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IAI RA Series, Instruction Manual

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IAI RA Series Instruction Manual Download Page 183

Change History

 

 

175

 

Change History 

 

 

Revision Date 

Description of Revision 

2016.06 

 

2016.08 

 

 

 

2016.09 

 

 

2016.12 

 

 

 

 

 

 

 

 

 

 

2017.06 

 

 

 

 

 

 

 

2019.04 

 

 

 

 

 

 

 

 

 

 

 

First edition 

 

1B edition 

P12, 14, 19, 20, 22, 27, 89, 102, 03, 133 to 135, 139, 143 are description 

corrected 

 

1C edition 

P20 

Change a Figure 

 

1D edition 

P12 

MECHATROLINK Communication Specifications 

“in default” added in Note 1 

P102 

[Example] in (3) deleted 

P139 

Contents of Error No. 452 added 

P140 

Change made from Error No. 4B2 to 4B3 

Contents of Error No. 4BC added   

P142 

Error No. 5A6 added 

P143 to 144 

Contents of Error No. 5B1 added 

Error No. 5B3 to 5B7 added   

 

Second edition 

4.5. 

XACZ, XATG, XAEX, XQAZ and XACH commands added in SEL 

Commands Used in Extension Motion Control Features 

5.3. 

How to Use Wrist Unit added 

6.1.5. 

No. 23 to No. 29 added in Extension Motion Control Each Axis 

Parameters 

8. 

Error No. D8B added in Troubleshooting 

 

2B edition 

4.3.  

Electric Shaft  Note added for caution regarding link of 

synchronizing operation axes 

4.5.5. 

Note added for caution in XHOM and XJ

□□

 Commands 

 

Note added stating velocity and acceleration/deceleration in 

position table are invalid for XMVL, XMLI, XPTH and XACH 

Commands 

8.1. 

Note added for caution regarding parameter change on RC 

Controller 

General 

Applicable for TB-03 

 

 

 

Summary of Contents for RA Series

Page 1: ...XSELController RA SA Series Extension Motion Control Function Instruction Manual Second Edition IAI Corporation ...

Page 2: ......

Page 3: ...hat the operator of this product can read it whenever necessary Important This Instruction Manual is original The product cannot be operated in any way unless expressly specified in this Instruction Manual IAI shall assume no responsibility for the outcome of any operation not specified herein Information contained in this Instruction Manual is subject to change without notice for the purpose of p...

Page 4: ...ME0364 2B ...

Page 5: ... Positioner Function Extension Motion Control Feature This Manual ME0346 Synchronization Control Function Basic Specifications XSEL RA SA ME0359 and Their Functions Teaching Tool PC Software PC Software ME0154 Teaching Pendant i TB 02 Touch Panel Teaching ME0356 ii TB 03 Touch Panel Teaching ME0377 ME0364 2B ...

Page 6: ...rnal devices 33 Chapter 4 Operation Program In this chapter explains how to create programs for each supportive operation 111 Chapter 5 Practical Settings In this chapter explains such things as synchronization with the XSEL controller built in driver Chapter 6 Parameter Detail In this chapter explains the related parameters 143 Chapter 7 Details of Features In this chapter explains details relate...

Page 7: ...ic Shaft 38 4 4 Electronic CAM 39 4 4 1 Combination of Master Axes and Slave Axes 41 4 4 2 Synchronized Electronic CAM Operation 43 4 4 3 Independent Electronic CAM virtual master Operation 47 4 4 4 Reciprocal Movement and Feed Movement 48 4 4 5 Editing of Electronic CAM Data 50 4 4 6 CAM Curve Types 59 4 5 SEL Commands Used in Extension Motion Control Features 64 4 5 1 List of SEL Commands in Ext...

Page 8: ... 3 9 Form 140 5 3 10 Troubleshooting 141 6 Parameter Detail 143 6 1 Extension Motion Control Parameter List 143 6 1 1 I O Parameter 143 6 1 2 All Axes Parameter 144 6 1 3 Each Axis Parameter 144 6 1 4 Extension Motion Control Common Parameters 145 6 1 5 Extension Motion Control Each Axis Parameters 146 6 2 Details of Extension Motion Control Parameter 148 6 3 Relation with Existing Parameters 159 ...

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

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

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

Page 12: ...ecure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it clear ...

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

Page 14: ...in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untightened...

Page 15: ...oduct is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This ind...

Page 16: ...h controller s power supply to common ground 0 V 3 Make sure to have the emergency stop circuits for the XSEL controller and each RC controller joint in the same system so the input of emergency stop will be made at the same time Error No C65 Servo on off Logic Error or Error No E58 Servo on off Timeout Error will occur when only the RC controller side comes into the emergency stop condition while...

Page 17: ... axis MECHATROLINK III type IAI produced positioner controller hereafter described as RC controller axis is to be connected Refer to 1 2 for the lineup of the RC controllers that supports connection with the extension motion control feature 1 It should be so called the standard motion control axes 2 It should be so called the extension motion control axes Note 1 It is also available to use the sta...

Page 18: ...th the position data set in advance It is available to have a single axis actuator perform positioning on several points and to have Cartesian combination unit axes perform linear interpolation operation Also the number of position data available to use in one axis varies depending on the total number of the extension motion control axes to be used For example if the number of axes in use is eight...

Page 19: ...ods Electronic Shaft and Electronic Cam to support the feature The electronic shaft operation enables the slave axes to make the same operation as the master axis operation ratio 1 1 or operation multiplied by a certain ratio The electronic cam operation enables the slave axes to make the synchronizing operation to the master axis following the Electronic cam table 主軸 従軸1 従軸2 従軸3 Example for Opera...

Page 20: ...ications for MECHATROLINK III type are partly different from those for other types For details refer to the RC Controller MECHATROLINK Ⅲ Instruction Manual Note 2 SCARA Robot controllers cannot use the synchronizing control feature Note 3 For MCON C the number of controlled axes is counted basically under the condition that there are two controlled axes per driver board to be used Therefore when a...

Page 21: ...M 101 MW RCM 101 USB for Instruction Manual ME0155 4 MECHATROLINKⅢfor Instruction Manual ME0317 5 ACON CB Controller for Instruction Manual ME0343 6 PCON CB Controller for Instruction Manual ME0342 7 DCON CB Controller for Instruction Manual ME0343 8 SCON CB Controller for Instruction Manual ME0340 9 SCON CA Controller for Instruction Manual ME0243 10 Touch Panel Teaching TB 02 CON system ME0355 1...

Page 22: ...1 Outline of Extension Motion Control Feature 14 ME0364 2B ...

Page 23: ...tor Yes Confirmation item Is the X SEL status display rdy Take required action according to the displayed X SEL status See the instruction manual of the X SEL main unit Turning the power supply on Connect the PC set the AUTO MANU switch to the MANU side and turn the power supply on No Yes Parameter Setting Operate the PC and set the parameters for the RC controller and XSEL controller See Chapter ...

Page 24: ...connection distance 100m Connected Unit Dedicated for IAI RC Controller Connection MECHATROLINK Ⅲ Connection Type Connection cable Dedicated cable category 5e STP Terminal Assignments No I O Name Function 1 Out TXP Sent data differential output positive side 2 Out TXN Sent data differential output negative side 3 In RXP Received data differential output positive side 4 NC Unconnected 5 NC Unconnec...

Page 25: ... such that the emergency stop command is input to the XSEL controller and each RC controller at the same time Error No C65 Servo on off Logic Error or Error No E58 Servo on off Timeout Error will occur when only the RC controller side comes into the emergency stop condition while the servo for a command from the XSEL controller is on XSEL Controller SCON Controller ACON PCON Controller ME0364 2B ...

Page 26: ...C controllers with using MECHATROLINK III dedicated cables Refer to the instruction manual for each controller for the power supply to the controller and cable layout for actuators PCON CB ML3 MECHATROLINNK III Dedicated Cable XSEL RA SA PCON CB ML3 SCON CB ML3 ME0364 2B ...

Page 27: ...oints below before conducting the setup 1 Node Addresses of RC Controllers In order to make XSEL master station identify the RC controllers slave stations it is necessary to assign one node address to each unit of RC controllers from the range from 3 to 239 Make sure to assign the node addresses with no duplication e g assign in a continuous order in a row like 3 4 5 6 With the node addresses assi...

Page 28: ...pe RC controller such as MCON the slave address is assigned that is Axis No No 0 RC Controller s Node Address using hexadecimal number system for each axis connected to the RC controller X X X X Axis No 1 byte Node address 1 byte Slave address of the axis 2 bytes Example MCON 8 axis Type Node address 3 Axis No 0 0003H No 7 0703H Axis Also for the multi axis type RC controller some axes on the boar...

Page 29: ...tion control axis numbers Example When connecting following RC controllers RC Controller Number of Units Specifications SCON CB 4 Node address 3 4 5 6 PCON CB 2 Node address 7 8 MCON C 1 Node address 9 There are three connected axes in total Axis 1 is for the slave driver reserved axis SCON MCON PCON XSEL z Example for Assignment Just an example Axis No 0 1 2 3 Subject for Control SCON CB SCON CB ...

Page 30: ...ssary 3 3 Setup of RC Controller 3 4 Setup of XSEL Functions in Common 3 5 Setup of XSEL for Each Axis 3 6 Operation Check Setup Complete Flow of Basic Setup Reference Main setup contents Input and Output Data Length Node Addresses Activation of Extension Motion Control Feature Position Data Definition for Extension Motion Control Activation of Axes Indication of Slave Addresses ME0364 2B ...

Page 31: ...t window For Multi axis Type RC Controller Connect the gateway parameter setting tool to the RC controller select the appropriate gateway and read the parameters 2 Set up the data length of MECHATROLINK communication The data length of MECHATROLINK communication in the extension motion control feature should be 32 bytes Set the RC controller as above Setting Single axis Type Set Parameter No 86 Fi...

Page 32: ...Axis Parameter No Name 151 Extension Motion Control Setting 3 Establish the setting in I O Parameter No 531 Based on the node addresses assignment checked in 3 1 input the biggest axis number in the axes to be used I O Parameter No Name 531 Biggest Axis Number Definition for Extension Motion Control Position Data Example When using Extension Motion Control Axes No 0 to 9 I O Parameter No 531 9 Cau...

Page 33: ...ax Number of Extension Motion Control Position Data Points to Use 532 Number of Points for Extension Motion Control Position Data Definition I O Parameter No 531 Max Number of Position Points I O Parameter No 531 Max Number of Position Points 0 512 16 240 1 512 17 227 2 512 18 215 3 512 19 204 4 512 20 195 5 512 21 186 6 512 22 178 7 512 23 170 8 455 24 163 9 409 25 157 10 372 26 151 11 341 27 146...

Page 34: ...menu in the SEL PC software 7 Confirm that Ex Motion Control Board is shown in Controller menu of the SEL PC software In case Error No 6A2 UBM Size Overflow Error or Error No 5B8 Extension Motion Control Position Data Setting Error occurs after reboot there is a concern that something is wrong in the setting in I O Parameter No 530 to 532 Revise the settings in the parameters above ME0364 2B ...

Page 35: ...gs 27 3 5 Setup of XSEL for Each Axis Next establish the setting of XSEL for the followings Activation of Axes Slave Address Settings How to Set Up 1 Open the extension motion control parameter edit window ME0364 2B ...

Page 36: ... be used Extension Motion Control Each Axis Parameter No Name 1 Axis Use Method Setting Value How to Use 0 Not used 1 Slave driver control 4 Slave driver reserved axis 3 Establish the setting in Extension Motion Control Each Axis Parameter No 4 Set values based on the slave addresses checked in 3 1 Also the input format of the parameter should be hexadecimal number system 3H to FEEF H Extension Mo...

Page 37: ...Mode and then turn on the power to the RC controller and XSEL controller Note The timing to supply power should be the RC controller before or at the same time as the XSEL controller 6 Confirm that no error is occurred after the XSEL is turned on If an alarm has occurred on the RC controller Error No 452 Slave Driver Alarm Detection should be generated on the XSEL side Click Transfer button ME0364...

Page 38: ...ration How to Check 1 Open the extension motion control parameter edit window Caution Before starting axes operation make sure there is no problem to make operation considering such condition as wiring and peripherals Also have the emergency stop stand by before operating axes ME0364 2B ...

Page 39: ... type 4 Make JOG operation in the positive direction and negative direction on the subject axis to confirm that the axis is capable to move to the soft limit By changing the values of Vel Acc and Dcl on the right of JOG button the velocity and acceleration deceleration in JOG operation can be changed Servo ON Jog operation direction direction Change of Velocity and Acceleration Deceleration Home R...

Page 40: ...3 Basic Settings 32 ME0364 2B ...

Page 41: ...n motion control axes synchronize to the operation of a specified axis master axis as a slave axis As it makes the axis synchronize to the operation of master axis in real time the slave axis tracks the positions of the master axis even when the speed or acceleration deceleration of the master axis has changed There are two types of synchronizing methods Electronic Shaft and Electronic Cam to supp...

Page 42: ...tive axes increases See the table below Used Axis Number Extension Motion Control Axis Position Data Number MAX Used Axis Number Extension Motion Control Axis Position Data Number MAX 1 512 17 240 2 512 18 227 3 512 19 215 4 512 20 204 5 512 21 195 6 512 22 186 7 512 23 178 8 512 24 170 9 455 25 163 10 409 26 157 11 372 27 151 12 341 28 146 13 315 29 141 14 292 30 136 15 273 31 132 16 256 32 128 1...

Page 43: ...e from actuator s home Relative coordinate specification Relative movement amount from the current position Whether the target position is specified as absolute or relative coordinate is determined by the SEL command Example Absolute coordinate specification in case of the XMVP command and relative coordinate specification in case of the XMPI command 3 Vel speed mm s Values in this column indicate...

Page 44: ...ement command from the completed and the PSET status of the RC controller is turned on When the operation is completed normally the output part of the SEL command turns on For this reason the positioning band of the RC axes becomes equal to the setting value of the positioning band parameter of the RC controller 2 When position data position complete band is valid set to 0 001 mm or more The posit...

Page 45: ...nd is set if the given axis is operated continuously 3 If the position data position complete band is valid it is not allowed to execute the synchronization start commands XCAS and XSFS on the same axes after the execution of the positioning command error No C66 Duplication error occurs Execute the XPED command before executing the synchronization start command and wait for the completion of opera...

Page 46: ...erence in position of each axis or balance in force of each axis may cause an error such as the overload error or deviation overflow error Consider having a floating structure or equivalent when the synchronizing operation axes are required to be linked in order to have a margin to release force Even when operating axes in the same model code in the gear ration 1 1 via an electronic shaft each axe...

Page 47: ...axis and extension motion control axis can be indicated for the master axis The extension motion control axis can be indicated for the slave axis Refer to 5 1 1 when it is required to indicate the standard motion control axis as a slave axis Extension motion control axis What is the electronic CAM function This function controls of slave axis according to the previously specified electronic CAM ta...

Page 48: ...on from master axis synchronization start position master axis stroke current phase maximum phase Relative position from slave axis synchronization start position slave axis stroke current displacement maximum displacement minimum displacement Example Cam Table No Phase Displacement 0 0 0 1 500 1000 2 1000 3000 3 1500 6000 4 2000 11000 5 2500 18000 6 3000 22000 7 3500 24500 8 4000 25000 9 4500 245...

Page 49: ...time axis is master axis 1 When main axis is Extension motion control axis 2 When main axis is standard motion control axes Synchronization control can be performed for up to 32 axes 1 master axis and 31 slave axes Extension motion control axis Master axis RC controller Slave axis Synchronization control can be performed for up to 33 axes 1 master axis and 32 slave axes Extension motion control ax...

Page 50: ...n A single 1 axis slave axis may be controlled by a drive disabled axes virtual master axes Multiple axis synchronization control cannot be performed RC controller Extension motion control axis Slave axis Synchronization control can be performed for up to 32 axes 1 virtual main axis and 31 slave axes Extension motion control axis RC controller Slave axis Virtual main axis ME0364 2B ...

Page 51: ...is synchronization electronic CAM master axis specification synchronization start command 1 Immediate start Start synchronization by setting the current master axis position as the base point phase 0 2 Start at master axis arriving at specified position Start synchronization from the time when the master axis arrives at the specified position by setting the position as the base point phase 0 1 cyc...

Page 52: ...e specified position as the target a master axis may not be able to arrive at the specified position Please be careful when you create applications that move the master axis position slightly past the synchronization start specification position to start synchronization and then move it to the opposite direction Start synchronization Do not start synchronization Current position Specified position...

Page 53: ...ntrol cycle and the displacement in the previous control cycle becomes large in case of CAM shape linear shown below because the slave axis is controlled to pass the location corresponding to the end displacement the acceleration deceleration of the slave axis becomes large For this reason depending on the master axis speed at arriving or passing the final phase errors such as error No 4B9 Synchro...

Page 54: ...gin Synchronization is finished if the following factors to stop synchronization occur When synchronization end command is executed XSYE command At servo OFF At emergency stop At occurrence of error more serious than operation cancellation level error Synchronous Electronic CAM Movement Repetitive Execution Displacement Slave axis stroke 1 cycle Master axis stroke 1 cycle Master axis stroke 1 cycl...

Page 55: ...ing a drive disabled axes virtual master as the master axis Independent Electronic CAM Movement Caution In case of CAM shapes with large fluctuation of displacement error No 4B9 Synchronous command acceleration deceleration excessive error or similar may occur Displacement 1 cycle Slave axis stroke Phase Synchronization time 1 cycle Displacement Phase Displacement Phase Straight line with acute an...

Page 56: ... displacement displacement at phase 0 and the end point displacement displacement at the maximum phase are the same the slave axis performs reciprocal operation Reciprocal Operation Single Cycle Execution Reciprocal Operation Repetitive Execution Master axis stroke 1 cycle Displacement Phase 0 1 cycle Slave axis stroke 0 Displacement 1 cycle Slave axis stroke Master axis stroke 1 cycle Master axis...

Page 57: ... point displacement as the feed distance Synchronous Electronic CAM Movement 1 Cycle Execution Feed operation Synchronous Electronic CAM Movement Repetitive Execution Feed operation 0 Displacement 1 cycle Slave axis stroke Feed distance Master axis stroke 1 cycle Phase 0 Displacement 1 cycle Slave axis stroke Master axis stroke 1 cycle 1 cycle Slave axis stroke Feed distance Feed distance Phase Ma...

Page 58: ...the PC Software Open the Edit CAM Table window following the procedure below Extension motion control setting Online data CAM curve display example Section definition data Toolbar Information control table CAM curve display setting CAM curve characteristic graph Displacement data ME0364 2B ...

Page 59: ... No Select Controller Ex Motion Control Board X and then CamTable T 2 Selection of device No and table No to be created Click the OK button to open the CAM Table window Select 0 for the top and 127 for the bottom After making the setting click the OK button ME0364 2B ...

Page 60: ... to convert only the displayed number of digits or to convert data according to the changed number of digits When you convert the displayed number of decimals only a conversion error occurs if there is any data whose maximum number of digits exceeds 8 The corresponding data is displayed in the error message You must modify the corresponding area and convert again After you change the number of dis...

Page 61: ... be used number of displacement data Allowable setting range 1 to 65535 The maximum value varies depending on the table size Set the number of displacement data to 2 if you want linear CAM shape proportional operation 7 Entry of comments It is possible to enter comments names purposes memo etc regarding tables as necessary Allowable setting range Character string of 0 to 32 bytes Maximum Phase ME0...

Page 62: ...ecomes unavailable The section start point phase becomes the end point phase of the previous section and the start point of section 0 becomes phase 0 Input range 0 to the maximum phase It is not allowed to set phase lower than the previous section excluding 0 Displacement Set the displacement at the section end Input range 99999999 to 99999999 The input value is automatically corrected such that i...

Page 63: ...nts before and after such that an axis can pass smoothly If you set 99 the displacement data of the target section only is not changed when you generate displacement data Input range 0 to 22 99 Setting value Curve name CAM Curve Type Setting value Curve name CAM Curve Type 0 Straight line 12 One dwell modified trapezoid m 1 1 Constant acceleration 13 One dwell modified trapezoid Ferguson 2 Harmoni...

Page 64: ... points and CAM curve It is possible to create displacement data in the following three methods 1 Create displacement data using section definition data Caution Intervals between generated displacement data become linear In order to make the CAM shape smoother make the phase partition width as small as possible Click the Create Displacement button Displacement data is generated Displacement Phase ...

Page 65: ...a directly 3 Paste data from Microsoft Excel Caution It is not allowed to paste displacement data from phase 0 A warning Start pasting from No 00001 Write values directly It is possible to paste data by right clicking and then click Paste ME0364 2B ...

Page 66: ... Setting Extension Motion Control window The button is enabled only in the online status 12 Save the extension motion control setting Backup Click the Save As button in the Setting Extension Motion Control window If you do not wish to save the setting there is no need to perform this operation Select the check boxes Select the Click CAM curve graph with no 100 display CAM curve graph with 100 disp...

Page 67: ... 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 1 Constant acceleration Vm 2 000 Am 4 000 変 位 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 速 度 0 0 0 5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速 度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 3 Cycloid Vm 2 000 Am 6 283 変 位 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0...

Page 68: ...5 0 6 0 7 0 8 0 9 1 0 加 速 度 10 0 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 10 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 7 Asymmetric cycloid Vm 2 000 Amp 7 854 Amm 5 236 変 位 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 速 度 0 0 0 5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速 度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 10 0 0 0 0 1 0 2 0 3 0 4 0...

Page 69: ...3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速 度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 12 One dwell modified trapezoid m 1 Vm 1 917 Am 4 439 変 位 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 速 度 0 0 0 5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速 度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 0 0 0 1 0 2 0 3 0 4 0 5 ...

Page 70: ...5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 17 No dwell modified trapezoid Vm 1 718 Am 4 199 変位 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 速 度 0 0 0 5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 ...

Page 71: ...0 8 0 9 1 0 速度 0 0 0 5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速度 8 0 6 0 4 0 2 0 0 0 2 0 4 0 6 0 8 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 20 Double harmonic motion Vm 2 041 Amp 5 552 Amm 9 870 変 位 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 速 度 0 0 0 5 1 0 1 5 2 0 2 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 加 速 度 12 0 10...

Page 72: ...s No Position No Extension motion control axis speed data write XPAC Axis No Position No Extension motion control axis acceleration data write XPDC Axis No Position No Extension motion control axis deceleration data write XPIP Axis No Position No Extension motion control axis position complete band data write XGVL Axis No Position No Extension motion control axis speed data read XGAC Axis No Posit...

Page 73: ... direct value specified relative position move XJ Input output flag No Prohibited Extension motion control axis jog movement XPED Prohibited Prohibited Wait for extension motion control axis positioning completion during local program use XSTP Prohibited Prohibited Extension motion control axis movement stop XWIP Prohibited Prohibited Waiting for extension motion control axis positioning complete ...

Page 74: ...IN INB OUT OUTB BTPN BTPF FMIO No influence Position operation PGET PPUT PCLR PCPY PRED PTST PVEL PACC PDCL PAXS PSIZ GVEL GACC GDCL PRDQ Invalid use commands for extension motion control boards Timer TIMW TIMC GTTM No influence Actuator control declaration normal VEL OVRD ACC DCL SCRV VLMX POTP Valid HOLD CANC Valid HOLD type 2 has the same operation as HOLD type 2 Servo does not turn OFF OFST DE...

Page 75: ...nce Task control EXIT EXPG ABPG SSPG RSPG No influence Pseudo ladder task construction TPCD CHPR TSLP OUTR TIMR No influence Program control GOTO TAG EXSR BGSR EDSR No influence Structured IF IFEQ IFNE IFGT IFGE IFLT IFLE ISEQ ISNE ELSE EDIF No influence Structured DO DWEQ DWNE DWGT DWGE DWLT DWLE LEAV ITER EDDO No influence Multiple branching SLCT WHEQ WHNE WHGT WHGE WHLT WHLE WSEQ WSNE OTHE EDSL...

Page 76: ...ariable 199 Caution If invalid position data is specified in operand 2 variable 199 cannot be operated and the output part is turned off z XPPT extension motion control axis position data write Extension condition LD A O AB OB Input condition I O flag Command declaration Output part operation type output flag Command declaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optio...

Page 77: ...T 200 10 Assign 10 to variable 200 LET 201 20 Assign 20 to variable 201 XPCR 1 200 Delete position No 10 20 of axis 1 z XPCP extension motion control axis position data copy Extension condition LD A O AB OB Input condition I O flag Command declaration Output part operation type output flag Command declaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optional XPCP Axis No Var...

Page 78: ...0 1 and 2 XPRD 100 Read the current command positions of axes 0 to 2 to position No 100 Example 2 XAXS 0 111 Set axis pattern for axes 0 1 and 2 LET 1 100 Set 100 to variable 1 XPRD 1 Read the current command positions of axes 0 to 2 to position No 100 stored in variable 1 z XPRQ extension motion control axis current command position read 1 axis direct Extension condition LD A O AB OB Input condit...

Page 79: ...m s of variable 199 to position No 3 content of variable 2 of axis 2 content of variable 1 z XPAC extension motion control axis acceleration data write Extension condition LD A O AB OB Input condition I O flag Command declaration Output part operation type output flag Command declaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optional XPAC Axis No Position No CP Function W...

Page 80: ...0 3G of variable 199 in position No 3 content of variable 2 of axis 2 content of variable 1 z XPIP extension motion control axis position complete band data write Extension condition LD A O AB OB Input condition I O flag Command declaration Output part operation type output flag Command declaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optional XPIP Axis No Position No CP...

Page 81: ...eclaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optional XGAC Axis No Position No CP Function Read acceleration G of position data specified in operand 2 of extension motion control axis No specified in operand 1 to variable 199 valid number of digits 2 decimal places Example XGAC 2 3 Read acceleration of position No 3 of axis 2 to variable 199 z XGDC extension motion co...

Page 82: ... Command declaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optional XGIP Axis No Position No CP Function Read position complete band mm of position data specified in operand 2 of extension motion control axis specified in operand 1 to variable 199 valid number of digits 3 decimal places Example XGIP 2 3 Read position complete band of position No 3 of axis 2 to variable 19...

Page 83: ... following commands If the XAXS and XA16 axis pattern setting command has not been executed error No 4B3 No extension motion control axis pattern setting error occurs XPRD Extension motion control axis current command position read XSON Extension motion control axis servo ON XSOF Extension motion control axis servo OFF XHOM Extension motion control axis home return XMVP Extension motion control ax...

Page 84: ...ands If the XAXS and XA16 axis pattern setting command has not been executed error No 4B3 No extension motion control axis pattern setting error occurs XPRD Extension motion control axis current command position read XSON Extension motion control axis servo ON XSOF Extension motion control axis servo OFF XHOM Extension motion control axis home return XMVP Extension motion control axis position spe...

Page 85: ...tion Output part operation type output flag Command declaration Operand 1 Operand 2 Optional Optional XATG Position number Position number CP Function Establish the arch trigger setting when operation is made with XACH Command Set the arch motion Z axis position data in the position data specified in operand 1 as the start point arch trigger and set the arch motion Z axis position data in the posi...

Page 86: ...the end point coordinate indicated in the position data If nothing is specified in operand 1 the position number already declared for setting composite motion becomes invalid z XOAZ extension motion control axis arch motion Z axis offset setting Extension condition LD A O AB OB Input condition I O flag Command declaration Output part operation type output flag Command declaration Operand 1 Operand...

Page 87: ...ontrol axe pattern setting error occurs Example XAXS 0 1100 Set axis patterns for axes 2 and 3 XSON Turn the servo of specified axes ON z XSOF extension motion control axis servo OFF Extension condition LD A O AB OB Input condition I O flag Command declaration Output part operation type output flag Command declaration Operand 1 Operand 2 E N Cnd Cmnd Operand1 Operand2 Pst Optional Optional XSOF Pr...

Page 88: ...ute encoder type execute this command and the absolute reset should be conducted by the slave controller If it is required to have only a drive to the home position not required to have home position confirmation operation do not attempt to execute this command but execute XMVP Command Example XAXS 0 1100 Set axis patterns for axes 2 and 3 XHOM Perform home return on the specified axes z XMVP exte...

Page 89: ... command before executing this command If the command has not been executed error No 4B3 No extension motion control axe pattern setting error occurs 2 When this command continues to be executed repeatedly the difference in the pitch intervals is accumulated In the case that the accumulated difference becomes an issue use the movement command XMVP Command to specify the absolute position Example 1...

Page 90: ...n executed error No 4B3 No extension motion control board axe pattern setting error occurs 2 This command requires indication of the velocity acceleration and deceleration in VEL VLMX ACC DCL Commands before execution If those commands have not been executed an error occurs In this command the velocity and acceleration deceleration set in the position table should get invalid Example 1 VEL 200 Set...

Page 91: ...the velocity acceleration and deceleration in VEL VLMX ACC DCL Commands before execution If those commands have not been executed an error occurs In this command the velocity and acceleration deceleration set in the position table should get invalid 3 When this command continues to be executed repeatedly the difference in the pitch intervals is accumulated In the case that the accumulated differen...

Page 92: ...2 via absolution position move Also if the velocity and acceleration deceleration contents in Variable No n 1 n 2 and n 3 are set to 0 the values in the SEL declaration VEL VLMX ACC and DCL become activated Variable No Setting Valid digits n Target position mm 3 decimal places n 1 Speed mm s 2 decimal places n 2 Acceleration G 2 decimal places n 3 Deceleration G 2 decimal places n 4 Position compl...

Page 93: ...e set to 0 the values in the SEL declaration VEL VLMX ACC and DCL become activated Variable No Setting Valid digits n Movement amount mm 3 decimal places n 1 Speed mm s 2 decimal places n 2 Acceleration G 2 decimal places n 3 Deceleration G 2 decimal places n 4 Position complete band mm 3 decimal places Caution When this command continues to be executed repeatedly the difference in the pitch inter...

Page 94: ...error No 4B3 No extension motion control board axe pattern setting error occurs 2 This command is valid for axes that have not completed home return but the speed is limited by parameter common for extension motion control board No 4 maximum jog speed when home return not completed Also the coordinate values before completing the home return operation do not have any meaning and the soft limit che...

Page 95: ...ogram continues occupying the operation axes but the axes are released by executing this command and can be used by other programs Example XAXS 0 11 Set axis patterns for axes 0 and 1 XMVP 10 Move specified axes to position No 10 In case of operations where position complete band is valid axes recover from commands if the current command position reaches before the position complete band of the ta...

Page 96: ... axes is completed Caution 1 Set axis patterns using the XAXS or XA16 command before executing this command If the command has not been executed error No 4B3 No extension motion control board axe pattern setting error occurs 2 If the positioning complete status would not turn on even after it has passed the time set in Extension Motion Control Each Axis Parameter No Positioning Complete Confirmati...

Page 97: ...rol Axis n 2 Master axis No Master axis type n 1 Settign Description 0 Axis 1 to 8 Standard Motion Control Axis 1 Axis 0 to 31 Extension Motion Control Axis n 3 Electronic CAM table No 0 to Maximum cam table No n 4 Stroke type 0 Master axis stroke length specification 1 Master axis end position specification n 5 Master axis stroke length stroke end position storage position No Stroke type n 4 Mast...

Page 98: ...type Master axis type n 1 Settign Description 0 Master axis synchronization start position storage position No Note Specify position No of standard motion control master axis 0 to maximum position No 1 Master axis synchronization start position storage position No Note Specify position No of extension motion control master axis 0 to maximum position No n 8 Reserved Make sure to set 0 n 9 Reserved ...

Page 99: ...d is terminated The master axis stroke length stroke end position and master axis synchronization start position shall be set to position data of the master axis if the master axis is a position data The slave axis stroke length is set in slave axis position data If master axis stroke end position is specified for the stroke type the master axis stroke length single cycle of electronic CAM tables ...

Page 100: ...d for position data storing stroke length and stroke end position 3 If slave axes started synchronization while the master axis is moving excessive speed and or acceleration and deceleration may occur leading to an error Lower the speed and or acceleration of the master axis when the slave axis synchronization movement is started 4 Excessive speed and or acceleration deceleration may occur during ...

Page 101: ...es at the position of 0deg and 360deg Explaining in the example of the figure below the slave axes will operate with no problem even when the master axis passes 0deg 360deg as the displacement matches at 0deg and 360deg in the case of 1 In the case of 2 the displacement fluctuates suddenly when the master axis passes the position of 0deg 360deg as the displacement is not matched and Error No 4B9 S...

Page 102: ...0 to variable No 206 LET 207 0 Set 0 to variable No 207 unused data LET 208 0 Set 0 to variable No 208 reserved area LET 209 0 Set 0 to variable No 209 reserved area XAXS 0 11 Specify extension motion control axis 0 XSON Turn the servo of extension motion control axis 0 ON XHOM Perform home return on extension motion control axis 0 XCAS 0 200 Start synchronous electronic CAM movement of extension ...

Page 103: ...iables from variable No n specified in operand 2 The output is turned off at the command start and on when the movement is completed Operand 2 Individual electronic CAM movement setting Variable No Data Description n Electronic CAM table number n 1 Moving time In units of 1ms n 2 Stroke length of slave axis storage position number Specify position number of slave axis controlled by extension motio...

Page 104: ...and or electronic CAM tables to set speed and acceleration deceleration permitted to the axis Example This program example to starts individual electronic CAM movement the time axis as the main axis LET 200 0 Set electronic CAM table No 0 to variable No 200 LET 201 1000 Set moving time of 1000 ms to variable No 201 LET 202 0 Set slave axis stroke length storage position No 0 to variable No 202 LET...

Page 105: ...is executed synchronous movement is stopped 2 Operation of slave axes is stopped by the XSTP CANC command 3 The slave axis movement program that executed the XSFS command is terminated If a negative value is set for gear ratio slave axes move in the opposite direction to the master axis Caution 1 If there are any errors in synchronous electronic CAM movement settings which are specified in variabl...

Page 106: ... movement even in the same program Execute the XSYE command in order to perform the next movement after synchronous movement Example This program is an example of synchronizing operation extension motion control No 0 to the main axis of the standard motion control axis If there are many shaft axes it is necessary to perform as many programs as the number of axes LET 200 0 Set master axis type 0 ma...

Page 107: ...mpletion of slave axes performing synchronous movement by setting synchronization type move single cycle only with the XCAS command or to wait for synchronous movement to be stopped by the XSTP command from other programs The output part is turned on when the end type is set to 1 wait for end of synchronous movement and slave axe moving synchronization type of move single cycle only finishes movin...

Page 108: ...s stroke end position specification to variable No 204 LET 205 2 Set master axis stroke end position storage position No 2 to variable No 205 LET 206 0 Set slave axis stroke length storage position No 0 to variable No 206 LET 207 0 Set 0 to variable No 207 unused data LET 208 0 Set 0 to variable No 208 reserved area LET 209 0 Set 0 to variable No 209 reserved area XCAS 0 200 Synchronous electronic...

Page 109: ...ovement to the same position during continuous movement thereby causing the speed to drop Note 4 Input this command straight after program steps in a row and the actuator is able to make a smooth operation without any stop between steps when a program is executed However in case there is any step with an input condition being indicated the actuator will pause at the step before that Note 5 In POTP...

Page 110: ...re executing this command If the command has not been executed error No 4B3 No extension motion control board axe pattern setting error occurs The arch motion Z axis and arch motion composited axes when arch motion composition is activated should be included in the indicated axis patterns Error No CB4 Palletized Z Axis Non Declaration Error will occur if there is no arch motion Z axis included in ...

Page 111: ...fers to the direction toward 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 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 dep...

Page 112: ...tion Mode Status 0 AUTO 1 MANU 14 Overload Warning 13 Zone 2 12 Zone 1 11 Reserved 10 Reserved 9 Safety speed valid status X SEL safety status valid 8 Battery Voltage Drop 2 7 Reserved 6 Reserved 5 Reserved 4 Servo On status 3 Reserved 2 Home return completion 1 Position complete 3 0 Operation Unable Alarm Occurred At slave driver control error on slave controller 1 Axis Alarms includes the state ...

Page 113: ...status of home return complete bit 2 servo on bit 4 and zone 1 bit 13 should be on Reference It can be confirmed that the indicated bit is on by using AND Command AND 200 16 900 It should be the logical conjunction of Variable 200 and 16 decimal number Flag 900 will turn ON when the result of logical conjunction is 0 16 decimal number 10000 binary number By executing the step described above When ...

Page 114: ...tion conducted to the synchronizing start position Position No 0 XAXS 00000000 00001111 It indicates Extension Motion Control Axis No 0 to 3 XMVP 1 It makes the indicated axis have PTP movement operation conducted to Position No 1 XAXS 00000000 11110000 It indicates Extension Motion Control Axis No 0 to 3 XMVP 2 It makes the indicated axis have PTP movement operation conducted to Position No 1 XAX...

Page 115: ... 1 Gear ratio denominator 1 XSFS 1 50 It makes the electronic shaft synchronizing started Axis No 1 XSFS 2 50 It makes the electronic shaft synchronizing started Axis No 2 XSFS 3 50 It makes the electronic shaft synchronizing started Axis No 3 XAXS 00000000 00000001 It indicates Extension Motion Control Axis No 0 XMVP 1 It makes PTP movement operation to Position No 1 WTON 11 It makes wait for Inp...

Page 116: ... 2 set to Variable No 202 LET 203 5 It makes Electronic Cam Table No 5 set to Variable No 203 LET 204 1 It makes Stroke Type 1 Stroke End Position Indication set to Variable No 204 LET 205 2 It makes Master axis Stroke Length Position Storage Position No 2 set to Variable No 205 LET 206 0 It makes Slave Axis Stroke Length Position Storage Position No 0 set to Variable No 206 LET 207 1 It makes Syn...

Page 117: ... the case that an Error No 4B8 Synchronization Command Speed Over Error or an Error No 4B9 Synchronization Command Speed Acceleration Deceleration Over Error occurs check again the master axis operation speed acceleration deceleration speed or conditions for the synchronous movement 2 If the master axis is being operated at the start of the synchronous movement an Error No 4B9 Synchronization Comm...

Page 118: ...xes becomes excessive and an Error No 4B9 Synchronization Command Speed Acceleration Deceleration Over Error might occur 4 7 3 Others 1 When the multi axes type controller is connected as a slave an Error No 4B0 Extension Motion Control Fieldbus Slave Station Command Error Detection might occur if the slave axis servo motors are turned ON immediately after the XSEL is started up for example immedi...

Page 119: ...the axis status for the extension motion control axes available to refer in the extension input ports Port No 1000 to 3999 5 2 To change the position type of the master slave that is subject to synchronizing operation from the command position to current position It is applicable only when the master axis is an axis on XSEL unit 6 2 1 To input a brake release input to an extension motion control a...

Page 120: ...d driver control Extension Motion Control Each Axis Parameters will not make any influence to the axis settings except for No 1 Axis Use Method and No 18 Control Device No Have the parameter settings which rely on the standard driver control axes conducted in Each Axes Parameters and Driver Parameters of the axes subject to control Caution 1 An axis indicated for the standard driver control will b...

Page 121: ...e Use Method 2 Standard Driver Control 3 Set the standard motion control axis number of the axis subject to control to Extension Motion Control Each Axis Parameter No 18 Control Device Number Extension Motion Control Each Axis Parameter No Name 18 Control Device Number Example When indicating subject for control as shown next Extension Motion Control Axis Number for Assignment Standard Motion Cont...

Page 122: ...in Extension Motion Control Each Axis Parameter No 1 for the extension motion control axis number which is to be used as the drive invalid axis Extension Motion Control Each Axis Parameter No Name 1 Axis Use Method Setting value Use Method 3 Driver Invalid Axis Control 3 Establish the settings for the next extension motion control each axis parameter as necessary Extension Motion Control Each Axis...

Page 123: ...ed by the number of axes that the port is assigned and the number of status 2 Extension Motion Control Axis Status Assignment Bit Pattern I O Parameter No 598 Indicate the status to be assigned to the extension input ports Make the status to be read in to an extension input port to 1 and make the one not to be read to 0 and express in the bit pattern and convert it into hexadecimal numbers to set ...

Page 124: ...adecimal numbers to set it in The relation between each bit and axis number is as shown below Also when all from bit 0 to 31 are set 0 this feature will become invalid 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Axis No 16 bits Axis No 17 Axis No 30 Axis No 31 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Axis No 0 bits Axis No 1 Axis No 14 Axis No 15 Caution Assignment cannot be duplicated with anoth...

Page 125: ...nt of the extension input ports when the settings above are conducted is as shown below Port No Status 2000 Axis No 0 Alarm which cannot be continued 2001 Home return completion 2002 Servo On status 2003 Zone 1 2004 Zone 2 2005 Overload warning 2006 Axis No 1 Alarm which cannot be continued 2007 Home return completion 2008 Servo On status 2009 Zone 1 2010 Zone 2 2011 Overload warning 2186 Axis No ...

Page 126: ...t the same time In order to have cartesian coordinate system available in the system using visions in such scenes as picking of bulk loading such commands as the pass arch motion movement command which is convenient for picking operation are available to use in the wrist unit equipped robot coordinate conversion command and all axes pulse motor construction all axes extension motion control Refer ...

Page 127: ...heck the parameter setting of T axis in the table below It is not necessary to check B axis No Parameter Name Wrist unit S Standard Wrist unit S Opposite Wrist unit M Standard Wrist unit M Opposite B Axis T Axis B Axis T Axis B Axis T Axis B Axis T Axis 24 Numerator of axis feature adjustment gear ratio 1 1 1 1 25 Denominator of axis feature adjustment gear ratio 1 1 1 1 27 Software limit positive...

Page 128: ...et and skip Steps 1 to 4 for the next absolute reset Things Necessary for Absolute Reset Fixture for Absolute Reset Screw S Size Hex Socket Head Screw M6 6 1point M Size Hex Socket Head Screw M6 10 1point Pins S Size Parallel Pin Type B φ4 length 40 1point Parallel Pin Type B φ3 length 40 2points M Size Parallel Pin Type B φ4 length 40 3points Process 1 Set the controller to MANU Mode and connect ...

Page 129: ...witch 11 Set the controller back to AUTO Mode 1 When connected to XSEL RA SA Controller by setting PCON or MCON controller to MANU Mode or turning the servo ON there could be a communication error Error No 4B0 Extension Motion Control Fieldbus Slave Station Command Detection detected Continue the process Reboot XSEL after absolute reset is complete and the error will be cancelled 2 For MCON it is ...

Page 130: ... such as PCON and MCON are different for the current position of the wrist unit While PCON and MCON controllers show the position with the absolute reset datum position as the home position XSEL RA SA controller shows offset absolute reset datum position and also considers the value of B axis feature adjustment for T axis If the wrist unit B axis is out of the range of software limit 0D9 Software ...

Page 131: ... Position data is created using XSEL PC Software Target position speed acceleration deceleration and position complete band can be set for each axis Select Controller Ex Motion Control Board X and then Position P from the menu Extension Motion Control Axis Position Data 2 Create a SEL language program using the extension motion control command and make operation Refer to SEL Commands Used in Exten...

Page 132: ...to the 3D vision sensor teach robot coordinates in cartesian coordinate system Conversion from Work Coordinates to Each Axis Coordinates During picking of bulk loading using the 3D vision sensor move to the workpiece position with MOVP XMVP Commands by converting the workpiece position expressed in the cartesian coordinate system acquired by the 3D vision sensor X Y Z Rx Ry and Rz into each axis c...

Page 133: ...quipped Robot Coordinate Conversion Command Extension Command Code Command Name Used Position Data 280 Conversion from Each Axis Coordinates to Work Coordinates in Wrist Unit Equipped Robot Standard Motion Control Position 281 Conversion from Work Coordinates to Each Axis Coordinates in Wrist Unit Equipped Robot Standard Motion Control Position 282 Conversion from Tool Coordinates to Work Coordina...

Page 134: ...the standard motion control position data ECMD 280 to 282 and then it is necessary to copy only the position of the extension motion wrist part pulse motor to the extension motion position data Explained below is about each position and how to copy Note If it is not the axis structure to have the wrist unit rotated with a rotary axis the posture cannot be determined thus the coordinates cannot be ...

Page 135: ...control such as XMVP 3 How to Copy Standard Motion Control Position Data to Extension Motion Here shows an example for how to copy Axis 2 each coordinate system position of B axis in Standard Motion Control Position Data No 8 in the previous page to Axis No 4 each coordinate system position of B axis in Extension Motion Control Position Data No 7 Conduct it on the T axis in the same manner 1 Acqui...

Page 136: ...e Refer to 5 3 6 Settings in Common for Coordinate Conversion Commands n 5 Wrist Unit Type 0 S Type 1 M Type n 6 Top Axis Number Indicate the top axis number of the position that the data was stored Only ECMD 290 is effective 1 should always be indicated for ECMD 280 1 The top position number should be indicated for the standard motion control position Work Coordinate Offset For TTA and MSEL set t...

Page 137: ...M Type n 7 Top Axis Number Indicate the top axis number of the position that the data was stored Only ECMD 290 is effective 1 should always be indicated for ECMD 280 1 The top position number should be indicated for the standard motion control position Note 1 Indicate the form automatic select when it is not necessary to specify the form for the form to be converted In this the form to have the R ...

Page 138: ...Combination Type Refer to 5 3 6 Settings in Common for Coordinate Conversion Commands n 5 Wrist Unit Type 0 SType 1 M Type n 6 Top Axis Number Indicate the top axis number of the position that the data was stored Only ECMD 290 is effective 1 should always be indicated for ECMD 280 1 The top position number should be indicated for the standard motion control position Work Coordinate Offset For TTA ...

Page 139: ...tion type of the axes construct a robot equipped with a wrist unit For each combination it is necessary that the home position and coordinate directions of each axis are the same as the definition in the figures in 5 3 8 1 Each Axis Coordinate System Type Robot Combination 0 X Y Z R B T 1 X Z Y R B T Shown in brackets are integrated actuators Type 0 X Y Z R B T Type 1 X Z Y R B T ME0364 2B ...

Page 140: ...ate SEL commands such as MOVP and XMVP should be used for the operation of each axis If it is necessary to have them operated together crease each SEL program and synchronize the timing In order to have the linear interpolation movement pass moment and arch motion movement on the cartesian part it is necessary to match the cartesian part to the standard motion control AC servomotor or to the exten...

Page 141: ...is it becomes available to make movement with the extension motion control position data in which the coordinate conversion result was stored as the target position without any change in setting How to Put Parameters Forward 1 Start up Gateway Parameter Setting Tool and establish connection to the gateway 2 Open Setting Special Parameters 3 Select a tab for GW Mode Select and activate Put Node Add...

Page 142: ...5 105 第2軸 Yf 方向 R軸 0 の位置 B軸原点 105 105 第2軸 Zf 方向 R軸 0 の位置 T軸 方向 方向 R軸 方向 方向 T軸 方向 方向 R軸 方向 方向 0 Xf Yf Zf R B T 1 Xf Zf Yf R B T 方向 方向 方向 方向 0 X Y Z R B T 1 X Z Y R B T Coordinate system Base coordinate system Work coordinate system Mechanical interface coordinate system Tool coordinate system Each axis coordinate system Cartesian coordinate system 3 rd Axis 1 st Axis 2 nd Axis 3 rd Axis 2 nd Axis 1...

Page 143: ...rdinate direction and revolution should be held in the order of 1 Rx 2 Ry 3 Rz If the order of revolution is changed the posture would not be the same even with the same rotation angles It is necessary that the revolution is held in the order of 1 to 3 above The figure below shows an example for the case of Rx Ry Rz 90deg 90deg 90deg Definition of Posture Z Y X Z Y X X 軸まわりに 90 回転 Y 軸まわりに 90 回転 Z ...

Page 144: ...he point Point P where the R axis fourth axis rotary axis and the B axis fifth axis go across when C1 C2 C3 0 0 0 in the each axis coordinate system See figure below The position in the base coordinate system when located at the all axes home position in the each axis coordinate system should be as shown in the table in the following page C1 C2 C3 0 Xb Yb Zb 0 ベース座標系 各軸座標系 第1軸 第1軸 第2軸 第3軸 第3軸 第2軸 ...

Page 145: ...ype 0 X Y Z R B T 0 0 39 0 180 180 0 0 53 0 180 180 1 X Z Y R B T 0 39 0 90 0 0 0 53 0 90 0 0 1 It should be when all of the tool coordinate offset is 0 tool coordinate system is inactivated 2 Zb coordinate value when the robot combination type 0 and Yb coordinate value when the robot combination type 1 show the distance from Point P to the center of the tool attachment face Shown in brackets are ...

Page 146: ... center The point where it crosses with the center of the tool attachment face is to be determined as the home position of Xm axis Ym axis and Zm axis Xb Yb Zb 0 ベース座標系 第1軸 第1軸 第2軸 第3軸 第3軸 第2軸 Xb Yb Zb 0 ベース座標系 0 Xf Yf Zf R B T 1 Xf Zf Yf R B T Zm Ym Xm メカニカル インターフェース座標系 0 Zm Ym Xm メカニカル インターフェース座標系 0 Rxm Rzm Rym Rxm Rym Rzm Mechanical Interface Coordinate System Directions of Mechanical Interface...

Page 147: ...m The tool coordinate system Xt Yt Zt Rxt Ryt Rzt should be defined by the offset against the mechanical interface coordinate system If the offset is 0 for all it should be the same as the mechanical interface coordinate system 第1軸 第2軸 第3軸 Zm Ym Xm メカニカル インターフェース座標系 0 Zt Yt Xt 0 ツール座標系 Xoft Yoft Zoft Tool Coordinate System 3rd axis 1st axis 2nd axis Mechanical Interface Coordinate System Tool Coor...

Page 148: ... axis coordinates it is necessary to indicate to which position and posture of the form the coordinate conversion is to be held Also the boundary for each form should be the singularity In this case in the conversion from work to each axis coordinates conversion will be performed in a way that the further R axis fourth axis should be the current position Robot Combination Type Flip Non Flip 0 X Y ...

Page 149: ...n data setting Check if there is any error in indication of the position data number or anything missing in the data setting 2 There is an error in the setting of the robot combination type Check in the setting of the robot combination type 3 There is an error in the setting of the wrist unit type Check in the setting of the wrist unit type 4 A number other than 1 is set to the top axis number in ...

Page 150: ...5 Practical Settings 142 ME0364 2B ...

Page 151: ...ory Release Input Port Number 0 to 3999 0 6 2 6 820 Extension Motion Control 4 th Axis Brake Compulsory Release Input Port Number 0 to 3999 0 6 2 6 821 Extension Motion Control 5 th Axis Brake Compulsory Release Input Port Number 0 to 3999 0 6 2 6 822 Extension Motion Control 6 th Axis Brake Compulsory Release Input Port Number 0 to 3999 0 6 2 6 823 Extension Motion Control 7 th Axis Brake Compuls...

Page 152: ... Number 0 to 3999 0 6 2 6 841 Extension Motion Control 25 th Axis Brake Compulsory Release Input Port Number 0 to 3999 0 6 2 6 842 Extension Motion Control 26 th Axis Brake Compulsory Release Input Port Number 0 to 3999 0 6 2 6 843 Extension Motion Control 27 th Axis Brake Compulsory Release Input Port Number 0 to 3999 0 6 2 6 844 Extension Motion Control 28 th Axis Brake Compulsory Release Input ...

Page 153: ...at Home Return Incomplete mm s 1 to 250 30 6 2 9 5 System reserved 0 to 9 0 6 Fieldbus Communication Start Latency msec 0 to 10000 5000 6 2 10 7 Fieldbus Max Times of Communication Retries Times 1 to 20 1 6 2 11 8 For extension 0 to FFFFFFFFH 00000000H 9 to 36 System reserved 37 System reserved 1 to 100 10 38 to 49 System reserved 50 System reserved 10 to 600 150 51 System reserved 0 to 5 3 52 Fie...

Page 154: ... 2 15 14 Maximum deceleration 0 01G 1 to 300 30 6 2 15 15 Deceleration at the end of synchronous movement 0 01G 1 to 300 30 6 2 17 16 VLMX speed mm sec 1 to 9999 100 6 2 18 17 System reserved 1 to 99999999 500 18 Control device No 0 to 99999999 0 6 2 19 19 Min Emergency Deceleration 0 01G 1 to 999 30 6 2 20 20 to 22 For extension 23 Axis feature definition 0H to FFFFFFFFH 0H 5 3 1 1 24 Numerator o...

Page 155: ...k time sec 1 to 9999 150 6 2 22 33 Positioning completion check time 100msec 1 to 999 100 6 2 23 34 System reserved 1 to 5000 100 35 Home return completion status OFF waiting time msec 1 to 99 50 6 2 24 36 Alarm reset command signal output time msec 1 to 99 50 6 2 25 37 System reserved 1 to 999 100 38 System reserved 0 to 1 0 39 System reserved 1 to 99 12 40 to 100 For extension ME0364 2B ...

Page 156: ...a points is to be set within the range from 1 to 512 points in Parameter No 530 For the capacity reason of the user data retaining memory 65536 bytes the number of position points will decrease as the number of used axes increases Refer to the table below Caution It is necessary to conduct the software reset after making a change to a parameter in order to reflect the settings Caution Error No 6A1...

Page 157: ...ent command position or 1 current position and all the axes are set to 0 current command position at the delivery Setting value Contents 0 Current value command 1 Current position Example Setting value 00000011H Synchronize to the current position when Axis No 1 or 2 to is set as the synchronizing master axis Synchronize to the current command position when Axis No 3 to 8 to is set as the synchron...

Page 158: ... to be used should be determined by the number of axes assigned to the ort and the number of status 4 Extension Motion Control Axis Status Assignment Bit Pattern I O Parameter No 598 No Parameter Name Unit Input range Initial value reference 598 Extension Motion Control Axis Status Assignment Bit Pattern 0 to FFFFFFFFH 0H Indicate the status which is assigned to the extension input port Make the s...

Page 159: ... 23 22 21 20 19 18 17 16 Axis No 16 bits Axis No 17 Axis No 30 Axis No 31 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Axis No 0 bits Axis No 1 Axis No 14 Axis No 15 6 Extension Motion Control Axis Brake Compulsory Release Input Port Number I O Parameter No 816 to 847 Axis Number 0 to 31 No Parameter Name Unit Input range Initial value reference 816 Extension Motion Control 0 th Axis Brake Compulsory Rel...

Page 160: ...lue 0 to 99 Bits 7 0 Bank 1 Number of displacement data items BCD value 1 to 99 Note That the following condition must be satisfied 1 Number of CAM tables for bank 0 x Bank 0 Number of displacement data items Number of CAM tables for bank 1 x Bank 1 Number of displacement data items 256 2 Number of Bank 0 Cam Table Number of Bank 1 Cam Table 128 3 Table size is 1 or higher and no bank with 0 of th...

Page 161: ...umber of Fieldbus Communication Times Times 1 to 20 1 Set the number of retries in communication failure in MECHATROLINK Communication Also when the number of retries is increased Error No 5B0 Extension Motion Control Fieldbus Initialization Error may occur depending on the construction of slave connections and transmission cycle setting 6 2 12 12 Fieldbus Transmission Cycle Select Extension Motio...

Page 162: ...e Initial value reference 4 Slave address 3 to FEEFH 0H Set the slave addresses for the slave driver to be connected The slave addresses consist of 16 bits extension addresses upper 8 bits and station addresses lower 8 bits As bit 16 to 31 are for reservation set 0 31 24 bits 23 16 15 8 Extension Address Valid Range 00H to FEH 7 0 Station Address Valid Range 03H to EFH 0 0 0 0 Station Assress Assi...

Page 163: ...tion addresses duplicated with other slaves 2 Station addresses should be within the available range 03 to EFH for setting 3 Extension addresses should be within the available range 00 to FEH for setting 4 Make sure the extension addresses are assigned in a row from 0H and from a smaller number to a bigger Example for Setting 1 Good Case Axis No 5 0003H Axis No 6 0103H Axis No 7 0203H It is good a...

Page 164: ... No 209 Deceleration at synchronization operation end Extension Motion Control Each Axis Parameter No 15 Each Axis Parameter No Parameter Name Unit Input range Initial value reference 209 Deceleration at synchronization operation end 0 01G 1 to 300 30 Extension Motion Control Each Axis Parameter No Parameter Name Unit Input range Initial value reference 15 Deceleration at synchronization operation...

Page 165: ... subject to the standard driver control Error No 531 Slave Operation Parameter Error will occur if the settings in Extension Motion Control Each Axis Parameter No 1 and 18 are incorrect When this parameter is to be set make sure to set 2 for output channel parameter No 1 channel usage 20 Minimum Emergency Deceleration Extension Motion Control Each Axis Parameter No 19 No Parameter Name Unit Input ...

Page 166: ...xis Parameter No 33 No Parameter Name Unit Input range Initial value reference 33 Positioning completion check time 100msec 1 to 999 100 This parameter sets the time period from the positioning command transmission completion to the positioning completion status turned ON 24 Home Return Complete Signal off Wait Time Extension Motion Control Each Axis Parameter No 35 No Parameter Name Unit Input ra...

Page 167: ...tion selection 004 All servo axes software interlock Extension motion control board axes are also interlocked Input function selection 005 Operation pause cancellation signal Pausing of extension motion control board axes is also cancelled Input function selection 006 Operation pause signal Extension motion control board axes are also paused Input function selection 007 Program start specification...

Page 168: ...standard driver control Input function selection 310 6 th Axis In Position In Process of 6 th Axis Servo on Valid only for standard driver control Input function selection 311 7 th Axis In Position In Process of 7 th Axis Servo on Valid only for standard driver control Input function selection 312 8 th Axis In Position In Process of 8 th Axis Servo on Valid only for standard driver control Input f...

Page 169: ... Extension Motion Control Setting A Extension Motion Control Common Parameters 2 Electronic Cam Table Area Assignment C 4 Max JOG Velocity at Home Return Incomplete C 6 Fieldbus Communication Start Latency C 7 Fieldbus Max Times of Communication Retries C 52 Fieldbus Transmission Cycle Select C 2 Setting for Each Axis Item No Parameter name Importance of setting Slave driver control Standard drive...

Page 170: ...6 Parameter Detail 162 ME0364 2B ...

Page 171: ...the lowest VLMX Velocity in the all valid extension motion control axes It does not rely on whether VLMX Command is used or not 16 VLMX Speed 500 No Axis 0 Axis 1 Axis 2 Axis 3 400 300 200 Setting Value 250 33 Safety Speed in Manual Mode No Name All Axes Parameter Extension Motion Control Each Axis Parameter 29 VLMX Speed 50 No Axis 1 Axis 2 Axis 3 Axis 4 60 70 80 Each Axis Parameter case1 Axis 0 ...

Page 172: ...the MECHATROLINK communication in the range of use for the extension motion control the elements that give influences to the communication time T can be considered mainly as shown below 1 Number of Slave Axes As the number of slave axes increases the subject for handshaking also increases which result in making the communication time T longer 2 Slave Type multi axis type or single axis type Becaus...

Page 173: ... 32 units of single axis type RC controllers with one time of retry There is a possibility that 32 axes can be controlled in 1ms of the transmission cycle However the communication could fail to be established if the number of retries is increased C When connecting the four multi axis type controller 8 axis type using cascade connection method and controlling the 32 axes in total with one time of ...

Page 174: ...7 Details of Features 166 ME0364 2B ...

Page 175: ...parameter on RC Controller If an error related to an axis is occurred on an extension motion control axis the value of extension motion control axis number 1000 is shown as the axis number in the error list Example Error Occurred No 1005 Error occurred on Extension Motion Control Axis No 5 Considering above check the axis with an error occurred However when the axis use method is the standard driv...

Page 176: ...hock prevention of the XSEL and RC controllers and take off the cables on the measurement part for prevention of electric conduct due to sneak circuit before having a conduction check 5 Checking Noise Prevention Measures connection of grounding line connection of noise killer etc 6 Check of History till Trouble Occurrence and Operational Condition When Occurred 7 Cause Analysis 8 Countermeasures z...

Page 177: ...te battery related alarm is occurred in the RC controller startup without absolute reset on the RC controller there is a concern that the coordinates can be determined with the home position in wrong Error No 4B0 Extension Motion Control Fieldbus Slave Station Command Error Detection occurs Content and cause The MECHATROLINK Command Error has been detected in the slave station Countermeasure Confi...

Page 178: ...xis stroke if electronic cam synchronizing Also in case of having the slave axis perform the synchronizing operation at a position near the soft limit such countermeasures as stated below are also effective Set the movement speed of the master axis slow or decrease the acceleration deceleration Adjust the setting in the finishing deceleration in synchronizing operation Extension Motion Control Eac...

Page 179: ...t cannot be indicated for the standard driver control Rotary shortcut control select linear axis infinite stroke mode synchronizing ZR unit SCARA axis etc Duplication exists in axis indication subject for control The axis subject for control is invalid Error No 5A4 Extension Motion Control Fieldbus Parameter Error occurs Content and cause There is an error in the parameter setting for the extensio...

Page 180: ...can be considered as a cause 1 Slave driver is not in a condition available for communication Check if in power shutoff condition MANU Mode etc 2 Setting error of slave address Extension Motion Control Each Axis Parameter No 4 3 Communication error due to noise or cable line breakage connection error 4 Setting error of parameters related to communication of slave driver 5 Malfunction of hardware C...

Page 181: ...tion of hardware Countermeasure Check the following points if this error occurred at startup Are the slave addresses set correctly In particular in the case that the multi axis RC controller has been connected confirm that the address assignment to the extension motion control axis Nos has been set that the numbers are serial from extension address 00h Is the slave driver started up in a condition...

Page 182: ...ccurred on the RC controller the RC controller may turn the servo off spontaneously before the XSEL controller stops the operation command In such a case the movement command gets received from the XSEL after the RC controller completing to turn the servo off which causes the phenomenon on the left Countermeasure There is no way to avoid this phenomenon fundamentally Check the alarm code generated...

Page 183: ...4 Contents of Error No 5B1 added Error No 5B3 to 5B7 added Second edition 4 5 XACZ XATG XAEX XQAZ and XACH commands added in SEL Commands Used in Extension Motion Control Features 5 3 How to Use Wrist Unit added 6 1 5 No 23 to No 29 added in Extension Motion Control Each Axis Parameters 8 Error No D8B added in Troubleshooting 2B edition 4 3 Electric Shaft Note added for caution regarding link of s...

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Page 186: ...INESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 354 9471 website www intell...

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