O Function Lists under I O Parameters 35 Input function selection 005 0 0 99 Input function specification value For details refer to 1 2 I O Function Lists under I O Parameters 36 Input function selection 006 0 0 99 Input function specification value For details refer to 1 2 I O Function Lists und...

Page 413: ...ists under I O Parameters 58 Output function selection 312 0 0 99 Output function specification value For details refer to 1 2 I O Function Lists under I O Parameters 59 Output function selection 313 0 0 99 Output function specification value For details refer to 1 2 I O Function Lists under I O Parameters 60 Output function selection 314 0 0 99 Output function specification value For details refe...

Page 414: ... mode 0 0 9 0 Open SEL program 1 Open SEL program Connect PC TP when both devices are closed Used exclusively by the manufacturer 2 IAI protocol B Slave 91 Station code of SIO channel 0 opened to user 153 0 255 Valid only with IAI protocol 92 Baud rate type of SIO channel 0 opened to user 0 0 5 0 9 6 1 19 2 2 38 4 3 57 6 4 76 8 5 115 2 kbps 93 Data length of SIO channel 0 opened to user 8 7 8 94 S...

Page 415: ... 254 136 Network system reservation 255 0 255 137 Network system reservation 255 0 255 138 Network system reservation 255 0 255 139 Network system reservation 0 0 255 140 Network system reservation 0 0 255 141 Network system reservation 0 0 255 142 Network system reservation 0 0 255 143 Network system reservation 0 0 255 144 Network system reservation 64511 1025 65535 145 Network system reservatio...

Page 416: ...refer to 1 2 I O Function Lists under I O Parameters 260 Input function selection 025 0 0 99 Input function specification value For details refer to 1 2 I O Function Lists under I O Parameters 261 Input function selection 026 0 0 99 Input function specification value For details refer to 1 2 I O Function Lists under I O Parameters 262 Input function selection 027 0 0 99 Input function specificatio...

Page 417: ...utput function selection 326 0 0 99 Output function specification value For details refer to 1 2 I O Function Lists under I O Parameters 278 Output function selection 327 0 0 99 Output function specification value For details refer to 1 2 I O Function Lists under I O Parameters 279 Output function selection 328 0 0 99 Output function specification value For details refer to 1 2 I O Function Lists ...

Page 418: ...n bit 1 least significant bit Start program number specification bits x input function setting values 9 through 15 cannot be assigned discontinuously from the LSB or in descending order from the LSB port numbers are not considered Program No 1 BIN or BCD 10 Start program number specification bit 2 Same as Input function specification value 9 Program No 2 BIN or BCD 11 Start program number specific...

Page 419: ...top output OFF Output function specification value 9 9 Emergency stop output OFF Same as Output function specification value 8 10 AUTO mode output 11 Auto operation status output Other parameter No 12 12 All valid axes home 0 output To move the absolute encoder axis to coordinate 0 or the preset home coordinate use a MOVP command instead of a HOME command 13 All valid axes home return complete coo...

Page 420: ...L T application version 1 04 or later 11 Default acceleration 30 1 200 0 01 G Used if not specified in position data program or SIO message etc 12 Default deceleration 30 1 200 0 01 G Used if not specified in position data program or SIO message etc 13 Default speed 30 1 250 mm s Used if not specified in SIO message or position data when movement is to be continued etc 14 Valid selection when oper...

Page 421: ...n servo error level 0 Operation cancellation level 1 Cold start level 2 Operation cancellation level at reset thereafter cold start level Bits 8 to 11 Actual position soft limit over servo error level 0 Operation cancellation level 1 Cold start level 2 Operation cancellation level at reset thereafter cold start level Bits 12 to 15 For future expansion Bits 16 to 19 Absolute data backup battery vol...

Page 422: ...0 2 0 Do not use 1 Contact a 2 Contact b 15 For future expansion 0 Reference only 16 For future expansion 0 Reference only 17 Initial home sensor pull out speed at home return 10 1 100 mm sec 18 For future expansion 100 Reference only 19 End search speed at home return 20 1 100 mm sec 20 Z phase search speed at home return 3 1 10 mm sec Exercise caution since limitations apply depending on the rea...

Page 423: ...me 300 0 1000 msec Time after receiving a brake lock start response until start of servo OFF 37 Encoder linear rotary type 0 0 1 0 Rotary encoder 1 Linear encoder 38 Encoder ABS INC type 0 0 1 0 INC 1 ABS 39 Magnetic pole sensor equipment specification 0 0 1 0 Not equipped 1 Equipped 40 For future expansion change prohibited 0 0 1 41 For future expansion change prohibited 25 1 100 DRVVR 42 Encoder...

Page 424: ...try of the positive and negative sides 74 For future expansion 0 Reference only 75 For future expansion 0 Reference only 76 Home adjustment parameter set selection 1 Reference only Change prohibited 0 P21 Z phase evacuation distance at INC home return P12 Ideal Z phase position coordinate 1 P32 is read automatically even when P33 0 P33 0 indicates actual distance P21 Offset travel at home return P...

Page 425: ...in main application version 0 21 or later Must be inside the range for at least 3 msec 90 Zone 2 MIN 0 99999999 99999999 0 001 mm Zone output ON if MAX MIN or MAX t Current position t MIN Zone output ON if MAX MIN Current position d MAX or MIN d Current position Zone output ignored if MAX MIN The MAX MIN setting is effective in main application version 0 21 or later Must be inside the range for at...

Page 426: ...ut ON if MAX MIN or MAX t Current position t MIN Zone output ON if MAX MIN Current position d MAX or MIN d Current position Zone output ignored if MAX MIN The MAX MIN setting is effective in main application version 0 21 or later Must be inside the range for at least 3 msec 97 Zone 4 output number 0 0 899 Physical output port or global flag Output is invalid if 0 is input multiple specification is...

Page 427: ...For adjustment by the manufacturer 14 Motor control data use selection Function information 0000H Reference only For adjustment by the manufacturer 15 Function information 0000H Reference only For adjustment by the manufacturer 16 Function information 0000H Reference only For adjustment by the manufacturer 17 Function information 0000H Reference only For adjustment by the manufacturer 18 Function ...

Page 428: ...on information 0000H Reference only For adjustment by the manufacturer 38 Push torque limit at positioning 70 0 70 39 Push torque limit at home return 40 0 100 40 Maximum torque limit 100 10 100 The maximum value that can be set varies depending on the motor etc 41 Dynamic brake operation specification 0 0 1 Data for other model 42 Software DB operation specification 0 0 1 Data for other model 43 ...

Page 429: ...419 Appendix Driver parameters No Parameter name Default value Reference Input range Unit Remarks 61 67 For expansion 0H 00000000H FFFFFFFFH 68 97 For future expansion 0H Reference only ...

Page 430: ... upper word compatible with X E function information 0000H Reference only For adjustment by the manufacturer 13 Encoder resolution lower word compatible with X E function information 0000H Reference only For adjustment by the manufacturer 14 Motor encoder characteristic word compatible with X E function information 0000H Reference only For adjustment by the manufacturer 15 Motor encoder control wo...

Page 431: ...00H Reference only For adjustment by the manufacturer 12 Function information 04 by board type 0000H Reference only For adjustment by the manufacturer 13 Function information 05 by board type 0000H Reference only For adjustment by the manufacturer 14 Function information 06 by board type 0000H Reference only For adjustment by the manufacturer 15 Function information 07 by board type 0000H Referenc...

Page 432: ...ted Always 2 All operation cancellation factor Error of operation cancellation level or higher Other parameter 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 14000 1 99999 msec The setting will become effective after the c...

Page 433: ...ast written to the flash ROM will be restored Thereafter reset this parameter to the original value No remedy is available for recovery of SEL global data error lists 21 Manual mode type 0 0 5 0 Always enable edit and SIO PIO start Initial condition after connection With safety speed 1 Select edit and start with password EU etc 2 Always enable edit and SIO PIO start Initial condition after connect...

Page 434: ...al operation Bits 8 to 11 Protect range maximum number 10 s place BCD Bits 12 to 15 Protect range maximum number 100 s place BCD Bits 16 to 19 Protect range maximum number 1000 s place BCD Bits 20 to 23 Protect range minimum number 10 s place BCD Bits 24 to 27 Protect range minimum number 100 s place BCD Bits 28 to 31 Protect range minimum number 1000 s place BCD The value in the 1 s place is cons...

Page 435: ...e started by the last PIO program start is running Bits 8 to 11 Permission of auto program start when all operation cancellation factor is present 0 Do not permit 1 Permit Bits 12 to 15 Permission of ON edge acceptance for PIO program start when all operation cancellation factor is present 0 Do not permit 1 Permit In accordance with the input port for which the I O parameter Input function selecti...

Page 436: ...d 200 200 Motor current to rating ratio 2 Display user information number U001 to U999 The user information number is displayed instead of ready status or program run number only when the user information number is not 0 Global integer variable number for specifying user information number is specified by Other parameter No 50 50 Auxiliary specification for panel 7 segment display data type 0 9999...

Page 437: ...sions 0 0 0 0 through 0 0 5 x 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 Password Edit Safety speed Jog move continuou...

Page 438: ... x Acceleration deceleration G 0 Normal mode 0 Short cut control not selected Specification of values other than 0 is prohibited in the normal mode Counter range Valid Valid 0 Short cut control not selected Counter range 1 Rotational movement axis Invalid 1 Index mode 1 Short cut control selected X 0 359 999 Rotary Invalid Fixed to 359 999 internally Invalid Fixed to 0 internally Invalid Invalid V...

Page 439: ...bus errors will be registered in an error list Enabled Status display input error etc MAIN application MAIN core PC PC Update tool TP MAIN application 400 4CF MAIN core PC 4D0 4DF PC Update tool 4E0 4EF Operation cancellation level TP 4F0 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 Howev...

Page 440: ...ommand SIO PIO application only MAIN application MAIN core PC PC Update tool TP MAIN application 600 6CF MAIN core PC 6D0 6DF PC Update tool 6E0 6EF TP 6F0 6FF MAIN application D00 D8F MAIN core D90 DAF PC DB0 DCF PC Update tool DD0 DDF TP DE0 DFF MAIN application E00 E8F MAIN core E90 EBF PC EC0 EDF Cold start level TP EE0 EFF Core only The program in which the error generated will be cancelled H...

Page 441: ...nstant table change query error The message of the control constant table change query command contains error Check the message that has been sent 20B Control constant table write data type specification error The specified control constant table write data type is invalid Check the message that has been sent 20C Control constant table management information mismatch error The management informati...

Page 442: ...l be supplied without voltage adjustment Check the motor encoder configuration information in driver parameter No 26 and encoder parameter No 11 40B Speed control parameter calculation error Check driver parameter Nos 38 39 40 43 44 45 etc 420 Steady state non push torque limit over error The steady state non push torque limit was exceeded An unexpected load locked operation etc may be the cause 4...

Page 443: ...ed or 4 is the case supply the power for at least 48 hours to sufficiently charge the battery before performing an absolute reset It takes 72 hours for the fully discharged battery to be charged fully 41D ABS unit encoder error 3 Causes Axis movement at a speed equal to or exceeding the speed set for the simple absolute unit caused by an external force etc was detected while the power was cut off ...

Page 444: ... FPGA main 614 Driver synchronous communication LRC error A communication failure occurred between the driver board and FPGA main 615 Driver synchronous communication toggle error A communication failure occurred between the driver board and FPGA main 619 ABS unit encoder receive error A response to a simple absolute unit encoder command could not be received properly Causes 1 The controller power...

Page 445: ...ontrol parameter setting command cannot be confirmed after the specified time 63A ABZ encoder logic error An encoder phase A B electrical level pattern error was detected The power must be reconnected 63B Encoder motor control constant table flash ROM status error Data is not written correctly to the flash ROM or the data is of an old incompatible version 63C Encoder motor control constant table c...

Page 446: ...otor error driver information The motor is not supported The motor ID bit number is outside the range of maximum supported motor ID number when the driver parameter Use motor control data in driver flash ROM is specified Check the motor encoder configuration information in driver parameter No 26 and encoder parameter No 11 65E Current detection circuit type mismatch error The motor control constan...

Page 447: ...oder Check all axis parameter Nos 101 102 103 and 104 or driver parameter No 26 encoder parameter No 11 66A Power system target information initialization error The initialization sequence of power system target information did not complete successfully Check the installed power supply board Check the power supply board parameters 66B Slave communication error response error An error response was ...

Page 448: ...cur due to locked operation during jogging caused by contact with an obstacle contact with the mechanical end while jogging before home return etc or abnormal wiring encoder failure or motor failure during deceleration Mismatched electrical angles may be the cause 801 SCIF overrun status IAI protocol reception Communication failure Check for noise connected equipment and communication setting 802 ...

Page 449: ...r is invalid 903 Point number error The point number is invalid 904 Variable number error The variable number is invalid 905 Flag number error The flag number is invalid 906 I O port flag number error The I O port flag number is invalid 910 Command error IAI protocol HT reception The command ID is not supported or invalid For future expansion 911 Message conversion error IAI protocol HT reception ...

Page 450: ... number specification error Error erasing the flash ROM A0E Sector count specification error Error erasing the flash ROM A0F Write destination offset address error Odd numbered address Error writing the flash ROM A10 Write source data buffer address error Odd numbered address Error writing the flash ROM A11 Invalid core code sector block ID error The core program already written to the flash ROM i...

Page 451: ... is low Check the battery connection or replace the battery A25 Step count specification error The specified number of steps is invalid A26 Program count specification error The specified number of programs is invalid A27 Program non registration error The applicable program is not registered A28 Reorganization disable error during program run A program area reorganization operation was attempted ...

Page 452: ...or Another flash ROM write command was received while the flash ROM was being written A42 Direct monitor prohibition error during flash ROM write Direct monitor is prohibited while the flash ROM is being written A43 P0 P3 area direct monitor prohibition error Direct monitor in the P0 P3 areas is prohibited A44 Point data count specification error The specified number of point data is invalid A45 S...

Page 453: ... AUTO mode The channel was opened in a non AUTO mode In the MANU mode the PC TP connection must be forcibly disconnected before opening the serial channel opened to the user Exercise caution A5E I O port flag count specification error The specified number of I O ports flags is invalid A5F Fieldbus error LERROR ON A LERROR ON was detected A60 Fieldbus error LERROR BLINK A LERROR BLINK was detected ...

Page 454: ...r The operand specification of SEL command is invalid B17 Parameter register busy error at issuance of slave command The driver special command ACK generated a timeout at issuance of a slave command B18 Device number error The device number is invalid B19 Unit type error The unit type is invalid B1A Absolute reset specification error The specification for absolute reset using an optional function ...

Page 455: ...dence between IF IS command and EDIF or DO command and EDDO or branching out of or into the syntax using a GOTO command C13 SLCT under nesting error The EDSL position is invalid Check the correspondence between SLCT and EDSR or branching out of or into the syntax using a GOTO command C14 Subroutine under nesting error The EDSR position is invalid Check the correspondence between BGSR and EDSR or b...

Page 456: ...p number is invalid C2E Blank step shortage error There are not enough blank steps to save step data Provide enough blank steps needed to save step data C2F Axis number error The axis number is invalid C30 Axis pattern error The axis pattern is invalid C32 Operating axis addition error during command execution An operating axis for point data was added during continuous point movement or push moti...

Page 457: ...irst 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 C4F SEL program source symbol checksum error The flash ROM data has been destroyed C50 Symbol definition tab...

Page 458: ...e internal logic for push motion processing is invalid C6B Deviation overflow error The command cannot be followed Check for operation restriction wiring encoder motor etc C6C Movement error during absolute data acquisition Axis movement was detected while acquiring absolute encoder data after the power was turned on The power may have been turned or a software reset executed while the actuator wa...

Page 459: ...lution C7F No valid specified axis error No valid axes are specified C80 Servo packet calculation logic error Internal servo calculation error If the controller is of absolute encoder specification and the system has just been moved or Error No C74 Actual position soft limit over error has also generated the controller may be experiencing a servo packet calculation overflow caused by abnormal curr...

Page 460: ... specification has been changed C97 Program number error for I O processing program at operation program abort The setting of Other parameter No 2 I O processing program number at operation program abort is invalid C98 Program number error for I O processing program at operation pause The setting of Other parameter No 3 I O processing program number at all operation pause is invalid C99 Home senso...

Page 461: ...ting error at palletizing 3 point teaching Zigzag offset not zero cannot be set in palletizing 3 point teaching if the reference point is the same as the end point of the PX axis CB2 BGPA EDPA pair end mismatch error The BGPA EDPA syntax is invalid EDPA was declared before BGPA or another BGPA was declared after BGPA without first declaring EDPA CB4 Arch motion Z axis non declaration error Z axis ...

Page 462: ...s invalid CC5 Positioning boundary pull out error An attempt was made to execute a command not permitted outside the positioning boundary CC6 Driver error primary detection A driver error was found by primary detection CC7 Palletizing movement PZ axis pattern non detection error PZ axis component is not found in the axis pattern during palletizing movement CC8 Arch top Z axis pattern non detection...

Page 463: ... simple absolute unit is wrong 3 The encoder cable model number is wrong Simple absolute unit Actuator Actions 1 Check the connector for looseness or open circuit The power must be reconnected Simple absolute unit is used 2 Check the piano switch settings of the simple absolute unit 3 Check the encoder cable model number D13 FPGA watchdog timer error Failure in the interface with the main CPU D14 ...

Page 464: ...anual for the field network board D56 Fieldbus error MinACK timeout A Min ACK timeout was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for the field network board D57 Fieldbus error MoutSTB timeout A Mout STB timeout was detected Check the status of the monitor LED on the front face of the board by referring to the operation manua...

Page 465: ...ncoder identification number in encoder parameter No 11 Check the parameter values encoder cable connection etc D68 No remote mode control support board error Hardware supporting remote mode control is not installed although remote mode control AUTO MANU is specified in I O parameter No 79 D69 External terminal block overcurrent or power supply error Overcurrent or power supply error in the extern...

Page 466: ... E0A SCI CRC error Slave communication The CRC in the message is invalid E10 SCIF communication mode error The communication mode is invalid E11 SCI communication mode error The communication mode is invalid E14 SCI receive data register full wait timeout error Communication failure Check for noise shorting circuit failure and slave card E15 SCI overrun error Communication failure Check for noise ...

Page 467: ...mpare mismatch error during EEPROM write EEPROM access error when writing E2B Abnormal response error when sending EEPROM information acquisition command An abnormal response was received when a slave EEPROM information acquisition command was sent E2C Maximum receive size over error when sending EEPROM information acquisition command The maximum receive size exceeds the limit value when a slave E...

Page 468: ...or magnetic pole detection status bit Psenex is turned OFF after 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 ...

Page 469: ...the installed encoder do not match E78 Brake installation specification mismatch error The brake installation specification in the system s axis specific parameter and that of the installed encoder do not match E79 Abnormal response error when sending EEPROM data setting slave command An abnormal response was received when an EEPROM data setting slave command was sent E7A Maximum receive size over...

Page 470: ...ot written to the flash ROM correctly or written in an old incompatible application version F00 Shutdown error hi_sysdwn definition A shutdown error hi_sysdwn definition was detected FF0 FFF Shutdown error hi_sysdwn definition A shutdown error hi_sysdwn definition was detected F03 F58 Shutdown error OS call error A shutdown error OS call error was detected F60 System down level error call procedur...

Page 471: ... 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 o SDRAM program copy FB2 Installed flash ROM type mismatch Application The flash ROM type anticipated in the software does not match the flash ROM type actually installed Check the combination of software and hardware FB8 Undefined N...

Page 472: ...ation protocol error Check for noise and connected equipment When updating the application connect to a PC and use IAI s update tool A77 Motorola S record type error The update program file is invalid Check the file A78 Motorola S checksum error The update program file is invalid Check the file A79 Motorola S load address error The update program file is invalid Check the file A7A Motorola S write...

Page 473: ...n The system code in the message received with the updating target specification command does not match the controller system Check the target specification and other settings in the updating PC tool A8B Updating unit code error Core detection The unit code in the message received with the updating target specification command does not match any updatable unit in the controller Check the target sp...

Page 474: ...chdog reset occurrence 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...

Page 475: ...r Excessive data is received from outside Confirm that a PC and IAI s update tool are used to update the application EAF Installed flash ROM type mismatch Core The flash ROM type anticipated in the software does not match the flash ROM type actually installed Check the combination of software and hardware EB0 Undefined NMI error Core An undefined NMI interruption occurred EB1 FPGA read write test ...

Page 476: ...466 Appendix ...

Page 477: ...ill show EA1D or other code starting with E Some errors do not begin with E Status Panel window display After turning on the power rdy Ardy Program is running P01 P64 etc Error has generated EA1D ED03 etc Among the alphabets B and D are shown in lower case Depending on the error number it may be possible to reset the error after removing the cause of the error or the power must be reconnected to r...

Page 478: ...ing amount at home return is small Check to see if foreign object has entered the actuator Check to see if the mounting bolts are contacting the slider Change axis specific parameter No 22 to 100 914 CA2 Abnormal absolute data backup battery voltage The PG cable was disconnected from the controller Absolute reset has not been executed after the initial setup The voltage of the absolute data backup...

Page 479: ... are not the same burn damage is suspected Replace the motor If the measured resistances are roughly the same there is no burn damage 690 Motor overcurrent error If the motor coil is not damaged the driver s CPU board the board to which the motor drive cable is connected is faulty Replace the board d19 Encoder receive timeout error The encoder cable is disconnected Replace the encoder cable d18 Sp...

Page 480: ...470 ...

Page 481: ...Position deviation 3 Runaway machine 4 Error Error code 5 Other 3 Problem frequency and condition Frequency Condition 4 When did the problem occur 1 Right after the system was set up 2 After operating for a while Operating hours year s and month s 5 Operating direction 1 Horizontal 2 Horizontal Vertical 6 Load condition 1 Load transfer 2 Push motion operation 3 Load Approx kg 4 Speed Approx mm sec...

Page 482: ...g to a simple absolute unit on p 47 to 58 357 and 358 x Added descriptions relating to a network system under I O parameter Nos 14 to 18 on p 383 x Added descriptions relating to a network system under I O parameter No 120 on p 387 x Added descriptions relating to a network system under I O parameter Nos 225 to 227 on p 387 and 388 x Added a description relating to the initial value of all axis pa...

Page 483: ...r 2010 October 2010 Seventh edition x Added a warning sentence position when servo ON after the servo ON explanation on p 65 167 168 307 309 311 317 321 328 331 336 341 349 383 and 397 Ninth edition x Inserted about CE Marking again Tenth edition x Figure r2000000 000 mm o r99999 99 mm on p 88 x Deleted The current position of a synchronized slave asis can also be read on p 141 x Deleted 13 a 20 U...

Page 484: ... i s i v e R Swapped over the page for CE Marking April 2011 Eleventh edition 474 Appendix Twelfth edition July 2013 Connector of the teaching port changed Edition 12C March 2015 Cancel input deleted as there is no cancel signal in teaching mode on p 342 ...

Page 485: ...475 ...

Page 486: ...889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com 825 PhairojKijja Tower 12th Floor Bangna Trad RD Bangna Bangna Bangkok 10260 Thailand TEL 66 2 361 4458 FAX 66 2 361 4456 Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0...

Page 487: ...INTELLIGENT ACTUATOR SEL Language Programming Manual Eighth Edition ...

Page 488: ......

Page 489: ...names of products and trademarks of each company shown in the sentences are registered trademarks Please Read Before Use Thank you for purchasing our product This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure structure and maintenance procedure Before the operation read this manual carefully and fully understand it to op...

Page 490: ......

Page 491: ... 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 pos...

Page 492: ... 6 7 Handling of Shot Pulse Timers 175 3 6 8 Handling of Number of Symbol Definitions 176 3 6 9 RS232C Communication 177 3 7 Controller Data Structure and Saving of Data 182 3 7 1 XSEL J K KE KT KET JX KX KETX 182 3 7 2 XSEL P Q PCT QCT PX QX 186 3 7 3 XSEL R S RX SX RXD SXD 192 3 7 4 ASEL PSEL 195 3 7 5 SSEL 199 3 7 6 TT TTA 203 3 7 7 MSEL 207 4 Program Edit 210 4 1 Each Type of Data Available to...

Page 493: ...ent 454 24 Building of Pseudo Ladder Task 458 25 Extended Command 461 26 RC gateway function commands 472 27 Electronic Cam Control System 498 28 Conveyor Tracking Related Commands 541 29 Vision System I F Related Command 545 30 Anti Vibration Control Related Command 549 6 Program Examples 550 6 1 Operation by Jog Command Doll Picking Game Machine 550 6 2 Operation by Point Movement Command Riveti...

Page 494: ......

Page 495: ...RC2 Move along arc 2 ż ż ż ż ż ż ż ż ż ż 368 ARCC Move along arc via specification of center position and center angle ż ż ż ż ż ż ż ż ż ż 378 ARCD Move along arc via specification of end position and center angle ż ż ż ż ż ż ż ż ż ż 376 ARCH Arch motion ż ż ż ż ż ż ż ż ż ż 427 ARCS Move three dimensionally along arc ż ż ż ż ż ż ż 372 ATN Inverse tangent ż ż ż ż ż ż ż ż ż ż 242 ATRG Set arch trigg...

Page 496: ...ates of simple interference check zone ż ż ż ż PCX PGX only 336 DFTL Define tool coordinate system ż ż ż ż PCX PGX only 320 DFWK Define load coordinate system ż ż ż ż PCX PGX only 325 DIS Set spline division distance ż ż ż ż ż ż ż ż ż ż 312 DIV Divide ż ż ż ż ż ż ż ż ż ż 237 DW Loop EQ NE GT GE LT LE ż ż ż ż ż ż ż ż ż ż 392 E ECMD1 Get motor current value ż ż ż ż ż ż 461 ECMD2 Get home sensor stat...

Page 497: ...stem ż ż ż ż PCX PGX only 404 GDCL Get deceleration data ż ż ż ż ż ż ż ż ż ż 290 GOTO Jump ż ż ż ż ż ż ż ż ż ż 264 GRP Set group axes ż ż ż ż ż ż ż ż ż ż 305 GTIF Get definition coordinates of simple interference check zone ż ż ż ż PCX PGX only 340 GTTL Get tool coordinate system definition data ż ż ż ż PCX PGX only 323 GTAM Acquirement of target arm system data ż ż PCX PGX only 287 GTTM Get time ...

Page 498: ...ż ż ż ż ż ż ż ż ż ż 348 MULT Multiply ż ż ż ż ż ż ż ż ż ż 236 MVDI Move incrementally by direct value specification ż ż ż PC PG only 357 MVLI Move to relative position via interpolation ż ż ż ż ż ż ż ż ż ż 354 MVPI Move to relative position ż ż ż ż ż ż ż ż ż ż 352 N NBND Set close distance ż 345 NTCH Anti Vibration Control Parameter Set Select ż ż ż 549 O OFAZ Set arch motion Z axis offset ż ż ż ż...

Page 499: ...alletizing reference point ż ż ż ż ż ż ż ż ż ż 439 PATH Move along path ż ż ż ż ż ż ż ż ż ż 358 PAXS Read axis pattern ż ż ż ż ż ż ż ż ż ż 285 PBND Set positioning band ż ż ż ż ż ż ż ż ż ż 380 PCHZ Set palletizing Z axis ż ż ż ż ż ż ż ż 444 PCLR Clear position data ż ż ż ż ż ż ż ż ż ż 276 PCPY Copy position data ż ż ż ż ż ż ż ż ż ż 277 PDCL Assign position deceleration ż ż ż ż ż ż ż ż ż ż 284 PDEC...

Page 500: ...ż ż ż PCX PGX only 335 PTPL Specify left arm as PTP target arm system ż ż ż ż PCX PGX only 333 PTPR Specify right arm as PTP target arm system ż ż ż ż PCX PGX only 332 PTRG Set palletizing arch triggers ż ż ż ż ż ż ż ż 445 PTRQ Change push torque limit parameter ż ż ż ż ż ż ż ż ż 365 PTST Confirm position data ż ż ż ż ż ż ż ż ż ż 281 PUSH Move by push motion ż ż ż ż ż ż ż ż ż ż 363 PVEL Assign pos...

Page 501: ...99 to RC axis position positioning band ż ż ż ż 480 RPPT Assign variable 199 to RC axis position ż ż ż ż 473 RPRD Read current RC axis position ż ż ż ż 476 RPRQ Read current RC axis position 1 axis direct ż ż ż ż 477 RPTQ Assign variable 199 to RC axis position current limiting value ż ż ż ż 481 RPUS Move by RC axis push motion operation ż ż ż ż 494 RPVL Assign variable 199 to RC axis position spe...

Page 502: ...ż ż ż ż ż 422 STRH Convert character string hexadecimal ż ż ż ż ż ż ż ż ż ż 423 SUB Subtract ż ż ż ż ż ż ż ż ż ż 235 SV Servo ON OF ż ż ż ż ż ż ż ż ż ż 346 SYST Get system status ż ż ż ż ż ż ż ż ż ż 403 T TAG Jump destination ż ż ż ż ż ż ż ż ż ż 265 TAN Tangent ż ż ż ż ż ż ż ż ż ż 241 TIMC Cancel waiting ż ż ż ż ż ż ż ż ż ż 249 TIMR Timer relay for ladder ż ż ż ż ż ż ż ż ż ż 152 TIMW Wait ż ż ż ż ...

Page 503: ... ż ż ż ż ż ż ż ż 416 WS Branch character string EQ NE ż ż ż ż ż ż ż ż ż ż 398 WT Wait for I O flag ON OF ż ż ż ż ż ż ż ż ż ż 254 WZFA Wait for zone OFF with AND ż ż ż ż ż ż ż ż ż 407 WZFO Wait for zone OFF with OR ż ż ż ż ż ż ż ż ż 408 WZNA Wait for zone ON with AND ż ż ż ż ż ż ż ż ż 405 WZNO Wait for zone ON with OR ż ż ż ż ż ż ż ż ż 406 X XAST Acquire extension motion control board axis status ż...

Page 504: ... axis position relative movement ż ż 519 XMVD Move extension motion control board axis to directly indicated absolute position ż ż 522 XMVL Move extension motion control board axis for position indicated interpolation ż ż 520 XMVP Move extension motion control board axis to indicated position ż ż 518 XPAC Write extension motion control board axis acceleration data ż ż 507 XPCP Copy extension motio...

Page 505: ...ite extension motion control board axis speed data ż ż 506 XSFS Start synchronizing of extension motion control board axis electronic shaft ż ż 536 XSOF Extension motion control board axis servo OFF ż ż 516 XSON Extension motion control board axis servo ON ż ż 515 XSTP Cancel operation of extension motion control board axis ż ż 526 XSYE Synchronizing of extension motion control board axis complete...

Page 506: ...ż ż ż ż ż ż ż ż ż ż 244 Logical exclusive OR EOR ż ż ż ż ż ż ż ż ż ż 246 Logical operation Logical OR OR ż ż ż ż ż ż ż ż ż ż 245 Comparison Compare CP ż ż ż ż ż ż ż ż ż ż 247 Get time GTTM ż ż ż ż ż ż ż ż ż ż 250 Cancel waiting TIMC ż ż ż ż ż ż ż ż ż ż 249 Timer Wait TIMW ż ż ż ż ż ż ż ż ż ż 248 Output OFF pulse BTPF ż ż ż ż ż ż ż ż ż ż 253 Output ON pulse BTPN ż ż ż ż ż ż ż ż ż ż 252 Output flag ...

Page 507: ...T ż ż ż ż ż ż ż ż ż ż 274 Assign value of variable 199 PPUT ż ż ż ż ż ż ż ż ż ż 275 Read current axis position 1 axis direct PRDQ ż ż ż ż ż ż ż ż ż ż 279 Read current axis position PRED ż ż ż ż ż ż ż ż ż ż 278 Confirm position size PSIZ ż ż ż ż ż ż ż ż ż ż 286 Substitution of target arm system data PTAM ż ż PCX PGX only 280 Confirm position data PTST ż ż ż ż ż ż ż ż ż ż 281 Position operation Assi...

Page 508: ... 314 Set output type POTP ż ż ż ż ż ż ż ż ż ż 313 Specify current arm of PTP target arm system PTPD ż ż ż ż PCX PGX only 334 Specify current arm of PTP target arm system PTPE ż ż ż ż PCX PGX only 335 Specify left arm of PTP target arm system PTPL ż ż ż ż PCX PGX only 333 Specify right arm of PTP target arm system PTPR ż ż ż ż PCX PGX only 332 Set quick return mode QRTN ż ż ż ż ż ż PC PG only ż 315...

Page 509: ...ż ż ż ż 366 Move three dimensionally along circle CIRS ż ż ż ż ż ż ż ż ż ż 370 Return to home HOME ż ż ż ż ż ż ż ż ż 347 Jog FN FF BN BF J W ż ż ż ż ż ż ż ż ż 359 Move by direct value specification MOVD ż ż ż PC PG only 356 Move to specified position via interpolation MOVL ż ż ż ż ż ż ż ż ż ż 350 Move to specified position MOVP ż ż ż ż ż ż ż ż ż ż 348 Move incrementally by direct value specificati...

Page 510: ...00 Declare branching destination when condition is not satisfied OTHE ż ż ż ż ż ż ż ż ż ż 399 Declare start of multi branching SLCT ż ż ż ż ż ż ż ż ż ż 396 Branch value EQ NE GT GE LT LE WH ż ż ż ż ż ż ż ż ż ż 397 Multi branching Branch character string EQ NE WS ż ż ż ż ż ż ż ż ż ż 398 Get axis status AXST ż ż ż ż ż ż ż ż ż ż 401 Get current arm system GARM ż ż ż ż PCX PGX only 404 Get program sta...

Page 511: ...ng setting BGPA ż ż ż ż ż ż ż ż ż ż 433 Declare end of palletizing setting EDPA ż ż ż ż ż ż ż ż ż ż 434 Set palletizing Z axis offset OFPZ ż ż ż ż ż ż ż ż 447 Set palletizing counts PAPI ż ż ż ż ż ż ż ż ż ż 435 Palletizing definition Set palletizing pattern PAPN ż ż ż ż ż ż ż ż ż ż 436 Set palletizing points for 3 point or 4 point teaching PAPS ż ż ż ż ż ż ż ż ż ż 440 Set palletizing pitches PAPT ...

Page 512: ... of pseudo ladder task Task sleep TSLP ż ż ż ż ż ż ż ż ż ż 460 Get motor current value ECMD1 ż ż ż ż ż ż 461 Get home sensor status ECMD2 ż ż ż 462 Get overrun sensor status ECMD3 ż ż ż 463 Get creep sensor status ECMD4 ż ż ż 464 Get axis operation status ECMD5 ż ż ż ż ż ż 465 Current position acquirement on each axis system ECMD6 ż ż PCX PGX only 466 Get parameter ECMD 20 ż ż ż ż ż ż 467 Extended...

Page 513: ...ent RC axis position 1 axis direct RPRQ ż ż ż ż 477 Assign variable 199 to RC axis position speed RPVL ż ż ż ż 478 Assign variable 199 to RC axis position acceleration deceleration RPAD ż ż ż ż 479 Assign variable 199 to RC axis position positioning width RPIP ż ż ż ż 480 Assign variable 199 to RC axis position current limiting value RPTQ ż ż ż ż 481 Assign RC axis position speed to variable 199 R...

Page 514: ... RC axis to its home RHOM ż ż ż ż 489 Move by RC axis position specification RMVP ż ż ż ż 490 Incremental move by RC axis position specification RMPI ż ż ż ż 491 Move by RC axis direct specification RMVD ż ż ż ż 492 Incremental move by RC axis direct specification RMDI ż ż ż ż 493 Move by RC axis push motion operation RPUS ż ż ż ż 494 RC actuator control command Decelerate RC axis to stop RSTP ż ż...

Page 515: ...axis position data XPCP ż ż 503 Read extension motion control board axis current command position XPRD ż ż 504 Read extension motion control board axis current command position single axis direct XPRQ ż ż 505 Write extension motion control board axis speed data XPVL ż ż 506 Write extension motion control board axis acceleration data XPAC ż ż 507 Write extension motion control board axis decelerati...

Page 516: ...d axis for position indicated interpolation XMVL ż ż 520 Move extension motion control board axis for position relative interpolation XMLI ż ż 521 Move extension motion control board axis to directly indicated absolute position XMVD ż ż 522 Move extension motion control board axis to directly indicated relative position XMDI ż ż 523 Perform extension motion control board axis jog operation XJ ż ż ...

Page 517: ...dual electronic cam indicating time XCTM ż ż 534 Start synchronizing of extension motion control board axis electronic shaft XSFS ż ż 536 Extension motion control board axis actuator control commands Cancel operation of extension motion control board axis XSYE ż ż 538 Extension motion control board axis status acquirement Acquire extension motion control board axis status 0 to 15 axis XAST ż ż 540...

Page 518: ...24 ...

Page 519: ...nt safety parts of machinery Safety device etc Ɣ Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Ɣ 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 humidit...

Page 520: ...r the safety factor of the hook in such factors as shear strength Ɣ Do not get on the load that is hung on a crane Ɣ Do not leave a load hung up with a crane Ɣ Do not stand under the load that is hung up with a crane 3 Storage and Preservation Ɣ The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation ...

Page 521: ...ooseness Failure to do so may cause a fire electric shock or malfunction of the product Ɣ 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 Ɣ The grounding operation should be performed to prevent an electric shock or ele...

Page 522: ...y to secure safety Ɣ 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 Ɣ 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 Ɣ When the work is carried out with 2 or more persons ma...

Page 523: ...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 Ɣ Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Ɣ Before starting automatic operation make sure that all peripheral equipment is in an automatic operation r...

Page 524: ...ult in a damage to the product Ɣ 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 Ɣ 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 Ɣ Pay attention not to lose the cover or u...

Page 525: ...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 526: ...32 ...

Page 527: ...P Q PCT QCT Controller Instruction Manual ME0148 5 XSEL PX QX Controller Instruction Manual ME0152 6 PSEL Controller Instruction Manual ME0172 7 ASEL Controller Instruction Manual ME0165 8 SSEL Controller Instruction Manual ME0154 9 TT Controller ME0149 10 PC Software IA 101 X MW IA 101 X USBMW ME0154 11 Teaching Pendant SEL T TD TG ME0183 12 Teaching Pendant IA T X XD ME0160 13 DeviceNet Instruct...

Page 528: ...101 X MW 2 PC software with USB conversion adapter RS232C cable emergency stop box IA 101 X USBMW 3 PC software with RS232C cable emergency stop box connector conversion cable IA 101 X MW J 4 PC software with USB cable dummy plug IA 101 X USB 5 PC software with safety category 4 cable emergency stop box IA 101 XA MW 6 Teaching pendant SEL T J is excluded 7 Teaching pendant with deadman switch SEL ...

Page 529: ...more This software is to be used with being installed in the hard disk 5 Serial Port There should be 1 unit of RS232C port that is capable for the communication speed setting of 9600bps or more Note This is for the case the model code of PC software is IA 101 MW 6 USB Port There should be 1 unit of USB port with its version 1 1 or more Note This is for the case the model code of PC software is IA ...

Page 530: ...responds to 0mm in position data Positions from the home represent position data The direction is reversed if the actuator is of reversed home specification Axis Number of the position table will be that of the connector that is connected physically to the actuator motor and encoder cable Refer to the instruction manual of the controller for the details 0 ཎⅬ 㸩 0 ཎⅬ 㸩 0 Home Position No 1 Position ...

Page 531: ...or and encoder cable is connected physically The coordinate system shown in the figure below is when each actuator motor and encoder cable is connected to the Axis Number in bracket Refer to the instruction manual of each controller for the details Axis1 Axis 1 Axis2 Axis 2 Axis3 Axis 3 TT Axis1 Axis 1 Axis2 Axis 2 Axis3 Axis 3 Rectangular Axes 0 Home Axis2 Y axis Axis1 X axis Axis3 Z axis Axis2 Y...

Page 532: ...otational angles from the home represent position data 300 0 To the rotation axes there is the finite stroke type that operates within the established angular range and the infinite stroke type that can rotate for a number of times in the indicated direction Refer to the instruction manual of each actuator for the details ...

Page 533: ...present position data 1 Stroke Distance between both grippers 1 4 5 SCARA Robot 1 Coordinates A horizontal articulated SCARA robot has three coordinate systems including the base coordinate system work coordinate system and tool coordinate system Coordinates Base coordinate system Work coordinate system Tool coordinate system ࣇ ࣥ ࢱࢵࢳ ࣥࢺ Finger Attachment ...

Page 534: ...e Axis Type SCARA ROBOT IXP 3N Xb Yb and Zb are available to indicate as the target position The XY axis home is the center of the base center of rotation of arm 1 The Z axis home is the top edge of the effective Z axis stroke The R axis home is where the D cut surface faces the Xb direction The X axis Y axis Z axis and R axis on the base coordinate system are indicated as Xb Yb Zb and Rb respecti...

Page 535: ...m No 0 is reserved as the base coordinate 0 work coordinate system offset by the system R work coordinate offset is valid also on Three Axis Type SCARA ROBOT IXP 3N Xofwn X work coordinate offset Yofwn Y work coordinate offset Zofwn Z work coordinate offset Rofwn R work coordinate offset Xwn Work coordinate system X axis Ywn Work coordinate system Y axis Zwn Work coordinate system Z axis Rwn Work ...

Page 536: ... axis is jogged the axis operates as shown below The orientation of the tool coordinate system axis is always the same as the orientation of the base coordinate system axis on Three Axis Type SCARA ROBOT IXP 3N As there is no R axis the control of the orientation posture of the tool cannot be conducted Therefore there may be a case the tool end may not be the reachable point at positioning Also th...

Page 537: ... CP operation In CP operation the speed and acceleration deceleration are set beforehand in the program using a control declaration command Speed setting command VEL unit mm sec Acceleration setting command ACC unit G Deceleration setting command DCL unit G Example ACC 0 5 Set the acceleration for CP operation to 0 5G DCL 0 5 Set the deceleration for CP operation to 0 5G VEL 500 Set the speed for ...

Page 538: ...ath enters the CP operation band as a result of path calculation B7C Target path in CP operation limit band error PTP jotting of axis permitted occurs If the actual movement path enters the CP operation limit band on the other hand B74 CP operation limit band entry error PTP jogging of axis permitted or C74 Actual position soft limit over error occurs The width of the CP operation limit band dista...

Page 539: ...ol declaration command Speed setting command VELS unit percentage relative to the maximum PTP speed SCARA axis set in axis parameter No 28 Acceleration setting command ACCS unit percentage relative to the maximum PTP acceleration for SCARA axis set in axis parameter No 134 Deceleration setting command DCLS unit percentage relative to the maximum PTP deceleration for SCARA axis set in axis paramete...

Page 540: ...ple the following teaching settings are assumed Position data for Position No 1 X 300 Y 200 Z 0 R 0 Position data for Position No 2 X 350 Y 300 Z 50 R 30 Position data for Position No 3 X 320 Y 250 Z 100 R 30 2 Position to the position data shown above via PTP operation Program example VELS 50 ACCS 50 SLWK 0 Select Work Coordinate System No 0 SLTL 0 Select Tool Coordinate System No 0 PTPR Specify ...

Page 541: ...ate System No 1 set Xofw1 150 Yofw1 200 Zofw1 0 and Rofw1 30 For the offset of Work Coordinate System No 2 set Xofw2 400 Yofw2 100 Zofw2 25 and Rofw2 20 Shown below is the edit screen for work coordinate system definition data in the PC software for horizontal articulated robot where Work Coordinate System No 1 and No 2 have been set To set a work coordinate system offset in the SEL program use a ...

Page 542: ... backup battery has been set and power has been reconnected Example 1 Position to Position No 5 and No 6 via PTP operation on Work Coordinate System No 1 Program example SLWK 1 Select Work Coordinate System No 1 SLTL 0 Select Tool Coordinate System No 0 PTPR Specify right arm of PTP target arm system MOVP 5 Move to Position No 5 MOVP 6 Move to Position No 6 The R axis position is shown to the left...

Page 543: ... above The Z axis position is as follows Position No 5 Zb 25 Position No 6 Zb 45 Position No 5 Position No 6 Position No 5 Position No 6 D cut surface of R axis direction Program example SLWK 2 Select Work Coordinate System No 2 SLTL 0 Select Tool Coordinate System No 0 PTPR Specify right arm of PTP target arm system MOVP 5 Move to Position No 5 MOVP 6 Move to Position No 6 ...

Page 544: ...tool coordinate system Define Tool Coordinate System No 1 as shown below Offsets under Tool Coordinate System No 1 Xoft1 45 Yoft1 35 Zoft1 10 Roft1 45 Shown below is the edit screen for tool coordinate system definition data in the PC software for horizontal articulated robot where Tool Coordinate System No 1 has been set To set a tool coordinate system offset in the SEL program use a DFTL command...

Page 545: ...ee Axis Type SCARA ROBOT IXP 3N As there is no R axis the control of the orientation posture of the tool cannot be conducted Therefore there may be a case the tool end may not be the reachable point at positioning Also the setting of the tool coordinate system offset on the R axis will be ignored Example 1 Position the tip of the tool on Tool Coordinate System No 1 to Position No 5 and No 6 on Wor...

Page 546: ...inate System No 2 via PTP operation Program example SLWK 2 Select Work Coordinate System No 2 SLTL 1 Select Tool Coordinate System No 1 PTPR Specify right arm of PTP target arm system MOVP 5 Move to Position No 5 MOVP 6 Move to Position No 6 The Z axis position at the tip of the tool is as follows Position No 5 Zb 25 Position No 6 Zb 45 ...

Page 547: ...ion Left arm system Condition where arms 1 and 2 extend straight and arm 2 is positioned in the CW direction The conditions of robot arms are expressed by assuming them as human arms The operation area is different between the right arm system and left arm system The figure below shows the operation area of each arm system of a robot whose arm length is 500mm Operation area of left arm system Oper...

Page 548: ...nly one of PTPD PTPE PTPR and PTPL whichever is executed last remains valid RIGH and LEFT are control commands for the current arm system 3 Arm system control commands and arm system changes Arm system commands and how the arm system changes during PTP operation as a result of their declaration are explained Set position No 1 to 4 as shown below 1 to 4 Try moving the actuator using a MOVP command ...

Page 549: ...positioning by moving according to the current arm system The PTPD command prohibits situations where the current arm system is opposite the target arm system An attempt to move to an area to which positioning is impossible without changing to the opposite arm system generates an error C73 Target path soft limit over error Even when a PTPD command is not executed this command is already effective ...

Page 550: ...mits situations where the current arm system is opposite the target arm system Therefore it is permitted to move to an area to which positioning is impossible without changing to the opposite arm system To prohibit moving to the area for opposite arm system after permitting such movement execute a PTPD command 1 Starting from right arm system 2 Starting from left arm system ...

Page 551: ...the left arm system generates a C73 Target path soft limit over error Executing a PTPR command alone does not initiate any arm movement When a PTP movement command is executed following the execution of a PTPR command and while the current arm system is the left arm system the robot moves as it changes from the left arm system to right arm system and performs positioning according to the right arm...

Page 552: ...he right arm system generates a C73 Target path soft limit over error Executing a PTPL command alone does not initiate any arm movement When a PTP movement command is executed following the execution of a PTPL command and while the current arm system is the right arm system the robot moves as it changes from the right arm system to left arm system and performs positioning according to the left arm...

Page 553: ...he above example the PTPD command is effective because no arm system control command other than RIGH is set The RIGH command only controls the current arm system It does not limit positioning via PTP operation to the right arm system The arm system used for positioning varies depending on the control declaration of target arm system PTPD PTPE PTPR PTPL Accordingly the specific operation that takes...

Page 554: ...he above example the PTPD command is effective because no arm system control command other than LEFT is set The LEFT command only controls the current arm system It does not limit positioning via PTP operation to the left arm system The arm system used for positioning varies depending on the control declaration of target arm system PTPD PTPE PTPR PTPL Accordingly the specific operation that takes ...

Page 555: ... Set an appropriate load mass according to the load to be transported etc The calculation formats of PTP acceleration and deceleration in PTP optimum acceleration deceleration are as shown below z PTP acceleration Maximum acceleration determined by the load mass etc ACCS command z PTP deceleration Maximum deceleration determined by the load mass etc DCLS command The WGHT command is supported by co...

Page 556: ...mplete The tip load mass setting by the WGHT Command is required while the SCARA Z axis position and horizontal movement optimizing function are effective Set the load mass setting accordingly following the transporting work figure zAll axis common parameters No Parameter name Default value reference Input range Unit Access privilege Remarks 51 SCARA axis control 1 0H 0H to FFFFF FFFH F Bits 8 to ...

Page 557: ... setting the horizontal movement optimization function should be prioritized and may not reach the set speed x When operating individually with the PATH CIR ARC CIRS ARCS or PSPL Command while the horizontal movement optimization CP by Z position is activated the movement speed during the command may vary due to the robot load mass or the movement position In a continuous operation with the contin...

Page 558: ...ordinate systems Note These parameters have been set to the maximum limits of range of operation at the factory Do not set values that would enlarge the range of operation 1 Coordinates on each axis system and soft limits Soft limits for arm 1 The arm 1 position at which the arm faces the Xb direction defines the coordinate home of the axis system of arm 1 0deg This position is not affected by the...

Page 559: ...is system of Z axis 0mm This position is the same as the Axis 3 0mm position on the base coordinate system On actuators of clean room specification and dust proof splash proof specification this mechanical stopper is not visible because it is located inside bellows Movements in the downward direction positive direction from this coordinate home of axis system are limited by the soft limit axis 3 o...

Page 560: ...em and this axis system Example Limit the range of operation of the R axis to r180 from the position shown below Limit the R axis to within r180deg in the Axis 4 0 condition on the base coordinate system In this case the R axis is limited to within 90deg in the positive direction and within 270deg in the negative direction from the coordinate home of the axis system of R axis The parameters below ...

Page 561: ...r each axis system in the position data edit window the currently displayed position switch to a coordinate based on the selected axis system An IX5020 arm length 500mm Z axis 200mm is located at the position of Axis 1 0 Axis 2 500 Axis 3 0 Axis 4 0 on the base coordinate system Note Position data cannot be loaded in each axis system For details on the specific operating procedure refer to the Ins...

Page 562: ...oes not change the position of the simple contact check zone If the coordinates defining the simple contact check zone are changed it will take 5msec before the check result according to the new coordinates is reflected x In PTP operation the robot does not move along a fixed path Conduct test operation at low speed to confirm absence of contact near an obstacle including a part of the robot and t...

Page 563: ...s outside the range of 0 to 180q 2 For simple contact check zone No 2 set an area where Yb is 425mm or more as the simple contact check zone 3 For simple contact check zone No 3 set an area where Xb is 400mm or less and Zb is 130mm or more as the simple contact check zone Shown below is the screenshot of the edit window for the simple contact check zone definition data in PC software dedicated for...

Page 564: ...1 turns ON upon entry into simple contact check zone No 1 output port No 312 turns ON upon entry into simple contact check zone No 2 and output port No 313 turns ON upon entry into simple contact check zone No 3 Use a DFIF command if you want to set a simple contact check zone within the SEL program Note on detection while tool coordinate system is selected While the tool coordinate system is sele...

Page 565: ...ning listed below yAxis 1 Interference domain data of X axis for SCARA axes Axes 1 to 4 yAxis 2 Interference domain data of Y axis for SCARA axes Axes 1 to 4 yAxis 3 Interference domain data of A axis for SCARA axes Axes 1 to 4 yAxis 4 Interference domain data of R axis for SCARA axes Axes 1 to 4 yAxis 5 Interference domain data of X axis for SCARA axes Axes 5 to 8 yAxis 6 Interference domain data...

Page 566: ...Output Port No Port No Function Function Program Start General purpose Input General purpose Input General purpose Input General purpose Input General purpose Input General purpose Input General purpose Input General purpose Input Alarm Output Ready Output Emergency Stop Output General purpose Output General purpose Output General purpose Output General purpose Output General purpose Output Genera...

Page 567: ...ecification bit 2 No 38 0 General purpose input 1 Program number specification bit 2 11 Brown 2 009 Program number specification bit 3 No 39 0 General purpose input 1 Program number specification bit 3 12 Red 2 010 Program number specification bit 4 No 40 0 General purpose input 1 Program number specification bit 4 13 Orange 2 011 Program number specification bit 5 No 41 0 General purpose input 1 ...

Page 568: ...rn 3 Output when all effective axes are at home preset coordinate Main application Ver 0 21 or later To move an actuator of absolute encoder specification to coordinate 0 or the home preset coordinate use a MOVP command instead of HOME command 39 White 4 305 General purpose output No 51 0 General purpose output 2 Axis 1 servo ON output Main application Ver 0 44 or later 40 Black 4 306 General purp...

Page 569: ...ication version 0 28 or later 7018 Abnormal voltage of axis 2 absolute data backup battery latched until power on reset or software reset main application version 0 28 or later 7019 Voltage low warning for axis 3 absolute data backup battery main application version 0 28 or later 7020 Abnormal voltage of axis 3 absolute data backup battery latched until power on reset or software reset main applic...

Page 570: ...ll operation cancellation factor is present 7011 latch is cancelled only when operation cancellation factor is no longer present 7300 will be turned OFF following an attempt to cancel latch 7301 to 7380 For future expansion Use strictly prohibited 7381 to 7399 For future expansion Use strictly prohibited 7400 to 7599 For future expansion Use strictly prohibited ...

Page 571: ... battery voltage low warning 7016 Axis 1 absolute data backup battery voltage error Latched until power ON reset or software reset 7017 Axis 2 absolute data backup battery voltage low warning 7018 Axis 2 absolute data backup battery voltage error Latched until power ON reset or software reset 7019 Axis 3 absolute data backup battery voltage low warning 7020 Axis 3 absolute data backup battery volt...

Page 572: ...dicating a cause of all operation cancellation 7011 Unlatched only when the cause of operation cancellation is no longer present 7300 is turned OFF after latch cancellation is attempted 7301 to 7380 For future expansion Use is strictly prohibited 7381 to 7399 Reserved by the system Use is strictly prohibited 7400 to 7599 For future expansion Use is strictly prohibited ...

Page 573: ...05 General purpose input No 35 Input function selection 005 0 General purpose input 1 Operation pause cancellation input ON edge 8 Gray 1 006 General purpose input No 36 Input function selection 006 0 General purpose input 1 Operation pause signal OFF level 9 White 1 007 Program number specification MSB No 37 Input function selection 007 0 General purpose input 1 Program number specification MSB 1...

Page 574: ...er No 12 is set to 1 38 GY 4 304 Universal Output No 50 No 335 Output Function Selection 304 Output Function Selection 304 Area 2 0 Universal Output 1 Output at the time of All Effective Axes Homing 0 2 Output when all the effective axes homing is completed 3 Output when all the effective axes home preset coordinates are set When the actuator applicable to the absolute encoder is moved to the coor...

Page 575: ...8 GY 5 314 Universal Output No 60 No 345 Output Function Selection 314 Output Function Selection 314 Area 2 0 Universal Output 1 Absolute Battery Backup Battery Low Voltage Alarm Level or less All axes OR check Error level detection is maintained until power ON reset and software reset 49 WT 5 315 Universal Output No 61 No 346 Output Function Selection 315 Output Function Selection 315 Area 2 50 B...

Page 576: ...16 Axis 1 absolute data backup battery voltage error Latched until power ON reset or software reset 7017 Axis 2 absolute data backup battery voltage low warning Main application version 0 28 or later 7018 Axis 2 absolute data backup battery voltage error Latched until power ON reset or software reset 7019 Axis 3 absolute data backup battery voltage low warning 7020 Axis 3 absolute data backup batt...

Page 577: ...tion 7165 Program No 65 is being executed or paused Controller with increased memory capacity with gateway function only 7228 Program No 128 is being executed or paused Controller with increased memory capacity with gateway function only 7229 to 7299 For future expansion Use is strictly prohibited ...

Page 578: ... indicating a cause of all operation cancellation 7011 Unlatched only when the cause of operation cancellation is no longer present 7300 is turned OFF after latch cancellation is attempted 7301 to 7380 For future expansion Use is strictly prohibited 7381 to 7399 Reserved by the system Use is strictly prohibited 7400 to 7599 For future expansion Use is strictly prohibited ...

Page 579: ... MSB No 37 0 General purpose input 1 Program number specification MSB 10 Black 1 008 Program number specification bit 2 No 38 0 General purpose input 1 Program number specification bit 2 11 Brown 2 009 Program number specification bit 3 No 39 0 General purpose input 1 Program number specification bit 3 12 Red 2 010 Program number specification bit 4 No 40 0 General purpose input 1 Program number s...

Page 580: ... completed home return 3 Output when all effective axes are at home preset coordinate To move an actuator of absolute encoder specification to coordinate 0 or the home preset coordinate use a MOVP command instead of HOME command 39 White 4 305 General purpose output No 51 0 General purpose output 2 Axis 1 servo ON output 40 Black 4 306 General purpose output No 52 0 General purpose output 2 Axis 2...

Page 581: ...ry main application version 0 28 or later 7018 Abnormal voltage of axis 2 absolute data backup battery latched until power on reset or software reset 7019 Voltage low warning for axis 3 absolute data backup battery 7020 Abnormal voltage of axis 3 absolute data backup battery latched until power on reset or software reset 7021 Voltage low warning for axis 4 absolute data backup battery 7022 Abnorma...

Page 582: ...operation cancellation factor is present port 7011 The latch is cancelled only when operation cancellation factor is no longer present 7300 will be turned OFF following an attempt to cancel latch 7301 to 7380 For future expansion Use strictly prohibited 7381 to 7399 For future expansion Use strictly prohibited 7400 to 7599 For future expansion Use strictly prohibited ...

Page 583: ...al purpose input No 35 Input function selection 005 0 General purpose input 1 Operation pause cancellation input ON edge 8 Gray 1 006 General purpose input No 36 Input function selection 006 0 General purpose input 1 Operation pause signal OFF level 9 White 1 007 Program number specification MSB No 37 Input function selection 007 0 General purpose input 1 Program number specification MSB 10 Black ...

Page 584: ...on 304 Output Function Selection 304 Area 2 0 Universal Output 1 Output at the time of All Effective Axes Homing 0 2 Output when all the effective axes homing is completed Coordinates determined 3 Output when all the effective axes home preset coordinates are set 39 WT 4 305 Universal Output No 51 No 336 Output Function Selection 305 Output Function Selection 305 Area 2 0 Universal Output 1 Axis 1...

Page 585: ...Output 1 System Memory Backup Battery Low Voltage Alarm Level or less 48 GY 5 314 Universal Output No 60 No 345 Output Function Selection 314 Output Function Selection 314 Area 2 0 Universal Output 49 WT 5 315 Universal Output No 61 No 346 Output Function Selection 315 Output Function Selection 315 Area 2 0 Universal Output 50 BK 5 0V Output x By default the ON OFF state of an input signal is reco...

Page 586: ...ry voltage low warning 7018 Axis 2 absolute data backup battery voltage error Latched until power ON reset or software reset 7019 Axis 3 absolute data backup battery voltage low warning 7020 Axis 3 absolute data backup battery voltage error Latched until power ON reset or software reset 7021 Axis 4 absolute data backup battery voltage low warning 7022 Axis 4 absolute data backup battery voltage er...

Page 587: ...atches until TRAC 1 nnn or Tracking Operation Execution Program Finish 7079 During Tracking Mode Work detection valid for SCARA controller only 7080 During Tracking Operation including a pause in tracking operation 7081 to 7100 Reserved by the system Use is strictly prohibited 7101 Program No 01 is being executed or paused 7102 Program No 02 is being executed or paused 7103 Program No 03 is being ...

Page 588: ...nal indicating a cause of all operation cancellation 7011 Unlatched only when the cause of operation cancellation is no longer present 7300 is turned OFF after latch cancellation is attempted 7301 to 7380 For future expansion Use is strictly prohibited 7381 to 7399 Reserved by the system Use is strictly prohibited 7400 to 7599 For future expansion Use is strictly prohibited ...

Page 589: ...fication MSB No 37 0 General purpose input 1 Program number specification MSB 10 Black 1 008 Program number specification bit 2 No 38 0 General purpose input 1 Program number specification bit 2 11 Brown 2 009 Program number specification bit 3 No 39 0 General purpose input 1 Program number specification bit 3 12 Red 2 010 Program number specification bit 4 No 40 0 General purpose input 1 Program ...

Page 590: ...ring the Axis 1 servo ON 40 Black 4 306 General purpose output No 52 0 General purpose output 1 Axis 2 in position output turned OFF when pressing missed 2 Output during the Axis 2 servo ON 41 Brown 5 307 General purpose output No 53 0 General purpose output 1 Axis 3 in position output turned OFF when pressing missed 2 Output during the Axis 3 servo ON 42 Red 5 308 General purpose output No 54 0 G...

Page 591: ... ON edge 5A White 1 023 Software reset 258 Input function selection 023 3 8 Operation pause signal OFF level 5B Black 1 000 Program start 30 Input function selection 000 1 9 Program number specification MSB 6A Brown 2 001 General purpose input 31 Input function selection 001 0 10 Program number specification bit 2 6B Red 2 002 General purpose input 32 Input function selection 002 0 11 Program numb...

Page 592: ...on selection 306 0 6 READY output PIO trigger program operation enabled AND no operation cancellation level or higher error 17A Orange 4 307 General purpose output 53 Output function selection 307 0 7 READY output PIO trigger program operation enabled AND no cold start level or higher error 17B Yellow 4 N I O power supply 0V 8 Emergency stop output ON 9 Emergency stop output OFF 10 AUTO mode outpu...

Page 593: ...015 Axis 1 absolute data backup battery voltage low warning 7016 Axis 1 absolute data backup battery voltage error Latched until power ON reset or software reset 7017 Axis 2 absolute data backup battery voltage low warning 7018 Axis 2 absolute data backup battery voltage error Latched until power ON reset or software reset 7019 to 7026 For future expansion Use is strictly prohibited 7027 to 7040 R...

Page 594: ...eneral purpose input 1 Program number specification LSB 38 Input function selection 008 2 0 General purpose input 1 Program number specification bit 2 39 Input function selection 009 2 0 General purpose input 1 Program number specification bit 3 40 Input function selection 010 2 0 General purpose input 1 Program number specification bit 4 41 Input function selection 011 2 0 General purpose input 1...

Page 595: ...vo ON output 54 339 Output function selection 308 Output function selection 308 area 2 0 General purpose output 55 340 Output function selection 309 Output function selection 309 area 2 0 General purpose output 56 341 Output function selection 310 Output function selection 310 area 2 0 General purpose output 57 342 Output function selection 311 Output function selection 311 area 2 0 General purpos...

Page 596: ...ch cancellation 7300 ON 7012 A cause of all operation pause is present including a condition waiting for the restart switch to be pressed Effective only in the auto operation recognition mode 7013 A cause of all servo axis interlock is present cause of all operation pause cause of interlock input port 7014 to 7050 Reserved by the system Use is prohibited 7051 to 7070 For future expansion Use is pr...

Page 597: ...0 General purpose input 005 No 35 1 Operation pause cancellation input On edge process signal 0 General purpose input 006 No 36 1 Operation pause cancellation input level signal with always being on Independent from value in Input Function Select 000 0 General purpose input When Input Function Select 000 1 007 No 37 When Input Function Select 000 2 1 Program number specification 0bit Independent f...

Page 598: ... program operation enabled 2 READY output PIO trigger program operation enabled AND no operation cancellation level or higher error 301 No 47 3 READY output PIO trigger program operation enabled AND no cold start level or higher error ON 0 General purpose output 1 Emergency stop output ON 302 No 48 2 Emergency stop output OFF 303 No 49 0 General purpose output 304 No 50 0 General purpose output 30...

Page 599: ... cancellation 7300 ON 7012 A cause of all operation pause is present including a condition waiting for the restart switch to be pressed Effective only in the auto operation recognition mode 7013 A cause of all servo axis interlock is present cause of all operation pause cause of interlock input port 7014 to 7050 Reserved by the system 7051 to 7070 For future expansion 7071 In the AUTO mode 7072 Du...

Page 600: ...edit window differs depending on the type of robot xThe total number of settable positions differ depending on the controller Controller Position Total Number XSEL P Q PCT QCT PX QX 20000 XSEL R S RX SX RXD SXD 53332 1 axis specification 40000 2 axis specification 32000 3 axis specification 26666 4 axis specification 22856 5 axis specification 20000 6 axis specification 17776 7 axis specification ...

Page 601: ...the data is transferred Note 1 When having the software reset conducted or the power turned OFF without writing the position data to the flash ROM after a change is made to a comment 22B Position Data Comment Lost Error will occur and the comment that a change was made will be deleted It is only the comment which is lost and the program operation is available Note 2 Comment is applicable also for ...

Page 602: ...acceleration All axis parameter No 12 Default deceleration The setting ranges vary depending on the actuator x Speed 1 to the value of all axis common parameter No 21 Maximum operating speed x Acceleration 0 01 to the value of all axis common parameter No 22 Maximum acceleration x Deceleration 0 01 to the value of all axis common parameter No 23 Maximum deceleration With rotational axes values in ...

Page 603: ...tem at PTP movement R right arm system L left arm system The indications become valid when 1 an operation is made with Move in the position data edit window or Continuous Move button or 2 when SEL program PTP movement command is executed using the position data Note 1 Unless otherwise the target arm system is indicated the operation will be made with the current arm system Note 2 The priority is p...

Page 604: ...eration Deceleration 1 Value set in the position data table Value set in the position data table 2 Value set in the VEL command Value set in the ACC DCL command 3 All axis parameter No 11 Default acceleration All axis parameter No 12 Default deceleration The setting ranges vary depending on the actuator x Speed 1 to the value of all axis common parameter No 21 Maximum operating speed x Acceleratio...

Page 605: ...AI Note The number of programs and total number steps vary depending on the controller Controller Number of programs Total number of program steps XSEL P Q PCT QCT PX QX R S RX SX RXD SXD 128 9999 XSEL J K KE KT KET JX KX KETX 64 6000 SSEL 128 9999 ASEL PSEL 64 2000 TT 64 6000 TTA 256 9999 MSEL 256 9999 ...

Page 606: ...number 1 line to another for the operation Thus it is unnecessary to compile translate into the computer language The program edit window is created in a program format table format and you are only to input the information for position command etc to the appropriate areas In the following explains about the program format Step No Input Condition Input Condition Command and Declaration Expansion C...

Page 607: ...p 2 If no condition is set the command is executed unconditionally 3 To use the condition in reverse using the so called contact b logic add N NOT to the condition 4 You can use an input port output port or flag for the input condition 5 Operands 1 and 2 and the output can be specified indirectly 2 Operation of the output specified after the command and operands 1 and 2 is explained below 1 In the...

Page 608: ...EL language Ladder diagram Condition 1 Condition 2 Condition 3 Command Extension condition Input condition Command Operand 1 Operand 2 Output Condition 1 A Condition 2 A Condition 3 Command Operand 1 Operand 2 Command Extension condition Input condition Command Operand 1 Operand 2 Output Condition 1 Condition 2 Command Operand 1 Operand 2 Condition 1 Condition 2 Command Extension condition Input c...

Page 609: ...he above example the actuator moves to the positions at 100mm corresponding to position No 1 and 150mm corresponding to position No 2 The position table is a single table that can be referenced from all programs In the example below the standard position table is used A different table is used if the controller has a gateway function Note For RC Gateway Function a different position table is to be...

Page 610: ...ll turn OFF upon emergency stop etc but the ON status can be maintained using an I O parameter I O parameter No 70 and 71 Note SCARA robots do not require home return operation 2 Example of Use a Output a home return completion signal b Use a home return completion signal to make sure the actuator will not perform homing if it has already been performed c Use the output field instead of a BTON com...

Page 611: ...兗儫兠儣䣐䣱䢰䢳僑 ື 允儜儛克兗儫兠儣䣐䣱䢰䢴僑 ື 允儜儛克兗儫兠儣䣐䣱䢰䢵僑 ື 允儜儛克兗儫兠儣䣐䣱䢰䢶僑 ື 允儜儛克兗儫兠儣䣐䣱䢰䢷僑 ື ࢪࢩࣙࣥࢹ ࢱ Homing Start Set speed End of program Move to P1 Move to P2 Move to P3 Move to P4 Move to P5 Flowchart x Homing must be performed and a speed must be set before the actuator can be operated x The actuator moves to the position data coordinates specified by the respective move commands x With the absolute specificat...

Page 612: ...䣱䢰䢴僑 ື 䣖䣃䣉䢳僑儜兇兗儻 允 允儜儛克兗儫兠儣䣐䣱䢰䢳僑 ື ࢪࢩࣙࣥࢹ ࢱ ࣉࣟࢢࣛ 允儜儛克兗儫兠儣䣐䣱䢰䢴僑 ື 䣖䣃䣉䢳僑儜兇兗儻 Program Example Position data Example Homing Start Move to P1 Move to P2 Flowchart x The actuator moves back and forth between P1 and P2 indefinitely x Use of only 1 axis is assumed x Enter TAG in the first of the steps to be repeated and enter GOTO in the last of the steps to be repeated TAG1 ࢪࣕࣥࣉ ...

Page 613: ...program or to jump to a desired step if a condition is satisfied A TAG command can be written in a step either before or after a GOTO command 2 Example of Use Example 1 Example 2 Repeated Steps to be repeated Repeat the same operation Move to Position 1 o to position 2 o to position 1 Jump Steps to be ignored Skip steps ...

Page 614: ... PATH 4 4 are input successively the actuator will still move in the same way as when PATH 2 4 is input If PATH 4 1 is executed while the actuator is stopped at P4 the actuator will move along the same path in the opposite direction P4 o P3 o P2 o P1 It is possible to move through discontinuous positions or move continuously by passing the same position PATH 1 4 PATH 6 6 discontinuous position PAT...

Page 615: ...ing As the actuator approaches P2 output port 310 turns ON Outputs 310 to 313 can be turned ON sequentially at the respective points of P2 to P5 Note This command is able only to output and to turn the flag ON The output or flag that was turned ON during path operation must be turned OFF using a BTOF command after the operation is completed 3 Example of Use Refer to the page for PATH Command in 12...

Page 616: ...uator will move along this circle clockwise x To cause the actuator to move counterclockwise specify CIR2 3 2 Arc x Specify ARC2 2 3 after the actuator has moved to P1 3 Reference 1 Some circle and arc commands can be executed not only two dimensionally between two actuator axes but also three dimensionally among three actuator axes CIRS xxxxxxxxxx Move along circle three dimensionally ARCS xxxxxx...

Page 617: ...e 2 Example of Use Wait for the input port external signal 10 to turn ON and then move to P1 Position Data No 1 Wait for the input port external signal 11 to turn ON and then move to P2 Position Data No 2 The movement complete signal for P1 is output to the output port 310 and P2 complete signal to port 311 ࣉ ࣉࣟࢢࣛ ࣉ ࣉࣟࢢࣛ Start Move to P1 Output 310 ON Output 310 OFF Move to P2 Output 311 ON End of...

Page 618: ...m Position at 100mm P1 The actuator moves at 100mm sec Position at 200mm P2 The actuator moves at 500mm sec Position at 300mm P3 The actuator moves at 1000mm sec Position at 400mm P4 The actuator moves at 50mm sec If a speed is specified in the position data table this speed takes precedence over the speed specified in the application program as shown above ࣉ ࣉࣟࢢࣛ ࢪࢩࣙࣥࢹ ࢱ 䣒䢳 ື ᗘ䢳䢲䢲䢲䣯䣯䢱䣵䣧䣥タᐃ 䣒䢴 ື 䣒...

Page 619: ...g application where the application volume changes in the middle 2 Example of Use The actuator moves through linear sections a b and c at 50mm sec 20mm sec and 50mm sec respectively without stopping PATH operation 3 Reference The speed can also be changed from other program using a CHVL speed change command ࢪࢩࣙࣥࢹ ࢱ ࣉࣟࢢࣛ ࢪࢩࣙࣥࢹ ࢱ ࣉࣟࢢࣛ Position data Example Application width Section a Section b Secti...

Page 620: ...or example The XSEL controller Note 1 has a built in battery for retaining variables and flags used in the programs The data is retained in the global domain for both variables and flags even if the power is turned OFF The variables and flags in the local range are cleared when the program is started the variables are reset to 0 while the flags turn OFF Note 1 XSEL R S RX SX RXD SXD do not have a ...

Page 621: ...an be used in one program Up to 15 subroutine calls can be nested 2 Example of Use Declare call subroutines using the following commands EXSR Call a subroutine BGSR Declare the start of a subroutine start of a group of steps EDSR Declare the end of a subroutine end of a group of steps 3 Note Jumping from within a subroutine to a TAG position outside the subroutine using a GOTO command is prohibite...

Page 622: ...use if general purpose input 20 turns ON You can specify a global flag instead of an input port in Operand 1 of the HOLD command Use of a global flag allows the actuator to be paused from other program The input signal pattern and stop action can be selected using Operand 2 0 Contact a Decelerates to a stop Same as when Operand 2 is not specified 1 Contact b Decelerates to a stop 2 Contact b Decel...

Page 623: ...is input all operation commands are cancelled sequentially while tasks other than operation commands such as I O processing and calculation processing are executed sequentially A desired input signal pattern can be selected for a CANC command using Operand 2 0 Contact a Decelerates to a stop Same as when Operand 2 is not specified 1 Contact b Decelerates to a stop 3 Note It is recommended that you...

Page 624: ...being executed MOVL 1 will be cancelled and the actuator will continue its operation from MOVL 2 Main program Stop control program EXPG n The stop program starts WTON 20 Wait for stop input STOP 10 Axis 2 stops MOVP 1 MOVP 2 If STOP 10 is executed while MOVL 1 is being executed only the axis 2 part of MOVL 1 will be cancelled Both axes 1 and 2 will operate under MOVL 2 3 Note If a STOP command is ...

Page 625: ...ication 4 19 Position specification 8 20 Position specification 10 21 Position specification 20 22 Position specification 40 23 Position specification 80 24 Position specification 100 25 Position specification 200 26 Position specification 400 27 Position specification 800 Input assignment 1 Output Port Description 303 Movement completion 1 Start input 15 Position specification 1 16 Position speci...

Page 626: ...With TT robots 16 general purpose inputs from 016 to 0 31 can be input However if coordinate values from 400mm maximum TT stroke to 0 0mm are inputs in 0 1mm increments and a start signal is used to start the movement as in the example all of the 16 general purpose inputs are used Take note that in this case you can no longer use general purpose inputs for other purposes ࣉࣟࢢࣛ Program Example Input...

Page 627: ...xxx format move the unused digits to below the decimal point so that the result can be output as BCD data In this example the third and subsequent decimal places are not required and thus the value is multiplied by 100 to obtain the data xxxxx x Next the BCD output data is copied to dedicated variable 99 The digit below the decimal point is rounded off at this time Then the final value is output t...

Page 628: ...ill skip processing a and perform processing b If input 10 turns OFF the actuator will perform processing a and then perform processing b Wait for the input to the two ports 10 and 11 and if Input 10 becomes ON proceed to the processing a and proceed to the processing b if Input 11 becomes ON If both inputs 10 and 11 turn ON the actuator will perform processing a Example 2 Example 1 Execute GOTO 1...

Page 629: ...the next step when either input is received OR logic As shown in the sample the controller waits for input without using a WTON command This method can also be used when multiple input conditions must be combined 3 Note With a WTON command the program cannot wait for multiple inputs because processing will resume upon receipt of one of the specified inputs Input 10 Program a Input 20 Program b Bot...

Page 630: ...on or for other reasons 2 Example of Use Move the actuator from point A to point B which is offset by 80mm from point A 3 Note Once an offset has been set the offset applies to all movement commands executed thereafter To cancel the offset execute an offset command again by specifying 0mm An offset does not apply to other programs even in the multi tasking mode If a given offset must be applied to...

Page 631: ... of Use The actuator moves back and forth between P1 and P2 ten times and then the program ends Use a CPEQ command to compare the number of times the movement has been actually repeated against 10 It is assumed that homing has been completed 3 Reference The same operation can also be performed using a DWEQ command Program Example ...

Page 632: ...of times the actuator has been fed is counted by a counter variable The X axis is fed in the positive direction 3 Note An OFST command applies to movement commands Executing an OFST command alone does not move the axis 4 Reference Pitch feed can also be performed with MVPI and MVLI Commands Start Reference point Pitch mm Number of feeds n Program Example Flowchart Initial setting Move Apply offset...

Page 633: ...e x Explanation of commands JFWN 1 20 Axis 1 moves forward while input 20 is ON JFWF 1 21 Axis 1 moves forward while input 21 is OFF JBWN 10 22 Axis 2 moves backward while input 22 is ON JBWF 10 23 Axis 2 moves backward while input 23 is OFF x Stop the axis when a sensor input is received x Cause the actuator to jog just like in teaching pendant operation 2 axes are operated Program Example 3 Note...

Page 634: ...ill be aborted If a program number is specified in operand 2 the programs from the one corresponding to the program number in operand 1 to the other corresponding to the program number in operand 2 can be started EXPG or ended ABPG simultaneously 3 Note z Up to 16 programs maximum of 8 programs in the case of ASEL PSEL SSEL controllers can be run at the same time To use other programs when the con...

Page 635: ... multi tasking mode 2 Example of Use Main program Prg 1 Abort control program Prg n EXPG n The abort control program starts WTON 20 Wait for an abort input WTON 10 ABPG 1 Prg 1 is aborted MOVP 1 EXIT The program ends BTON 303 3 Note If the running program was executing any movement command the applicable axis immediately decelerates to a stop and then the program ends ...

Page 636: ...rogram is not running as determined by the checking of corresponding virtual I O port N710 Program No running that program is started 2 Example of Use PRG1 for task management TAG1 N7102 EXPG 0 02 PRG2 stopped PRG2 running N7103 EXPG 0 03 PRG3 stopped PRG3 running N7104 EXPG 0 04 PRG4 stopped PRG4 running TIMW 0 02 Task open GOTO 0 01 PRG2 auto ABPG 3 4 x x PRG3 step ABPG 2 ABPG 4 x x PRG4 JOG ABP...

Page 637: ...No 66 Rotational axis mode selection No Parameter name Default value Input range Unit 66 Rotational axis mode selection 0 0 to 5 None z Explanation This parameter selects a desired rotational axis mode Set this to 1 Related parameter Axis specific No 7 Soft limit z Setting values 0 Normal 1 Index mode When the index mode is selected the soft limit is fixed to 359 999mm internally Short cut control...

Page 638: ...tion to the indication value if the multi rotation operation is preferred z Setting values 0 Not selected 1 Selected By selecting short cut control you can cause the actuator to rotate in a specific direction Example Move the actuator through position No 2 o 3 o 4 o 1 successively based on position No 1 being the reference point Short cut control not selected Position No 2 Position No 1 1 Position...

Page 639: ...ers support only up to two axes TT robots support only up to three axes In addition to following the above rule you can also express axis numbers using symbols SCARA robot Axis Axis number X axis 1 Y axis 2 Z axis 3 R axis 4 In addition to following the above rule you can also express axis numbers using symbols Note The movements of arms 1 and 2 of a SCARA robot are interlocked It is not that arm ...

Page 640: ...e needed to indicate the position of axis 4 n Axis 1 Specifying an axis pattern indirectly using a variable Consider an axis pattern as a binary expression and assign a decimal equivalent of it to a variable Example Axis pattern where home return is performed only for axis 3 HOME 100 This pattern is specified indirectly as follows 100 binary o 4 decimal Accordingly LET 6 4 HOME 6 If multiple axes ...

Page 641: ...d Y axis Y axis p You should state 0011 The 0 s at the beginning are not necessary Take them away and use 11 n Axis 1 Example Use the X axis and R axis R axis p You should state 1001 In this case the 0 s are needed to indicate the position of axis R n X axis Specifying an axis pattern indirectly using a variable Consider an axis pattern as a binary expression and assign a decimal equivalent of it ...

Page 642: ... idle time the system forcibly switches to the next program after 1mS based on task slicing action XSEL controllers adopt high speed CPUs so multi tasking is also performed at high speed Note that this function also supports simulated ladder circuits which means that as long as your equipment is small enough you can build it as a sequencer Example of multi tasking running multiple programs 2 Task ...

Page 643: ...gh the flow chart is simple the movement of axis 1 and axis 2 actuators and the operation of the parts feeder must take place simultaneously This requires multi tasking operation Move Tighten screw Move XY Tighten screw Parts feeder prepares screws Parts feeder prepares screws Start Program 1 Move Tighten screw Program 2 Start Parts feeder ON Screw preparation OK Parts feeder OFF Shortage of screw...

Page 644: ...program 1 External start method Refer to the Instruction Manual for each controller 2 Program method Single tasking By executing EXIT Command program finish at the end of each program finish the program and put back to the condition when the power is turned off The home position however is remained thus the next program can be executed with external start input by specifying another program number...

Page 645: ... must be used by expert engineers with a full knowledge of PLC software design 1 Basic Frame Extension condition N Input condition Command Operand 1 Operand 2 Output E N Cnd Cmnd Operand 1 Operand 2 Pst LD 7001 CHPR 1 TPCD 1 TAG 1 Ladder statement field LD 7001 TSLP 1 to 100 Ladder statement field LD 7001 TSLP 1 to 100 LD 7001 GOTO 1 LD 7001 EXIT Virtual input 7001 Normally ON contact ...

Page 646: ...Points to Note x This system only processes software ladders using an interpreter Therefore the processing time is much longer than that of a dedicated commercial sequencer This system is not suitable for large scale ladder processing x If an extension condition is not specified for steps in which an input condition is specified the steps will be treated as LD LOAD x Always specify a normally ON c...

Page 647: ...an write a ladder as follows for example However this is conditional upon the output 1 not changing during the output processing at OUTR301 in line 1 Make sure the output 1 does not change due to other programs Extension condition N Input condition Command Operand 1 Operand 2 Operand 3 E N Cnd Cmnd Operand 1 Operand 2 Operand 3 LD 1 A 2 OUTR 301 LD 1 A 3 OUTR 302 1 2 3 1 OUTR301 OUTR302 Cannot be ...

Page 648: ...ample Extension condition N Input condition Command Operand 1 Operand 2 Output E N Cnd Cmnd Operand 1 Operand 2 Pst LD 7001 CHPR 1 TPCD 1 TAG 1 LD 8 A N 9 O 10 LD N 11 A 12 AB OUTR 314 LD 7001 TSLP 3 LD 7001 GOTO 1 LD 7001 EXIT ...

Page 649: ...n Command Operand 1 Operand 2 Output E N Cnd Cmnd Operand 1 Operand 2 Pst LD 7001 CHPR 1 TPCD 1 TAG 1 LD 8 A N 9 O 10 LD N 11 A 12 LD 13 A N 14 OB AB OUTR 314 LD 314 A 15 OUTR 900 0 5 LD 7001 TSLP 3 LD 7001 GOTO 1 LD 7001 EXIT 11 8 9 12 10 13 14 314 15 TIMR 900 0 5 SEC OUTR 314 11 8 9 12 10 13 14 314 15 TIMR 900 0 5 SEC OUTR 314 ...

Page 650: ...osition by ARCH Command a movement in the direction other than Z axis starts with the arch motion The actuator passes the top point being the Z point specified in operand 2 and completes the movement in a direction other than that of arch motion Z axis after which it passes near the end point arch trigger and reaches the positions of the specified point When operation is resumed after a pause the ...

Page 651: ...tions have nothing to do with and of coordinates x The rising direction of the arch motion Z axis is the direction of moving from the end point to Z point while the downward direction is the opposite of that direction and has nothing to do with the magnitude correlation of coordinate values Accordingly be sure to check the actual operating direction when using this command x As for the data of end...

Page 652: ...tions using palletizing calculation commands 3 Palletizing movement Execute motion using palletizing movement commands 2 Palletizing Setting Use the palletizing setting commands to set items necessary for palletizing operation The setting items include the following Palletizing number setting Command BGPA At the beginning of a palletizing setting determine a palletizing number using a BGPA command...

Page 653: ...or preferential axis PX axis 3 Count for PY axis 4 Palletizing position setting Palletizing position setting is performed mainly by method A or B as explained below Set the palletizing positions for each palletizing setting based on method A or B Setting method Commands A 3 point or 4 points teaching method Set three position data points or four position data points specifying the palletizing posi...

Page 654: ...tion No 11 Position No 11 1 Start point First palletizing position Position No 12 3 Palletizing position corresponding to the end point in the PX axis direction Position No 13 10 Palletizing position corresponding to the end point in the PY axis direction The encircled numbers indicate palletizing position numbers palletizing order Use a PAPS command to specify the position number corresponding to...

Page 655: ...ion to be used in palletizing An actuator axis number parallel with the preferential axis PX axis and another perpendicular to the preferential axis PAST 100 Teach position data No 100 as the start point PAPT 45 30 The PX axis direction pitch is 45mm and the PY axis direction pitch is 30mm PASE 2 1 Set axis 2 as the priority axis PX axis and axis 1 as the rectangular axis and the priority axis Not...

Page 656: ...hat any composite axis operation starts and ends at a position above the applicable arch trigger Set this composite arch motion setting command by specifying a position number under which composite arch motion data is set d Arch trigger Applicable command ATRG The following arch trigger settings are available for arch motion Set this arch trigger setting command by specifying a position number und...

Page 657: ...rotational angle Note however that any composite axis operation starts and ends at a position above the applicable palletizing arch trigger Set this composite palletizing setting command by specifying a position number under which composite palletizing data is stored d Palletizing arch trigger Applicable command PTRG If the end point is the palletizing point you need palletizing arch triggers just...

Page 658: ...s an angle calculated by ignoring the coordinate in palletizing Z axis direction In the figure below T will become a negative value if axis 1 is used as the reference for angle calculation If the composite axis is a rotating axis you can obtain the palletizing angle and add it as an offset to the operation of the composite axis in order to correct the composite axis against any position error of t...

Page 659: ...corresponding to the palletizing position number specified in the command when executed You need two actuator axes to constitute a two dimensional plane If you need a vertical axis PZ axis you must specify one more axis PMVP Move from the current position to a palletizing point via PTP PMVL Move from the current position to a palletizing point via interpolation PACH Move from the current position ...

Page 660: ... If the movement is linear in parallel with the actuator arch motion operation can be possible by specifying only two axes including the applicable axis and PZ axis Arch motion must be set Top point of arch motion Position No 12 Start point arch trigger Position No 13 End point arch trigger Position No 11 Start point End point Position No 10 ...

Page 661: ...et palletizing position number to 1 9 TAG 1 10 PMVL 1 Move to palletizing position via interpolation 11 MOVL 1 Move to pick position via interpolation 12 PINC 1 600 Increment palletizing position number by 1 13 600 GOTO 1 Move to beginning of loop if PINC was successful 14 EXIT End No Axis 1 Axis 2 Vel Acc Dcl Remarks 1 10 000 10 000 Pick position 2 70 000 70 000 Position data of reference point 3...

Page 662: ...sec 9 MOVL 1 Move to pick position 10 PSET 1 1 Set palletizing position number to 1 11 TAG 1 12 PMVL 1 Move to palletizing position via interpolation 13 MOVL 1 Move to pick position via interpolation 14 PINC 1 600 Increment palletizing position number by 1 15 600 GOTO 1 Move to beginning of loop if PINC was successful 16 EXIT End No Axis 1 Axis 2 Vel Acc Dcl Remarks 1 10 000 10 000 Pick position 2...

Page 663: ...0mm 8 PCHZ 3 Palletizing Z axis Axis 3 9 PTRG 4 4 Set palletizing arch trigger 10 Use data of position No 4 11 OFPZ 100 PZ axis offset 100mm 12 PEXT 6 Set composite palletizing 13 Use data of position No 6 14 EDPA 15 16 PARG 1 1 Get palletizing angle 17 The data is stored in variable 199 18 PPUT 4 6 19 Store angle data in variable 199 under axis 4 in position No 6 20 21 22 ATRG 4 4 Set arch trigge...

Page 664: ...on number by 1 39 600 GOTO 1 Move to beginning of loop if PINC was successful 40 41 EXIT End task 42 43 44 45 No Axis 1 Axis 2 Axis 3 Axis 4 Remarks 1 100 000 100 000 100 000 Position data of reference point 2 260 000 105 000 100 000 Position data PX axis end point 3 95 000 280 000 100 000 Position data PY axis end point 4 50 000 Position data for arch trigger 5 Not used 6 1 79 Position data for c...

Page 665: ...ition number x Number of points in PX axis direction 5 Number of points PY axis direction 7 x Zigzag offsets 20 x Number of zigzags 4 x Pallet angle error T 1 79q Axis 1 direction Priority axis PX axis end point coordinate position No 2 260 105 100 PX axis PY axis Axis 2 direction Reference point position No 1 100 100 100 PY axis end point coordinate position No 3 95 280 100 ...

Page 666: ...0 30 Pitch X 40 Y 30mm 7 PAST 1 Set reference position data 8 Use data of position No 1 9 PSLI 20 4 Zigzag offset 20mm 10 Number of zigzags 4 11 PCHZ 3 Palletizing Z axis Axis 3 12 PTRG 4 4 Set palletizing arch trigger 13 Use data of position No 4 14 OFPZ 100 PZ axis offset 100mm 15 16 EDPA 17 18 19 ATRG 4 4 Set arch trigger 20 Use data of position No 4 21 ACHZ 3 Set arch motion Z axis 22 23 ACC 0...

Page 667: ...tion No 9 36 PINC 1 600 Increment palletizing position number by 1 37 600 GOTO 1 Move to beginning of loop if PINC was successful 38 39 EXIT End task 40 No Axis 1 Axis 2 Axis 3 Axis 4 Remarks 1 100 000 100 000 100 000 Position data of reference point 2 Not used 3 Not used 4 50 000 Position data for arch trigger 5 Not used 6 Not used 7 Not used 8 0 000 0 000 100 000 0 000 Position data of pick posi...

Page 668: ...ght of each circle indicates the palletizing position number x Number of points in PX axis direction 5 Number of points PY axis direction 7 x Pitch in PX axis direction 40 x Pitch in PY axis direction 30 x Zigzag offsets 20 x Number of zigzags 4 Axis 1 direction PX axis PY axis Axis 2 direction Reference point X Y Z 100 100 100 ...

Page 669: ... function to turn ON OFF an I O flag for a specified time You can use a BTPN command to turn ON an I O or flag for a specified time Similarly you can use a BTPF command to turn OFF an I O or flag for a specified time The maximum number of shot pulse timers that can be actuated simultaneously in one program is 16 as a total of BTPN and BTPF commands Note however that there are no limitations to how...

Page 670: ...C Software Ver 1 1 0 5 or later and Teaching Pendant Ver 1 04 or later Among the ASCII codes 21h to 7Eh those single byte characters that can be entered from the keyboard can be entered as the second and subsequent characters in a symbol if you are using PC Software Ver 1 1 0 5 or later Note that same ASCII codes may be expressed differently if the font used on the PC is different from that used o...

Page 671: ...t Communication performed by the systems covered by this manual is basically exchange of character strings Which character strings should be used for which operations is determined beforehand so that the receiving side can recognize each character string and perform the corresponding operation A combination of these strings and characters indicating the end of one character string is called transm...

Page 672: ...ch column to store can be set freely for each command For instance if a character line HOME which indicates the home return command is received and the character line is desired to be used in several programs you should save the data to Column 300 in the global string ࣛ 1 2 3 4 5 6 295 296 297 298 299 㺃㺃㺃㺃㺃㺃 㺃㺃㺃㺃㺃㺃 ࣟ ࣝࢫࢺࣜࣥࢢ 299 ࣛ 1 2 3 4 5 6 295 296 297 298 299 㺃㺃㺃㺃㺃㺃 㺃㺃㺃㺃㺃㺃 ࣟ ࣝࢫࢺࣜࣥࢢ 299 ࣛ 300 301...

Page 673: ...s Note that these are only examples and the user can freely determine each format A Home return command format This format is used to issue a home return command from the PC to the controller B Movement command format This format is used to issue an axis movement command from the PC to the controller C Movement completion format This format is sent from the controller to the PC when the home retur...

Page 674: ...ich the actuator moves and when the movement is completed OK is sent 6 Application program STEP No N OP CODE OPRND1 OPRND2 POST Comment 1 SCHA 10 Set LF as terminator characters 2 OPEN 1 Open SIO channel 1 3 TAG 1 4 READ 1 1 Read into columns starting from SIO 1 column 1 5 6 ISEQ 1 HOME If Home return command 7 HOME 11 Home return 8 EXSR 1 Send OK 9 EDIF 10 11 ISEQ 1 MOVE If movement command 12 SL...

Page 675: ...open and close the RS232C serial communication line How many SIO channel numbers are available varies depending on the controller Controller SIO channel number XSEL P Q PCT QCT PX QX R S RX SX RXD SXD 1 to 2 XSEL J JX TT TTA MSEL 1 1 XSEL K KE KT KET KX KETX 1 1 2 SSEL ASEL PSEL 0 1 1 This channel is used as the teaching pendant connector port 2 If an expansion SIO board is installed No 2 and subs...

Page 676: ...ication programs used to use the SEL language fully The customer must create position data and application programs Certain parameters can be changed according to the customer s system Parameters Parameters Parameters Parameters Parameters Driver 1 Driver 1 Driver 2 Driver 3 Driver 4 Data structure of XSEL controller Main SEL language Position data Application programs Communication ...

Page 677: ...n restart these data in the temporary memories will return to the conditions before editing unless written to the flash memory The controller always operates according to the data in each temporary memory dotted box excluding parameters Content 1 Parameters other than those included in Content 2 below and encoder parameters Content 2 Driver card and I O slot card power card parameters Content 3 Fl...

Page 678: ...box excluding parameters Note SEL global data cannot be retained unless the backup battery is installed Data edited on the PC or teaching pendant Data is retained while the power is ON but cleared upon reset Data is retained even after the power is turned OFF Programs Parameters Content 1 Symbols Positions Slave card parameters Content 2 Encoder parameters SEL global data Content 3 Error lists Tra...

Page 679: ...ameters are saved to a file after the controller power was turned on or software was reset while the actuator encoder was still not connected the encoder parameters in this file will become invalid x Notes on transferring a parameter file to the controller When a parameter file is transferred to the controller encoder parameters are transferred to the encoder s EEPROM excluding manufacturing infor...

Page 680: ... the SEL language fully The customer must create position data and application programs Certain parameters can be changed according to the customer s system Parameters Parameters Parameters Parameters Parameters Driver 1 Driver 1 Driver 2 Driver 3 Driver 4 Data structure of XSEL controller Main SEL language Position data Application programs Communication ...

Page 681: ...the conditions before editing unless written to the flash memory The controller always operates according to the data in each temporary memory excluding parameters Data edited on the PC or teaching pendant Data is retained while the power is ON but cleared upon reset Data is retained even after the power is turned OFF PC software TP Transfer Write to flash memory Main CPU memory Programs Parameter...

Page 682: ...r is ON but cleared upon reset Data is retained even after the power is turned OFF PC software TP Transfer Transfer Transfer Transfer Transfer Main CPU RAM memory Programs Parameters other than slave card parameters Symbols Positions XSEL axes 1 Slave card parameters variable portions of driver parameters Slave card parameters encoder parameters etc Write to flash memory Transfer upon reset Write ...

Page 683: ...ained unless the backup battery is installed Data edited on the PC or teaching pendant Data is retained while the power is ON but cleared upon reset Data is retained even after the power is turned OFF PC software TP Transfer Transfer Transfer Write to flash memory Main CPU memory Programs Parameters other than slave parameters Symbols Positions Coordinate system data Slave card parameters driver c...

Page 684: ...C or teaching pendant Data is retained while the power is ON but cleared upon reset Data is retained even after the power is turned OFF PC software TP Transfer Transfer Transfer Write to flash memory Main CPU RAM memory Programs Parameters other than slave card parameters Symbols Positions XSEL axes 1 Coordinate system data Slave card parameters variable portions of driver parameters Transfer upon...

Page 685: ...he controller after the controller power was turned on while the actuator was still not connected invalid encoder parameters will be written to the encoder s EEPROM as they are transferred to the controller to which the actuator is connected To save parameters to a file do so while the actuator is connected x Notes on increased number of positions On controllers with increased memory capacity with...

Page 686: ... the SEL language fully The customer must create position data and application programs Certain parameters can be changed according to the customer s system Parameters Parameters Parameters Parameters Parameters Driver 1 Driver 1 Driver 2 Driver 3 Driver 4 Data structure of XSEL controller Main SEL language Position data Application programs Communication ...

Page 687: ...rameters other than slave parameters Symbols Position X SEL Axis Latter half Position comments X SEL Axis Slave card parameters Changeable parts in driver parameters Slave card parameters encoder parameters Main CPU flash memory Slave card memory Slave card parameters fixed portions of driver parameters and power parameters Cannot be changed Slave card memory Retaining Memory Positions X SEL Axis ...

Page 688: ...domain for the position data is saving memory for the position first half and flash ROM of the main CPU for the position second half All the position data comment is to be stored in the flash ROM of the main CPU Therefore if the power is turned OFF or the software reset is conducted before writing to the flash ROM the position second half and the position comment data are deleted and the data that...

Page 689: ... Data structure The controller contains parameters as well as position data and application programs used to use the SEL language fully Data structure of PSEL controller Main Parameters SEL language Position data Application programs ...

Page 690: ...turn to the conditions before editing unless written to the flash memory The controller always operates according to the data in the main CPU memory excluding parameters Note SEL global data cannot be retained unless the backup battery is installed SEL global data is cleared once the control power is turned OFF or software is reset Error lists are cleared once the control power is turned OFF Data ...

Page 691: ...operates according to the data in each temporary memory excluding parameters Data edited on the PC or teaching pendant Data is retained while the power is ON but cleared upon reset Data is retained even after the power is turned OFF PC software TP Transfer Write to flash memory Main CPU memory Programs Parameters other than encoder parameters Symbols Positions Transfer upon reset Main CPU flash me...

Page 692: ...ameters are saved to a file after the controller power was turned on or software was reset while the actuator encoder was still not connected the encoder parameters in this file will become invalid x Notes on transferring a parameter file to the controller When a parameter file is transferred to the controller encoder parameters are transferred to the encoder s EEPROM excluding manufacturing infor...

Page 693: ...rams used to use the SEL language fully The customer must create position data and application programs Certain parameters can be changed according to the customer s system Data structure of SSEL controller Main Parameters Position data SEL language Application programs Driver 1 Communication Parameters Parameters Driver 2 ...

Page 694: ...ta in the main CPU memory excluding parameters Note SEL global data cannot be retained unless the backup battery is installed SEL global data is cleared once the control power is turned OFF or software is reset Error lists are cleared once the control power is turned OFF Data edited on the PC or teaching pendant Data is retained while the power is ON but cleared upon reset Data is retained even af...

Page 695: ...tained while the power is ON but cleared upon reset Data is retained even after the power is turned OFF PC software TP Transfer Write to flash memory Main CPU memory Programs Parameters other than slave parameters Symbols Positions Transfer upon reset Main CPU flash memory Slave card memory Memory backed up by battery Positions SEL global data flags variables strings Error lists Transfer Transfer ...

Page 696: ...ameters are saved to a file after the controller power was turned on or software was reset while the actuator encoder was still not connected the encoder parameters in this file will become invalid x Notes on transferring a parameter file to the controller When a parameter file is transferred to the controller encoder parameters are transferred to the encoder s EEPROM excluding manufacturing infor...

Page 697: ...EL language The customer must create position data and application programs Certain parameters can be changed according to the customer s system Refer to tabletop robot TT Instruction Manual provided separately Data structure of controller Main Parameters Position data SEL language Application programs Driver 1 Communication Parameters Parameters Driver 2 Parameters Driver 3 ...

Page 698: ...w and encoder parameters Content 2 Driver card and I O slot card power card parameters Content 3 Flags variables and strings Since programs parameters symbols and positions are loaded from the flash memory upon restart these data in the temporary memories will return to the conditions before editing unless written to the flash memory The controller always operates according to the data in each tem...

Page 699: ...PU Retention Memory Programs Parameters Other than Driver card parameter Symbols Positions Driver card parameter PC software TP Transfer Transfer Driver CPU Retention Memory Position No 1 to 10000 SEL Global Data Flags Variables String Error lists Maintenance Information Note 1 Do not attempt to turn the power OFF during the memory initialization position global variables and flags or the maintena...

Page 700: ...the PC software x SEL Global Data Select Memory Initialization Ѝ Global Variables Flags Menu in the PC software x Maintenance Information Data Select Memory Initialization Ѝ Maintenance Information in the PC software and select Information Initialization Initialization available when Error No 4A4 4A5 or 4A6 has occurred ...

Page 701: ...a and application programs used to drive the SEL language The customer must create position data and application programs Certain parameters can be changed according to the customer s system Driver Parameters Main SEL language Parameters Position data Application programs Data structure of MSEL controller RPPXQLFDWLRQ ...

Page 702: ...e stored in the battery less backup memory FRAM There is no need of flash ROM writing Main CPU flash memory Main CPU RAM Write to flash memory Transfer upon reset PC software TP Data is retained even after the power is turned OFF Data is retained while the power is ON but cleared upon reset Data edited on the PC or teaching pendant Transfer Transfer Driver card parameters Driver CPU Retention Memo...

Page 703: ...again in case the power is turned off accidently Error No 4A4 69E 6C7 826 Note 2 Because the position data maintenance information data and SEL global data will not be initialized error data remains even after an error is detected make sure not to use the data without canceling it To cancel an error initialize the memory of the data which an error has been detected For the position data No 10001 t...

Page 704: ... SXD Flag 600 to 899 300 900 to 999 100 200 to 299 100 1 to 99 99 99 is a special variable used in IN INB OUT and OUTB Variable integer commands etc Variable integer 1200 to 1299 100 1001 to 1099 99 300 to 399 100 100 to 199 100 199 is a special variable used in PPUT PGET and PAPG commands etc Variable real number 1300 to 1399 100 1100 to 1199 100 String 300 to 999 700 1 to 299 299 Tag number 1 to...

Page 705: ... be communized with teaching and PC software WAIT timer 1 TIMW command 1 shot pulse timer 16 Can be operated simultaneously BTPN BTPF command Ladder timer Use local area flags 900 to 999 100 TIMR command Virtual input port SEL system ĺ SEL user program 7000 to 7299 300 Virtual output port SEL user program ĺ SEL system 7300 to 7599 300 XSEL P Q PCT QCT PX QX R S RX SX RXD SXD 1000 XSEL J K KE KT KE...

Page 706: ...your mind when you create a program with SEL language 4 2 1 Handling of I O Port Refer to 2 1 I O Signal for I O ports 1 Input ports These ports are used as input ports for limit switches sensor switches etc Input number assignment 000 to 031 standard 2 Output ports These ports are used as various output ports Output number assignment 300 to 315 standard ...

Page 707: ...e only in each program The general purposed flags global flags can be saved in the battery backup or saving memory depends on the models even after the power is turned OFF Dedicated flags local flags will be cleared once the power is turned OFF Flag No 600 to 899 Usable in all programs General purpose flags global flags Flag No 900 to 999 Usable only in each program Dedicated flags local flags Pro...

Page 708: ...the order of 0 1 and then the number of digit increases and goes 10 11 Decimal number 0 1 2 3 4 5 6 7 8 9 10 Binary number 0 1 10 11 100 101 110 111 1000 1001 1010 ٨Hexadecimal number Hexadecimal number expresses a numeral figure with using numbers from 0 to 9 and alphabets from A to F The number increases in the order of 0 1 2 3 4 5 6 7 8 9 A B C D E F and then the number of digit increases and g...

Page 709: ... ways such as placing a value in a variable taking a value out of a variable and adding or subtracting a value to from a variable to name a few Command Operand 1 Operand 2 ADD 1 1 With this command if 2 is already placed in the box of variable 1 as shown then 1 is added and the content of variable 1 becomes 3 Place the value 1234 Take out the value 456 Add 1 You can do various things Add 1 2 is al...

Page 710: ...dle decimal points Example 1234 567 n decimal point Real variable No 300 to 399 1300 to 1399 Usable in all programs Global real variables Real variable No 100 to 199 1100 to 1199 Usable only in each program Local real variables Caution x Values from 9 999 999 to 99 999 999 can be entered in programs x Variable 99 is a special register used for integer calculations by the system Caution x Values fr...

Page 711: ...laced in variable box 2 Command Operand 1 Operand 2 LET 1 1234 Command Operand 1 Operand 2 LET 2 1 This usage is called indirect specification is to be applied also when making an indirect specification of symbolized variables Place 1 in variable ABC Place 2 in variable BCD Add the content of variable BCD or 2 to variable ABC The content of variable ABC becomes 3 Command Operand 1 Operand 2 LET AB...

Page 712: ... are placed These string are classified into global string that can be read or written in all programs and local string that can be read or written only in each program String are differentiated by the range of their number Column number Global string 300 to 999 700 Local string 1 to 299 299 The characters constituting a string are stored one by one in each of these fields The position of a given ...

Page 713: ... You may stick labels on pages you want to read frequently Tags are used for the same purpose The destination to jump to where you specify in the jump command GOTO is a TAG Command Operand 1 TAG Tag number integer of 1 to 256 Usable only in each program TAG 1 GOTO 1 TAG ...

Page 714: ...AND O OR AB ANDBLOCK OB ORBLOCK 1 Expansion condition 2 Input condition 3 Command declaration 4 Operand 1 5 Operand 2 6 Output 1 SEL language structure 2 Applicable models 3 Description of Functions LET Assign Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optiona...

Page 715: ...t varies depending on the command In the 6 Output output port flag the following types are to be shown depending on the operational conditions Output operation types CC āāāāāā Command successful ZR āāāāāā Calculation result zero PE āāāāāā Operation complete CP āāāāāā Command passing TU āāāāāā Timeout CP comparison command EQ āāāāāā Operand 1 Operand 2 NE āāāāāā Operand 1 Operand 2 GT āāāāāā Operan...

Page 716: ...35 Optional MULT Multiplicand variable Multiplier ZR Multiply 236 Optional DIV Dividend variable Divisor ZR Divide 237 Arithmetic Operation Optional MOD Modulus assignment variable Divisor ZR Modulus calculation 238 Optional SIN Sine assignment variable Operant Radian ZR Sine 239 Optional COS Cosine assignment variable Operant Radian ZR Cosine 240 Optional TAN Tangent assignment variable Operant R...

Page 717: ...tion No to assign to CP Assign position deceleration 284 Optional PAXS Axis pattern assignment variable No Position No CP Read axis pattern 285 Optional PSIZ Size assignment variable No Prohibited CP Check position data size 286 Optional PTAM Variable No Position No CP Substitution of target arm system data 280 Optional GTAM Variable No Position No CP Acquirement of target arm system data 287 Opti...

Page 718: ... PTP target arm system to current arm 334 Optional SLTL Tool coordinate system No Prohibited CP Select tool coordinate system 322 Optional SEIF Contact check zone No 0 to 2 CP Specify type of simple contact check zone 339 Optional RIGH Prohibited Prohibited PE Change current arm system to right arm 330 Optional LEFT Prohibited Prohibited PE Change current arm system to left arm 331 Optional PTPR P...

Page 719: ...sition center angle indicated arc movement 376 Optional ARCC Center position No Center angle q degree PE Center position center angle indicated arc movement 378 Optional PBND Axis pattern Distance CP Set positioning width 380 Optional CIR Passing position 1 No Passing position 2 No PE Circle movement CIR2 is recommended 383 Optional ARC Passing position No End position No PE Arc movement ARC2 is r...

Page 720: ...ibited CP Open channel 409 Optional CLOS Channel No Prohibited CP Close channel 410 Optional READ Channel No Column No CC Input from channel 411 Optional TMRW Read timer setting Write timer setting CP Set READ timeout value 415 Optional WRIT Channel No Column No CC Output to channel 416 Optional SCHA Character code Prohibited CP Character setting for sending and receiving 417 Communication Optiona...

Page 721: ... Set palletizing position number directly 451 Optional PARG Palletizing No Axis No CP Get palletizing angle 452 Optional PAPG Palletizing No Position No CP Get palletizing calculation data 453 Optional PMVP Palletizing No Position No PE Move to palletizing points via PTP 454 Optional PMVL Palletizing No Position No PE Move to palletizing points via interpolation 455 Optional PACH Palletizing No Po...

Page 722: ...o CP Assign Variable 199 to RC axis position positioning width 480 Optional RPTQ u RC axis No Position No CP Assign Variable 199 to RC axis position current limitation 481 Optional RGVL u RC axis No Position No CP Assign RC axis position speed to Variable 199 482 Optional RGAD u RC axis No Position No CP Assign RC axis position acceleration deceleration to Variable 199 483 Optional RGIP u RC axis ...

Page 723: ... XGVL Axis No Position No CP Read extension motion control board axis speed data 510 Optional XGAC Axis No Position No CP Read extension motion control board axis acceleration data 511 Optional XGDC Axis No Position No CP Read extension motion control board axis deceleration data 512 Extension Motion Control Board Axis Position Operations Optional XGIP Axis No Position No CP Read extension motion ...

Page 724: ...synchronizing extension motion control board axis electronic cam indicating main axis 529 Optional XCTM Slave Shaft No Variable No PE Move extension motion control board axis individual electronic cam indicating time 534 Optional XSFS Slave Shaft No Variable No PE Start synchronizing of extension motion control board axis electronic shaft 536 Extension Motion Control Board Axis Actuator Control Co...

Page 725: ...riable number Data ZR Applicable models All models Refer to Section 5 1 for details of models Function Assign the value specified in operand 2 to the variable specified in operand 1 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 LET 1 10 Assign 10 to variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 3 10 Assign 10 to variable 3 LET 1 3 Assign the ...

Page 726: ...d in operand 2 to the variable specified in operand 1 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 TRAN 1 2 Assign the content of variable 2 to variable 1 The above operation can be performed with a LET command as follows LET 1 2 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 LET 3 4 Assign 4 to variable 3 LET 4 10 Assign 10 t...

Page 727: ...er to Section 5 1 for details of models Function Clear the variables from the one specified in operand 1 through the other specified in operand 2 The contents of the variables that have been cleared become 0 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 CLR 1 5 Clear variables 1 through 5 Example 2 LET 1 10 Assign 10 to variable 1 LET 2 20 Assign 20 to...

Page 728: ...ontent of the variable specified in operand 1 and the value specified in operand 2 and assign the result to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 3 Assign 3 to variable 1 ADD 1 2 Add 2 to the content of variable 1 3 5 3 2 5 will be stored in variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 2 Assign 3 to variable 2 L...

Page 729: ...ied in operand 2 from the content of the variable specified in operand 1 and assign the result to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 3 Assign 3 to variable 1 SUB 1 2 Subtract 2 from the content of variable 1 3 1 3 2 1 will be stored in variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 LET ...

Page 730: ...he variable specified in operand 1 by the value specified in operand 2 and assign the result to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 3 Assign 3 to variable 1 MULT 1 2 Multiply the content of variable 1 3 by 2 3 u 2 or 6 is stored in variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 LET 3 2 A...

Page 731: ...cified in operand 2 and assign the result to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Note If the variable specified in operand 1 is an integer variable any decimal places will be rounded off Example 1 LET 1 6 Assign 6 to variable 1 DIV 1 2 Divide the content of variable 1 6 by 2 6 2 or 3 is stored in variable 1 Example 2 LET 1 2 Assign 2 to v...

Page 732: ...riable specified in operand 1 by the value specified in operand 2 The output will turn ON when the operation result becomes 0 Note A MOD command is used with integer variables Example 1 LET 1 7 Assign 7 to variable 1 MOD 1 3 Obtain the remainder of dividing the content of variable 1 7 by 3 The remainder of 7 3 2 or 1 is assigned to variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 7 Assign...

Page 733: ...fied in operand 1 The output will turn ON when the operation result becomes 0 The setting in operand 1 must be a real variable in a range of 100 to 199 1100 to 1199 300 to 399 or 1300 to 1399 The unit of data in operand 2 is radian Note 1 Radian Angle u S 180 Example 1 SIN 100 0 523599 Assign the sine of 0 523599 0 5 to variable 100 Example 2 LET 1 100 Assign 100 to variable 1 LET 101 30 30 u S 18...

Page 734: ...perand 1 The output will turn ON when the operation result becomes 0 The setting in operand 1 must be a real variable in a range of 100 to 199 1100 to 1199 300 to 399 or 1300 to 1399 The unit of data in operand 2 is radian Note 1 Radian Angle u S 180 Example 1 COS 100 1 047197 Assign the cosine of 1 047197 0 5 to variable 100 Example 2 LET 1 100 Assign 100 to variable 1 LET 101 60 60 u S 180 radia...

Page 735: ... operand 1 The output will turn ON when the operation result becomes 0 The setting in operand 1 must be a real variable in a range of 100 to 199 1100 to 1199 300 to 399 or 1300 to 1399 The unit of data in operand 2 is radian Note 1 Radian Angle u S 180 Example 1 TAN 100 0 785398 Assign the tangent of 0 785398 1 to variable 100 Example 2 LET 1 100 Assign 100 to variable 1 LET 101 45 45 u S 180 radi...

Page 736: ...ied in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 The setting in operand 1 must be a real variable in a range of 100 to 199 1100 to 1199 300 to 399 or 1300 to 1399 The unit of inverse tangent is radian Note 1 Radian Angle u S 180 Example 1 ATN 100 1 Assign the inverse tangent of 1 0 785398 to variable 100 Example 2 LET 1 100 Assign ...

Page 737: ...odels All models Refer to Section 5 1 for details of models Function Assign the root of the data specified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 SQR 1 4 Assign the root of 4 2 to variable 1 Example 2 LET 1 10 Assign 10 to variable 1 LET 2 4 Assign 4 to variable 2 SQR 1 2 Assign the square root of the content of var...

Page 738: ...ecified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 AND 1 170 Assign the logical AND operation result 136 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 204 Assign 204 to variable 2 LET 3 170 Assign 170 to variable 3 AND 1 3 Assign ...

Page 739: ...in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 OR 1 170 Assign the logical OR operation result 238 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 204 Assign 204 to variable 2 LET 3 170 Assign 170 to variable 3 OR 1 3 Assign the logical...

Page 740: ...n operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 EOR 1 170 Assign the logical exclusive OR operation result 102 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 204 Assign 204 to variable 2 LET 3 170 Assign 170 to variable 3 EOR 1 3 Assign ...

Page 741: ... condition The value in the variable does not change The output will be turned OFF if the condition is not satisfied Note The output will not be turned OFF when the command is executed CP EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 GT Operand 1 Operand 2 GE Operand 1 t Operand 2 LT Operand 1 Operand 2 LE Operand 1 d Operand 2 Example 1 LET 1 10 Assign 10 to variable 1 CPEQ 1 10 600 Turn ON fla...

Page 742: ...rohibited TU Applicable models All models Refer to Section 5 1 for details of models Function Stop the program and wait for the time specified in operand 1 The setting range is 0 01 to 99 and the unit is second The output will turn ON when the specified time has elapsed and the program proceeds to the next step Example 1 TIMW 1 5 Wait for 1 5sec Example 2 LET 1 10 Assign 10 to variable 1 TIMW 1 Wa...

Page 743: ...EAD commands can be cancelled In the case of WTON WTOF and READ commands even if timeout is not specified it is assumed that an unlimited timer has been specified and the wait time will be cancelled Example 1 TIMC 10 Cancel the wait time in program 10 Example 2 LET 1 10 Assign 10 to variable 1 TIMC 1 Cancel the wait time in the content of variable 1 program 10 Example 3 Program 1 Program 10 WTON 8...

Page 744: ... is specified in units of 10msec The time obtained here has no base number Therefore this command is called twice and the difference will be used to calculate the elapsed time Example 1 GTTM 1 Read the reference time to variable 1 ADD 1 500 Set the ending time to 5sec later GTTM 2 Read the current system time to variable 2 DWLE 2 1 Proceed to the step next to EDDO when 5sec elapsed The above proce...

Page 745: ...e specified in operand 1 through the other specified in operand 2 Note Dedicated outputs system outputs other than general purpose outputs cannot be specified for operands 1 and 2 BT ON Switch the status to ON OF Switch the status to OFF NT Reverse the status Example 1 BTON 300 Turn ON output port 300 Example 2 BTOF 300 307 Turn OFF output ports 300 through 307 Example 3 LET 1 600 Assign 600 to va...

Page 746: ...ort or flag already ON the output port or flag will be turned OFF upon elapse of the timer setting Note 2 If the program ends after the command has been executed but before the timer is up the output port or flag will not be turned OFF Note 3 This command will not be cancelled by a TIMC command Note 4 A maximum of 16 timers including BTPN and BTPF can be operated simultaneously in a single program...

Page 747: ...rt or flag already OFF the output port or flag will be turned ON upon elapse of the timer setting Note 2 If the program ends after the command has been executed but before the timer is up the output port or flag will not be turned ON Note 3 This command will not be cancelled by a TIMC command Note 4 A maximum of 16 timers including BTPN and BTPF can be operated simultaneously in a single program T...

Page 748: ...d 2 The setting range is 0 01 to 99sec The output will turn ON upon elapse of the specified time only when operand 2 is specified Note A local flag cannot be entered in operand 1 WT ON Wait for the applicable I O port or flag to turn ON OF Wait for the applicable I O port or flag to turn OFF Example 1 WTON 15 Wait for input port 15 to turn ON Example 2 WTOF 308 10 Wait for 10sec for output port 30...

Page 749: ...and 2 to variable 99 as a binary Note 1 A maximum of 32 bits can be input Note 2 When 32 bits have been input and the most significant bit is ON the value read to variable 99 will be treated as a negative value Note 3 The read data format can be changed using a FMIO command refer to the section on FMIO command Example 1 IN 8 15 Read input ports 8 through 15 to variable 99 as a binary Example 2 LET...

Page 750: ...igits specified in operand 2 to variable 99 as a BCD Note 1 A maximum of eight digits 32 bits can be input Note 2 The number of I O ports and flags that can be used is 4 u n digits Note 3 The read data format can be changed using a FMIO command refer to the section on FMIO command Example 1 INB 8 2 Read input ports 8 through 15 to variable 99 as a BCD Example 2 LET 1 8 Assign 8 to variable 1 LET 2...

Page 751: ...lags from the one specified in operand 1 through the other specified in operand 2 Note 1 A maximum of 32 bits can be output Note 2 The write data format can be changed using a FMIO command refer to the section on FMIO command Example 1 OUT 300 307 Write the value in variable 99 to output ports 300 through 307 as a binary Example 2 LET 1 300 Assign 300 to variable 1 LET 2 307 Assign 307 to variable...

Page 752: ...ts specified in operand 2 as a BCD Note 1 A maximum of eight digits 32 bits can be output Note 2 The number of output ports and flags that can be used is 4 u n digits Note 3 The write data format can be changed using a FMIO command refer to the section on FMIO command Example 1 OUTB 300 2 Write the value in variable 99 to the output ports from 300 for two digits until output port 307 as a BCD Exam...

Page 753: ...hown for the IN INB OUT and OUTB commands Data details of the OTPS command are the same as those of the OUT command where the only difference is that variable 99 in the OUT command is replaced with current position data in the OTPS command 1 Operand 1 0 Default status when a FMIO command has not been executed Data is read or written without being reversed 2 Operand 1 1 Data is read or written afte...

Page 754: ...er 8 bits and lower 8 bits are reversed every 16 bits Note The FMIO command is supported by Main application Ver 0 56 or later PC software Ver 2 0 45 or later Teaching pendant Ver 1 13 or later Variable 99 IN B command Temporary data I O port flag status 0 OFF 1 ON I O flag number upper I O flag number lower OUT B command Variable 99 IN B command Temporary data I O port flag status 0 OFF 1 ON I O ...

Page 755: ... command OUT B command Temporary data I O port flag status 0 OFF 1 ON I O flag number upper I O flag number lower Variable 99 1193046 IN OUT command 123456 INB OUTB command OUT B command IN B command IN B command OUT B command Temporary data I O port flag status 0 OFF 1 ON Variable 99 4660 IN OUT command 1234 INB OUTB command I O flag number upper I O flag number lower IN B command OUT B command ...

Page 756: ...00000012h Decimal 18 BCD 12 IN B command OUT B command IN B command OUT B command IN B command OUT B command Temporary data I O port flag status 0 OFF 1 ON I O flag number upper I O flag number lower Variable 99 18 IN OUT command 12 INB OUTB command ...

Page 757: ...and becomes invalid x 32 bits binary data extended by sign is output The minimum unit is 0 001mm Note x Only output ports of No 300 or higher port numbers multiples of 8 can be specified in operand 1 x Only network output ports are supported x Even if this command is executed output data remains indeterminable if home return is not yet completed x The output data format can be changed using the FM...

Page 758: ...es of continuous movement commands using TAG GOTO statements Doing so will cause coordinate conversion errors to accumulate Example 1 TAG 1 Set a tag GOTO 1 Jump to tag 1 Using a GOTO command to branch out of or into any of the syntaxes listed below is prohibited Since the maximum number of nests is defined for each conditional branching command or subroutine call a nest will be infinitely repeate...

Page 759: ...g Command declaration Operand 1 Operand 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited TAG Tag number Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Set the tag number specified in operand 1 Example 1 Refer to the section on GOTO command ...

Page 760: ...number Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Execute the subroutine specified in operand 1 A maximum of 15 nested subroutine calls are supported Note This command is valid only for subroutines within the same program Example 1 EXSR 1 Execute subroutine 1 EXIT BGSR 1 Start subroutine 1 EDSR End subroutine 1 Example 2 LET 1 10 Assign 10 to var...

Page 761: ...put flag E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited BGSR Subroutine number Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Declare the start of the subroutine specified in operand 1 Example 1 Refer to the section on EXSR command Note Using a GOTO command to branch out of or into a BGSR EDSR syntax is prohibited ...

Page 762: ...nd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited EDSR Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Declare the end of a subroutine This command is always required at the end of a subroutine Thereafter the program will proceed to the step next to the EXSR that has been called Example 1 Refer to the section on EXSR command ...

Page 763: ...Optional Optional EXIT Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function End the program If the last step has been reached without encountering any EXIT command the program will return to the beginning Note Status at program end x Output ports Retained x Local flags Cleared x Local variables Cleared x Current values Retained x Global flags Re...

Page 764: ...FF OFF The errors shown in the table represent those that generate in accordance with the status of the specified program Errors caused by other factors are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple EXPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the spe...

Page 765: ...ication of a number smaller than 1 or exceeding 64 2 If an own task own program is specified in an ABPG command the own task will be terminated and then deleted The output will turn OFF When multiple ABPG programs are specified both operands 1 and 2 are specified No program number error 3 Registered program exists inside the specified range 4 Status of the specified program Running program exists ...

Page 766: ...tus of the specified program Errors caused by other factors are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple SSPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running program exists inside the specified ra...

Page 767: ...d program Errors caused by other factors are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple RSPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running program exists inside the specified range 4 None of progr...

Page 768: ...ified in operand 1 in the position data specified in operand 2 If the position data table contains no data to be loaded the position data display on the teaching pendant shows X XXX or position data display fields in the PC software are blank when the PGET command is executed no data will placed in variable 199 the PGET command will not be executed Example 1 PGET 2 3 Read to variable 199 the data ...

Page 769: ... for details of models Function Write the value in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2 Example 1 LET 199 150 Assign 150 to variable 199 PPUT 2 3 Write the content 150 of variable 199 to Y axis axis 2 at position 3 Example 2 LET 199 150 Assign 150 to variable 199 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 PPUT 1 2 Wri...

Page 770: ...tains data which is different from the value of 0 000 The position data display on the teaching pendant changes to u uuu while position data fields in the PC software become blank Note 1 The comment on each position data are also subject to delete If the position data with a comment is deleted by PCLR Command and software reset is conducted or the power is turned OFF without flash ROM writing bein...

Page 771: ...nd 2 to the position number specified in operand 1 Note 1 The comment on each position data are also subject to copy If a change is made to the position data comment of the area to recover at by PCPY Command and software reset is conducted or the power is turned OFF without flash ROM writing being conducted 22B Position Data Comment Lost Error will occur Example 1 PCPY 20 10 Copy the data of posit...

Page 772: ...s Function Read the current position of the axis specified in operand 1 to the position specified in operand 2 Example 1 PRED 11 10 Read the current positions of X and Y axis to position No 10 Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary o 3 decimal LET 1 3 Assign 3 to v...

Page 773: ...1 Operand 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional PRDQ Axis number Variable number CP Applicable models All models Refer to Section 5 1 for details of models Function Read the current position of the axis number specified in operand 1 to the variable specified in operand 2 Example PRDQ 2 100 Read the current position of Y axis axis 2 to variable 100 ...

Page 774: ...em Data Clear 0 Variation No n in Operand 1 is the target arm system indication of the 1st to 4th axes or 1st to 3rd axes and variable No n 1 is that of the 5th to 8th axes For the type to connect one unit of SCARA make sure to set 0 to the indicated variable No n 1 Setting Range Variable No Description 1 unit of SCARA connected 2 units of SCARA connected n 1st to 4th axes 1st to 3rd axes SCARA ta...

Page 775: ...he position data display on the teaching pendant is u uuu or position data fields in the PC software are blank 0 is treated as valid data Example 1 PTST 11 10 300 Turn ON output 300 if there are no valid values of X and Y axis at position 10 Output 300 will turn OFF if the position data is given as follows Example 2 The axis pattern can be specified indirectly using a variable When the command in ...

Page 776: ...peed linear axis speed specified in operand 1 to the position number specified in operand 2 The unit of operand 1 is mm sec Note 1 If a negative value is written in PVEL Command an alarm will be generated when this position is indicated in a movement Note 2 If 0 is set in Operation 1 the speed setting in the indicated position number is deleted Example 1 PVEL 100 10 Write speed 100mm s to position...

Page 777: ...on acceleration in linear axis operation specified in operand 1 to the position number specified in operand 2 The unit of operand 1 is G and the entered value is valid to the second decimal point Example 1 PACC 0 3 10 Write acceleration 0 3G to position No 10 Example 2 LET 100 0 3 Assign 0 3 to variable 100 LET 2 10 Assign 10 to variable 2 PACC 100 2 Write the content of variable 100 acceleration ...

Page 778: ...umber CP Applicable models All models Refer to Section 5 1 for details of models Function Write the CP operation deceleration linear axis deceleration specified in operand 1 into the position number specified in operand 2 The unit of operand 1 is G and the set value is effective to two decimal points Example 1 PDCL 0 3 3 Assign 0 3 to the deceleration data at position No 3 Note 1 If Operation 1 is...

Page 779: ...tern at the position specified in operand 2 to the variable specified in operand 1 Example 1 PAXS 1 98 Read the axis pattern at position 98 to variable 1 If the position is given as follows 3 binary 0011 will be read to variable 1 Example 2 LET 1 3 Assign 3 to variable 1 LET 2 101 Assign 101 to variable 2 PAXS 1 2 Read the axis pattern at the content of variable 2 position 101 to the content of va...

Page 780: ...ble specified in operand 1 in accordance with the parameter setting x When Other parameter No 23 PSIZ function type 0 The maximum number of position data that can be stored in the controller will be set Regardless of whether the data are used or not x When Other parameter No 23 PSIZ function type 1 The number of position data used will be set Example PSIZ 1 When Other parameter No 23 PSIZ function...

Page 781: ... Operand 1 Variable Setting Right Arm System Substitution 1 Left Arm System Substitution 1 Not to be indicated 0 Variation No n in Operand 1 is the target arm system indication of the 1st to 4th axes or 1st to 3rd axes and variable No n 1 is that of the 5th to 8th axes For the type to connect one unit of SCARA make sure to set 0 to the indicated variable No n 1 Output Range Variable No Description...

Page 782: ...ional GVEL Variable number Position number CP Applicable models All models Refer to Section 5 1 for details of models Function Obtain speed data from the speed item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GVEL 100 10 Set the speed data at position No 10 in variable 100 If the position data is set as above when the command is exec...

Page 783: ...ACC Variable number Position number CP Applicable models All models Refer to Section 5 1 for details of models Function Obtain acceleration data from the acceleration item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GACC 100 10 Set the acceleration data at position No 10 in variable 100 If the position data is set as above when the c...

Page 784: ...DCL Variable number Position number CP Applicable models All models Refer to Section 5 1 for details of models Function Obtain deceleration data from the deceleration item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GDCL 100 10 Set the deceleration data at position No 10 in variable 100 If the position data is set as above when the c...

Page 785: ...ls of models Function Set the actuator travel speed in the value specified in operand 1 In the case of a SCARA set the operating speed for CP operation The unit is mm sec The maximum speed will vary depending on the model of the actuator connected Set a speed not exceeding the applicable maximum speed Note 1 Decimal places cannot be used An error will generate Note 2 The minimum speed is 1mm sec E...

Page 786: ...XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL PCX PGX only Function Set in operand 1 the moving speed for SCARA PTP operation command angular speed for all axes other than Z as a ratio of the maximum PTP speed Operand 1 must be set with an integer unit Note 1 If a RIGH or LEFT command is used the speed must be set with VELS even when a SCARA PTP operation command is not used ...

Page 787: ...ARA robot VEL 150 Set the SCARA CP operation speed linear axis speed to 150mm sec VELS 90 Set the SCARA PTP operation speed ratio to 90 OVRD 50 Lower the speed to 50 The SCARA CP operation speed linear axis speed becomes 75mm sec while the SCARA PTP operation speed ratio becomes 45 Command limit speed for smooth operation Travel distance per encoder pulse mm pulse time msec Command limit speed tha...

Page 788: ...L JX KX PX QX RX SX RXD SXD and MSEL PCX PGX If no acceleration is set in the position data or by an ACC command when the actuator moves the actuator uses the default value registered in all axis parameter No 11 Default acceleration XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX If no acceleration is set in the position data or by an ACC command during CP operation a SCARA robot uses the default ...

Page 789: ...JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u PCX PGX only Function Set in operand 1 the acceleration for movement by SCARA PTP operation command angular acceleration for all axes other than Z as a ratio of the maximum PTP acceleration Operand 1 must be set with an integer unit Note 1 For the acceleration ratio setting make sure to refer to Caution for Use in Vertical Ar...

Page 790: ...position data contains no deceleration AND deceleration is not set by a DCL command the actuator will move based on the default value set in All axis parameter No 12 Default deceleration A DCL command cannot be used with CIR and ARC commands XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX If no deceleration is set in the position data or by a DCL command during CP operation a SCARA robot uses the ...

Page 791: ...JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u PCX PGX only Function Set in operand 1 the deceleration for movement by SCARA PTP operation command angular deceleration for all axes other than Z as a ratio of the maximum PTP deceleration Operand 1 must be set with an integer unit Note 1 For the deceleration ratio setting make sure to refer to Caution for Use in Vertical Ar...

Page 792: ...rked with in the table below XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL TT TTA Function Set the ratio of sigmoid motion control of the actuator in the value specified in operand1 The ratio is set as integer in a range from 0 to 50 If the ratio is not set using this command or 0 is set a trapezoid motion will be implemented A SCRV command ...

Page 793: ...otion control of the actuator in the value specified in operand1 The ratio is set as integer in a range from 0 to 50 If the ratio is not set using this command or 0 is set a trapezoid motion will be implemented A SCRV command can be used with the following commands㧦 MOVP MOVL MVPI MVLI JBWF JBWN JFWF JFWN TMPI TMLI RIGH LEFT Value set in operand2 Description 0 or no specification S motionA 1 S mot...

Page 794: ...select operand2 S shaped type Main application Ver 1 25 and later Operand 2 can be inputted from IA T X D Ver 1 52 or subsequent ones after teaching box SEL T D Ver 1 12 after PC software Ver 7 7 12 0 Model Name Setting in Operand 2 S shaped Type S shaped Motion Class S shaped Motion Effective Command Group See the table below Not set 0 A 1 1 B 1 2 A 2 Note 2 XSEL P Q 3 B 2 Note 2 Not set 0 1 1 1 ...

Page 795: ...x S motion B In this class operates with a speed pattern smoother than the control of S shaped Motion Class A Estrangement peak with Trapezoid Motion becomes small Example SCRV 30 1 Set S shaped motion ratio 30 and S shaped motion class A ᤨ㑆 b a ᤨ㑆 b a ...

Page 796: ...d the effective resolution is 0 001mm A negative offset may be specified as long as the operation range is not exceeded Note An OFST command cannot be used outside the applicable program To use OFST in multiple programs the command must be executed in each program An OFST command cannot be used with MVPI MVTI TMLI and TMPI commands Example 1 OFST 110 50 Add 50mm to the specified positions of Y axi...

Page 797: ...circle or ARC move along arc command When CIR or ARC is executed a circle will be divided by the angle set here to calculate the passing points The angle is set in a range from 0 to 120q If the angle is set to 0 an appropriate division angle will be calculated automatically so that the actuator will operate at the set speed maximum 180q The angle is set in degrees and may include up to one decimal...

Page 798: ...claration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Note that each zone range is assigned to the actuator via parameter Note 1 For XSEL RX SX RXD SXD GRP and BASE Commands are available in the actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GAR...

Page 799: ...vo operation commands to use the position data actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH and LEFT and the system information acquirement command GARM GRP Command activates in the condition before the axis number changed due to BASE Command Note 1 In XSEL RX SX RXD SXD GRP and BASE Command are available also in the actuator control declaration commands SLTL ...

Page 800: ... be used Using other task to issue a servo ON command to any axis currently stopped via a HOLD servo OFF will generate an Error No C66 Axis duplication error If the servo of that axis was ON prior to the HOLD stop the system will automatically turn on the servo when the HOLD is cancelled Therefore do not issue a servo ON command to any axis currently stopped via a HOLD servo OFF If any axis curren...

Page 801: ...he processing is aborted If nothing is specified in operand 1 the current abort declaration will become invalid CANC type 0 Contact a Deceleration stop 1 Contact b Deceleration stop The CANC type is set to 0 contact a when the program is started If nothing is specified in operand 2 the current CANC type will be used Note 1 The input port or global flag specified by a CANC command will only abort t...

Page 802: ...etting of ACMX Acceleration 1 Each Axis Parameter No 3 Setting of ACMX Acceleration 1 1 Negative Each Axis Parameter No 3 Setting of ACMX Acceleration 1 Each Axis Parameter No 2 Setting of ACMX Acceleration 1 Positive Each Axis Parameter No 4 Setting of ACMX Acceleration 2 Each Axis Parameter No 5 Setting of ACMX Acceleration 2 2 Negative Each Axis Parameter No 5 Setting of ACMX Acceleration 1 Eac...

Page 803: ...on in ACC DCL Command and the position data Note 6 ACMX Command is a command dedicated for the linear drive axes Example 1 For arch motion movement vertical axis to move up down VLMX Set the speed setting in VLMX Speed ACMX 1 Set the ACMX acceleration deceleration of No 1 ACHZ 3 Indicate the 3rd axis to Z axis for arch motion ATRG 13 11 ARCH 10 12 With Position No 12 as the peak point move with th...

Page 804: ...No 2 MOVP 11 PTP movement is made to Position No 11 x Setting for Example 2 Example for Setting ACMX Acceleration No Each Axis Parameter No Parameter Name 1st Axis 2 ACMX Acceleration 1 30 0 3G 1 3 ACMX Acceleration 1 30 0 3G 4 ACMX Acceleration 2 100 1 0G 2 5 ACMX Acceleration 2 100 1 0G x Operation of Example 2 Positive Direction of 1st Axis Coordinates Acceleration 0 3G Deceleration 0 3G Positi...

Page 805: ...te 1 If the VLMX speed is specified for a continuous position movement command PATH PSPL the target speed to each position becomes a composite speed based on the VLMX speed to the extent that each axis does not exceed the value set in axis specific parameter No 28 Maximum PTP speed SCARA axis axis specific maximum operating speed linear axis To keep the target speed constant you must expressly spe...

Page 806: ...ed by a PSPL move along spline command When a PSPL command is executed a passing point will be calculated at each distance set here and the calculated passing points will be used as interpolation points If the distance is set to 0 an appropriate division distance will be calculated automatically so that the actuator will operate at the set speed The distance is input in mm Note If a PSPL command i...

Page 807: ...sition During PATH or PSPL operation the output port number or flag number specified in the output field will be incremented and turned ON when each specified position approaches At the last position however the output will turn ON upon completion of operation This setting provides a rough guide for output in sequence control Note 1 The default value of POTP before it is set is 0 Note 2 If POTP 1 ...

Page 808: ...ich push motion approach operation torque limiting operation will be performed in operand 2 in mm sec The push motion approach distance specified in operand 1 may contain up to three decimal places while the speed specified in operand 2 cannot contain any decimal place Example PAPR 100 30 MOVP 10 PUSH 11 Note The push motion approach speed in an OVRD command will be clamped by the minimum speed of...

Page 809: ...ion with a PBND command Note 1 The quick return mode will be cancelled when the program ends The positioning width set by a PBND command will not be cancelled Note 2 If a given axis is used even once in the quick return mode the program will not release the right to use the axis until the QRTN is set to 0 normal mode or the program ends Any attempt to use the axis from other program will generate ...

Page 810: ...es approx 50mm before the position WTON 610 Wait for permission of movement to position 2 610 MOVL 2 601 Move to position 2 axis 3 PEND 602 Wait for all used axes to end operation QRTN 0 Set quick return mode to 0 This mode is invalid with respect to commands other than MOVP MOVL and PATH With CIR2 ARC2 ARCC ARCD CIRS ARCS CIR ARC PSPL MVPI and MVLI commands Error No B24 Quick return mode error oc...

Page 811: ... MOVP MOVL or PATH command turns ON near the target position regardless of the value set by the NBND command the operation is not yet complete Use the output of a PEND command to check if the operation has completed positioning has been successful During quick return mode 2 the following tasks apply to all used axes for any operation with a MOVP command they apply to all used axes even when specif...

Page 812: ...n 1 axes 1 2 Proceed to the next step when each axis reaches approx 80mm before the position WTON 610 Wait for permission of movement to position 2 610 MOVL 2 601 Move to position 2 axis 3 PEND 602 Wait for all used axes to end operation QRTN 0 Set quick return mode to 0 This mode is invalid with respect to commands other than MOVP MOVL and PATH With CIR2 ARC2 ARCC ARCD CIRS ARCS CIR ARC PSPL MVPI...

Page 813: ...ly to all used axes even when specified for an individual axis All stop processing including one by a STOP command Speed change by a CHVL command An attempt to switch from quick return mode 3 directly to quick return mode 1 generates Error No B24 Quick return mode error Software versions supporting quick return mode 3 Controller main application Ver 1 04 or later excluding flash ROM 8Mbit versions...

Page 814: ...be established in the tool coordinate system offset and the data before executing DFTL Command is saved In MSEL PCX PGX position data for four axes needs to be set in the tool coordinate system offset data no mater of the number of axes on SCARA Robot It is recommended that the position that the tool coordinate system data is set from is used as the dedicated data for the tool coordinate set not t...

Page 815: ... change to Axis 5 to 8 in Tool Coordinate System No 1 as the position data in Axis 5 to 8 for the SCARA axes 5th to 8th axes are all set ineffective Example 2 DFTL 2 152 In case that the command shown above is executed with the position data as shown below the data is set to Axis 1 to 8 in Tool Coordinate System No 2 as the position data in either of Axis 1 to 4 or Axis 5 to 8 for the SCARA axes 1...

Page 816: ...te 4 Expressly declare SLTL in the program to prevent unwanted problems resulting from forgetting to reset the coordinate system selection number after changing it in the PC software or on the teaching pendant Execute SLTL 0 if the tool coordinate system is not used Note 5 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL ...

Page 817: ...inate system offset data for four axes is set in the position data no mater of the number of axes on SCARA Robot It is recommended that the position that the tool coordinate system is acquired from is used as the dedicated data for the tool coordinate acquirement not to be shared with the movement target position In case there is an additional linear axis is connected on Axis 4 on 3 axis type SCAR...

Page 818: ... unit of SCARA connected Example GTTL 1 150 After the command shown above is executed the position data for the liner axes 5th to 8th axes are cleared The data before GTTL Command was executed gets cleared XSEL RXD SXD 2 unit of SCARA connected Example GTTL 1 150 ...

Page 819: ...a cannot be established in the tool coordinate system offset and the data before executing DFWK Command is saved In MSEL PCX PGX position data for four axes is set in the work coordinate system offset data no mater of the number of axes on SCARA Robot It is recommended that the position that the work coordinate system data is set from is used as the dedicated data for the work coordinate set not t...

Page 820: ... change to Axis 5 to 8 in Work Coordinate System No 1 as the position data in Axis 5 to 8 for the SCARA axes 5th to 8th axes are all set ineffective Example 2 DFWK 2 152 In case that the command shown above is executed with the position data as shown below the data is set to Axis 1 to 8 in Work Coordinate System No 2 as the position data in either of Axis 1 to 4 or Axis 5 to 8 for the SCARA axes 1...

Page 821: ...te 4 Expressly declare SLWK in the program to prevent unwanted problems resulting from forgetting to reset the coordinate system selection number after changing it in the PC software or on the teaching pendant Execute SLWK 0 if the work coordinate system is not used Note 5 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL ...

Page 822: ...ordinate system offset data for four axes is set in the position data no mater of the number of axes on SCARA Robot It is recommended that the position that the work coordinate system is acquired from is used as the dedicated data for the work coordinate acquirement not to be shared with the movement target position In case there is an additional linear axis is connected on Axis 4 on 3 axis type S...

Page 823: ...ator Control Declaration 329 XSEL JX KX PX QX RX SX 1 unit of SCARA connected Example GTWK 1 150 The data before GTWK Command was executed gets cleared XSEL RXD SXD 2 unit of SCARA connected Example GTWK 1 150 ...

Page 824: ...e current arm system is the right arm system Note 1 To use a RIGH or LEFT command the speed must be set with VELS even when a SCARA PTP operation command is not used Note 2 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Esta...

Page 825: ...e current arm system is the left arm system Note 1 To use a RIGH or LEFT command the speed must be set with VELS even when a SCARA PTP operation command is not used Note 2 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Estab...

Page 826: ...by operating on the right arm system Executing this command does not initiate any arm operation Note 1 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Establish the setting to have all the SCARA axes valid Error No C30 Axis P...

Page 827: ... by operating on the left arm system Executing this command does not initiate any arm operation Note 1 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Establish the setting to have all the SCARA axes valid Error No C30 Axis P...

Page 828: ...uator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Establish the setting to have all the SCARA axes valid Error No C30 Axis Pattern Error will occur if even one axis is set invalid by GRP and BASE Commands When GRP and BASE Commands are undeclared all the axes are effective equivalent to GRP 11111111 Example 1 GR...

Page 829: ...Note 1 In XSEL RX SX RXD SXD 8 axes Series GRP and BASE Command are available also in the actuator control declaration commands SLTL SLWK WGHT WGT2 PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Establish the setting to have all the SCARA axes valid Error No C30 Axis Pattern Error will occur if even one axis is set invalid by GRP and BASE Commands When GRP and BA...

Page 830: ...xes on SCARA Robot It is recommended that the position that the simple contact check zone coordinate data is set from is used as the dedicated data for the simple contact check zone coordinate set not to be shared with the movement target position In case there is an additional linear axis is connected on Axis 4 on 3 axis type SCARA Robot Axis 4 in the position data set to the simple contact check...

Page 831: ... 11 Actuator Control Declaration 337 Example DFIF 1 170 ...

Page 832: ...ber CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u PCX PGX only Function Set the output number global flag number in operand 2 as the output specification to be applied upon entry into the simple contact check zone specified in operand 1 Note 1 The simple contact check zone is a function available for SCARA Note...

Page 833: ...or 2 error type CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u PCX PGX only Function Specify the error type in operand 2 see below as the error type to be applied upon entry into the simple contact check zone specified in operand 1 Error types applicable upon entry into simple contact check zone 0 No error 1 Mes...

Page 834: ... all axes and then the simple contact check zone definition coordinate data is set In MSEL PCX PGX simple contact check zone coordinate data for four axes is set in the position data no mater of the number of axes on SCARA Robot It is recommended that the position that the simple contact check zone coordinate is acquired from is used as the dedicated data for the simple contact check zone coordina...

Page 835: ...red when the power is turned OFF or a software reset is performed after which you must set the applicable values again expressly in the program Note 1 For the inertial moment in operand 2 set a composite inertial moment covering the tool and work relating to the center of rotation of the R axis Note 2 Although entry of inertial moment in operand 2 is optional if no inertial moment is set the maxim...

Page 836: ...ven one axis is set invalid by GRP and BASE Commands When GRP and BASE Commands are undeclared all the axes are effective equivalent to GRP 11111111 Example 1 GRP 1111 It makes the 1st to 4th axes effective WGHT 2000 5000 Set a tip load with 2000g of weight and 5000kgmm2 of the moment of inertia to the SCARA axes 1st to 4th axes Example 2 GRP 11111111 It makes the 1st to 8th axes effective WGHT 10...

Page 837: ... indicated variable in Operation 2 The tip load mass inertial moment set by a WGT2 command will be retained until a new WGT2 command is set again However they are cleared when the power is turned OFF or a software reset is performed after which you must set the applicable values again expressly in the program Indicated Variable in Operation 2 Variable No Contents of Setting Remarks n Gravity Cente...

Page 838: ...P BASE Commands become effective even in WGT2 Command Establish the setting to have all the SCARA axes valid Error No C30 Axis Pattern Error will occur if even one axis is set invalid by GRP and BASE Commands When GRP and BASE Commands are undeclared all the axes are effective equivalent to GRP 11111111 Example 1 GRP 1111 Indicates SCARA of 1st to 4th axes LET 1001 50000 Indicates Center of gravit...

Page 839: ...revious position movement is completed Accordingly a dead width is created between at the overlap of the movement to the last position in the PATH commands and the movement to the position immediately before it Note 3 The close distance set here will remain effective even after the program ends When building a system using NBND commands therefore specify the close distance expressly with a NBND co...

Page 840: ...d 2 Nothing will occur if the axis servos are already ON Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary o 3 decimal LET 1 3 Assign 3 to variable 1 SVON 1 SCARA robots The arm system of SCARA axes 1st to 4th axes or 1st to 3rd axes is set to Local Variable No 99 when comple...

Page 841: ...e return sequence Note 3 Home return operation for the axis using an ABS encoder makes a movement to the multi rotation data reset position thus it does not always make a movement to the home preset coordinate including 0 Use a MOVP command instead of a HOME command if you want to turn ON output 304 when I O parameter No 50 Output function selection 304 is set to 1 Output when all effective linear...

Page 842: ...rive Axes Double Indication Error Use GRP Command or operate the position data of SCARA axis and linear drive axis separately Other than SCARA robots Example 1 VEL 100 Set the speed to 100mm s MOVP 1 Move the axes to the position corresponding to position No 1 200 100 Example 2 VEL 100 Set the speed to 100mm s LET 1 2 Assign 2 to variable 1 MOVP 1 Move the axes to the position corresponding to the...

Page 843: ...xis parameter No 200 Default acceleration for linear axis or all axis parameter No 201 Default deceleration for linear axis if the acceleration deceleration is not specified in the position data table or using an ACC DCL command Path of moving from position No 1 to position No 2 With a SCARA axis the center of the tool mounting surface or tool tip moves via PTP not along a straight line The moving...

Page 844: ... Command or operate the position data of SCARA axis and linear drive axis separately Other than SCARA robots Example 1 VEL 100 Set the speed to 100mm s MOVL 1 Move the axes to the position corresponding to position No 1 200 100 with interpolation Example 2 VEL 100 Set the speed to 100mm s LET 1 2 Assign 2 to variable 1 MOVL 1 Move the axes to the position corresponding to the content of variable 1...

Page 845: ...is not specified in the position data table or using an ACC DCL command In the case of a linear axis the axis operates according to all axis parameter No 200 Default acceleration for linear axis or all axis parameter No 201 Default deceleration for linear axis if the acceleration deceleration is not specified in the position data table or using an ACC DCL command Position No 1 R axis position View...

Page 846: ...the position data of SCARA axis and linear drive axis separately Other than SCARA robots Example 1 VEL 100 Set the speed to 100mm s MVPI 1 If the current position is 50 50 and position No 1 is set to 150 100 the axes will move 150 in the X direction and 100 in the Y direction 200 150 from the current position Example 2 VEL 100 Set the speed to 100mm s LET 1 2 Assign 2 to variable 1 MVPI 1 Move fro...

Page 847: ... accumulate To eliminate these errors etc execute an absolute movement command MOVP MOVL etc once Example 1 MVPI 6 Move from the current position by the travel according to position No 6 If the current positions of the axes are specified by position No 5 200 150 50 45 and travels are specified by position No 6 15 30 20 30 the axes move to the positions 215 180 70 75 Note In the case of a SCARA axi...

Page 848: ...f SCARA axis and linear drive axis separately Other than SCARA robots Example 1 VEL 100 Set the speed to 100mm s MVLI 1 If the current position is 50 50 and position No 1 is set to 150 100 the axes will move 150 in the X direction and 100 in the Y direction 200 150 from the current position with interpolation Example 2 VEL 100 Set the speed to 100mm s LET 1 2 Assign 2 to variable 1 MVLI 1 Move fro...

Page 849: ...late To eliminate these errors etc execute an absolute movement command MOVP MOVL etc once Example 1 MVLI 6 Move from the current position by the travel according to position No 6 If the current positions of the axes are specified by position No 5 200 150 50 45 and travels are specified by position No 6 15 30 20 30 the axes move to the positions 215 180 70 75 Note In the case of a SCARA axis the a...

Page 850: ...X RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u PC PG only Function Move the axis specified by the axis pattern in operand 2 to the target position corresponding to the value specified in operand 1 If operand 2 is not specified all axes will be moved The output will turn OFF at the start of axis movement and turn ON when the movement is complete The target position is set in mm and the set valu...

Page 851: ...cified travel distance is equal to or less than the travel distance per encoder pulse mm pulse the axis may not move Calculation formula of travel distance per encoder pulse Rotary encoder Travel distance per encoder pulse mm pulse Screw lead 0 001mm Gear ratio numerator Encoder resolution pulses rev Gear ratio denominator 2 Encoder division ratio Linear encoder Travel distance per encoder pulse m...

Page 852: ...number of the next target instead of the predicted current position upon execution of the applicable command Inputting a point number corresponding to the predicted current position will trigger movement to the same point during continuous movement thereby causing the speed to drop Note 2 It is possible to move through discontinuous positions or move continuously by passing the same position As sh...

Page 853: ...is limited to all axis parameter No 15 Maximum jog speed before coordinate confirmation home return Since the coordinate values have no meaning in this condition pay due attention to prevent contact with the stroke end With SCARA axes operation by this command is disabled only before the confirmation of ABS coordinates Note 3 The jog speed of a SCARA axis is limited by all axis parameter No 37 Max...

Page 854: ...r error If a positioning command not meeting the above condition is executed outside a coordinate range of approx 9990 to 9990 Error No CC5 Positioning boundary breakout error occurs These errors are generated intentionally because the user cannot recognize the operating direction precisely around the boundary If any of these errors occurs axis specific parameter No 10 ABS reset position movement ...

Page 855: ...operation cancellation command and the program does not wait for completion of stopping If other servo command is issued while the axes are stopping the command becomes invalid or an axis multiple use or other error occurs Set a timer etc in the program so that the next servo command will be issued after a sufficient deceleration stop processing time elapses Even when a STOP command is to be issue...

Page 856: ...ped during continuous movement The diagram above is an image Note 1 If the acceleration and deceleration are different between points the speeds will not be connected smoothly In this case input in operand 1 the point number of the next target instead of the predicted current position upon execution of the applicable command Inputting a point number corresponding to the predicted current position ...

Page 857: ...mmand If the output field is specified the output will turn ON when a contact is confirmed and turn OFF when a missed contact is detected Movement from the position origin to start position of push motion approach conforms to the speed and acceleration deceleration specified by VEL ACC DCL commands or in the position data table The pressing force can be adjusted in Driver Card Parameter No 38 Limi...

Page 858: ... 2 Perform push motion movement from position No 2 to 10 The diagram below describes a push motion movement based on the position data shown in the table below Position Data Display in PC Software Position No Axis 1 Axis 2 Vel Acc Dcl 1 2 50 000 100 000 x x x x 10 200 000 200 0 30 0 30 x x Move at 200mm sec Axis 2 Axis 1 Position No 10 Perform push motion approach operation speed 20mm sec Position...

Page 859: ...ive even after the program ends Therefore when building a system using the PTRQ command in every program explicitly specify a push torque limit using a PTRQ command before each push motion operation Assuming that the push torque limit will be reset to the original value when push motion operation ends in one program can cause an unexpected problem in another program because a different push torque...

Page 860: ... the position data specified in operand 1 2 Setting value by VEL command Setting value by ACC DCL command 3 Default acceleration in all axis parameter No 11 Default deceleration in all axis parameter No 12 If speed is not set a C88 speed specification error will generate If acceleration deceleration is not valid a C89 acceleration deceleration specification error will generate XSEL JX KX PX QX RX ...

Page 861: ...soft limit Error No C73 Target path soft limit over error may occur In this case increase the distance between the adjacent positions as much as possible move the path slightly inward from the soft limit boundary or make other appropriate correction Note 4 XSEL PX QX RX SX RXD SXD cannot make a movement to draw an arch using the SCARA axes and liner axes or using the SCARA axes axes 1 to 4 and SCA...

Page 862: ...tion data specified in operand 1 2 Setting value by VEL command Setting value by ACC DCL command 3 Default acceleration in all axis parameter No 11 Default deceleration in all axis parameter No 12 XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting value in the positio...

Page 863: ...C73 Target path soft limit over error may occur In this case increase the distance between the adjacent positions as much as possible move the path slightly inward from the soft limit boundary or make other appropriate correction Note 4 XSEL PX QX RX SX RXD SXD cannot make a movement to draw an arch using the SCARA axes and liner axes or using the SCARA axes axes 1 to 4 and SCARA axes axes 5 to 8 ...

Page 864: ...origin three dimensional movement The direction in which to go around the circle is determined by the position data given In the figure below the rotating direction is reversed if passing positions 1 and 2 are swapped Other than XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration Deceleratio...

Page 865: ...xample a CIRS command is executed based on the position data of axes 2 to 4 Note 2 The path tends to shift inward as the speed rises Minor correction such as setting the position data slightly outward may be required Note 3 If the diameter of the circle is smaller relative to the set speed the speed may be limited Although the extent to which the speed is limited can be reduced by raising the acce...

Page 866: ...ition data specified in operand 1 2 Setting value by VEL command Setting value by ACC command 3 Default acceleration in all axis parameter No 11 Same as the effective value of acceleration XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting value in the position data s...

Page 867: ...g the acceleration acceleration make sure the acceleration and deceleration do not exceed the range permitted by the actuator Note 4 If the distance between the position origin and passing position 1 or between passing position 1 and passing position 2 is small and the path is near a soft limit Error No C73 Target path soft limit over error may occur In this case increase the distance between the ...

Page 868: ... 3 x x The axis pattern can be specified indirectly using a variable When program 1 is rephrased based on indirect specification using a variable 11 binary o 3 decimal LET 1 3 Assign 3 to variable 1 CHVL 1 100 Note 4 Since this command is valid only for the packet that is active at the time of execution of the command for an axis subject to continuous motion in a PATH command etc caution must be e...

Page 869: ...es currently operating To prevent the maximum speed from being limited due to the effect of other axis whose maximum speed is lower than the speed specified in the CHVL command issue a CHVL command in multiple steps corresponding to the respective axes having different maximum speeds In particular specification of a CHVL command in a separate step is recommended for a rotating axis Note 7 This com...

Page 870: ...le is degree and the set value is effective to three decimal points Other than XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting value in the position data specified in operand 1 Setting value in the position data specified in operand 1 2 Setting value by VEL command...

Page 871: ... soft limit over error may occur In this case move the path slightly inward from the soft limit boundary or make other appropriate correction Also note that the larger the center angle the smaller the path error becomes Note 4 XSEL PX QX RX SX RXD SXD cannot make a movement to draw an arch using the SCARA axes and liner axes or using the SCARA axes axes 1 to 4 and SCARA axes axes 5 to 8 Either B80...

Page 872: ...tion to check the rotating direction The setting unit of the center angle is degree and the set value is effective to three decimal points Other than XSEL JX KX PX QX RX SX RXD SXD and MSEL PCX PGX The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting value in the position data specified in operand 1 Setting value in ...

Page 873: ... over error may occur In this case move the path slightly inward from the soft limit boundary or make other appropriate correction Also note that the larger the center angle the smaller the path error becomes Note 4 XSEL PX QX RX SX RXD SXD cannot make a movement to draw an arch using the SCARA axes and liner axes or using the SCARA axes axes 1 to 4 and SCARA axes axes 5 to 8 Either B80 Indication...

Page 874: ...t with a PBND command the value set in Axis specific parameter No 58 Positioning width will be used Note 2 If the positioning width is changed the new setting will remain valid even after the program ends Therefore to build a system using PBND commands a positioning band must be expressly specified with a PBND command before operation of each program An assumption that the positioning width will b...

Page 875: ... PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u PCX PGX only Function Move incrementally on the tool coordinate system without interpolation via PTP operation by the travel from the current position corresponding to the position data in operand 1 Note 1 This command is dedicated for the SCARA axes only Error No B80 Indication Prohibited Axis Error will be issued if the liner axes ar...

Page 876: ... PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u PCX PGX only Function Move incrementally on the tool coordinate system without interpolation via CP operation by the travel from the current position corresponding to the position data in operand 1 Note 1 This command is dedicated for the SCARA axes only Error No B80 Indication Prohibited Axis Error will be issued if the liner axes are...

Page 877: ...eed set by a VEL command will be used former is given priority The speed set in the data at passing position 2 will have no meaning Note 2 If the division angle is set to a value other than 0 with a DEG command normal division angle the speed specified in the target position data will be used The speed set by a VEL command will become valid if position data is not specified In the case of circular...

Page 878: ...to draw an arch using the SCARA axes and liner axes or using the SCARA axes axes 1 to 4 and SCARA axes axes 5 to 8 Either B80 Indication Prohibited Axes Error or 421 SCARA Linear Drive Axes Double Indication Error will occur Use GRP Command or operate the position data of SCARA axis and linear drive axis separately Example 1 VEL 100 Set the speed to 100mm s CIR 100 101 Move along a circle from the...

Page 879: ...r than 0 with a DEG command normal division angle the speed specified in the target position data will be used The speed set by a VEL command will become valid if position data is not specified Note 3 The acceleration is selected in the order of passing position 1 data ACC command and all axis parameter No 11 Default acceleration for SCARA axis or all axis parameter No 200 Default acceleration for...

Page 880: ...on Error will occur Use GRP Command or operate the position data of SCARA axis and linear drive axis separately Example 1 VEL 100 Set the speed to 100mm s ARC 100 101 Move along an arc from the current position to position 101 by passing position 100 Example 2 VEL 100 Set the speed to 100mm s LET 1 5 Assign 5 to variable 1 LET 2 6 Assign 6 to variable 2 ARC 1 2 Move along an arc from the current p...

Page 881: ... ON only when a MOVP MOVL or PATH command has been successfully executed positioning has been successful in quick return mode 2 closeness detection return target position addition mode or quick return mode 3 closeness detection return target position change mode the output does not turn ON if any other servo command is executed Note 1 To check if the operation has been successful positioning has b...

Page 882: ... Operand 1 z Operand 2 GT Operand 1 Operand 2 GE Operand 1 t Operand 2 LT Operand 1 Operand 2 LE Operand 1 d Operand 2 Example 1 SVON 1111 Set the current arm system in variable 99 PRDQ 1 100 Read the current X coordinate value into variable 100 CPNE 99 0 600 Turn OFF flag 600 if the arm system is indeterminable 600 IFEQ 99 1 Determine the arm system The processing ends if the arm system is indete...

Page 883: ...r the entire length of the literal If the input condition is not satisfied and the IS command is not executed the program will proceed to the step next to the EDIF A maximum of 15 nests are supported when IF and DW are combined IS EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 Example 1 SCPY 10 GOFD Move forward SCPY 14 GOBK Move backward SLEN 4 Set the number of comparing characters to 4 600 ISE...

Page 884: ... E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited ELSE Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function An ELSE command is used arbitrarily in conjunction with an IF or IS command to declare the command part to be executed when the condition is not satisfied Example 1 Refer to the sections on IF and IS ...

Page 885: ... Command declaration Operand 1 Operand 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited EDIF Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Declare the end of an IF or IS command Example 1 Refer to the sections on IF and IS ...

Page 886: ...t to the corresponding EDDO if the condition is no longer satisfied A LEAV command can be used to forcibly end a loop If the input condition is not satisfied and the DW command is not executed the program will proceed to the step next to the corresponding EDDO A maximum of 15 nests are supported when IF and IS are combined DW EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 GT Operand 1 Operand 2 G...

Page 887: ...perand 1 Operand 2 Pst Optional Optional LEAV Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Pull out of a DO loop and proceed to the step next to EDDO Example 1 DWEQ 1 0 Repeat the commands up to an EDDO command while variable 1 contains 0 600 LEAV Forcibly end the loop if flag 600 is ON and proceed to the step next to an EDDO command EDD...

Page 888: ... 1 Operand 2 Pst Optional Optional ITER Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Forcibly switch the control to EDDO while in a DO loop Example 1 DWEQ 1 0 Repeat the commands up to an EDDO command while variable 1 contains 0 600 ITER Forcibly switch the control to an EDDO command and perform end judgment if flag 600 is ON EDDO ...

Page 889: ...tput Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited EDDO Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Declare the end of a loop that began with DW If the DW condition is not satisfied the program will proceed to the step next to this command Example 1 Refer to the section on DW ...

Page 890: ...or to the step next to an OTHE command if none of the conditions are satisfied A SLCT command must be followed by a WH WS or EDSL command A maximum of 15 nests are supported Note Using a GOTO command to branch out of or into a SLCT EDSL syntax is prohibited Example 1 SCPY 1 Right Assign right to columns 1 and 2 600 SLCT Jump to a W whose condition is satisfied WSEQ 1 Right If right is stored in co...

Page 891: ...d 2 LE Operand 1 d Operand 2 Example 1 LET 1 20 Assign 20 to variable 1 LET 2 10 Assign 10 to variable 2 SLCT Execute multi branching WHEQ 1 10 1 will be executed if the content of variable 1 is 10 Since variable 1 contains 20 however the next condition will be referenced 1 WHGT 1 2 This command will be executed if the content of variable 1 is greater than the content of variable 2 2 Since variabl...

Page 892: ...EQ Operand 1 Operand 2 NE Operand 1 z Operand 2 Example 1 SLEN 3 Set the number of comparing characters to 3 SCPY 1 ABC Assign ABC to column 1 LET 1 2 Assign 2 to variable 1 SLCT Execute multi branching WSEQ 1 XYZ 1 1 will be executed if columns 1 to 3 contain XYZ Since columns 1 to 3 contain ABC however this command will not be executed WSEQ 2 1 2 2 will be executed if the content of the number o...

Page 893: ...ut Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited OTHE Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function This command is used between SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied Example 1 Refer to the sections on SLCT WH and WS ...

Page 894: ... O flag Command declaration Operand 1 Operand 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited EDSL Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Declare the end of a SLCT command Example 1 Refer to the sections on SLCT WH and WS ...

Page 895: ...ls of models Function Store in the variable specified in operand 1 the status axis error number of the axis specified in operand 2 Note 1 If the obtained result is 0 it means no axis error is present Note 2 Since the error lists are written in hexadecimals they must be converted to decimals Example AXST 1 2 Read the error number for axis 2 to variable 1 If 3188 decimal is stored in variable 1 afte...

Page 896: ...All models Refer to Section 5 1 for details of models Function Store in the variable specified in operand 1 the status program error number of the program specified in operand 2 Note 1 If the obtained result is 0 it means no program error is present Note 2 Although the error lists are written in hexadecimals the status to be stored program error number is a decimal Therefore the decimal program er...

Page 897: ... models Function Store the system status top priority system error number in the variable specified in operand 1 Note 1 If the obtained result is 0 it means no system error is present Note 2 Since the error lists are written in hexadecimals they must be converted to decimals Note 3 Relationship of error statuses System errors Program errors Axis errors Other errors An axis error that generates dur...

Page 898: ... BASE Command are available also in the actuator control declaration commands SLTL SLWK WGHT PTPR PTPL PTPE PTPD RIGH LEFT and the system information acquirement command GARM Establish the setting to have all the SCARA axes valid Error No C30 Axis Pattern Error will occur if even one axis is set invalid by GRP and BASE Commands When GRP and BASE Commands are undeclared all the axes are effective e...

Page 899: ...e specified using Axis specific parameter No 88 91 94 and 97 irrespective of this command Note 4 The zone signal is a dedicated command for linear axes If a SCARA axis is specified for this command Error No B80 Specification prohibited axis error occurs Example 1 WZNA 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 and 2 becomes ON inside the shaded ...

Page 900: ... specified using Axis specific parameter No 88 91 94 and 97 irrespective of this command Note 4 The zone signal is a dedicated command for linear axes If a SCARA axis is specified for this command Error No B80 Specification prohibited axis error occurs Example 1 WZNO 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 or 2 becomes ON inside the shaded ar...

Page 901: ...e specified using Axis specific parameter No 88 91 94 and 97 irrespective of this command Note 4 The zone signal is a dedicated command for linear axes If a SCARA axis is specified for this command Error No B80 Specification prohibited axis error occurs Example 1 WZFA 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 and 2 becomes OFF inside the shaded...

Page 902: ...n be specified using Axis specific parameter No 88 91 94 and 97 irrespective of this command Note 4 The zone signal is a dedicated command for linear axes If a SCARA axis is specified for this command Error No B80 Specification prohibited axis error occurs Example 1 WZFO 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 or 2 becomes OFF inside the shad...

Page 903: ...le models All models Refer to Section 5 1 for details of models Function Open the channel specified in operand 1 The specified channel will be enabled to send receive hereafter Prior to executing this command a SCHA command must be used to set an end character Example 1 SCHA 10 OPEN 1 Specify 10 LF as the end character Open channel 1 Note If Open 0 is executed the teaching pendant connector D sub2...

Page 904: ...Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional CLOS Channel number Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Close the channel specified in operand 1 The specified channel will be disabled to send receive hereafter Example 1 CLOS 1 Close channel 1 LET 1 2 CLOS 1 Assign 2 to variable 1 Close the content of variable 1 channel 2 ...

Page 905: ...With tools of these versions 0 can be specified indirectly if it cannot be entered directly from the tool x PC software Ver 1 1 1 0 or later x Teaching pendant application Ver 1 06 or later Example 1 SCHA 10 Set LF 10 as the end character OPEN 1 Open channel 1 READ 1 2 Read a character string from channel 1 to column 2 until LF is received TRAN 1 99 Assign the return code variable 99 to variable 1...

Page 906: ...READ SCIF overrun error Receive disabled 4 READ SCIF receive error framing error or parity error Receive disabled 5 READ factor error program abort error Receive disabled Cannot be recognized by SEL commands 6 READ task ended program end request etc Receive disabled Cannot be recognized by SEL commands 7 READ SCIF receive error due to other factor Receive disabled 8 READ expansion SIO overrun erro...

Page 907: ...ring read to end when a READ command is executed If the end character could not be read before the timer is up during the execution of the READ command a timeout will occur and the program will move to the next step You can check if a timeout has occurred by checking the return code which is stored in a local variable factory setting variable 99 immediately after the READ command has been executed...

Page 908: ...1 1 2 If the content of variable 1 is 1 Timeout 2 will be executed In 2 define appropriate processing to handle this situation if necessary WHEQ 1 2 3 If the content of variable 1 is 2 Timer cancelled 3 will be executed In 3 define appropriate processing to handle this situation if necessary OTHE 4 If the content of variable 1 is not 0 1 or 2 4 will be executed In 4 define appropriate error handli...

Page 909: ...30 Set the READ timeout value to 30sec OPEN 1 Open channel 1 READ 1 2 Read the character string from channel 1 to column 2 until LF is read TRAN 1 99 Assign the return code to variable 1 CLOS 1 Close the channel Read completes successfully within 30sec o Variable No 1 0 Timeout occurs o Variable No 1 1 The return code of READ command may not be limited to 0 or 1 The variable to store the return co...

Page 910: ... the channel With a standard SIO channel 1 or 2 WRIT is supported by can be sent in a task other than the one that opened the channel as long as the channel is currently open Accordingly by sending WRIT in other task after executing READ in a task that opened the channel a response can be received from the other side without delay after sending from XSEL Note 1 CP is performed if the channel is ot...

Page 911: ...utput flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional SCHA Character code Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Set the end character to be used by a READ or WRIT command Any character from 0 to 255 character code used in BASIC etc can be specified Example Refer to the sections on READ and WRIT commands ...

Page 912: ...ter literal CC Applicable models All models Refer to Section 5 1 for details of models Function Copy the character string in the column specified in operand 2 to the column specified in operand 1 Copy will be performed for the length set by a SLEN command If a character literal is specified in operand 2 copy will be performed for the entire length of the literal Example 1 SCPY 1 ABC Copy ABC to co...

Page 913: ...s All models Refer to Section 5 1 for details of models Function Compare the column specified in operand 1 with the column specified in operand 2 Comparison will be performed for the length set by a SLEN command If a character literal is specified in operand 2 comparison will be performed for the entire length of the literal Example 1 SCMP 1 ABC 600 Flag 600 will turn ON if columns 1 to 3 contain ...

Page 914: ...s All models Refer to Section 5 1 for details of models Function Assign one character from the column specified in operand 2 to the variable specified in operand 1 If a character string literal is specified in operand 2 the first character will be assigned Example 1 SGET 1 100 Assign one byte from column 100 to variable 1 LET 1 3 Assign 3 to variable 1 LET 2 1 Assign 1 to variable 2 SCPY 1 A Copy ...

Page 915: ...Operand 2 Pst Optional Optional SPUT Column number Data CP Applicable models All models Refer to Section 5 1 for details of models Function Set the data specified in operand 2 in the column specified in operand 1 Example 1 SPUT 5 10 Set 10 LF in column 5 LET 1 100 Assign 100 to variable 1 LET 2 50 Assign 50 to variable 2 SPUT 1 2 Set the content of variable 2 50 2 in the content of variable 1 colu...

Page 916: ... SLEN command the output will turn ON Note If the data specified in operand 2 is a 10 digit integer including eight or more valid digits conversion of the values in the eighth and subsequent digits will not be guaranteed the values through the seventh digits will be converted properly Example SLEN 5 3 Set a length consisting of five integer digits and three decimal digits STR 1 123 The following v...

Page 917: ...e length set by a SLEN command If the entire data has been converted within the length set by a SLEN command the output will turn ON Note If the data specified in operand 2 is a negative value 8 columns will be required to covert the entire data Example SLEN 5 Set a format consisting of 5 integer digits STRH 1 255 The following values will be set in columns 1 to 5 1 2 3 4 5 F F LET 1 10 Assign 10 ...

Page 918: ...ion will be performed for the length set by a SLEN command If a character string literal is specified in operand 2 conversion will be performed for the entire length of the literal Note Keep the converting length to 18 characters or less Example SCPY 10 1234 Set 1234 in column 10 SLEN 4 Set the converting length to 4 bytes VAL 1 10 Assign 1234 which is a binary converted from 1234 in column 10 to ...

Page 919: ... the length set by a SLEN command Only the integer part will be converted with the decimal part being ignored If a character string literal is specified in operand 2 conversion will be performed for the entire length of the literal Note Keep the converting length to 8 characters or less Example SCPY 10 1234 Set 1234 in column 10 SLEN 4 Set the converting length to 4 bytes VALH 1 10 Assign 4660 whi...

Page 920: ...gth Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Set the length to be processed by a string command This must always be set before using the following commands SCMP Decimal part is invalid SCPY Decimal part is invalid IS Decimal part is invalid WS Decimal part is invalid STRH Decimal part is invalid VAL VALH Decimal part is invalid STR Decimal part...

Page 921: ...ns other than the arch motion Z axis direction are complete the axes will come down to the end point arch trigger and reach the specified point x Palletizing arch triggers must be set using an ATRG command Note 1 If the arch motion setting that SCARA axis and linear drive axis exist together is established 421 SCARA Linear Drive Axes Double Indication Error will occur Also if the arch motion setti...

Page 922: ...oward the Z point from the start point the down direction refers to the opposite direction and has nothing to do with the size of coordinate value Therefore be sure to confirm the actual operating direction when using this command x The arch motion Z axis will come down after a rise process command value is output Therefore one of the following operations will be performed depending on how the arc...

Page 923: ...P Applicable models All models Refer to Section 5 1 for details of models Specify the axis number representing the arch motion Z direction The axis number specified in operand 1 will be set as the axis number representing the arch motion Z direction If the output field is specified the output will turn ON after this command is executed Example ACHZ 3 Note 1 The arch motion Z axis is available for ...

Page 924: ...int data specified in operand 1 as the start point arch trigger and set the arch motion Z axis position data in the point data specified in operand 2 as the end point arch trigger ATRG 13 11 Refer to Palletizing Setting Arch triggers under How to Use For an arch motion operation set it so that a horizontal movement will begin when the start point arch trigger is reached during ascent from the star...

Page 925: ...arch motion Use the position number specified in operand 1 for setting composite motion With SCARA robots the R axis becomes a composite arch motion axis When the arch motion is executed the end coordinate of the composite axis corresponds to effective axis data other than that of the arch motion Z axis included in the arch motion end point data If nothing is specified in operand 1 the position nu...

Page 926: ...o Section 5 1 for details of models Set the offset in the arch motion Z axis direction The value specified in operand 1 will be set as the offset in the arch motion Z axis direction The offset amount is set in mm and the effective resolution is 0 001mm A negative value can also be specified as the offset as long as the operation range will not be exceeded This offset is valid only at the end point...

Page 927: ...g setting Once this command is executed palletizing setting for the palletizing number specified in operand 1 will be enabled In the case of an ACHZ AEXT OFAZ or ATRG command setting is enabled without declaring BGPA The input range of palletizing number is from 1 to 10 When the palletizing setting is complete execute EDPA Nested BGPAs are not supported To declare start of another palletizing sett...

Page 928: ...Prohibited EDPA Prohibited Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Declare the end of a palletizing setting If a palletizing setting command excluding BGPA ACHZ ATRG AEXT and OFAZ is executed before another BGPA is declared following an execution of this command while palletizing setting is not enabled an error will generate If the output field is spec...

Page 929: ...icable models All models Refer to Section 5 1 for details of models Set counts in the palletizing axis directions The count specified in operand 1 will apply to the preferential axis PX axis direction while the count specified in operand 2 will apply to the PY axis direction If this command is executed before BGPA is declared while palletizing setting is not enabled an error will generate If the o...

Page 930: ...s Refer to Section 5 1 for details of models Set a palletizing pattern The palletizing pattern specified in operand 1 will be set 1 Pattern 1 2 Pattern 2 If this command is not declared pattern 1 will be used If this command is executed before BGPA is declared while palletizing setting is not enabled an error will generate If the output field is specified the output will turn ON after this command...

Page 931: ...nnot be used together with a 3 point teaching PAPS command Whichever is set later will be given priority 3 point teaching PAPS is recommended for palletizing that requires precision If this command is executed before BGPA is declared while palletizing setting is not enabled an error will generate If the output field is specified the output will turn ON after this command is executed If the arch mo...

Page 932: ...els Refer to Section 5 1 for details of models Set palletizing pitches The value specified in operand 1 will be set as the pitch for the preferential axis PX axis while the value specified in operand 2 will be set as the pitch for the PY axis This command is used in conjunction with PASE and PAST If this command is executed before BGPA is declared while palletizing setting is not enabled an error ...

Page 933: ...invalid an error occurs during palletizing position coordinate calculation for PAPG Get palletizing calculation data or other palletizing movement command Coordinate components of other axes are ignored during palletizing position coordinate calculation An error occurs if this command is executed when BGPA is not yet declared palletizing setting is not permitted If the output is specified it turns...

Page 934: ...ouble Indication Error will occur Also if the arch motion setting that SCARA axes for two units exist together is established B80 Indication Prohibited Axis Error will occur Establish the arch motion setting with a consideration to have the operation axes all the same SCARA axes or all linear drive axes In operand 2 specify the applicable palletizing position setting type Palletizing position sett...

Page 935: ...o the ground In this case moving the end points in parallel with PZ direction vertical direction does not find a point of intersection with this plane Table 1 Moving Direction of End Point Based on Planar Type Specification Condition Moving direction of end point Point data other than i axis component matches among the three points other than the end point Refer to Fig 2 b Move in parallel in i ax...

Page 936: ...rs If the planar type is specified and PZ axis is not yet declared set two effective axes If the number of effective axes is other than 2 a CB4 Arch motion Z axis non declaration error occurs x This command cannot be used with a PASE set palletizing axes command Whichever was set later will be given priority A single PAPS command can substitute a set of PASE PAPT and PAST commands x If this comman...

Page 937: ...Function If operand 2 is not specified the count for even numbered rows will become the same as the count for odd numbered rows If palletizing is set with PAPS Set palletizing points based on 3 point teaching the PX and PY axes need not be parallel with the corresponding axes on the work coordinate system In this case the offset direction is parallel with the PX axis If the offset value is positiv...

Page 938: ...pecify the axis number specified in operand 1 as the axis number in palletizing Z direction If operand 1 is not specified the palletizing Z axis which is specified and already declared becomes invalid An error occurs if this command is executed when BGPA is not yet declared palletizing setting is not permitted If the output is specified it turns ON after this command has been executed Note 1 Only ...

Page 939: ...a corresponding to the point data specified in operand 2 PTRG 11 13 Refer to 3 6 5 Palletizing Function Among the point data data of the PZ axis specified by a PCHZ command must be effective Set the arch motion operation through palletizing points in such a way that when the axis rises from the start point it starts parallel movement after reaching the start point arch trigger whereas when descend...

Page 940: ... a palletizing movement command is executed effective axis data other than data of the PX and PY and PZ axes among the specified point data defines the end coordinate of the composite axis With SCARA robots the R axis becomes a composite palletizing axis If nothing is specified in operand 1 the position number already declared for setting composite palletizing becomes invalid An error occurs if th...

Page 941: ...e specified in operand 1 as the offset in PZ axis palletizing Z axis direction The setting unit of offset is mm The effective resolution of the set value is 0 001mm A negative value can also be set for the offset within the range of operation This offset is effective only on the end point of PACH Arch motion to palletizing point operation An error occurs if this command is executed when BGPA is no...

Page 942: ...and 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional PTNG Palletizing number Variable number CP Applicable models All models Refer to Section 5 1 for details of models Assign the palletizing position number for the palletizing number specified in operand 1 to the variable specified in operand 2 If the output field is specified the output will turn ON after this command i...

Page 943: ...ited CC Applicable models All models Refer to Section 5 1 for details of models Increment by 1 the palletizing position number for the palletizing number specified in operand 1 If the incremented value is considered normal as a palletizing position number calculated under the current palletizing setting the value will be updated If not the value will not be updated If the output field is specified...

Page 944: ...hibited CC Applicable models All models Refer to Section 5 1 for details of models Decrement by 1 the palletizing position number for the palletizing number specified in operand 1 If the decremented value is considered normal as a palletizing position calculated under the current palletizing setting the value will be updated If not the value will not be updated If the output field is specified the...

Page 945: ...le models All models Refer to Section 5 1 for details of models Set the value specified in operand 2 as the palletizing position number for the palletizing number specified in operand 1 If the specified value is considered normal as a palletizing position calculated under the current palletizing setting the value will be set If not the value will not be set If the output field is specified the out...

Page 946: ...ore PAPS is executed refer to the detailed explanation of PAPS If the effective axis pattern for 3 point teaching data does not match an CB0 Mismatched effective axes for palletizing point data by 3 point teaching error occurs If the number of effective point data axes number of effective axes excluding the PZ axis palletizing Z axis if the PZ axis is declared is less than two a CAE Insufficient e...

Page 947: ...nd 1 Operand 2 Output Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional PARG Palletizing number Position number CP Applicable models All models Refer to Section 5 1 for details of models Store the position coordinate data of the palletizing point corresponding to the palletizing number specified in operand 1 under the position number specified in operand 2 ...

Page 948: ...f the PX PY axis coordinates of palletizing points alone are effective such as when the PZ axis palletizing Z axis is not specified If the PZ axis coordinates of palletizing points are also effective movement occurs in PZ axis direction If a position number is specified in operand 2 however the palletizing calculation result of Z direction position is ignored and the axis moves to the height corre...

Page 949: ...g to operate the SCARA axes is indicated For the palletizing setting at PMVL movement establish the setting to make the all of the operating axes the liner axes If a position number is specified in operand 2 however the palletizing calculation result of Z direction position is ignored and the axis moves to the height corresponding to the specified position number If data of any axis other than the...

Page 950: ... axis directions and then reach the calculated palletizing point by passing near the palletizing end point arch trigger x Palletizing arch triggers must be set for the PTRG command PCHZ 3 PTRG 11 13 PACH 1 12 When the operation is paused and then resumed the rise operation ĺ horizontal operation composite part and horizontal operation ĺ rise operation composite part follow the paths denoted by dot...

Page 951: ...t or opposite direction in the case of down direction and has nothing to do with the magnitude correlation of coordinate values Accordingly always check the actual operating directions when this command is used x PZ axis down operation is performed after an up process command value has been output Accordingly the following operations may take place depending on how the palletizing arch trigger and...

Page 952: ...st Optional Optional CHPR 0 or 1 Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Specify 1 User HIGH if you wish the target task to be processed before other tasks This command can also be used with non ladder tasks Task level change 0 User NORMAL 1 User HIGH is not a required component but specifying User HIGH will require a TSLP command explained be...

Page 953: ...Cmnd Operand 1 Operand 2 Pst Prohibited Prohibited TPCD 0 or 1 Prohibited CP Applicable models All models Refer to Section 5 1 for details of models Function Specify the processing to be performed when input condition is not specified 0 Execute 1 Follow the input condition in the last executed step In a ladder task always input 1 Follow the input condition in the last executed step in operand 1 In...

Page 954: ... models Function Set the time during which the applicable task will sleep in order to distribute the processing time to other tasks If the task level is set to User HIGH this command must always be specified The applicable task will sleep during the set time The time in operand 1 is set in msec An appropriate time setting must be examined on the actual system Normally approx 1 to 3 is set If the l...

Page 955: ...EL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u Function Store the motor current value percentage of the rated current corresponding to the axis number specified in operand 2 in variable 99 Note x The current value data percentage of the rated current obtained by this command has been processed by feedback current filtering and includes analog error When comparing with Constant Non Pressing To...

Page 956: ...ied in operand 2 Note x The acquired home sensor status is not the electrical level of H L but the operating non operating status determined by taking into consideration the setting of axis specific parameter No 14 Home sensor input polarity If 0 Not used is set in axis specific parameter No 14 Home sensor input polarity the sensor status output is deemed indeterminable and use of the sensor is pr...

Page 957: ...ed in operand 2 Note x The acquired overrun sensor status is not the electrical level of H L but the operating non operating status determined by taking into consideration the setting of axis specific parameter No 15 Overrun sensor input polarity If 0 Not used is set in axis specific parameter No 15 Overrun sensor input polarity the sensor status output is deemed indeterminable and use of the sens...

Page 958: ...ed in operand 2 Note x The acquired creep sensor status is not the electrical level of H L but the operating non operating status determined by taking into consideration the setting of axis specific parameter No 16 Creep sensor input polarity If 0 Not used is set in axis specific parameter No 16 Creep sensor input polarity the sensor status output is deemed indeterminable and use of the sensor is ...

Page 959: ...ry value for interpretation Note If an invalid axis number is specified in operand 2 C44 SEL data error will generate Example ECMD 5 2 Store the status of axis 2 in variable 99 If 28 decimal value was stored in variable 99 after the command was executed the status of axis 2 is interpreted as follows Variable 99 7 6 5 4 3 2 1 0 Variable 99 0 0 0 1 1 1 0 0 Variable 99 28 Binary notation Servo axis i...

Page 960: ...ated axis numbers gets read out to the variable indicated in the current position storage variable number x When Operand 2 Variable number Variable No Description of setting I O n Axis Number n 1 Current Position Storage Variable Number n 2 0 Reserved to be fixed to 0 n 3 0 Reserved to be fixed to 0 Note 1 Input an integer variable number in Operation 2 Local area 1 to 96㸪1001 to 1096 Global area ...

Page 961: ...s Axis specific Driver Encoder I O device Other n Parameter type 0 1 2 3 4 5 7 n 1 Device number axis number 0 0 1 to 8 up to number of connected axes 1 to 8 up to number of connected axes 1 to 8 up to number of connected axes 0 to 9 0 n 2 Parameter number 1 to 999 1 to 400 1 to 250 1 to 112 1 to 30 1 to 112 1 to 200 Specify an integer variable in operand 2 integer variables 98 99 298 299 1098 109...

Page 962: ... x When Operand 2 n Variable No Description of setting Setting value and range for each variable n Parameter type 10 Pulse I O board n 1 Device number 0 to 1 n 2 Parameter number 1 to 100 n 3 Parameter detail type 0 Common 1 Input Channel 2 Output Channel n 4 Channel number The range may differ depending on parameter detail type n 3 Parameter detail type n 3 Range for channel number n 4 0 Common R...

Page 963: ...limit specific to the axis is set Variable No n 2 Set value of steady state non push torque limit over detection time 0 to 20000msec Set 1 or greater if you want to use this command to detect a contact heavy load or move an axis If 0 is set the detection time becomes invalid infinite This setting is used mainly to limit the torque of the supporting axis horizontal only in fitting application If 0 ...

Page 964: ...lowered during high speed operation normal deceleration cannot be performed due to insufficient torque and overshooting occurs as a result creating a dangerous situation Note 3 If positioning operation is performed at low torque the axis may remain stopped near the positioning target due to insufficient torque When moving an axis be sure to set the steady state non push torque limit over detection...

Page 965: ...upon power ON reset software reset and start of home return Steady state non push torque limit upper limit Driver card parameter No 40 Maximum toque limit Steady state non push torque limit over detection time 20000msec Note 10 If the steady state non push torque limit upper limit and steady state non push torque limit over detection time are changed the new settings will remain effective even aft...

Page 966: ... number CC Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read the RC axis position into variable 199 Example 1 RPGT 1 2 Read the position corresponding to RC position No 2 of axis 1 into variable 199 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 RPGT 1 2 Read into variable 199 th...

Page 967: ...L PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Write the value of variable 199 to the position corresponding to the specified position data mm Example 1 LET 199 150 Assign 150 to variable 199 RPPT 1 2 Write the content of variable 199 or 150 to RC position No 2 of axis 1 Example 2 LET 199 15 Assign 150 to variable 199 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to var...

Page 968: ...PCR RC axis number Variable number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Clear position data in the range specified by variable No n and variable No n 1 After the data is cleared the fields become blank Variable b Description of setting n Clear start position number n 1 Clear end position numbe...

Page 969: ... Variable number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Copy the position data specified by variable No n and variable No n 1 Variable b Description of setting n Position number to copy data to n 1 Position number to copy data from Example 1 LET 200 2 Assign 2 to variable 200 LET 201 0 Assign 0 ...

Page 970: ...xis specified by an RAXS command Important note Before executing this command set an axis pattern using an RAXS command If not a 43B RC axis pattern not set error occurs Example 1 RAXS 0 11 Set an axis pattern consisting of axes 0 1 and 2 RPRD 100 Read the current positions of axes 0 to 2 into RC position No 100 Example 2 RAXS 0 111 Set an axis pattern consisting of axes 0 1 and 2 LET 1 100 Set 10...

Page 971: ... type Output flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional RPDQ RC axis number Variable number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read the current position of the RC axis into the variable specified in operand 2 The current position can be acquired faster than when a RPRD comma...

Page 972: ...X SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Write the value of variable 199 to the speed mm s corresponding to the position data specified in operand 2 Example 1 LET 199 100 Assign 100 to variable 199 RPVL 1 2 Write the speed in variable 199 or 100mm s to RC position No 2 of axis 1 Example 2 LET 199 100 Assign 100 to variable 199 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to va...

Page 973: ...XD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Write the value of variable 199 to the acceleration specification G corresponding to the position data specified in operand 2 Example 1 LET 199 0 1 Assign 0 1 to variable 199 RPAD 1 2 Write the acceleration specification in variable 199 or 0 1G to RC position No 2 of axis 1 Example 2 LET 199 0 3 Assign 0 3 to variable 199 LET 1 2 Assign 2 to var...

Page 974: ... SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Write the value of variable 199 to the in position width mm corresponding to the position data specified in operand 2 Example 1 LET 199 0 2 Assign 0 2 to variable 199 RPIP 1 2 Write the in position band in variable 199 or 0 2mm to RC position No 2 of axis 1 Example 2 LET 199 0 2 Assign 0 2 to variable 199 LET 1 2 Assign 2 to variable 1 LET 2 3 Ass...

Page 975: ...D SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Write the value of variable 199 to the current limiting value for push motion operation corresponding to the position data specified in operand 2 Example 1 LET 199 50 Assign 50 to variable 199 RPTQ 1 2 Write the current limiting value in variable 199 or 50 to RC position No 2 of axis 1 Example 2 LET 199 50 Assign 50 to variable 199 LET 1 2 Assign...

Page 976: ...tput flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional RGVL RC axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read into variable 199 the speed mm s corresponding to the position data specified in operand 2 Example RGVL 2 1 Read into variable 199 the speed specified ...

Page 977: ... E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional RGAD RC axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read into variable 199 the acceleration deceleration G corresponding to the position data specified in operand 2 Example 1 RGAD 2 1 Read into variable 199 the accele...

Page 978: ...flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional RGIP RC axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read into variable 199 the in position width mm corresponding to the position data specified in operand 2 Example RGIP 2 1 Read into variable 199 the in position...

Page 979: ...lag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional RGTQ RC axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read into variable 199 the current limiting value for push motion operation corresponding to the position data specified in operand 2 Example RGTQ 2 1 Read into v...

Page 980: ... operand 2 The axes set by the axis pattern are operated simultaneously Always set an axis pattern if the commands listed below are used Set 1 for the axis numbers used and 0 for the axis number not used If an axis pattern is not set a 43B RC axis pattern not set error occurs x RPRD Read current RC axis position x RSON Turn ON RC axis servo x RSOF Turn OFF RC axis servo x RHOM Return RC axis to ho...

Page 981: ...nd 2 Pst Optional Optional RSON Prohibited Prohibited PE Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Turn ON the servo of each RC axis specified by an RAXS command Important note Before executing this command set an axis pattern using an RAXS command If not a 43B RC axis pattern not set error occurs Exa...

Page 982: ...2 Pst Optional Optional RSOF Prohibited Prohibited PE Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Turn OFF the servo of each RC axis specified by an RAXS command Important note Before executing this command set an axis pattern using an RAXS command If not a 43B RC axis pattern not set error occurs Examp...

Page 983: ...ut flag E N Cnd Cmnd Operand 1 Operand 2 Pst Optional Optional RHOM Prohibited Prohibited PE Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Return each RC axis specified by an RAXS command to its home The servo of the axis to be returned home turns ON automatically Example RAXS 0 1100 Set an axis pattern c...

Page 984: ...n data in the RC controller Position data item in RC No Push motion Incremental Description of operation 1 0 0 Move via PTP to the position corresponding to the position number in operand 1 2 0 1 Move incrementally via PTP by the travel corresponding to the position number in operand 1 3 Other than 0 0 Move to the position corresponding to the position number in operand 1 and then perform push mot...

Page 985: ...TA MSEL u u u u u Function Move each RC axis specified by an RAXS command by the travel corresponding to the position data number in operand 1 The output turns OFF when the axis movement is started and turns ON when completed Important note Before executing this command set an axis pattern using an RAXS command If not a 43B RC axis pattern not set error occurs Example 1 RAXS 0 11 Set an axis patte...

Page 986: ...ement using the values in variable No n to variable No n 3 The output turns OFF when the axis movement is started and turns ON when completed Variable number Description of setting n Target position n 1 Speed mm s n 2 Acceleration deceleration G n 3 In position width mm Operand 1 setting type Operand 1 Specification of execution axis 0 to 15 The axis corresponding to the specified RC axis number p...

Page 987: ...iable No n to variable No n 3 The output turns OFF when the axis movement is started and turns ON when completed Variable number Description of setting n Travel n 1 Speed mm s n 2 Acceleration deceleration G n 3 In position width mm Operand 1 setting type Operand 1 Specification of execution axis 0 to 15 The axis corresponding to the specified RC axis number performs incremental position movement ...

Page 988: ...pe Operand 1 Specification of execution axis Output specification 0 to 15 The axis corresponding to the specified RC axis number moves via push motion The output turns ON when pushing of the command axis is confirmed 1 Each RC axis specified by an RAXS command moves via push motion The output turns ON when pushing of all command axes is confirmed 2 Each RC axis specified by an RAXS command moves v...

Page 989: ...bited Prohibited PE Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Decelerate each RC axis specified by an RAXS command to a stop This command is valid with respect to all RC axis control commands other than RSOF Notice Before executing this command set an axis pattern using an RAXS command If not a 43B RC...

Page 990: ... Optional Optional RCST Variable number RC axis number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u Function Read the RC axis status into the variable number in operand 1 Read the completed position number into variable n 1 Refer to Note 2 Notice 1 The specific status varies between the XSEL position data use ...

Page 991: ... Light Error Alarm 13 ZON2 Zone 2 ZON2 Zone 2 12 ZON1 Zone 1 ZON1 Zone 1 11 Reserved PZON Position zone 10 Reserved MODS Teaching mode status 9 SFTY Safety speed enabled SFTY Safety speed enabled 8 BALM Battery voltage low BALM Battery voltage low 7 EMG Emergency stop EMG Emergency stop 6 PSFL Load not pushed PSFL Load not pushed 5 CRDY Controller ready CRDY Controller ready 4 SON Servo ON SON Ser...

Page 992: ... 1 Operand 2 Pst Optional Optional XCRP Pulse input channel number Prohibited CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function This clears the specified pulse input channel counter to 0 Caution The counter clear cannot be performed when the pulse I O board axis is in synchronizing operation with the s...

Page 993: ...mnd Operand 1 Operand 2 Pst Optional Optional XGTP Pulse input channel number Prohibited CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the current value for the pulse input channel counter specified in Operand 1 into Variable 99 Example 1 XGTP 0 It acquires the pulse input channel No 0 cou...

Page 994: ... PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the position data location mm specified in Operand 2 on the pulse I O board axis specified in Operand 1 into Variable 199 minimum effective digit number 3 Example 1 XPGT 2 3 It reads the position set in Position No 3 of the 2nd axis into Variable 199 Example 2 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 XPGT 1 2 It reads the ...

Page 995: ...X XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the position data location mm specified in Operand 2 on the pulse I O board axis specified in Operand 1 into Variable 199 minimum effective digit number 3 Example 1 LET 199 150 Assign 150 to variable 199 XPPT 2 3 It writes Content 150 in Variable 199 in Position No 3 of the 2nd axis Example 2 LET 199 150 Assign 150 to ...

Page 996: ...licable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It erases the pulse I O board axis position data specified in Operand 1 by using the two variables in a row from Variable No n specified in Operand 2 The erased data becomes a blank Variable No Description of setting n Start position number n 1 End position n...

Page 997: ...le models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It copies the pulse I O board axis position data specified in Operand 1 by using the two variables in a row from Variable No n specified in Operand 2 Variable No Description of setting n Position number to copy data to n 1 Position number to copy data from Example...

Page 998: ... Command into the position number specified in Operand 1 Caution y Make sure to set the axis pattern by XAXS Command before executing this command If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur y he position acquired in this command is the current order position from the pulse I O board Make sure to perform a home return operati...

Page 999: ...QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the current order position of the pulse I O board axis specified in Operand 1 into variable specified in Operand 2 minimum effective digit number 3 It enables a faster acquirement of the current order position than using XPRD Command Caution The position acquired in this command is the ...

Page 1000: ...SEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It writes the value in Variable 199 to the position data speed mm s specified in Operand 2 on the pulse I O board axis specified in Operand 1 minimum effective digit number 2 Example 1 LET 199 100 Assign 100 to variable 199 XPVL 2 3 It writes the speed 100mm s in Variable 199 to Position No 3 on the 2nd axis Example 2 LET 199 100 ...

Page 1001: ... RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It writes the value in Variable 199 to the position data acceleration G specified in Operand 2 on the pulse I O board axis specified in Operand 1 minimum effective digit number 2 Example 1 LET 199 0 3 Assign 0 3 to variable 199 XPAC 2 3 It writes the acceleration 0 3G in Variable 199 to Position No 3 on the 2nd axis Example 2 LET 199...

Page 1002: ... RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It writes the value in Variable 199 to the position data deceleration G specified in Operand 2 on the pulse I O board axis specified in Operand 1 minimum effective digit number 2 Example 1 LET 199 0 3 Assign 0 3 to variable 199 XPDC 2 3 It writes the deceleration 0 3G in Variable 199 to Position No 3 on the 2nd axis Example 2 LET 199...

Page 1003: ...ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It writes the value in Variable 199 to the position data positioning complete width mm specified in Operand 2 on the pulse I O board axis specified in Operand 1 minimum effective digit number 3 Example 1 LET 199 0 2 Assign 0 2 to variable 199 XPIP 2 3 It writes the positioning complete width 0 2mm in Variable 199 to Position No 3 on the 2nd axis Ex...

Page 1004: ...and 1 Operand 2 Pst Optional Optional XGVL Axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the position data speed mm s specified in Operand 2 on the pulse I O board axis specified in Operand 1 into Variable 199 minimum effective digit number 2 Example XGVL 2 3 It...

Page 1005: ...d 1 Operand 2 Pst Optional Optional XGAC Axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the position data acceleration G specified in Operand 2 on the pulse I O board axis specified in Operand 1 into Variable 199 minimum effective digit number 2 Example XGAC 2 3 ...

Page 1006: ...d 1 Operand 2 Pst Optional Optional XGDC Axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the position data deceleration G specified in Operand 2 on the pulse I O board axis specified in Operand 1 into Variable 199 minimum effective digit number 2 Example XGDC 2 3 ...

Page 1007: ...and 2 Pst Optional Optional XGIP Axis number Position number CP Applicable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It reads the position data positioning complete width mm specified in Operand 2 on the pulse I O board axis specified in Operand 1 into Variable 199 minimum effective digit number 3 Example XG...

Page 1008: ...attern setting command XAXS is not conducted Error No 445 Extension motion control board axis pattern not set error would occur XPRD Read extension motion control board axis current command position XSON Servo ON of extension motion control board axis XSOF Servo OFF of extension motion control board axis XHOM Home return of extension motion control board axis XMVP Move extension motion control boa...

Page 1009: ...icable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It turns the servo ON for the pulse I O board axis specified by XAXS Command Caution Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern no...

Page 1010: ...cable models XSEL J K XSEL P Q PCT QCT XSEL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It turns the servo OFF for the pulse I O board axis specified by XAXS Command Caution Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern no...

Page 1011: ...the pulse I O board axis specified by XAXS Command The servo of the axis to be returned home turns ON automatically Caution y Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur y The servo would turn OFF if the operation is either paused or stopped to ...

Page 1012: ...er specified in Operand 1 Caution y Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur y It is able to specify another axis that is connected to a different pulse I O board at the same time However since the system is controlled by each board the opera...

Page 1013: ...n number in Operand 1 taken as the amount of movement Caution y Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur y It is able to specify another axis that is connected to a different pulse I O board at the same time However since the system is contro...

Page 1014: ...sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur Note 2 If another axis connected to a different pulse I O board is specified Error No C30 Axis pattern error would occur Note 3 It is necessary to specify the speed acceleration and deceleration values by V...

Page 1015: ...f movement Note 1 Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur Note 2 If another axis connected to a different pulse I O board is specified Error No C30 Axis pattern error would occur Note 3 It is necessary to specify the speed acceleration and d...

Page 1016: ...xis specified in Operand 1 by absolute position movement to the values specified in the five variables in a row from Variable No n in Operand 2 Variabl e No Description of setting Effective Digits n Target position mm 3 digits minimum n 1 Speed mm s 2 digits minimum n 2 Acceleration G 2 digits minimum n 3 Deceleration G 2 digits minimum n 4 Positioning complete width mm 3 digits minimum Note 1 VLM...

Page 1017: ... O board axis specified in Operand 1 by relative position movement to the values specified in the five variables in a row from Variable No n in Operand 2 Variable No Description of setting Effective Digits n Travel mm 3 digits minimum n 1 Speed mm s 2 digits minimum n 2 Acceleration G 2 digits minimum n 3 Deceleration G 2 digits minimum n 4 Positioning complete width mm 3 digits minimum Note 1 VLM...

Page 1018: ...xis pattern by XAXS Command before this command is executed If the setting is not established Error No 445 Extension motion control board axis pattern not set error would occur Note 2 It is effective also to the axis that the home return operation is incomplete However the upper limit for the speed is that set in pulse I O board command parameter No 4 Maximum JOG speed at home return incomplete In...

Page 1019: ...on is OFF For an operation that the positioning complete band is valid recovery from the operation command is performed once the actuator reaches in front of the positioning complete band at the current position or current position command when the pulse input and output boards are mounted Output section is OFF It is possible to confirm the positioning is complete by executing this command after t...

Page 1020: ...EL R S XSEL JX KX XSEL PX QX XSEL RX SX RXD SXD ASEL PSEL SSEL TT TTA MSEL u u u u u u u Function It decelerates and stops the expansion pulse I O board axis specified by XAXS Command It is valid for the pulse I O board axis actuator control command other than XSOF command Note 1 Make sure to set the axis pattern by XAXS Command before this command is executed If the setting is not established Err...

Page 1021: ...te The positioning complete signal for the slave shaft turns ON when position deviation positioning complete width The status would not become waiting unless the pulse order is output from the master shaft side to the slave side The pulse order of the slave shaft is completed by the completion of the master shaft operation command Note 1 Make sure to set the axis pattern by XAXS Command before thi...

Page 1022: ...tern that uses axes 0 and 1 XWIP It waits till the positioning complete signal of axes 0 and 1 to turn ON Axes 0 and 1 continue the synchronizing process MOVP 7 It moves the 1st axis of the main CPU control axe to Position No 7 It is assumed the setting that the 1st axis of the main CPU control axes is set to Variables No 10 to 19 as the electronic cam synchronizing process is established It is as...

Page 1023: ...perand 1 as the slave shaft following the electronic cam table The synchronizing electronic cam operation settings such as the master shaft on the electronic cam table are to be specified in ten variables in a row from Variable No n in Operand 2 The output section turns ON when the synchronizing process is started Operand 2 Synchronizing Electronic Cam Operation Settings Variable No Data name Desc...

Page 1024: ...ition number Indicate the main CPU control master shaft number from 0 to Max position No 1 Master shaft synchronizing start position storage position number Indicate the pulse I O board control master shaft position number from 0 to Max position No n 7 Master shaft synchronizing start position Storage position number Effective only when Master shaft reaches specified synchronizing start position i...

Page 1025: ... be shown on the error list in Info 2 in hexadecimal numbers y Variable with an error occurred Master axis number Stored variable y The specified master shaft number is inappropriate or invalid y The specified master shaft is a synchronized slave shaft or ZR unit shaft if the master shaft is a main CPU control shaft y The specified master shaft is the shaft specified as the slave if the master sha...

Page 1026: ...ge not available Please refer to the parameter list in XSEL R S Instruction Manual for the details of the parameter When indicating an axis that is not selected as the main axis select in I O Parameter No 529 as the main axis in XCAS Command Error No 455 Extension Motion Control Board Synchronizing Electronic Cam Operation Setting Error will occur y If the master shaft is the main CPU control axis...

Page 1027: ...ble No 205 LET 206 0 It sets the slave stroke length storage position No 0 to Variable No 206 LET 207 0 It sets 0 to Variable No 207 Unused data LET 208 0 It sets 0 to Variable No 208 Reserved area LET 209 0 It sets 0 to Variable No 209 Reserved area XAXS 0 1 It specifies the pulse I O board 0 th axis XSON It turns the pulse I O board 0th axis servo ON XHOM It returns the pulse I O board 0th axis ...

Page 1028: ...peration settings such as the movement time and the electronic cam table number etc are to be specified in five variables in a row from Variable No n in Operand 2 The output turns OFF at the same time the command is started and turns ON when the movement is complete Operand 2 Single Electronic Cam Operation Settings Variable No Data Description n Electronic cam table number n 1 Moving time Unit in...

Page 1029: ...wing the electronic cam table the speed and acceleration deceleration may get too high and may cause an error Change the settings for the moving time and electronic cam table so they are set to the allowable speed and acceleration deceleration for the shaft Program Example LET 200 0 It sets the electronic cam table No 0 to Variable No 200 LET 201 1000 It sets the movement time 1000ms to Variable 2...

Page 1030: ...numerator 10000 to 1 1 to 10000 n 3 Gear ratio denominator 1 to 10000 The synchronizing process continues until y XSYE Command to cancel synchronizing process is executed y an operation cancel is executed to the slave shaft XSTP Command CANC Command ySynchronizing Process Repeat Type is set to 1 cycle and the master shaft reaches to the stroke end or the slave shaft operation program that XSFS Com...

Page 1031: ...o 449 would occur if an operation command is executed to the shaft that the synchronizing process is already completed Execute XSYE Command if a next operation is required after the synchronizing process is finished For XSEL R S the number of the main CPU control axes that can be the master axis for the synchronizing operation of such as the electronic cam is six axes at the maximum The axes that ...

Page 1032: ...chronizing process would be cancelled If 1 is selected it waits for the synchronizing process to finish It is applicable in a case to wait for the slave shaft to finish its synchronizing process with Synchronizing type operate for 1 cycle in XCAS Command or to wait till the synchronizing process to be cancelled by XSTP Command from another program The output section turns ON when 1 is selected for...

Page 1033: ...riable No 205 LET 206 0 It sets the slave stroke length storage position No 0 to Variable No 206 LET 207 0 It sets 0 to Variable No 207 Unused data LET 208 0 It sets 0 to Variable No 208 Reserved area LET 209 0 It sets 0 to Variable No 209 Reserved area XCAS 0 200 It starts the synchronizing electronic cam operation for the pulse I O board 0 th axis with the synchronizing electronic cam operation ...

Page 1034: ... detected by XSEL Axis Alarm includes Continuous Impossible Alarm Occurrence error detected in slave controller as well as the errors related to the extension motion control board of XSEL 25 Axis in use 24 Reserved 14 23 Reserved 13 Reserved 12 Reserved 11 Reserved 10 Reserved 9 Safety speed valid status safety speed is valid for XSEL 8 Reserved 7 Reserved 6 Reserved 5 Reserved 4 Servo ON status 3...

Page 1035: ...ion available for the tracking operation start after TRAC Command is executed can be selected in Operand 2 The settable range for the timeout time is settable from 0 00 to 99 00sec When a selection of no timeout time setting Operand 2 not set is made TRAC Command defines there is no timeout setting and waits with no time limitation Work detection process becomes valid only when Tracking Mode is ON...

Page 1036: ...nformation for the identified top work is stored to the position number specified in Operand 2 if the datum point within the work detected and confirmed during the work detection process exceeds Minimum tracking operation start work position if it is already exceeded at the same time TRAC Command is executed If the work position information is acquired move the actuator to the position above the w...

Page 1037: ...k reached a position that cannot be tracked Even thought the datum point position information in work can be obtained the data is no more meaningful thus ensure not to do the positioning with that position information The work attribute it is for the future expansion currently fixed value no attribute identification isaved to the local variable indicated in All Axes Parameter No 93 Tracking Work A...

Page 1038: ...o B91 Main Excess Speed Necessity Error y Error No D09 Driver Excess Speed Error To avoid this phenomenon the work tracking limit can be set in All Axes No 75 Tracking Operation Complete Work Position however since it all depends on the work position there is still a risk that the robot arm reaches the peculiar position unless it is quickly moved to the position Datum Point in Work obtained in nor...

Page 1039: ...ed Operand 1 Except for 0 Timeout time sec when GTVD Command is executed The setting range for the timeout time is from 0 00 to 99 00sec When no indication Operand 2 blank is defined the timeout setting is not established and is set to no limitation x Return Code in SLVS Command Variable 99 Local Space The result in SLVS execution is stored in Variable 99 as a return code No return code will be ob...

Page 1040: ...nd with Operand 1 0 is indicated closes the communication channel that is specified in I O Parameter No 351 Bits 4 to 7 Note 3 When the Vision System I F is used with Ethernet message communication attribute is fixed to client Example 1 Example 2 SLVS 1 Select Vision System I F Usage y GTVD Command Timeout Value None y SLVS 0 Cancel Vision System I F Selection SLVS 1 60 Select Vision System I F Us...

Page 1041: ...n Operand 2 is n the contents are stored in the variables of quantity 8 in a row starting from n Variable No n Top position number for image data work coordinates storage No 1 to 12 1 to 12 positions of centers of work piece gravity Note Make sure the continuous 12 positions after the top position number are not in use Variable No n 1 Variable number for image data work attribute storage Note Make...

Page 1042: ...r No 416 Received Message Error is issued when there is an error in the received message during SLVS Command execution Check the communication format selection parameter I O Parameter No 352 or Bits 0 to 7 settings and the output communication format on Vision System side Note 5 There will be no change in the variables for work attribute storage and the position data when the quantity of detected ...

Page 1043: ...perand 1 Axis pattern selection Indicate the axis that the anti vibration control parameter set selection is conducted as 1 and the one not to be conducted as 0 Operand 2 Parameter set number Select if use not to use the anti vibration control and which specific frequency pattern parameter set is to be used 0 Standard Position Control Anti vibration control is not done 1 Vibration Control Paramete...

Page 1044: ... consisting of axis 1 and axis 2 actuators Pushbutton switches corresponding to the two axes are provided on an external operation switch box and these switches are used to move the actuators to a desired position to grab and pick up dolls inside the case Axis 2 Axis 1 Hand Load Axis 1 movement pushbutton switch Axis 2 movement pushbutton switch Hand control unit ...

Page 1045: ...urn ON 4 The Y axis moves while the pushbutton switch is ON and stops when the switch turns OFF 5 Output a start command to the hand control unit 6 Wait for an operation completion input from the hand control unit 7 Move to the home after the input is received The above operation will be repeated The operation position external I O assignments and operation flow chart of this operation are shown b...

Page 1046: ...d while axis 1 movement switch is ON 6 WTON 17 Wait for input from axis 2 movement switch 7 JFWN 10 17 Move forward while axis 2 movement switch is ON 8 BTON 309 Start command for external control unit turns ON 9 WTON 18 Wait for external control unit to complete operation 10 BTOF 309 Start command for external control unit turns OFF 11 JBWF 11 18 Axes 1 and 2 move backward while 18 is ON 12 GOTO ...

Page 1047: ...m is a riveting system consisting of an XY table operated by axis 1 and axis 2 actuators and a riveter By setting a work on the XY table at the operation home and turning ON the start switch rivets will be driven at the three points specified on the work Axis 2 Axis 1 Operation box Work Riveter XY table Body frame ...

Page 1048: ...When all three points have been riveted the table will return to the operation home P1 The above operation will be repeated The operation position external I O assignments and operation flow chart of this operation are shown below Operation Position Operation Flow Chart I O Assignments Category I O No Signal name Specification 16 Start command Pushbutton switch Input 17 Riveting completion Contact...

Page 1049: ...k counter 6 BTOF 600 Clear completion flag 7 WTON 16 Wait for start command 8 TAG 2 9 MOVL 1 Move to work counter position 10 BTON 309 Riveting command turns ON 11 WTON 17 Wait for riveting to complete 12 BTOF 309 Riveting command turns OFF 13 ADD 1 1 Increment work counter by 1 14 CPEQ 1 5 600 Turns ON flag if operation is complete 15 N 600 GOTO 2 Jump to TAG2 if not complete 16 GOTO 1 Jump to TA...

Page 1050: ...stem consisting of axis 1 and axis 2 actuators and a Z axis air cylinder It clamps a work at the work feed point and transfers it onto a pallet and repeats this operation in a sequence Operation is implemented by an offset command without using a palletizing function Axis 2 Axis 1 Operation box Pallet Air cylinder Air chuck ...

Page 1051: ...ion Position Operation Flow Chart I O Assignments Category I O No Signal name Specification 16 Z axis cylinder upper limit Proximity SW 17 Z axis cylinder lower limit Proximity SW Input 18 Start Pushbutton switch 309 Z axis cylinder SV 24V DC 310 Z axis chuck SV 24V DC Output 311 Pallet completion indicator 24V DC XSEL Flag is used from 600 Pallet specifications Axis 1 direction 20mm pitch Axis 2 ...

Page 1052: ...T 10 301 Offset axis 2 by value in variable 301 17 MOVL 1 Move to position No 1 offset value 18 EXSR 1 Call chuck subroutine unchuck 19 ADD 300 20 Add 20 to variable 300 20 CPEQ 300 80 600 Turn ON flag 600 if variable 300 80 21 N 600 GOTO 2 Jump to TAG2 if flag 600 is OFF 22 LET 300 0 Clear variable 300 23 ADD 301 30 Add 30 to variable 301 24 CPEQ 301 120 601 Turn ON flag 601 if variable 301 120 2...

Page 1053: ...anation of the operation 1 Tighten six screws at 30mm pitches on axes 1 and 2 1 The actuators move to a screw tightening position 2 The Z axis air cylinder of the screw tightening machine comes down 3 The screw tightening machine starts operating 4 When the screw tightening is complete the Z axis air cylinder rises 5 The actuators move to the next position 2 The parts feeder operates in parallel w...

Page 1054: ...Parts feeder all screws tightened Brown 3 22 020 Screw tightening complete Red 3 23 021 General purpose input Orange 3 24 022 General purpose input Yellow 3 25 023 General purpose input Green 3 26 024 General purpose input Blue 3 27 025 General purpose input Purple 3 28 026 General purpose input Gray 3 29 027 General purpose input White 3 30 028 General purpose input Black 3 31 029 General purpose...

Page 1055: ...2 Program specification PRG No 20 15 013 Program specification PRG No 40 16 014 General purpose input 17 015 General purpose input 18 016 Screw tightening start 19 017 Screw tightening end 20 018 Z axis air cylinder top 21 019 Parts feeder all screws tightened 22 020 Screw tightening complete 23 021 General purpose input 24 022 General purpose input 25 023 General purpose input 26 024 General purp...

Page 1056: ...t screw tightening pushbutton Move Z axis air cylinder down Start screw tightening Screw tightening complete Z axis air cylinder up Stop program 2 Stop parts feeder End Screw tightening complete 6 screws tightened Sub program Parts feeder Screws short Parts feeder ON Screws fully loaded Parts feeder OFF 5 seconds on timer Program 2 ...

Page 1057: ...p screw tightening stopped 14 WTON 18 Check Z axis air cylinder top position 15 ADD 1 1 Increment screw counter by 1 16 CPEQ 1 7 900 Compare after tightening six screws 17 N900 GOTO 2 Go to next screw tightening cycle after tightening one screw 18 N17 GOTO 1 Restart screw tightening 19 ABPG 2 Stop program 2 20 BTOF 311 Stop parts feeder 21 EXIT End of program 1 Position program No X Y 1 30 30 2 60...

Page 1058: ... 7 0 NUL DLE SP 0 P Ғ p 1 SOH DC1 1 A Q a q 2 STX DC2 2 B R b r 3 ETX DC3 3 C S c s 4 EOT DC4 4 D T d t 5 ENQ NAK 5 E U e u 6 ACK SYN 6 F V f v 7 BEL ETB 7 G W g w 8 BS CAN 8 H X h x 9 HT EM 9 I Y i y A LF NL SUB J Z j z B VT ESC K k C FF FS L l D CR GS M m E SO RS N n F SI US O _ o DEL ...

Page 1059: ...tion command reference Pages 489 and 491 Correction to the note of palletizing reference Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons Contents deleted regarding Vertical Articulated and Rectangular 6 Axes Robots Edition 2B Note corrected etc Third edition Note added for PCT QCT Types for CT4 Actuator and explanation changed for relat...

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Page 1062: ...96 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com 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 1261 Hamilton Parkway Itasca IL 60143 TEL 630 467 9900 FAX 630 467 9912 TEL 678 354 9470 FAX 678 354...

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