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IAI SEL, Instruction Manual

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IAI SEL Instruction Manual Download Page 253

16. Controller

235

 

215 

 
Check that the EMERGENCY STOP button has been pressed. 
 
When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at 
the reference position. In that case, arm 2 may be moved.   
When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at 
the reference position. In that case, arm 1 may be moved. 

▪

  After checking that the EMERGENCY STOP button has been pressed, set the jig. 

▪

  Decide the basic position referring to the positioning mark seal and set the jig. 

▪

  Only the arm 1 is covered with a lid with setscrews. Remove them and set the jig. 

▪

  An  absolute  reset  on  the  arm  with  the  adjusting  jig  is  recommended.  However,  a 

multi-rotation  reset  is  possible  if  the  arm  position  is  within  the  range  of  the  mark  seal  ±  1 
scale. 

 

 

Arm 1 

(Arm length 500/600, arm length 700/800

Arm 2 

(Arm length 500/600, arm length 700/800)

Arm 1 positioning 

mark seal

 

Arm 1 positioning 

mark seal

 

Arm 2 positioning 

mark seal

 

Arm length 500/600/700/800 Standard Posture Drawing

Place both the arm 1 and arm 2 

within the range of ± 1 scale.

 

Summary of Contents for SEL

Page 1: ...Instruction Manual Eleventh Edition SEL CONTROLLER Teaching Pendant SEL T SEL TD SEL TG IAI Corporation ...

Page 2: ......

Page 3: ...mes 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 to operate this product safely such as the operation procedure structure and maintenance procedure Before operation read this manual carefully and fully understand it to operate this p...

Page 4: ......

Page 5: ... V1 00 ASEL V1 00 PSEL V1 00 XSEL R S V1 12 XSEL RX SX V1 12 XSEL RXD SXD V1 12 TTA Note 1 V1 16 Note 1 On the model code label for SEL T TD TG that are applicable for TTA it is indicated a number 2 or higher as shown below Model Code Label MODEL SEL T SERIAL No 000009942 F2 MADE IN JAPAN Applicable for TTA is 2 or higher ...

Page 6: ......

Page 7: ...tuator TT SSEL ASEL PSEL 28 5 3 XSEL R S RX SX RXD SXD 30 5 4 TTA 31 5 5 Caution 32 6 Mode Transition Diagram 33 6 1 X SEL K P Q R S TT TTA Controller 33 6 2 X SEL KX Controller 38 6 3 X SEL PX QX RX SX RXD SXD Controller 43 6 4 SSEL ASEL or PSEL Controller 48 6 4 1 Program mode 48 6 4 2 Positioner Mode 53 7 Simple Operation Procedure 57 7 1 Orthogonal Axis 5th and 6th Axes of XSEL K P Q or PX QX ...

Page 8: ... P Q or PX QX Controller 5th to 8th Axes of R S or RX SX Controller or TT TTA SSEL ASEL or PSEL Controller 110 10 2 1 Teac Teaching 110 10 2 2 Example of Teaching Input 121 10 3 Teaching for SCARA axis 1st to 4th Axes of X SEL KX PX QX or RX SX controller or 1st to 4th Axes or 5th to 8th Axes of RXD SXD controller 126 10 3 1 Teac teaching 126 10 3 2 Jog movement direction and coordinate system 132...

Page 9: ...h ROM Writing 195 14 Parameter Edit 196 14 1 Parameter Edit Items 196 14 2 Input Example Edit Each Axis Parameter 197 15 Monitor 200 15 1 Monitor Items 200 15 2 Input Port 201 15 3 Output Port 201 15 4 Global Flag 201 15 5 Global Variable 202 15 6 Axis Status 203 15 7 System Status 208 15 8 Error Detail Information 211 15 9 Version Information 212 15 10 Maintenance Information Window 215 15 11 Vir...

Page 10: ...ine Shaft Adjusting on ZR Unit Incremental Type 255 16 14 Procedures for Resetting Absolute Battery Voltage Down Warning Error for orthogonal axis 5th and 6th Axes of X SEL K P Q or PX QX controller 5th to 8th Axes of R S or RX SX controller or SSEL ASEL or PSEL controller 261 16 15 Time setting 263 16 16 Flash ROM writing data recovery one generation before 264 17 Gateway Function Associated 266 ...

Page 11: ...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 12: ...er the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store t...

Page 13: ...looseness 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 electr...

Page 14: ...ary to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make i...

Page 15: ...terminal 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 re...

Page 16: ... result 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 unt...

Page 17: ...f the 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 ...

Page 18: ......

Page 19: ...struction Manuals attached to the products While the teaching pendant is left connected Effect is valid for the safety velocity Therefore in the case of the orthogonal axis the maximum velocity is 250 mm sec or lower when the program is started from the teaching pendant In the case of the SCARA axis the maximum velocity is 250 mm sec or lower for CP motion and 3 or less for PTP motion To operate t...

Page 20: ...f consumable parts such as a cable Defects resulting from sensory phenomena such as generated noise that have no functional effects Defects resulting from mishandling or improper use Defects resulting from an inadequacy or error in maintenance and inspection Defects resulting from the use of any part other than our genuine parts Defects resulting from a modification not approved by us or our deale...

Page 21: ...3 3 Connection to Controller 3 3 Connection to Controller 3 1 Connection to SEL T TD 4 5 Connection to Controller X SEL K Type Controller M cable Mode Switch ...

Page 22: ... 5 Example of Connection to X SEL KT KET Type Controller SEL TD ANSI compliant Teaching Box AC Power Supply Relay Box Driver Power Cut off Control Circuit Noise Filter Class D Grounding Work Protective Ground PIO Power Supply 24V DC ...

Page 23: ...ontroller 5 6 X SEL P Q Type Controller Set the teaching pendant type selection switch of the X SEL P type to the left Caution Teaching Pendant Type Selection Switch P only Mode Switch Emergency Stop Switch Enable Switch ...

Page 24: ...6 3 Connection to Controller 6 7 Table Top Actuator TT Teaching Pendant Mode Switch Table Top Actuator TT TTA Figure shows example of TT ...

Page 25: ...7 3 Connection to Controller 7 8 X SEL KX Type Controller SCARA Mode Switch ...

Page 26: ...9 X SEL PX QX Type Controller Set the teaching pendant type selection switch of the X SEL PX type to the left SCARA Mode Switch Emergency Stop Switch Enable Switch Teaching Pendant Type Selection Switch PX only Caution 2 axis 1 axis ...

Page 27: ...10 SSEL Type Controller Mode Switch Emergency Stop Switch Enable Switch Replacement Cable SSEL CS CB SEL SJS002 SSEL C CB SEL SJ002 Panel Unit 2 axis 1 axis Note SEL T JS Teaching Pendant with Replacement Cable Dedicated for SSEL CS ...

Page 28: ... Type Controller Host System Cable Panel Unit Teaching Pendant Emergency Stop Switch Enable Switch Power Supply ASEL CS CB SEL SJS002 ASEL C CB SEL SJ002 Note SEL T JS Teaching Pendant with Replacement Cable Dedicated for ASEL CS Replacement ...

Page 29: ... Type Controller Host System Cable Panel Unit Teaching Pendant Emergency Stop Switch Enable Switch Power Supply PSEL CS CB SEL SJS002 PSEL C CB SEL SJ002 Note SEL T JS Teaching Pendant with Replacement Cable Dedicated for PSEL CS Replacement ...

Page 30: ...r Adaptor Connection Cable This shows an example of the ASE Controller Adaptor for the Teaching Pendant Only when the XSEL J controller for connecting to DC 24 V power source is connected connect it to the DC 24V power source Otherwise do not connect it to the DC 24V Safety Circuit CAUTION When the teaching pendant SEL TG is not to be connected make sure to insert the dummy plug DP 4 into the adap...

Page 31: ...This shows an example of the ASE Controller Adaptor for the Teaching Pendant Only when the XSEL J controller for connecting to DC 24 V power source is connected connect it to the DC 24V power source Otherwise do not connect it to the DC 24V Safety Circuit CAUTION When the teaching pendant SEL TD is not to be connected make sure to insert the dummy plug DP 4S into the adaptor for the teaching penda...

Page 32: ... Cable This shows an example of the ASE Controller Adaptor for the Teaching Pendant Only when the XSEL J controller for connecting to DC 24 V power source is connected connect it to the DC 24V power source Otherwise do not connect it to the DC 24V Safety Circuit CAUTION When the teaching pendant SEL TG is not to be connected make sure to insert the dummy plug DP 4S into the adaptor for the teachin...

Page 33: ...roller Adaptor Connection Cable This shows an example of the ASE Controller Adaptor for the Teaching Pendant Connector on the ENB side Insert the connector with the wire arrangement that has been kept from the delivery time Connector on the EMG side Wire Arrangement of the Connector on the EMG side at the time of delivery Wire Arrangement of the Connector on the ENB side at the time of delivery On...

Page 34: ...n the EMG side Wire Arrangement of the Connector on the EMG side at the time of delivery Wire Arrangement of the Connector on the ENB side at the time of delivery Only when the XSEL J controller for connecting to DC 24 V power source is connected connect it to the DC 24V power source Otherwise do not connect it to the DC 24V CB SEL25 LBS CB SEL26H LBS SEL TD IA LB TGS Replacement Cable CB SEL SJS0...

Page 35: ...MG side Wire Arrangement of the Connector on the EMG side at the time of delivery Wire Arrangement of the Connector on the ENB side at the time of delivery Only when the XSEL J controller for connecting to DC 24 V power source is connected connect it to the DC 24V power source Otherwise do not connect it to the DC 24V CB SEL25 LBS CB SEL26H LBS SEL TG IA LB TGS Connector Replacement Cable Set CB C...

Page 36: ...mode switch to MANU side supply power to the controller Teaching Pendant LCD Display Displays the version of the teaching pendant and moves If the mode is switched to AUTO side the teaching pendant does not connect to the controller and the screen on the left will be displayed Press ESC key and make it reconnected Re connection Screen Turn on the mode switch to MANU side and press the F1 Yes key t...

Page 37: ...rding to the servo not in use or in use MANU mode servo not in use Before execution of OPEN After execution of OPEN Connection of TP port Connection to Teaching Pendant Forced movement to SEL program connection Message error Program is executing Error occurring after OPEN command execution Error No A50 SCIF open error during non AUTO mode MANU mode servo in use Before execution of OPEN After execu...

Page 38: ...cifications Item Specification Compliance with UL and CE Standards Compliant Working Ambient Temperature and Humidity Temperature 0 40 C Humidity 10 90 No condensation Protection Code IP54 Excluding cable connectors Working Ambient Atmosphere No corrosive gas Weight Approx 0 4 kg Excluding cables Cable Length 5m 4 4 1 ...

Page 39: ...itch Executes emergency stop 3 LED JOG When this LED is lit jog operation is possible with 1 2 3 4 ALL 1 2 3 4 or ALL MOVE When this LED is lit position movement or continuous movement operation is possible with 1 2 3 4 ALL 1 2 3 4 or ALL SERVO When this LED is lit servo ON OFF operation is possible with 1 2 3 4 ALL 1 2 3 4 or ALL HOME When this LED is lit homing operation is possible with 1 2 3 4...

Page 40: ...ansmitted all together at the same time 7 ESC key Escape key Returns to the previous status from the current status If you press this key during data input the data will be cancelled 8 BS key Backspace key If you press this key during data input clear one letter before At other time clear the data where the cursor is placed 9 Cursor key Moves the cursor 10 10 keys You can input number alphabet and...

Page 41: ...is turned ON 16 HOME key Enables homing operation The LED of HOME is lit It is valid in the Teac teach mode area When you press a jog key such as 1 and 1 after enabling homing operation homing starts However it is required to turn the servo ON when the servo is OFF Jog operation is made possible after homing has been completed The LED of JOG is lit 17 1 1 2 2 3 3 4 4 ALL and ALL Jog keys 1 Minus d...

Page 42: ...ng force In the switch ON condition servo ON is possible In the switch OFF condition the driver power is cut off and the servo is turned OFF Even in the switch OFF condition operation is possible in the mode not requiring servo ON such as the edit mode Some controllers such as the X SEL K controller display the message shown below when the power is turned on If you press the ESC key the mode selec...

Page 43: ...ry Other parameter No 20 2 System memory backup battery equipped Encoder parameters are not stored within the controller but in the EEPROM of the actuator s encoder itself They are read into the controller at power on or software reset time Edit data with PC or Teaching Pendant Save the data during the power is on and delete the data by reset Save data even after the power OFF Program parameter co...

Page 44: ...itten in flash memory The controller always operates according to the data in memory within the dotted box excluding parameters Content 1 Parameters excluding content 2 below and encoder parameter Content 2 Driver card IO slot card electric power type card parameter X SEL K KX TT IO slot card electric power type card parameter X SEL P Q PX QX SSEL ASEL PSEL Content 3 Flag Variable and String ...

Page 45: ...ontent 1 Symbol position Memory Memory Memory Slave card parameter content 2 Encoder parameter Position SEL global data content 3 Error list Transmit Transmit Transmit Battery backup memory Battery backup memory Battery backup memory Flash memory Flash memory Flash write Flash write Encoder Transmit Transmit Flashe write Reset read Reset read Reset read Flash memory Transmit Transmit Transmit User...

Page 46: ...ry at restart time the data in memory becomes the original data before editing unless the data is written in flash memory Edit data with PC or Teaching Pendant Save the data during the power is on and delete the data by reset Save data even after the power OFF Program Parameter content 1 Symbol Position Slave card parameter content 2 Transmit Transmit Transmit Transmit Encoder parameter SEL global...

Page 47: ...Memory Memory Memory Encoder Flash memory Flash memory Program parameter content 1 Symbol position Slave card parameter content 2 Encoder parameter SEL global data content 3 Error list User Hold Memory RC axis position in XSEL Transmit Transmit Flashe write to The program parameter symbol position is downloaded from the flash memory when the machine is re started Therefore when the data is not wri...

Page 48: ...d memory Slave card parameters fixed portions of driver parameters power supply parameters Cannot be changed Slave card memory Reset read Reset read Reset read Reset read Transmit Retention memory Transmit Transmit Position axis positions in X SEL Nos 1 to 10000 first half User data retention memory positions RC axis positions SEL global data flags variables and strings Error list 2 3 XSEL R S RX ...

Page 49: ...mit Reset read Main CPU retention memory Position No 1 to 10000 SEL global data flags variables and strings Error list Maintenance Information Programs Parameters other than driver card parameters Symbols Positions No 10001 to 30000 Transmit Note The positions No 1 to 10000 SEL global data error list and maintenance information are backed up to the retaining memory FRAM in standard with no use of ...

Page 50: ...ion data save domain is in the battery backup memory for the Position No 1 to 10000 and in the main CPU flash ROM for the position No 10001 to 20000 Accordingly when the data is not written in the flash ROM and the power is turned OFF or the software reset is performed the data items for the position No 10001 to 20000 are deleted After that the next time the machine is turned ON the data written i...

Page 51: ...ange Scan Data import Clr Clear DiSP Display change Scan Data import Canc Cancel In Input monitor Vel Velocity data Out Output monitor JVel Jog velocity Cont Continuous movement In Input monitor Out Output monitor JVel Jog velocity Cont Continuous movement Position data input After writing data with WRT move to the next position Axis Axis No display change Axis Axis No display change The above are...

Page 52: ... the next edit No Select the parameter type with the function key Para Parameter Parameter input Play Program operation Run Execution Function key Select the program No and press return Function key Strt Continuous execution Stop Execution stop Step Step execution TSts Task status display Posi Current position Brk Breakpoint setting LFlg Local flag PErr Program error display Only during program st...

Page 53: ...t Output port GVar Global variable Itg Integer variable Function key Str String variable Real Real variable ASts Axis status Posi Current position Function key Snsr Sensor input status Srvo Servo status ErrA Axis related error Ecdr Encoder status Posi Current position 1 axis 4 axis 5 axis 6 axis ...

Page 54: ...tion key ESC Function key ESC Main CTL main Ver Version Drv Driver Tp Teaching pendant SIO Mount SIO FPGA CTbl Control constant for P Q type only for P Q type only for P Q type only Function key ESC Flsh Write to Flash ROM Ctl Controller SRst Software reset ERst Error reset Function key ESC AXIS Maintenance Information Mnt I for R S type TTA only IO Virtual Input Output Port for TTA only ...

Page 55: ...tion mode Global variable Re connect Memory clear Clear All clear Clear Edit Position Teach Monitor Status Clear Absolute reset RAbs Applicable to SEL T TD Application Section V1 02 or later Applicable to X SEL P Q Main Application Section V0 68 or later Applicable to X SEL P Q Mount SIO Section V3 00 or later User Data Hold Memory Cursor position Axis No Cursor position No Cursor position data Un...

Page 56: ...ta input After writing data with WRT move to the next position Clear Copy movement Function key Velocity input Cursor position No Each axis cursor position data Display change Data import Clear Jog coordinate system Movement velocity Input monitor Arm system change Coordinate system No change Output monitor User specified output port monitor Jog velocity Continuous movement Jump movement Display c...

Page 57: ...fter writing data with WRT move to the next parameter No Play Program operation Run Execution Function key Select the program No and press return Function key Strt Continuous execution Stop Execution stop Step Step execution TSts Task status display Posi Current position Lvar Local variable LFlg Local flag PErr Program error display Only during program stop Itg Integer variable Str String variable...

Page 58: ...rt Function key Global flag Output port Global variable Integer variable Function key String variable Real variable Axis status Current position Function key Sensor input status Servo status Axis related error Encoder status Coordinate system select No ...

Page 59: ...de Transition Diagram 41 31 System status System mode Function key System status 1 System error Function key Error list System status 2 System status 3 System status 4 Version CTL main Teaching pendant Driver ...

Page 60: ...start selection with password it is required to enter the password at setting change time It is displayed only when the manual operation type parameter equals edit and start selection with password It is required to enter the password at setting change time Refer to the Supplement of List of Parameters and 8 Manual Operation Types in the X SEL Controller Instruction Manual Flow at Error Occurrence...

Page 61: ...utput port monitor UsrO User specified output port monitor Cont Continuous movement Cont Continuous movement Out Output monitor Out Output monitor In Input monitor In Input monitor JVel Jog velocity JVel Jog velocity Cont Continuous movement Vel Velocity data Axis Axis No display change Axis Axis No display change Flash Write to Flash ROM Copy Copy movement Clr Clear Function key ESC Function key ...

Page 62: ...data with WRT move to the next step Move to the symbol edit mode with Sym After writing data with WRT move to the next edit No After writing data with WRT move to the next parameter No Prog Program Copy Copy movement Clr Clear Sym Symbol Symbol definition value input Para Parameter Parameter input Crd Coordinate system Mdfy Modify Clr Clear Coordinate system definition data input Coordinate system...

Page 63: ...able Itg Integer variable Function key Str String variable Real Real variable ASts Axis status Posi Current position Function key Snsr Sensor input status Srvo Servo status ErrA Axis related error Ecdr Encoder status Crd Coordinate system select No Posi Current position 1 axis 4 axis SCARA axis 5 axis 6 axis Orthogonal axis ...

Page 64: ... 3 Sts4 System status 4 Function key ESC Function key ESC Main CTL main Ver Version Drv Driver Tp Teaching pendant SIO Mount SIO FPGA FPGA CTbl Control constant table management information Function key ESC Flsh Write to Flash ROM Ctl Controller SRst Software reset ERst Error reset Function key ESC AXIS Maintenance Information Mnt I for RX SX RXD SXD type only ...

Page 65: ...lobal variable Re connect Memory clear Clear All clear Clear Edit Position Teach Monitor Status Absolute reset Absolute reset Clear Applicable to SEL T TD Application Section V1 02 or later Applicable to X SEL P Q Main Application Section V0 34 or later Applicable to X SEL P Q Mount SIO Section V3 00 or later Applicable to SEL T TD Application Section V1 02 or later Applicable to X SEL P Q Main Ap...

Page 66: ...on key Function key Function key Select position No and press return Posi Position Mdi Manual input Position data input After writing data with WRT move to the next position When escaping the mode with ESC check whether to write to Flash ROM Yes or No Flsh Write to Flash ROM Function key Select position No and press return Teac Teach Clr Clear Copy Copy Move Function key Vel Velocity input Cursor ...

Page 67: ...ct the parameter type with the function key Para Parameter Parameter input Play Program operation Run Execution Function key Select the program No and press return Function key Move to the mode according to the current condition Strt Continuous execution Stop Execution stop Step Step execution TSTS Task status display Posi Current position After writing data with WRT move to the next parameter No ...

Page 68: ...nput port Function key Global flag Output port Global variable Integer variable Function key String variable Real variable Axis status Current position Function key Sensor input status Servo status Axis related error Encoder status 1 axis 2 axis ...

Page 69: ...tatus Mode System mode Function key Sts1 System status 1 Err System error Function key ErrL Error list Sts2 System status 2 Sts3 System status 3 Sts4 System status 4 Ver Version Main CTL main Tp Teaching pendant Drv Driver FPGA CTbl Control constant ...

Page 70: ...52 6 Mode Transition Diagram 52 MtsK Selection of two or more programs start prohibition permission ...

Page 71: ...ove to the next position When escaping the mode with ESC check whether to write to Flash ROM Yes or No Flsh Write to Flash ROM Function key Select position No and press return Teac Teach Clr Clear Copy Copy Move Function key Vel Velocity input Cursor position No Each axis cursor position data DiSP Display change Scan Data import Clr Clear DiSP Display change Scan Data import Canc Cancel In Input m...

Page 72: ...ion Function key Stop Positioner mode stop Exec Positioner mode execution Moni Monitor In Input port Function key GFlg Global flag Out Output port GVar Global variable Itg Integer variable Function key Str String variable Real Real variable ASts Axis status Posi Current position Function key Snsr Sensor input status Srvo Servo status ErrA Axis related error Ecdr Encoder status 1 axis 2 axis ...

Page 73: ...n key Sts1 System status 1 Err System error Function key ErrL Error list Sts2 System status 2 Sts3 System status 3 Sts4 System status 4 Ver Version Main CTL main Tp Teaching pendant Drv Driver FPGA CTbl Control constant Posi Positioner management information Dtl Teaching pendant ...

Page 74: ...Baud Baud rate change RAbs Absolute reset RAct Action restart request SVel Velocity effect select When the manual operation type parameter equals edit and start selection with password it is required to enter the password at setting change time Flow at Error Occurrence Mode under operation Message displayed Error occurs Minor error Major error Reconnection mode GVar Global variable Function key ...

Page 75: ... data to draw a simple pentagon passing through the following 6 points and are same position by the actuator of 2 axes X Y are created 47 9 Simple Operation Procedure 9 1 Orthogonal Axis 5th and 6th Axes of X SEL K P Q or PX QX TT SSEL ASEL or PSEL Controller Here the program and position data to draw a simple pentagon passing through the following 6 points and are same position by the actuator of...

Page 76: ...on MODE switch to MANU side Supply the power to the controller Display the version of the teaching pendant and move to the mode selection screen to the following page If the MODE switch is AUTO side the teaching pendant does not connect to the controller and display as the screen on the left Press ESC key to make it re connection display Turn on MODE switch to MANU side and press F1 Yes key to re ...

Page 77: ...all operations Press the F1 key Edit If you make a wrong selection or input press the ESC key and return to the previous screen Then you can continue operation You can return to the basic screen by pressing the ESC key several times from any screen Edit Mode Screen Press the F1 key Posi ...

Page 78: ...iginal data is gone or use the PAGE UP PAGE DOWN keys to be placed at x xxx and then input the data Clear all axis input data by pressing the F3 Clr key and pressing the F1 Clr in the next screen You can clear the controller data with Clr key even if the WRT key is not pressed When inputting the 5th and 6th axes data press the F4 Axis key to switch the display to the 5th and 6th axes data display ...

Page 79: ...xes Input 50 at the second axis position data and press return key Every press of return key the cursor position moves When you miss input place the cursor to the miss input position and write over Also you can return the input data to x xxx with the F3 Canc key Transmit the data with the WRT key position No forwards 1 and becomes 2 If you change the screen with the PAGE UP PAGE DOWN or ESC keys b...

Page 80: ...press return key Transmit the data with the WRT key and move to position No 3 Data input for the third point Input 100 for the first axis position data and press the return key Input 50 for the second axis position data and press return key Transmit the data with the WRT key and move to position No 4 ...

Page 81: ...and press the return key Input 0 for the second position data and press the return key Transmit the data with the WRT key and move to position No 5 Data input for the fifth point Input 0 for the first axis position data and press the return key Input 0 for the second axis position data and press the return key ...

Page 82: ...he sixth point Input 0 for the first axis position data and press the return key Input 50 for the second axis position data and press the return key Transmit the data with the WRT key and move to position No 7 Finish editing then write the data to Flash ROM The cursor moves to the position No by pressing ESC key ...

Page 83: ...n will be appear by pressing the ESC key once more The Flash ROM writing screen will be appear by pressing the ESC key again To write the data to Flash ROM press the F1 Yes key If not press the F2 No key During Flash ROM writing Please Wait blinks Never shut off the power to the controller during Flash ROM writing ...

Page 84: ...7 Simple Operation Procedure 66 56 Return to the edit mode screen by pressing the ESC key That s all for inputting basic position data ...

Page 85: ...tion 1 columns are used Caution for the HOME command For restart after homing temporary stop execute it from the beginning of the homing sequence The homing operation of the ABS encoder axis becomes the movement to the multi rotation data reset position When operation is reset during its execution in a mode other than the absolute reset mode of the PC compatible software Teaching Pendant the real ...

Page 86: ...ated at the program No Move the cursor to the step No with return key If the program data is already input write over the data will be gone or select the program No which has no program data The cursor location on program No or step No can be changed with PAGE UP PAGE DOWN keys Also you can change the program No and step No by pressing the return key after the 10 key input Program No Step No The n...

Page 87: ... key As shown in the diagram at the left the initial GXX and other keys such as GACC HOME and IFEQ are displayed in any of F1 to F4 function key section Display the command you would like to input in the function key area with the steps of and above and press the corresponding function key How to search the command HOME The commands which start with G H or I will be displayed by pressing the 9 key...

Page 88: ...urn key Write over or delete with BS backspace key Or redo from step No by using ESC key Transmit data key to the controller by pressing the WRT key Step No moves to 2 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Press the 10 key 2 or SF shift key and key to search VEL Select the F4 key VEL Press the return key Step No ...

Page 89: ...tion data priority is given there Transmit the data to the controller by pressing the WRT key The cursor moves to step No 3 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid By using the SF and keys this will display the MOVL Select the F3 key MOVL Press the return key The cursor moves to operation 1 ...

Page 90: ... to step No 4 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Input MOVL 2 MOVL 6 program data into steps No 4 8 by the same procedure and transmit the data to the controller Display EXIT in the function key area by using the SF and keys Select the F4 key EXIT and press the return key ...

Page 91: ...E DOWN or ESC keys before transmitting the data the input data will be invalid Finish editing the program and write the data to Flash ROM Press the ESC key The cursor moves to the step No Press the ESC key The cursor moves to the program No Press the ESC key Return to the program edit screen Press the ESC key Return to the edit mode screen ...

Page 92: ...e the data to Flash ROM press the F1 Yes key If not press the F2 No key During Flash ROM writing Please Wait blinks Never shut off the power to the controller during Flash ROM writing Flash ROM writing is complete Return to the edit mode screen with the ESC key ...

Page 93: ...ted 65 9 1 3 Changing Application Program Excluding the positioner mode of the SSEL ASEL and PSEL controller Change the program you made in the previous section 9 1 2 Insert and delete the program step to allow the same action to be repeated Step No Insert TAG 1 into step No 3 delete the line which displays MOVL 6 and write over GOTO 1 replacing it with EXIT Select the F1 key Edit on the mode sele...

Page 94: ...it and new creation screen Press the return key once and position the cursor at the step No Insert a 1 line step between step No 2 and 3 Input 3 by pressing 3 or display 3 by pressing the PAGE UP key twice Select the F1 key Ins I Insert of I will be displayed after step No 3 Display TAG by using the in the 10 key SF key or key ...

Page 95: ...he WRT key If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Display the step No 4 screen by pressing the ESC key twice Delete the MOVL 6 Input 9 for the step No by pressing the 9 key directly to the same cursor location or display the MOVL 6 by pressing PAGE UP key 5 times The cursor is located at step No 9 ...

Page 96: ...8 68 Press the F2 key Del Press the F1 key Del one more time If you wish to cancel deleting press the ESC key Press the return key Display GOTO by using the in the 10 key SF key or key Select the F2 key GOTO and press the return key ...

Page 97: ... PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Press the ESC key several times and move to the Flash ROM writing screen To write the data to Flash ROM press the F1 Yes key If not press the F2 No key During Flash ROM writing Please Wait blinks Never shut off the power to the controller during Flash ROM writing Flash ROM writing is complete Return to the e...

Page 98: ...A Axis 1st to 4th Axes of XSEL KX PX QX or RX SX Controller or 1st to 4th Axes or 5th to 8th Axes of RXD SXD Controller Create a program and position data 70 9 2 Simple Operating Procedures Create a program and position data Position Data to ...

Page 99: ...Pendant to the controller and flip the MODE switch to MANU Turn on the power to the controller The version of the Teaching Pendant is displayed and the screen moves to the Mode Selection screen To the following page When the MODE switch is flipped to AUTO the Teaching Pendant is not connected to the controller and the screen at the left is displayed Press the ESC key to make it a reconnection disp...

Page 100: ... screen Press the F1 Mdi key Position No input mode The cursor is located at the position No When no data is input X XXX is displayed Press the return key to move the cursor to the section of the position data for the X axis When data is already input overwrite it the original data is lost or use the PAGE UP and PAGE DOWN keys to move to the screen with X XXX displayed and input data If you press ...

Page 101: ...o the actuator s model check it in the catalog etc Enter 300 for the Y axis position data and press the return key Every time the return key is pressed the cursor position moves With every press of the key the cursor position moves When you make an input error move the cursor to the location where you have made the error and overwrite the data The input data can also be returned to X XXX with the ...

Page 102: ...keys or ESC key before data transfer the input data becomes invalid Data input for 2nd point Enter 200 for the X axis position data and press the return key The cursor moves to the section for the Y axis position data Enter 250 and press the return key Enter 0 for the Z axis position data and press the return key Enter 90 for the R axis position data and press the return key Position No 2 ...

Page 103: ... to 3 Data input for 3rd point Press the return key since the X axis position data is left blank Press the return key since the Y axis position data is also left blank Enter 90 for the Z axis position data and press the return key Transfer the data with the WRT key and advance the position No to 4 ...

Page 104: ...key moves the cursor to the location of the position No Pressing the ESC key returns the screen to the Edit Posi screen Pressing the ESC key again moves to the Edit mode screen Pressing the ESC key once more moves to the Flsh screen To write the data in Flash ROM press the F1 Yes key If not press the F2 No key ...

Page 105: ... Please wait flashes during Flash ROM writing Never turn off the power to the Controller at this time Flash ROM writing is completed Return to the edit mode screen by pressing the ESC key With the above input of the basic position data is completed ...

Page 106: ... data created in 9 2 1 is created Application Program List In this section the X SEL program is input For further information on the meaning and usage of each command refer to the Instruction Manual attached to the controller Only Cmnd command and Operand1 operation 1 are input here 7 2 2 7 2 1 ...

Page 107: ...data is lost or select the program No with no data input The program No or step No over which the cursor is located can be changed with the PAGE UP and PAGE DOWN keys In addition pressing the return key after inputting a numerical value with the 10 key can change the program No or step No Also you can change the program No by pressing the return key after the 10 key input If the return key is pres...

Page 108: ...tter is displayed in the function key section However as shown in the diagram at the left the initial AXX key and other keys such as ABPG BGPA and CANC are displayed in any of F1 to F4 function key section Display the command for input in the function key section with the steps of and above and press the corresponding function key Search for command ACCS Pressing the 7 key displays the commands wi...

Page 109: ...turn key Overwrite the data or delete it with the BS key Or reattempt from the step No with the ESC key Press the WRT key to transfer the data key to the controller The step No advances to 2 When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid Press of the 10 key the SF key or key to search DCLS Select the F3 DCLS key Press t...

Page 110: ...the WRT key to transfer the data to the controller The step No advances to 3 When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid Display VELS with of the 10 key twice Select the F2 VELS key Press the return key The cursor moves to operation 1 ...

Page 111: ...ey Press the WRT key to transfer the data to the controller The step No advances to 4 When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid Display PTPL with of the 10 key the SF key or key Select the F4 PTPL key Press the return key ...

Page 112: ...s the WRT key to transfer the data to the controller The step No advances to 5 Display MOVP with of the 10 key Select the F3 MOVP key Press the return key The cursor moves to operation 1 Enter 1 of the position No 1 and press the return key ...

Page 113: ...6 to No 9 according to the same procedures and transfer the data to the controller Display EXIT in the function key section with of the 10 key the SF key or the key Select the F3 EXIT key and press the return key Press the WRT key to transfer the data to the controller When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid ...

Page 114: ...rite the data in Flash ROM Press the ESC key The cursor moves to the location for step No Press the ESC key The cursor moves to the location for program No Press the ESC key Return to the Edit Prog screen Press the ESC key Return to the Edit mode screen Press the ESC key ...

Page 115: ... Flash ROM press the F1 Yes key If not press the F2 No key The message Please wait flashes during Flash ROM writing Never turn off the power to the controller at this time Flash ROM writing is completed Return to the edit mode screen by pressing the ESC key ...

Page 116: ...ation program The program created in the preceding section 9 2 2 is changed A program step is inserted or deleted to allow the same operation to be repeated Insert TAG 1 into step No 5 delete MOVP 1 from step No 9 and overwrite EXIT with GOGO 1 Select the F1 Edit key on the Mode Selection screen Press the F2 Prog key on the Edit mode screen Change Step No ...

Page 117: ...and new creation screen Press the return key once to move the cursor to the location for step No Insert one line step between the program steps No 4 and No 5 Enter 5 with the 10 key or press the PAGE UP key 4 times to display 5 Select the F1 Ins key I of Insert is displayed after step No 5 Display TAG with 1 of the 10 key SF key or key ...

Page 118: ...ontroller When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid Press the ESC key twice to display the screen for step No 6 Then delete MOVP 1 from pre modification step No 9 Enter 10 for the step No directly with the 10 key while keeping the cursor position or press the PAGE UP key 4 times to display MOVP 1 Cursor located at ...

Page 119: ...e F2 Del key Press the F1 Del key again When canceling deletion press the ESC key Press the return key to move the cursor to the location of commands Display GOTO with 9 of the 10 key SF key or key Select the F2 GOTO key and press the return key ...

Page 120: ...d with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid Press the ESC key several times to move to the Flash ROM writing screen To write the data in Flash ROM press the F1 Yes key If not press the F2 No key The message Please wait flashes during Flash ROM writing Never turn off the power to the controller at this time Flash ROM writing is completed Retu...

Page 121: ... Axis simultaneously 10 1 Operation Confirmation Play Mode Screen Press the F2 Play key from the mode selection screen and move to the play mode screen There are 3 kinds of items at the play mode screen F1 Run Move to the program No input screen to execute F2 TSts Move to the task status screen which is already executing F3 AStop Finish all programs which are executing F2 and F3 keys are function ...

Page 122: ...f the SCARA axis the maximum velocity is 250 mm sec or lower for CP motion and 3 or less for PTP motion For the switching safety velocity mode please refer to 16 8 Safety Velocity Operation Mode Selection Start the continuance operation by pressing the F1 Strt key Start the operation by pressing the F2 Step key Continuance Operation Mode Step Operation Mode Display the current executing program st...

Page 123: ...ct the step No to set brake point by pressing the PAGE UP PAGE DOWN keys Execute setting and releasing the brake point each time you press the F1 Set key When you release all the set brake points press F2 Aclr key When executing the continuance operation with the brake point the program will be paused before executing commands for the step No you set After pausing press the F1 Cont key to continue...

Page 124: ...l Flag F3 LVar Local Variable 1 Display the Current Position Display the current position of the actuators Select the F1 Posi key at the operation mode screen Mode Transition Orthogonal Axis N F which is the end of position data indicates servo ON OFF status N servo ON F servo OFF SCARA Axis 2 Local Flag This is the local flag On OFF display It can be switched ON OFF Press the F2 LFlg key on the o...

Page 125: ...iable Mode Transition The cursor is located in the data area contents of variable You can substitute values by inputting value by pressing one of 10 keys and pressing the return key Move the cursor location with the return key and key The variable No can be changed with the PAGE UP PAGE DOWN keys Local String Mode Transition The cursor is located in the data area column Input the ASCII code by pre...

Page 126: ... F2 Play key from the mode selection screen and move to the play mode screen There are 3 kinds of items at the play mode screen F1 Run Execute the positioner mode which is currently specified F3 Stop Stop the positioner mode Note When the SSEL ASEL or PSEL controller is executing in the positioner mode parameter changes or Flash ROM writing cannot be performed After stopping the positioner mode by...

Page 127: ...ect Input screen Position No Return Vel is displayed at the function key area of the data input screen for each axis Press the F2 Vel key Vel ACC Dcl Input Screen Move the cursor with the return key and input the value to the required place by using the 10 keys Then press the return key After input transmit the data to the controller with the WRT key If you change the screen with the PAGE UP PAGE ...

Page 128: ...a servo OFF status The fundamental flow of teaching is as follows Move the actuator Jog operation inching operation manual movement with a servo OFF status Select position No and axis No for data input Take the data of the current position of the actuator into the teaching screen Transmit the data to the controller Input the position data by teaching and repeating Teaching is transacted mainly at ...

Page 129: ...ear the all axis data of the selected position No by pressing the F1 key after pressing this key once Clear the controller s data without pressing the WRT key F4 Axis Switch the 1st to 4th axes display screen to the 5th and 6th axes display screen Effective for 5 axes or more F1 Cont Execute continuance operation F2 JVel Set the jog velocity etc F3 In Monitor the input port F4 Out Monitor the outp...

Page 130: ...1st to 4th axes display screen to the 5th and 6th axes display screen Effective for 5 axes or more F1 Vel Input the data of velocity etc to each position No F2 JVel Set the jog velocity etc F3 In Monitor the input port F4 Out Monitor the output port Each axis Data Input Screen F1 Cont Move to the continuance transition mode F2 UsrO Turn ON OFF the output ports sequential 8 points at the maximum se...

Page 131: ...e teaching screen condition To confirm servo ON OFF status press the F1 Disp key All axes start homing by pressing the HOME key and the ALL or ALL key The data of the current position screen before homing doesn t have meaning After homing is complete execute teaching For the Linear Servo actuator LSAS N10 N15 quasi absolute type the actuator moves in a range of approximately 16mm from the stop pos...

Page 132: ...ation for the 5th and 6th axes press the F4 Axis key to switch the display to the 5th and 6th axes data display screen 1 Plus direction for the 5th axis 1 Minus direction for the 5th axis 2 Plus direction for the 6th axis 2 Minus direction for the 6th axis Changing the Jog Velocity Change the actuator s moving velocity at the time of the jog operation Display JVel jog velocity on the Teaching scre...

Page 133: ...s direction Pressing and holding the jog key changes to jog operation In approximately 1 6 seconds after the jog key is pressed inching operation changes to jog operation and further continuing to press the key changes the jog velocity per second as follows 1 10 50 100 mm sec Manual Movement with Servo OFF Status Turn the servo OFF condition by pressing the SERVO key and the ALL key in the teachin...

Page 134: ...n key on the each axis data input screen The data is executed per axis The diagram on the left is for taking in data on the each axis data input screen 4 Transmit to the Controller Transmit the taken in data to the controller Press the WRT key in the teaching screen condition Save the taken in data to the controller memory Position No will be increased 1 by pressing the WRT key You can only transm...

Page 135: ...d to the controller Select position No to move in the teaching screen condition Turn the servo ON by pressing the SERVO key and then the ALL key To confirm the servo ON OFF status press the F1 Disp key The actuator starts moving by pressing the MOVE key and then the ALL or ALL key in the case of all axis movement Press the 1 1 2 2 3 3 4 and 4 keys in the case of each axis movement To stop movement...

Page 136: ...y is set 50mm sec at the diagram on the left If velocity acceleration and deceleration are set in the position data priority will be given to it Priority Parameters JVel Position data The actuator in all axes starts continuous movement by pressing the MOVE key and then the ALL or ALL key in the case of all axis movement Press the 1 1 2 2 3 3 4 and 4 keys in the case of each axis movement During co...

Page 137: ... and servo ON OFF condition N ON F OFF are displayed for each axis C Function for operation of user specified output ports This is the function for ON OFF operation of user specified output ports This function is allocated to Usr1 Usr2 Usr3 in this order from the first user specified output port for the number of specified ports Usr1 to Usr4 and Usr5 to Usr8 are changed with the SF key ON OFF oper...

Page 138: ...t Prt Usr Out Number of output ports used by TP user hand etc First port No I O parameter No 75 Top No Use Out First output port No by TP user hand etc Setting example When the first port No is set to 308 and the number of ports is set to 8 Usr1 F1 key Output port 308 Usr2 F2 key Output port 309 Usr3 F3 key Output port 310 Usr4 F4 key Output port 311 Usr5 F1 key Output port 312 Usr6 F2 key Output ...

Page 139: ... Teaching Input Entering the data into position No 10 using the jog and into position No 11 by manual operation with Servo OFF status Select the F1 Edit key on the mode selection screen Select the F1 Posi key Select the F2 Teac key Input 10 to Position No by using the PAGE UP PAGE DOWN keys or the 10 keys and then the return key Turn the servo ON by pressing the SERVO key and then the ALL key ...

Page 140: ...the cursor is located by pressing the F2 Scan key Switch the display to the data input screen with the F1 Disp key Confirm that the data has been taken in Press the return key to move the cursor to the next axis Then press the F2 Scan key Transmit position data to the controller by pressing the WRT key The Position No moves to 11 If you change the screen with the PAGE UP PAGE DOWN or ESC keys befo...

Page 141: ...manual movement when the EMERGENCY STOP button is pressed You have to release the brake for the Z axis to be moved by manual mode When the brake is released for that reason there is a possibility that the Z axis may fall by weight such as a hand attached at the tip Therefore do not execute teaching to the Z axis via manual mode Take in the current position data of the axis No to the input screen w...

Page 142: ... the WRT key The Position No moves to 12 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Finish the position data input by teaching Press the ESC key Press the ESC key Press the ESC key Press the ESC key ...

Page 143: ...te the data to Flash ROM press the F1 Yes key If not press the F2 No key During Flash ROM writing Please Wait blinks Never shut off the power to the controller during Flash ROM writing Return to the edit mode screen with the ESC key ...

Page 144: ...of teaching is as follows Move the actuator Jog operation inching operation or manual operation in a servo OFF condition Select the position No and axis No for data input Incorporate the current positions of the actuator onto the teaching screen Transfer the data to the controller Repeat the steps of through above to input the position data by teaching Teaching is executed mainly on the teaching s...

Page 145: ...d to the SCARA Axis is displayed Change the SCARA Axis for the XSEL RXD SXD Controller using the following procedure Press the SF key to display the Axis No When the Axis key is pressed the SCARA axis for the RXD SXD controller is changed The display will be changed from 1 to 4 to 5 to 8 Axis No to be connected to the SCARA Axis ...

Page 146: ...tion No selected F4 JCrd It changes the coordinate system for jog operation F1 Vel It inputs data of velocity etc for each position No F2 JVel It sets the jog velocity etc F3 MVel It sets movement velocity in the continuous movement mode Cont or with the MOVE key F4 Arm It changes the arm system Servo ON status required in advance Note The arm operates F1 Crd It selects the coordinate system No F2...

Page 147: ...10 Position Edit 129 １ ４ １ ２ ３ ４ １ ４ １ ２ ３ ４ EArm １ ４ １ ２ ３ ４ In the case of the XSEL RX SX or RXD SXD Controller the arm system setting is available F1 EArm TheArm System Data is set in this section ...

Page 148: ... each position No F2 JVel It sets the jog velocity etc F3 MVel It sets movement velocity in the continuous movement mode Cont or with the MOVE key F4 Arm It changes the arm system Servo ON status required in advance Note The arm operates F1 Crd It selects the coordinate system No F2 In It monitors input ports F3 Out It monitors output ports F4 UsrO It turns ON OFF the output ports sequential 8 poi...

Page 149: ...10 Position Edit 131 １ ４ １ ２ ３ ４ １ ４ １ ２ ３ ４ EArm In the case of the XSEL RX SX or RXD SXD Controller the arm system setting is available F1 EArm TheArm System Data is set in this section ...

Page 150: ...diting Jog movement on base coordinate system The jog keys and movement directions on the base coordinate system are as shown below The current position display on the teaching screen is the position on the work coordinate system selected When the tool coordinate system No is also selected the coordinate value of the tool tip position is applied Left arm system Jog movement on base coordinate syst...

Page 151: ...rrent position display on the teaching screen is the position on the work coordinate system selected When the tool coordinate system No is also selected the coordinate value of the tool tip position is applied To change the coordinate system for jog operation press the F4 JCrd key To switch between the input data screen and the current position display press the F1 Disp key Jog movement on work co...

Page 152: ... teaching screen is the coordinate position of the tool tip of the selected tool coordinate system No on the work coordinate system selected Pressing the jog key for the 4th axis R axis performs rotary movement centering on the tool tip as shown below D cut surface Tool tip To change the coordinate system for jog operation press the F4 JCrd key To switch between the input data screen and the curre...

Page 153: ...ions are as shown below In the case of each axis system the position display on the teaching screen cannot be incorporated Jog movement on each axis system To change the coordinate system for jog operation press the F4 JCrd key To switch between the input data screen and the current position display press the F1 Disp key ...

Page 154: ...oordinate system No Enter the tool coordinate system No This is a screen displayed when the work coordinate system No 1 and the tool coordinate system No 1 are selected Press the ESC key to return to the teaching screen The coordinate values displayed indicate the tool tip position of the tool coordinate system No 1 on the work coordinate system No 1 ...

Page 155: ... by pressing the SERVO key and then the ALL key in the teaching screen condition To check the servo ON OFF status press the F1 Disp key to display the current position Before operation check the jog operation coordinate system selected Press the 1 1 4 4 keys to move the actuator to any given position 1 4 indicate axis No and represents plus direction forward while represents minus direction backwa...

Page 156: ...reen condition Work tool coordinate system Enter Vel velocity Acc acceleration and Dcl deceleration under jog operation with the 10 key and press the return key Dis inching distance should be 0 000 In addition the inching distance can also be set from this screen However in the axis coordinate system input percentage values for Vel velocity Acc acceleration and Dcl deceleration Axis coordinate sys...

Page 157: ...licking any of 1 through 4 makes inching movement in the coordinate minus direction 3 Manual movement under emergency stop condition Turn the servo OFF by pressing the EMERGENCY STOP button key in the teaching screen condition Emergency stop input screen Press the ESC key to return to the teaching screen Danger Be sure to perform manual teaching while the EMERGENCY STOP button is being pressed Mov...

Page 158: ...unction key section Turn the servo ON by pressing the SERVO key and then the ALL key Press the F4 Arm key Select whether or not to change the arm system To execute Press the F1 Yes key The 2nd arm starts to move Not to execute Press the F2 No key The screen returns to the previous screen Current arm system display When the F1 Yes key is pressed the display changes over to the screen under movement...

Page 159: ...erred to the controller Press the WRT key in a teaching screen condition Store the incorporated data in the controller s memory Pressing the WRT key increments the position No by 1 What can be transferred to the controller is the data on one display screen It is not possible to transfer the data of more than one position No at a time When the screen is changed with the PAGE UP and PAGE DOWN keys o...

Page 160: ...tion on the axis specific data input screen 6 Transfer to controller The incorporated data is transferred to the controller Press the WRT key in a teaching screen condition Store the incorporated data in the controller s memory Pressing the WRT key increments the position No by 1 What can be transferred to the controller is the data on one display screen It is not possible to transfer the data of ...

Page 161: ...ow X SEL PX QX is Edit Posi TchS In Mode flow X SEL PX QX is Edit Posi TchS Out Input ports Output ports Pressing the F1 0 1 key can turn OFF ON 0 1 the output port at the cursor location Every time the F1 key is pressed the port is changed between OFF and ON 0 and 1 Mode flow Edit Posi Teac In In case of X SEL PX QX RX SX RXD SXD Edit Posi TchS In Mode flow Edit Posi Teac Out In case of X SEL PX ...

Page 162: ...ion display screen the servo is in the ON status The actuator starts moving by pressing the MOVE key and thenthe ALL or ALL key To stop movement halfway press the STOP key When checking or changing the movement velocity press the F3 MVel key to move to the screen for changing the velocity etc Enter the change data with the 10 key and press the return key After changing return to the previous scree...

Page 163: ... F1 Disp key When N is displayed for the position on the current position display screen the servo is in the ON status Press the SF key 3 times to display Cont Press the F1 Cont key When checking and changing the movement velocity press the F2 MVel key to move to the screen for changing the velocity etc After changing and checking return to the previous screen by pressing the ESC key Pressing the ...

Page 164: ...PTP motion while the Z axis stays at the top position Motion of the X axis Y axis and R axis only Lowering is performed to the target position Motion of the Z axis only When the Z axis offset value is set the Z axis stops before above the target position by the same amount Z axis offset value Specify how many millimeters before the target position to stop the Z axis No minus value can be input Exa...

Page 165: ...ts J is displayed at the right side of the position No while jump motion is effective In case of X SEL PX QX RX SX RXD SXD Edit Posi TchS 133 Setting of jump movement is performed on the teaching screen Mode flow to teaching screen Press the SF key to display Jump in the function key section Press the F2 Jump key Enter 1 to make jump motion effective or 0 to make it ineffective and press the retur...

Page 166: ...y The current position and servo ON OFF condition N ON F OFF are displayed for each axis C Function for operation of user specified output ports This is the function for ON OFF operation of user specified output ports This function is allocated to Usr1 Usr2 Usr3 in this order from the first user specified port for the number of specified ports Usr1 to Usr4 and Usr5 to Usr8 are changed with the SF ...

Page 167: ...t Prt Usr Out Number of output ports used by TP user hand etc First port No I O parameter No 75 Top No Use Out First output port No by TP user hand etc Setting example When the first port No is set to 308 and the number of ports is set to 8 Usr1 F1 key Output port 308 Usr2 F2 key Output port 309 Usr3 F3 key Output port 310 Usr4 F4 key Output port 311 Usr5 F1 key Output port 312 Usr6 F2 key Output ...

Page 168: ... cursor key and select the SCARA axis to be setup When the F2 key is pressed the Right Right Arm data is setup When the F3 key is pressed the Left Left Arm data is set up After the data is entered transfer the data to the controller using the WRT key When the data has been written and the previous window is returned from the axis associated maintenance information window using the ESC key the Flas...

Page 169: ...sition No 11 by manual operation under servo OFF Select the F1 Edit key on the Mode Selection screen Select the F1 Posi key Select the F2 Teac key Enter 10 for the position No with the PAGE UP and PAGE DOWN keys or the 10 key and confirm it with the return key Press the SERVO key and then ALL key to turn the servo ON 10 3 4 ...

Page 170: ...data has been incorporated The current position data cannot be taken in scanned when the jog coordinate system is each axis system A display Press the return key to move the cursor to the next axis and press the F2 Scan key Incorporate the data of the Z axis and R axis in the same way Press the WRT key to transfer the position data to the controller The position No advances to 11 When the screen i...

Page 171: ...screen Confirm the servo OFF with the F1 Disp key Move each axis to any given position manually Danger Be sure to perform manual teaching while the EMERGENCY STOP button is being pressed To move the Z axis or R axis manually the brake must be released Consequently the Z axis may drop under the weight of the hand attached to the tip when the brake is released Do not perform teaching by manual movem...

Page 172: ...the return key to move the cursor to the next axis and press the F2 Scan key Incorporate the data of the Z axis and R axis in the same way Press the WRT key to transfer the position data to the controller The position No advances to 12 When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer the input data becomes invalid ...

Page 173: ...on Edit 155 140 Complete the position data input by teaching Press the ESC key Press the ESC key Press the ESC key Press the ESC key To write the data in Flash ROM press the F1 Yes key If not press the F2 No key ...

Page 174: ... Edit 156 141 The message Please wait flashes during Flash ROM writing Never turn off the power to the Controller at this time Flash ROM writing is completed Return to the edit mode screen by pressing the ESC key ...

Page 175: ...from which data is copied or moved with the 10 key and press the return key Enter the first No of the positions to which data is copied or moved with the 10 key and press the return key When copying the data press the F3 Copy key When moving the data press the F4 Move key The execution confirmation screen will be displayed To copy the data press the F1 Yes key If not press the F2 No key Press the ...

Page 176: ... the last No of the position data to delete with the 10 key and press the return key When deleting the selected position data press the F3 Clr key When deleting the data for all positions No 1 through No 3000 press the F4 AClr key The execution confirmation screen will be displayed To clear the position data press the F1 Yes key If not press the F2 No key Press the ESC key to return to the previou...

Page 177: ...dant is different from the program edit screen of the PC software The sequence is as Command Cmnd Operation 1 Operand 1 Operation 2 Operand 2 Output Pst Expansion Condition E and Input Condition N Cnd PC Software Program Edit Screen Teaching Pendant LCD Display Input the program step below as an example Program No 2 Input only the Input Condition at step No 1 and input data all except Comment at s...

Page 178: ...160 145 Select the F1 Edit key on the mode selection screen Select the F2 Prog key on the edit mode screen Select the F1 Mdfy key on the program edit and new creation screen Input the program No by using the 10 keys and press the return key The cursor moves to step No Press the return key ...

Page 179: ...ng the 10 keys and press the return key Transmit the data of step No 1 to the controller by pressing the WRT key Step No moves to 2 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Input section of Cmnd Display CPGE in the function key area by using the key SF key and key For searching commands please refer to section 9 1 2...

Page 180: ...perand 2 Indirect variable designation Select the F3 key first Then input 201 by using the 10 keys and press the return key When you input a string at Operand 2 use the same format as Operand1 Input section of Pst Input 900 by using the 10 keys and press the return key When designating an indirect variable at Operand 1 select the F3 key first Input section of E Select the F2 A key and press the re...

Page 181: ...moves to 3 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid Input section of Cmnd Display SCPY in the function key area by using the key SF key and key For searching commands please refer to section 7 1 2 Programming Select the F1 SCPY key and press return Input section of Operand 1 Input 1 by using the10 keys and press ret...

Page 182: ...ss the F4 key will be input and Num will be displayed in the F1 area In the case of Num you can input a numerical value without change Pressing the F1 key changes to F1 Alph and you can input the alphabet Transmit the data of step No 3 to the controller by pressing the WRT key Step No moves to 4 If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input ...

Page 183: ...function key area Example Input symbol of the program step below Program No 3 Symbolize position No 10 as TAIKIITI Select the F2 Sym key in the function key area within the state of the cursor that has been located in the Operand 1 section Move to the symbol edit screen Select items to edit the symbols with function keys In this case since we re going to the edit the Position No select the F4 Posi...

Page 184: ... pendant cannot display the input symbol as it is related to the LCD display In this case display S10 instead of TAIKIITI In the state where the cursor is located in the symbolized section if F2 Sym key is chosen it will move to the symbol edit screen The symbol can then be changed Transmit the data of this program step to the controller by pressing the WRT key To finish the program input return t...

Page 185: ... the F3 Cmnt key C will be displayed after the step No Press the return key Each time you press the F1 key the display of the F1 key area switches from Alph to Num Alphabet input Display Alph in the F1 key area Alphabets are allocated to each of the 10 keys Ex Each time you press display changes P Q R p q r P Display the alphabet you would like to input and press the return key The example of the ...

Page 186: ...hing the comment input press the return key again Transmit the input data to the controller by pressing the WRT key If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid The screen moves to the next step No To finish the program input return to the Flash Rom writing screen by using the ESC key Note Full size character data input...

Page 187: ...s the return key Input the program No to which a program is copied or moved by using the 10 keys and press the return key To copy the program press the F2 Copy key To move the program press the F3 Move key The execution confirmation screen will be displayed To execute it press the F1 Yes key To cancel it Press the F2 No key Return to the previous screen with the ESC key Furthermore press the ESC k...

Page 188: ...itioner mode of the SSEL ASEL and PSEL controller 170 155 13 5 Program Clear The following operating instructions are to clear a program Select the F1 Edit key on the mode selection screen Select the F2 Prog key Select the F3 Clr key 11 5 ...

Page 189: ... Nos 4 5 and 6 To clear a series of multiple programs press the F2 Clr key in the example diagram at the left The execution confirmation screen will be displayed To execute it press the F1 Yes key To cancel it press the F2 No key To clear all programs No 1 through No 64 press the F3 Aclr key The execution confirmation screen will be displayed To execute it press the F1 Yes key To cancel it press t...

Page 190: ...er To save the data after restoring the power and executing software reset write the data to Flash ROM From the final editing screen return to the Flash ROM writing screen with the ESC key To write the data to Flash ROM press the F1 Yes key If not press the F2 No key During Flash ROM writing Please Wait blinks Never shut off the power to the controller during Flash ROM writing Flash ROM writing is...

Page 191: ...ystem data of the IX series there are the work coordinate system data tool coordinate system data and simple interference check zone Select the F1 Edit key on the Mode Selection screen Press the SF key on the Edit mode screen to display Crd Press the F1 Crd key Select the F1 Mdfy key Coordinate system data selection screen Select the coordinate system to be edited from this screen F2 Work key Work...

Page 192: ...1 150 Yofw1 200 Zofw1 0 and Rofw1 30 Mode flow This is the work coordinate system No selection screen The cursor is located at the work coordinate system No To select the work coordinate system No enter the No with the 10 key or the PAGE UP and PAGE DOWN keys and confirm it with the return key This example indicates the setting of the work coordinate system No 1 Press the return key as it is The c...

Page 193: ...the Z axis offset value data Enter 0 and press the return key The cursor is located at the R axis offset value data Enter 30 and press the return key Transfer the data with the WRT key The screen advances to the edit screen for the work coordinate system No 2 Complete editing of the work coordinate system data and write data in Flash ROM Pressing the ESC key moves the cursor to the location of the...

Page 194: ... Coordinate system data selection screen Pressing the ESC key again returns to the Flash ROM writing screen Return by 3 screens To write the data in Flash ROM press the F1 Yes key If not press the F2 No key The message Please wait flashes during Flash ROM writing Never turn off the power to the Controller at this time Flash ROM writing is completed Return to the edit mode screen with the ESC key ...

Page 195: ... This is the tool coordinate system No selection screen The cursor is located at the tool coordinate system No To select the tool coordinate system No enter the No with the 10 key or the PAGE UP and PAGE DOWN keys and confirm it with the return key This example indicates the setting of the tool coordinate system No 1 Press the return key as it is The cursor is located at the X axis offset value da...

Page 196: ...he Z axis offset value data Enter 10 and press the return key The cursor is located at the R axis offset value data Enter 45 and press the return key Transfer the data with the WRT key The screen advances to the edit screen for the tool coordinate system No 2 Complete editing of the tool coordinate system data and write data in Flash ROM Pressing the ESC key moves the cursor to the location of the...

Page 197: ... Coordinate system data selection screen Pressing the ESC key again returns to the Flash ROM writing screen Return by 3 screens To write the data in Flash ROM press the F1 Yes key If not press the F2 No key The message Please wait flashes during Flash ROM writing Never turn off the power to the Controller at this time Flash ROM writing is completed Return to the edit mode screen with the ESC key ...

Page 198: ...e check zone a zone as shown below is set for the simple interference check zone No 1 Base coordinate values of Ⓐ Xb 475 Yb 50 Zb 150 Rb 0 Base coordinate values of Ⓖ Xb 400 Yb 50 Zb 200 Rb 180 Output port for output during zone invasion No 311 Error type at zone invasion time 1 Mode flow This is the simple interference check zone No selection screen The cursor is located at the simple interferenc...

Page 199: ...ocated at the X axis data Enter 475 and press the return key The cursor is located at the Y axis data Enter 50 and press the return key The cursor is located at the Z axis offset value data Enter 150 and press the return key The cursor is located at the R axis offset value data Enter 0 and press the return key Press the F3 Crd key to input the other position data ...

Page 200: ...values of Ⓖ Enter the base coordinate values of Ⓖ in the same way as A Set the output port global flag and error type during zone invasion Press the F4 P E key Output port global flag No and error type input screen Press the return key Enter the output port No 311 and press the return key Enter the error type 1 and press the return key ...

Page 201: ...l pattern of Ⓐ and Ⓖ is 0 the 9F1 error occurs if the output port or error type is specified Complete editing of the tool coordinate system data and write the data in Flash ROM Pressing the ESC key moves the cursor to the location of the simple interference check zone No Pressing the ESC key returns the cursor to the coordinate value input screen Pressing the ESC key moves the cursor to the locati...

Page 202: ...X controller 184 169 To write the data in Flash ROM press the F1 Yes key If not press the F2 No key The message Please wait flashes during Flash ROM writing Never turn off the power to the Controller at this time Flash ROM writing is completed Return to the edit mode screen with the ESC key ...

Page 203: ...Select the F3 Sym key 15 1 Symbol Edit Items Symbolized items will be displayed in the function key area Each time by pressing SF key items are shifted and displayed Symbol Edit Items Cnst Constant number Var Variable Prog Program No Posi Position No In Input port No Out Output port No Flag Flag No Axis Axis No Tag Tag No SubR Subroutine No Aclr All clear Clear all the symbol data Display the list...

Page 204: ...Integer Real Real number The cursor is located at program No Input the local area program No To symbolize global area leave 0 Input 3 and press the return key The cursor is located at variable No Input 5 and press the return key Input the symbol name Cnt5 How to input Alphabets are allocated to each of the 10 keys Each time by pressing of the 10 key It changes A B C a b c A Display C and press the...

Page 205: ...ral times to display n Press the return key Press the 10 keys several times to display t Then press the return key The F1 key area display changes to Num by pressing the F1 Alph key It becomes a numerical input Input 5 by using the 10 keys Press the return key to determine the symbol name Numerical input ...

Page 206: ...ted by overwriting all the characters Transmit the symbol data to the controller by pressing the WRT key If you change the screen with the PAGE UP PAGE DOWN or ESC keys before transmitting the data the input data will be invalid To finish edit return to the Flash ROM writing screen with the ESC key Press the F1 Yes to write the data to Flash ROM If not press F2 No key During Flash ROM writing Plea...

Page 207: ...189 13 Symbol Edit Excluding the positioner mode of the SSEL ASEL and PSEL controller 189 174 Return to the edit mode screen with the ESC key ...

Page 208: ...nt Number Symbol Edit Screen Mode Transition Real Type Constant Number Symbol Edit Screen 2 Variable Select the F2 Var key on the variable symbol edit item screen Mode Transition Selection of Integer Type Real Number Type Variable Select an integer or real number F1 ltg Integer F2 Real Real Number Integer Type Variable No Real Number Type Variable No Mode Transition Integer Type Variable No Symbol...

Page 209: ...he symbol edit item screen Mode Transition Position No Symbol Edit Screen 5 Input Port Select the F1 In key on the symbol edit item screen Mode Transition Input Port No Symbol Edit Screen Input program No by the PAGE UP PAGE DOWN keys or 10 keys Input alphabet and number Input alphabet and number Input position No by the PAGE UP PAGE DOWN keys or 10 keys Input alphabet and number Input input port ...

Page 210: ...item screen Mode Transition Flag No Symbol Edit Screen 8 Axis Select the F4 Axis key on the symbol edit item screen Mode Transition Axis No Symbol Edit Screen Input alphabet and number Input output port No by the PAGE UP PAGE DOWN keys or 10 keys Input alphabet and number Input flag No by the PAGE UP PAGE DOWN keys or 10 keys Input program No at local area Input 0 at global area Input alphabet and...

Page 211: ...reen 10 Subroutine Select the F2 SubR key on the symbol edit item screen Mode flow Subroutine No Symbol Edit Screen Input program No since tag No is in the local area Input program No since subroutine No is in the local area Input alphabet and number Input tag No by the PAGE UP PAGE DOWN keys or 10 keys Input subroutine No by the PAGE UP PAGE DOWN keys or 10 keys Input alphabet and number ...

Page 212: ...194 179 11 All Clear Select the F4 Aclr key on the symbol edit item screen Mode Transition Edit Sym Aclr All Clear Screen To clear all symbols select the Yes key To cancel them select the No key If the Yes key is selected all the symbol data will be cleared and Complete will be displayed ...

Page 213: ... ESC key 180 15 4 Flash ROM Writing The edit data will be cleared by restoring power and executing software reset only if the symbol edit data was transmitted to the controller To save the data after restoring the power and executing software reset write the data to Flash ROM From the final editing screen return to the Flash ROM writing screen with the ESC key To write the data to Flash ROM press ...

Page 214: ...top the controller select Positioner Mode from Controller in the menu and click Stop Select the F1 Edit key on the mode selection screen Select the F4 Para key on the edit mode screen 16 1 Parameter Edit Items Parameter items will be displayed in the function key area Each time by pressing the SF key items will be shifted and displayed Parameter Edit Items I O I O parameter Comn All axis common pa...

Page 215: ...ending on the parameter items set the parameter by axis or I O board Each axis parameter driver card parameter encoder parameter and I O slot card parameter Confirm that the screen is the first axis edit screen Input 300000 and press the return key Unit 0 001mm Transmit the parameter data to the controller by pressing the WRT key One transfer WRT key with the Teaching Pendant saves the data only o...

Page 216: ...PAGE DOWN key Change the axis No to 2 by using the F4 Dev key Input 200000 by using the 10 keys and press the return key Transmit the parameter data to the controller by pressing the WRT key To continue editing each axis parameter move the cursor to the parameter No and input the parameter No to edit To finish each axis parameter edit return to the Flash ROM writing screen with the ESC key Axis No...

Page 217: ...inks Never shut off the power to the controller during Flash ROM writing After writing the data to Flash ROM the screen changes to the software reset screen To have a valid changed parameter execute a software reset Press the F1 Yes key During software reset Please wait blinks When the software reset is complete it returns to the mode selection screen ...

Page 218: ...on key area Each time by pressing the SF key items will be shifted and displayed Monitor Items Screen In Input port Out Output port GFlg Global flag GVar Global variable Asts Axis status SSts System status ErrL Error detail information Ver Version information Select the item to monitor with the function key 15 15 1 SF MntI Axis Associated Maintenance Information Select the item to monitor with the...

Page 219: ...status each time by pressing the F1 0 1 key 1 ON 0 OFF The cursor location can be moved with return key or key Each time the PAGE UP PAGE DOWN keys are pressed 20 port numbers are scrolled 17 4 Global Flag Displays the ON OFF status of global flag Also it can switch the ON OFF status of the global flags Select the F3 GFlg key on the monitor items screen Mode Transition Global flags where the curso...

Page 220: ... 2 Global Real Number Type Variable Mode Transition The cursor is located in the data column variable content To substitute a value input numerical value by using the 10 keys and press the return key The cursor location can be moved with the return key and key The variable No can be changed with the PAGE UP PAGE DOWN keys 3 Global String Mode Transition The cursor is located in the data column To ...

Page 221: ...etc The status items may vary depending on the model Select the F1 ASts key from the monitor items screen Mode Transition Posi Current Position Srvo Servo Status Snsr Sensor Input Status Ecdr Encoder Status ErrA Axis Related Error 1 Current position Mode Transition Orthogonal axis SCARA axis N Servo ON F Servo OFF 15 6 ...

Page 222: ... 204 189 2 Servo status Mode Transition Axis No can be switched with the PAGE UP PAGE DOWN keys Servo ON axis in use Axis No Homing Servo Moving Command Normal End Over Push Limit Error System Reservation System Reservation ...

Page 223: ...us Mode Transition Orthogonal axis SCARA axis Axis No can be switched with the PAGE UP PAGE DOWN keys Axis No System Reservation Creep Sensor Overrun Sensor Home Sensor Axis No System Reservation System Reservation System Reservation System Reservation ...

Page 224: ...06 15 Monitor 206 191 4 Encoder Status Mode Transition Axis No can be switched with the PAGE UP PAGE DOWN keys Axis No Over Speed Full Absolute Status Count Error Multi rotation Error Battery Error Battery Alarm ...

Page 225: ...on Axis No can be switched with the PAGE UP PAGE DOWN keys Axis No Program No Axis No Information 1 Information 2 Error Code Step No Position No Information 3 Information 4 Error code Axis No Time from the last software reset or power reconnection to error occurrence ...

Page 226: ...del Select the F2 SSts key on the monitor items screen Mode Transition Mode System Mode Err System Error Sts1 System Status 1 Sts2 System Status 2 Sts3 System Status 3 Sts4 System Status 4 1 System Mode Mode Transition 2 System Error Mode Transition Serious Level System Error No Latest System Error No System Mode 15 7 ...

Page 227: ... Status Emergency Stop SW Status Power Abnormality Status Battery Voltage Down Warning Status Battery Voltage Error Status Application Data Flash ROM Write Status Slave Parameter Write Status Servo Interlock Status I O Interlock Status Wait for Reset Status Program Execution Status Velocity Command Position Pulse Monitor Main Status Driver Monitor Status ...

Page 228: ...ition 6 System Status 4 Mode Transition System status 4 is all reserved System Reservation System Reservation System Reservation System Reservation System Reservation Power Down Status System Drive Status System Ready Status Function select flag request status ...

Page 229: ...itched with the PAGE UP PAGE DOWN keys The contents of Info 1 to Info 4 vary depending on the error codes Such information is intended for us to identify the cause of the error Time from the last software reset or power reconnection to error occurrence List No Program No Axis No Information 1 Information 2 Error Code Step No Position No Information 3 Information 4 Error Message 15 8 ...

Page 230: ...Mount SIO FPGA FPGA CTbl Control Constant Table Management Information Posi Positioner Mode Management Information Selectable items vary depending on the model 1 Main Mode Transition Controller Main Application Version Controller Main Core Version 2 Driver Mode Transition Driver CPU Version 3 Teaching Pendant Mode Transition Teaching Pendant Application Version Teaching Pendant Core Version 15 9 ...

Page 231: ...d ID HEX 6 Control Constant Table Management Information Controller P Q PX QX SSEL ASEL and PSEL type only Mode Transition Currently Displayed Table ID Largest Table ID Data Version Format Version Change the table ID to display with the PAGE UP PAGE DOWN keys 5 FPGA Controller P Q PX QX R S RX SX RXD SXD SSEL ASEL and PSEL TTA type only 6 Control Constant Table Management Infomation Controller P Q...

Page 232: ...oner mode ID specified by the current parameter ID Info 1 Info 2 Displays the system data management information in the positioner mode ID Displays the positioner mode ID currently displayed The ID number is incremented with the Page Up key and decremented with the Page Down key Mode Displays the operation mode of the positioner mode ID currently displayed Info Displays the management information ...

Page 233: ...tal driving distance m TtlMil Displays the total distance m of the actuator movement 4 Total Operated Distance Threshold m TtlMilThrshld Displays the threshold value of the total travel distance The values of Total Movement Count Threshold and Total Operated Distance Threshold m can be edited Input the numerical value using the ten key pad and press the return key After the data is entered transfe...

Page 234: ...the virtual output port Select F2 IO key from the monitor item screen Mode Transfer Moni IO The output port which the cursor is placed at can be switched on and off every time F1 0 1 key is pressed 1 ON 0 OFF The cursor can be moved with the return key and keys Every touch of PAGE UP and PAGE DOWN buttons scrolls up down the port numbers by 20 items M o n i I O 0 1 2 3 4 5 6 7 8 9 7 0 0 0 0 0 0 0 ...

Page 235: ...emory Clear Cnct Re Connection Baud Baud Rate Change RPwr Request Power Recovery RAct Request Action Pause Release RAbs Absolute Reset SVel Safety Velocity Select the operation item with the function key MTsk Selection of two or more programs start prohibition permission X SEL P Q main application Ver 0 36 or later only X SEL PX QX main application Ver 0 17 or later SSEL ASEL PSEL Ver 0 01 or late...

Page 236: ...F1 Flsh key on the controller item screen Mode Transition To write the data to Flash ROM press the F1 Yes key If not press the F2 No key The screen returns to the controller item screen During Flash ROM writing Please Wait blinks Never shut off the power to the controller during Flash ROM writing Return to the controller item screen with the ESC key 16 2 ...

Page 237: ...ey If not press the F2 No key The screen returns to the mode selection screen 18 4 Error Reset Executes error reset of the controller Reset the message level and action release level errors If the cause of the error is not solved the error will reoccur again Select the F3 ERst key on the controller item screen Mode Transition To execute an error reset press the F1 Yes key If not press the F2 No ke...

Page 238: ... key If not press the F2 No key It will return to the previous screen During re connection Please wait blinks After a re connection completes it returns to the mode selection screen 18 5 Memory Clear Zero clears the global variable Select the F4 MClr key on the controller item screen Mode Transition Press the F2 Gvar key To clear memory press the F1 Yes key If not press the F2 No key The screen re...

Page 239: ...rn to the baud rate change screen 18 8 Safety Velocity Switches the safety velocity limit status at manual mode Select the F2 SVel key on the controller item screen Mode Transition Input 1 or 0 by using the 10 keys and press the return key 1 Safety Velocity Limit Effect In the case of the orthogonal axis the maximum velocity is under 250 mm sec The setting of the programs and parameters do not aff...

Page 240: ...ress the F1 Yes key Return to the previous screen If not press the F2 No key Return to the previous screen 18 10 Action Pause Release Request Request to release action pause to the controller Select the F4 RAct key on the controller item screen Mode Transition To execute a action pause release request press the F1 Yes key Return to the previous screen If not press the F2 No key Return to the previ...

Page 241: ...peration recovery after releasing stop action pause release When you set 2 on other parameter No 10 emergency stop recovery type action continuation recovery during automatic operation only emergency stop during automatic operation recovery after emergency stop release action pause release When you set 2 on other parameter No 11 safety gate OPEN time recovery type action continuation recovery duri...

Page 242: ...ery during automatic operation only emergency stop during automatic operation recovery after emergency stop release action pause release When you set 2 on other parameter No 11 deadman SW enable SW recovery type action continuation recovery during automatic operation only stop according to deadman SW or enable SW during automatic operation recovery after releasing stop action pause release Specify...

Page 243: ...ion Ctl MTsk This function is valid only for the following models X SEL P Q main application Ver 0 36 or later X SEL PX QX main application Ver 0 17 or later SSEL ASEL PSEL main application Ver 0 01 or later only in the program mode To permit the simultaneous starting of multiple programs press 0 To prohibit it press the X key Then press the F1 OK key To cancel the setting press the F2 Canc key If...

Page 244: ...Return to the previous screen Axis No Input Input the axis No for executing absolute reset by using the 10 keys and press the return key To continue absolute reset press the F1 OK key To cancel press the F2 Canc key To cancel on screens see below press the F2 Canc key Encoder multi rotation data reset 1 Press the F1 OK key Controller error reset Press the F1 OK key 16 13 16 13 1 Absolute Reset of ...

Page 245: ...K key Servo OFF After executing absolute reset be sure to reset software or reconnect the power Do not press the F1 OK key but press the PAGE UP key Then move to Encoder multi rotation data reset 2 Encoder multi rotation data reset 2 Press the F1 OK key ...

Page 246: ... the F1 OK key Repeat To finish absolute reset press the ESC key Move to the software reset screen Press F1 Yes key to execute software reset After the software reset return to the mode selection screen That s all for the absolute reset operation After executing absolute reset be sure to reset software or reconnect the power ...

Page 247: ... reset press the F1 Yes key If not press the F2 No key Return to the previous screen Axis No Input Input the axis No for executing absolute reset by using the 10 keys and press the return key To continue absolute reset press the F1 OK key To cancel press the F2 Canc key To cancel on screens see below press the F2 Canc key Controller error reset Press the F1 OK key Servo OFF Press the F1 OK key 1 ...

Page 248: ...tialization Press the F1 OK key Clear Complete Excitation Detection Status Press the F1 OK key Servo ON Press the F1 OK key Home return Press the F1 OK key Absolute Reset Press the F1 OK key Confirm Reset Complete of Absolute Press the F1 OK key ...

Page 249: ... finish absolute reset press the ESC key Move to the software reset screen Press F1 Yes key to execute software reset After the software reset return to the mode selection screen s b a e h t r o f l l a s t a h T olute reset operation t e s e r o t e r u s e b t e s e r e t u l o s b a g n i t u c e x e r e t f A software or reconnect the power ...

Page 250: ...forming work The absolute reset adjustment jig is always required to perform an absolute reset for the rotation axis and vertical axis but not always required for arm 1 and arm 2 Rotation data can be reset as long as positioning accuracy of center of positioning mark label 1 graduation is ensured Example of Absolute Reset Adjustment Jig Type JG 1 Warning Performing work without understanding inspe...

Page 251: ...key The display returns to the previous screen Axis No input Enter the axis No for an absolute reset with the 10 key and press the return key Enter 1 to perform an absolute reset on the arm 1 or enter 2 on the arm 2 When continuing an absolute reset press the F1 OK key When canceling an absolute reset press the F2 Canc key When canceling an absolute reset on any screen of the following through pre...

Page 252: ...ng page and press the F1 OK key Servo OFF Press the F1 OK key Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig After fixing the standard posture as shown on the next page press the F1 OK key Inputting emergency stop displays the screen at the left Pressing the ESC key returns the display to the previous screen ...

Page 253: ...ressed set the jig Decide the basic position referring to the positioning mark seal and set the jig Only the arm 1 is covered with a lid with setscrews Remove them and set the jig An absolute reset on the arm with the adjusting jig is recommended However a multi rotation reset is possible if the arm position is within the range of the mark seal 1 scale Arm 1 Arm length 500 600 arm length 700 800 A...

Page 254: ...ote When performing an absolute reset for arm 1 of IX NNN2515 rotate arm 2 slightly then set with an adjustment jig pin to set it Warning Always press the EMERGENCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and result in a serious accident Warning Positioning mark label for arm 1 Positioning mark label for arm 2 Insertion depth Approx 60 mm...

Page 255: ...NCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and result in a serious accident Positioning mark label for arm 1 Adjust both arm 1 and 2 to a position within 1 graduation of the center Absolute reset jig Pin Absolute reset jig Pin Positioning mark label for arm 2 Positioning mark label for arm 2 Absolute reset jig Pin Arm Length 120 1 150 18...

Page 256: ... careful especially when performing an absolute reset without a jig If home preset value auto refresh is executed by mistake perform absolute reset work without writing to Flash ROM The status will be the same as the one in which home preset value auto refresh is not executed Remove the adjusting jig Remove an emergency stop reset adjusting jig if it is set After resetting the EMERGENCY STOP butto...

Page 257: ...The screen returns to the Mode Selection screen Be careful not to perform reset using an incorrect sequence since it may cause the arm position to become offset Execute home preset value auto refresh only when any mechanical change such as arm change has been made Joint part only NOTE ...

Page 258: ...play returns to the previous screen Axis No input Enter the axis No for an absolute reset with the 10 key and press the return key Enter 3 When continuing an absolute reset press the F1 OK key When canceling an absolute reset press the F2 Canc key When canceling an absolute reset on any screen of the following through press the F2 Canc key Encoder multi rotation data reset 1 Press the F1 OK key Co...

Page 259: ...dard posture standby Press the F1 OK key Note The Z axis returns to the home position Jog movement Move the R axis to the vicinity of the basic position with jog keys see the Standard Posture Drawing on the next page Press the F1 OK key Servo OFF Press the F1 OK key ...

Page 260: ...EMERGENCY STOP switch has been pressed set the jig Set the jig by referring to the positioning mark Adjust the level so that the top surface of the stopper approximately agrees with the under surface of the arm 2 Be sure to press the EMERGENCY STOP switch before setting an adjusting jig Failure to do so may cause a robot malfunction which may lead to a serious accident resulting in injury or death...

Page 261: ... the actuator to malfunction and result in a serious accident The top face of the stopper should align with the bottom face of arm 2 so that clearance will be approx 4 mm Contact the jig with the pin lightly D cut surface D cut surface Positioning mark label for rotation axis Bottom view Arm Length 250 300 350 Reference Position ...

Page 262: ...jig Plate Absolute reset jig Pin Turn and press the rotation axis so that no clearance will be made Set the plate so that a hole of φ 3 will be placed on the opposite side of the D cut surface Bottom view Arm Length 120 Reference Position ...

Page 263: ...nd result in a serious accident Pay attention to the orientation of the D cut surface of the plate jig Absolute reset jig Plate Absolute reset jig Pin Turn and press the rotation axis so that no clearance will be made Set the plate so that a hole of φ 3 will be placed on the opposite side of the D cut surface Bottom view Arm Length 150 180 Reference Position ...

Page 264: ...ress the F1 OK key Adjusting jig removal and emergency off Remove the adjusting jig Turn off the brake release switch to enable the brake Turn off the EMERGENCY STOP button Press the F1 OK key Servo ON Press the F1 OK key Standard posture standby Press the F1 OK key Note The Z axis returns to the home position ...

Page 265: ...ti rotation data reset 3 Press the F1 OK key Home preset value auto refresh Press the F1 OK key Return to the previous screen with the ESC key Note If Write Flash ROM is displayed exit the screen with No Restart the controller Press the F1 Yes key Writing Flash ROM ...

Page 266: ... reset adjustment jig Model number JG ZRS for ZRS M R Z r o f M R Z G J Connect the cables for the robot controller and teaching pendant to enable operation from the teaching pendant Before proceeding be sure to confirm that the EMG switch operates properly Carrying out any inspection or maintenance work without fully understanding the work may result in serious injury Put up a sign that says Work...

Page 267: ...ntroller item screen Mode flow When performing an absolute reset press the F1 Yes key When not performing an absolute reset press the F2 No key The display returns to the previous screen Axis No input Input the vertical axis No for the ZR unit using the ten key pad and press the return key When continuing an absolut e reset press the F1 OK key When canceling an absolute reset press the F2 Canc key...

Page 268: ...ure standby Press the F1 OK key Note The vertical axis returns to the home position Jog movement Move the rotation axis to the vicinity of the basic position with jog keys see the Standard Posture Drawing on the next page Press the F1 OK key Servo OFF Press the F1 OK key ...

Page 269: ...CY STOP button Press the brake release switch to release the brake After fixing the adjusting jig as shown in the standard position figure press the F1 OK key Inputting emergency stop displays the screen at the left Pressing the ESC key returns the display to the previous screen ...

Page 270: ...o the surface a Put the ball screw spline shaft side surface onto the surface b Fasten the screw c and fix the jig onto the ball screw spline shaft Insert the attached shaft into the hole on the ZR unit body Turn the ball screw spline shaft and put the attached shaft onto the surface d of the jig At that time make sure that the adjusting jig is placed vertically to the ball screw Screws to be used...

Page 271: ...the F1 OK key Adjusting jig removal and emergency off Remove the adjusting jig Turn off the brake release switch to enable the brake Turn off the EMERGENCY STOP button Press the F1 OK key Servo ON Press the F1 OK key Standard posture standby Press the F1 OK key Note The vertical axis returns to the home position ...

Page 272: ...i rotation data reset 3 Press the F1 OK key Home preset value auto refresh Press the F1 OK key Return to the previous screen with the ESC key If Write Flash ROM is displayed exit the screen with Yes Restart the controller Press the F1 Yes key Writing Flash ROM 1 ...

Page 273: ...reset adjustment jig Model number JG ZRS for ZRS M R Z r o f M R Z G J Connect the cables for the robot controller and teaching pendant to enable operation from the teaching pendant Before proceeding be sure to confirm that the EMG switch operates properly Carrying out any inspection or maintenance work without fully understanding the work may result in serious injury Put up a sign that says Work ...

Page 274: ...en performing an ball screw spline shaft adjusting press the F1 Yes key When not performing an ball screw spline shaft adjusting press the F2 No key The display returns to the previous screen Axis No input Input the vertical axis No for the ZR unit using the ten key pad and press the return key When continuing an ball screw spline shaft adjusting press the F1 OK key When canceling an ball screw sp...

Page 275: ...s to the home position Move to home position Press the F1 OK key Note The rotation axis returns to the home position Jog movement Move the rotation axis to the vicinity of the basic position with jog keys see the Standard Posture Drawing on the next page Press the F1 OK key Servo OFF Press the F1 OK key ...

Page 276: ...CY STOP button Press the brake release switch to release the brake After fixing the adjusting jig as shown in the standard position figure press the F1 OK key Inputting emergency stop displays the screen at the left Pressing the ESC key returns the display to the previous screen ...

Page 277: ...o the surface a Put the ball screw spline shaft side surface onto the surface b Fasten the screw c and fix the jig onto the ball screw spline shaft Insert the attached shaft into the hole on the ZR unit body Turn the ball screw spline shaft and put the attached shaft onto the surface d of the jig At that time make sure that the adjusting jig is placed vertically to the ball screw Screws to be used...

Page 278: ... off Remove the adjusting jig Turn off the brake release switch to enable the brake Turn off the EMERGENCY STOP button Press the F1 OK key Return to the previous screen with the ESC key If Write Flash ROM is displayed exit the screen with Yes Restart the controller Press the F1 Yes key Writing Flash ROM 1 ...

Page 279: ... key Return to the previous screen Axis No Input Input the axis No for an encoder error reset with the 10 keys and press the return key In the case of a controller other than X SEL P Q PX QX SSEL ASEL and PSEL controllers remove the bolt fixing the battery unit on the front panel with a hexagonal wrench as shown in the diagram at the left Pull it out as it is toward you For the replacement of the ...

Page 280: ...he encoder error reset press the F2 Canc key Even if the F1 OK key is pressed the screen will not change When also resetting the encoder error reset for another axis press the F2 Canc key Return to the screen of Input the axis No with the 10 keys and press the return key To complete the encoder error reset press the ESC key Reset software Display SRst in the function key area with the SF key Press...

Page 281: ...epeatedly Select the Year Month Day Hour Minute and Second to be setup Input the numerical value using the ten key pad and press the return key After the data is entered transfer the data to the controller using the WRT key When the data has been written and the previous window is returned from the axis associated maintenance information window using the ESC key the Flash ROM data import and softw...

Page 282: ...writing data of one generation before Press F3 key RFls in the controller window Mode Transfer Ctl RFls To recover the program data press F2 Pro9 To recover the symbol data press F3 Sym To recover the position data press F4 Posi To recover the position data press F1 Para 1 Recovery of Program To have a recovery press F1 Yes To cancel the operation press F2 No If the recovery process is finished th...

Page 283: ...on the left Return to the previous screen with the ESC key 4 Recovery of Parameter To have a recovery press F1 Yes To cancel the operation press F2 No If the recovery process is finished the display changes to the screen shown on the left Return to the previous screen with the ESC key R F l s S y m S y m b o l w i l l b e r e c o v e r d Y e s N o R F l s S y m C o m p l e t e F1 R F l s P o s i P...

Page 284: ...g operations are available Editing of the RC Position Data in X SEL RC axis Monitoring The Gateway Function Associated is applied to the SEL T TD version V1 02 and later 17 1 Editing of the RC Position Data in X SEL 17 1 1 RC Position Data Creation The RC position data to be set in the X SEL controller is edited Press the key Press the key RC Press the key Edit Press the key Posi ...

Page 285: ...the position of the Axis No When there is no data the position Pos is displayed as X XX The Axis No and Position No are both started from 0 unlike the Position Data in X SEL Input the following items A Position Data Input Target Position mm Positioning Width mm Using or the input item is changed in the order of Using or the input item is changed in the order of B Axis Status Display The following ...

Page 286: ...ition No is performed using the ten key or key Input the Target Position mm and press the key The left figure shows the example where 100 00mm has been input When the home return operation has been completed the current position can be taken in the target position data using the key Scan Input the Velocity mm sec and press the key The left figure shows the example where 50 00mm sec has been input ...

Page 287: ...et to 0 the normal positioning operation is performed and it is set to 1 or more the pressing operation is performed Input the Positioning Completion Width mm and press the key The left figure shows the example where 0 10mm has been input Press the key and write the input position data in the controller The input data is not written in the controller until the key is pressed When the Axis No or Po...

Page 288: ...ds for moving the RC actuator to any position are the jogging inching operation and manual operation with the servo motor turned OFF Move the RC actuator either with the jogging or inching operation or manual operation with the servo motor turned OFF Select the Position No and Axis No to input the data Capture the RC actuator current position into the teaching window Transfer the data to the contr...

Page 289: ...the displayed position data Clr is shown when the cursor is on the Position No display section CAUTION CAUTION At the time when this function is executed the position data is cleared Please take care Inputs the current position in the target position data section Scan is shown when the cursor is on the position data input section After the home return operation is completed this function is availa...

Page 290: ...s Status Display Section When S is displayed the servo motor is turned ON and it is not displayed the servo motor is turned OFF 2 Home Return Operation In the case of the incremental encoder applicable RC actuator it is required to perform the home return operation after the power is turned ON or after the software reset and before the teaching operation The actuator applicable to this operation i...

Page 291: ...ble to this operation is one with a single axis Place the cursor on the Axis No and select the RC actuator using the ten key or Current Position Turn the servo motor ON Press the or key to move the actuator to any position means the movement to the plus direction on the coordinates and means the movement to the minus direction on the coordinates ...

Page 292: ...ng distance data box The numerical value input range is from 0 00 to 1 00 Unit mm When 0 00 is input the jogging operation is performed When 0 01 or more is input the inching operation is performed Press the key Turn the servo motor ON The status of servo motor ON OFF is confirmed in the Axis Status Display Section When S is displayed the servo motor is turned ON and it is not displayed the servo ...

Page 293: ... the RC actuator Move the actuator to any position manually The status of servo motor ON OFF is confirmed in the Axis Status Display Section When S is displayed the servo motor is turned ON and it is not displayed the servo motor is turned OFF DANGER When the RC actuator is to be moved manually make sure that the emergency stop button has been pressed ...

Page 294: ...e home return operation has to be completed After confirming that H is displayed in the Axis Status Display Section execute it If it is executed before the home return operation the 9E2 Not yet Homed TEACH message is displayed and the current position cannot be captured Select the Position No as the destination of the captured current position data and press the key Press the key Scan The current ...

Page 295: ...data is transferred to the controller Press the key and write the input position data in the controller CAUTION Unless the key is pressed the input data writing in the controller is not performed When the writing is completed the screen is switched to the display for the next Position No ...

Page 296: ...d and press the key The selection of the Axis No is performed using the ten key or key Select the Position No to which the actuator is moved and the press the key The selection of the Position No is performed using the ten key or key Turn the servo motor ON Perform the home return operation Press the key When the or key is pressed after the MOVE LED is turned ON the axis movement is started When i...

Page 297: ...ion data transferred to the controller Axis No Position No Select the Axis No to be moved and press the key The selection of the Axis No is performed using the ten key or key Press the key Press the key Cont Select the movement starting Position No and press the key The selection of the Position No is performed using the ten key or key ...

Page 298: ...xis movement is started When it is stopped on the way press the key When the key is pressed the processing for the stop operation is performed for all the effective axes CAUTION Sometimes it takes some time before movement commences after the key or key is pressed Be careful The time interval for movement start varies depending on the number of registered position data items ...

Page 299: ...Data with the selected Axis No and Position No is deleted The following is an example where the position data with the Position No 100 through No 127 in each No 0 through No 2 axes is all deleted Press the key Press the key RC Press the key Edit Press the key Posi Press the key Clr ...

Page 300: ...key When all the position data items are to be deleted press the AClr key Input the Last Axis No and press the key Head Position No for the Position Data to be deleted Last Position No for the Position Data to be deleted Input the Head Position No and press the key Input the Last Position No and press the key Press the Clr key The execution confirmation screen is displayed ...

Page 301: ...ay Function Associated 283 When the data is to be cleared press the Yes key When the data clearing operation is completed the completion message is displayed Press the key Press the key Press the key Press the key ...

Page 302: ...When the data is being written in the flash ROM the message in the left figure is displayed CAUTION Never turn OFF the power to the controller when the data is written into the flash ROM When the data writing in the flash ROM is completed the completion message is displayed as shown in the left figure When the key is pressed the RC Edit screen is returned ...

Page 303: ... low status 10 Safe vel effect Safety velocity effective status 11 Teach mode stat Teach mode Status 12 Pos zone Position Zone 13 Zone1 Zone 1 14 Zone2 Zone 2 15 System Rsv 14 System Reservation 16 System Rsv 15 System Reservation 17 System Rsv 16 System Reservation 18 System Rsv 17 System Reservation 17 2 RC Actuator Monitoring The RC actuator s status current position and alarm code are displaye...

Page 304: ...rvation Using the or key the input item is changed in the order of 1 2 3 31 32 Using the or key the input item is changed in the order of 32 31 3 2 1 2 Current Position Alarm Code Display The current position mm and the alarm code are displayed 17 3 RC Actuator Alarm Reset The RC actuator s alarm is reset RC Actuator Reset Mode Change RC Moni Stat AlRs When the alarm for the No 1 axis is reset the...

Page 305: ...m it using the personal computer application software V7 2 0 0 or later for X SEL I O Parameter No 502 QntAxisDefRCPnt Largest axis No for RC Gateway Position Data Definition No 503 QntPntDefRCPnt No of Position Data Points for RC Gateway Position Data Definition CAUTION When the user data hold memory is initialized all the RC axis position data items are cleared Backup the RC position data items ...

Page 306: ...288 17 Gateway Function Associated 288 17 4 2 Operation Procedure Press the key Clr Press the key MClr Press the key Press the key UBM Press the key Yes ...

Page 307: ...d when it is not to be written press the No key When the data is being written in the flash ROM the message in the left figure is displayed CAUTION Never turn OFF the power to the controller when the data is written into the flash ROM When the data writing in the flash ROM is completed the completion message is displayed as shown in the left figure When the key is pressed the RC Edit screen is ret...

Page 308: ...xis are prohibited As the absolute reset methods there is the standard procedure and the special procedure Which procedure to be used is determined by the each axis parameter No 38 encoder ABS INC type values for the master and slave axes Each Axis Parameter No 38 Encoder ABS INC Type Values Master Axis Slave Axis Absolute Reset Methods 1 1 Special procedure 1 0 Standard procedure 0 0 When the val...

Page 309: ... the data transfer to the controller Flash ROM writing and controller restart software reset in this order Execute an absolute reset standard procedure for each of the master and slave axes as a single axis Adjust the relative locations of the sliders by jog operation etc and connect them To activate the synchro function again input the values recorded in above to the each axis parameter No 65 syn...

Page 310: ... Execute an absolute reset according to the following special procedure forced operation by ignoring the screen steps Mode Transition Execute the encoder multi rotation data reset 1 for the slave axis Input the axis No of the slave axis and press the return key Press the F1 OK key Press the F1 OK key Exit from the absolute reset mode temporarily with the ESC key without pressing the F1 OK key ...

Page 311: ...absolute reset mode Execute an absolute reset for the master axis according to the screen steps Input the axis No of the mater axis and press the return key Press the F1 OK key Press the F1 OK key Press the F1 OK key Press the F1 OK key Execute homing Press the F1 OK key ...

Page 312: ...K key Execute the encoder multi rotation data reset 1 for the slave axis again Input the axis No of the slave axis again and press the return key Press the F1 OK key Press the F1 OK key Exit from the absolute reset mode with the ESC key without pressing the F1 OK key Restart the controller Press the F1 Yes key ...

Page 313: ...e axis coordinate initialization cancel to the original value Mode Transition Press the WRT key to transfer the data Advance to the next parameter screen Move to the Flash ROM writing screen with the ESC key Write the data to Flash ROM Press the F1 Yes key Restart the controller Press the F1 Yes key Slave axis ...

Page 314: ...ON at this stage error No D0A driver overload error error No C6B deviation overflow error error No CA5 stop deviation overflow error etc occurs Calculate the following Each axis parameter No 12 preset home value for slave axis 0 001 mm displayed current position value for master axis mm displayed current position value for slave axis mm 1000 In this example 977 0 006 1 731 1000 2714 Input the calc...

Page 315: ... different from that of the slave axis setting in 5 may be wrong Confirm that there are no input errors or change omissions as for the parameters below Each axis parameter No 65 synchro other axis No Each axis parameter No 83 ABS synchro slave axis coordinate initialization cancel Confirm that slider actions are not restrained 4 Standard Procedure Absolute Reset In the case of each axis parameter ...

Page 316: ...am at the source However release all the programs except for the I O processing program at action abort time when driving power down requiring errors initialization error power error etc occur All release Error LED output Error list Battery related and field bus related errors are registered in the error list Indication 7SEG DISPLAY etc Error No HEX 800 88F 890 8AF 8B0 8DF 8E0 8FF 900 93F 940 97F ...

Page 317: ...d 3 is prohibited Operand 1 data error An invalid data is input for the operand 1 Check the data Operand 2 data error An invalid data is input for the operand 2 Check the data Operand 3 data error An invalid data is input for the operand 3 Check the data Operand 1 input out of range error A value out of the allowable input range is input for the operand 1 Operand 2 input out of range error A value...

Page 318: ...ing prohibition error at not yet homed time Complete homing first Unsupported function error An unsupported function is attempted to execute Encoder type error Check the ABS INC type each axis parameter No 38 of the operation target axis Axis No error The specification of the axis No is invalid No effective axis error There is no effective axis that can be edited and operated Check the effective a...

Page 319: ... Supplement 301 9F6 9F7 Mismatch Md RC Gateway Error Non Lnk Axis Error RC Gateway Mode Mismatching Error Link Axis Absent Error ...

Page 320: ... communication line The communication baud rate of the controller is not supported by the teaching pendant The failure may be resolved by the controller power reconnection The model not supported by the teaching pendant is connected Refer to Support Models The EMERGENCY STOP button of the teaching pendant is pressed Non supported controller is connected CTL Not Connected Emergency Stop Non support...

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Page 324: ...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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