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IAI ssel, Operation Manual

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IAI ssel Operation Manual Download Page 7

 
 
 
 

 

2.

 

How to Perform Absolute Reset (Absolute Specification).......................................................... 60

 

2.1

 

Preparation ...................................................................................................................... 60

 

2.2

 

Procedure ........................................................................................................................ 60

 

3.

 

How to Start a Program ............................................................................................................. 65

 

3.1

 

Starting a Program by Auto-Start via Parameter Setting ................................................. 66

 

3.2

 

Starting via External Signal Selection.............................................................................. 67

 

4.

 

Drive-Source Recovery Request and Operation-Pause Reset Request................................... 69

 

5.

 

Controller Data Structure ........................................................................................................... 70

 

5.1

 

How to Save Data............................................................................................................ 71

 

5.2

 

Points to Note .................................................................................................................. 73

 

Chapter 5

 

Maintenance............................................................................................................74

 

1.

 

Inspection Points ....................................................................................................................... 74

 

2.

 

Spare Consumable Parts........................................................................................................... 74

 

3.

 

Replacement Procedure for System-Memory Backup Battery (Optional)................................. 75

 

4.

 

Replacement Procedure for Absolute-Data Backup Battery (Optional) .................................... 77

 

Part 2

 

Programs ..............................................................................................79

 

Chapter 1

 

SEL Language Data ................................................................................................79

 

1.

 

Values and Symbols Used in SEL Language ............................................................................ 79

 

1.1

 

List of Values and Symbols Used.................................................................................... 79

 

1.2

 

I/O Ports .......................................................................................................................... 80

 

1.3

 

Virtual I/O Ports ............................................................................................................... 81

 

1.4

 

Flags................................................................................................................................ 83

 

1.5

 

Variables .......................................................................................................................... 84

 

1.6

 

Tags ................................................................................................................................. 87

 

1.7

 

Subroutines ..................................................................................................................... 88

 

1.8

 

Symbols........................................................................................................................... 89

 

1.9

 

Character-String Literals.................................................................................................. 89

 

1.10

 

Axis Specification ............................................................................................................ 90

 

2.

 

Position Part .............................................................................................................................. 92

 

3.

 

Command Part........................................................................................................................... 93

 

3.1

 

SEL language Structure................................................................................................... 93

 

3.2

 

Extension Condition ........................................................................................................ 94

 

Chapter 2

 

List of SEL Language Command Codes .................................................................95

 

1.

 

By Function................................................................................................................................ 95

 

2.

 

Alphabetical Order ................................................................................................................... 100

 

Chapter 3

 

Explanation of Commands ....................................................................................105

 

1.

 

Commands .............................................................................................................................. 105

 

1.1

 

Variable Assignment ...................................................................................................... 105

 

Summary of Contents for ssel

Page 1: ...Operation Manual Eighth Edition SSEL Controller ...

Page 2: ...ng the Operation Manual keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary Important This Operation Manual is original The product cannot be operated in any way unless expressly specified in this Operation Manual IAI shall assume no responsibility for the outcome of any operation not specified herein Information contained in this Operatio...

Page 3: ...ation value in the I O parameter corresponding to the output port number you want to specify Setting example To specify output port No 306 to issue a voltage low warning for the system memory backup battery set 15 in I O parameter No 52 You can specify a desired output port to issue a voltage low warning for the absolute data backup battery Set 16 as the input function specification value in the I...

Page 4: ...r is turned off If you need any or all of the above functions you must install the optional system memory backup battery Using a Rotary Actuator under Rotation Specification With a rotary actuator designated as a model supporting rotation specification rotation operation or limit rotation operation can be set using parameters For information on setting these parameters refer to 2 Utilization Examp...

Page 5: ...trollers with increased memory size are supported by X SEL PC software of version 7 0 6 0 or later X SEL PC software of versions order than 7 0 6 0 cannot be used with SSEL controllers If you use PC software whose version is older than 7 0 6 0 Error code 684 Expanded data access error will occur If the version of your X SEL PC software is old older than 7 0 6 0 contact your nearest IAI sales offic...

Page 6: ...d Heat Output 31 6 Auxiliary Power Equipment 33 6 1 Example of Auxiliary Power Equipment Configuration 33 7 Wiring 34 7 1 Connecting the Power Cables 34 7 2 Connecting the Actuator 35 7 3 Connecting the Emergency Stop Input Enable Input and Brake Power Input 36 7 4 Connecting the PIO Cable I O 39 7 5 External I O Specifications 44 7 6 Connecting Regenerative Resistance Units RB 48 7 7 Connecting t...

Page 7: ...stem Memory Backup Battery Optional 75 4 Replacement Procedure for Absolute Data Backup Battery Optional 77 Part 2 Programs 79 Chapter 1 SEL Language Data 79 1 Values and Symbols Used in SEL Language 79 1 1 List of Values and Symbols Used 79 1 2 I O Ports 80 1 3 Virtual I O Ports 81 1 4 Flags 83 1 5 Variables 84 1 6 Tags 87 1 7 Subroutines 88 1 8 Symbols 89 1 9 Character String Literals 89 1 10 Ax...

Page 8: ...0 Arch Motion Related 227 1 21 Palletizing Related 232 1 22 Palletizing Calculation Command 239 1 23 Palletizing Movement Command 242 1 24 Building of Pseudo Ladder Task 244 1 25 Extended Command 246 Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note 249 1 Continuous Movement Commands PATH CIR ARC PSPL CIR2 ARC2 ARCD ARCC 249 2 PATH PSPL Commands 251 3 CIR ARC Commands 2...

Page 9: ...ble 280 2 Programming Format 281 3 Positioning to Five Positions 282 4 How to Use TAG and GOTO 283 5 Moving Back and Forth between Two Points 284 6 Path Operation 285 7 Output Control during Path Movement 286 8 Circle Arc Operation 287 9 Home Return Completion Output 288 10 Axis Movement by Input Waiting and Completion Output 289 11 Changing the Moving Speed 290 12 Changing the Speed during Operat...

Page 10: ... 311 3 Details of Each Input Signal 311 4 Details of Each Output Signal 314 5 Timing Chart 315 5 1 Recognition of I O Signals 315 5 2 Home Return 316 5 3 Movements through Positions 317 Chapter 3 Product Switching Mode 319 1 I O Interface List 319 2 Parameters 320 3 Details of Each Input Signal 321 4 Details of Each Output Signal 324 5 Timing Chart 325 5 1 Recognition of I O Signals 325 5 2 Home R...

Page 11: ...nts through Positions 356 Appendix 357 Actuator Specification List 357 Battery Backup Function 360 1 System Memory Backup Battery 360 2 Absolute Data Backup Battery for Absolute Encoder 362 Synchro Function 364 1 Common Items Applicable to Both the Absolute Specification and Incremental Specification 364 2 Incremental Specification 364 3 Absolute Specification When Both the Master Axis and Slave A...

Page 12: ...ters 399 1 1 I O Parameters 399 1 2 I O Function Lists 405 2 Parameters Common to All Axes 407 3 Axis Specific Parameters 409 4 Driver Parameters 414 5 Encoder Parameters 417 6 I O Devices 418 7 Other Parameters 419 8 Manual Operation Types 424 Combination Table of SSEL Linear Rotary Control Parameters 425 Error Level Control 426 Error List 428 Troubleshooting of SSEL Controller 463 Trouble Report...

Page 13: ...stablished in a hierarchical manner under the International Standards ISO IEC The safety standards that apply to industrial robots are as follows Type C standards individual safety standards ISO10218 Manipulating industrial robots Safety JIS B 8433 Manipulating industrial robots Safety Also Japanese laws regulate the safety of industrial robots as follows Industrial Safety and Health Law Article 5...

Page 14: ...operation Article 150 3 Sign etc indicating that work is in progress Article 150 3 Provision of special education Article 36 31 During teaching etc Not cut off Checkup etc before commencement of work Article 151 To be performed after stopping the operation Article 150 5 Cut off Sign etc indicating that work is in progress Article 150 5 Preparation of work rules Article 150 5 Measures to enable imm...

Page 15: ...lti joint robot whose movable radius and Z axis are within 300 mm Among the products featured in our catalogs the following models are classified as industrial robots 1 Single axis ROBO Cylinders RCS2 RCS2CR SS8 whose stroke exceeds 300 mm 2 Single axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W ISA ISPA ISDA ISPDA ISWA ISPWA IF FS NS 3 Linea...

Page 16: ...o bump or drop the product Use appropriate means for transportation Do not step on the package Do not place on the package any heavy article that may deform the package When using a crane of 1 ton or more in capacity make sure the crane operators are qualified to operate cranes and perform slinging work When using a crane etc never hoist articles exceeding the rated load of the crane etc Use hoist...

Page 17: ...asures so that the product cannot be started only by turning on the power If the product starts suddenly injury or product damage may result Implement safety measures so that the product will not start upon cancellation of an emergency stop or recovery of power following a power outage Failure to do so may result in injury equipment damage etc Put up a sign saying WORK IN PROGRESS DO NOT TURN ON P...

Page 18: ...ct damage 8 Maintenance inspection Whenever possible work from outside the safety fences If work must be performed inside the safety fences prepare work rules and make sure the operator understands the procedures thoroughly When working inside the safety fences turn off the power switch as a rule When working inside the safety fences the operator should carry a handy emergency stop switch so that ...

Page 19: ...ve the instruction will result in an imminent danger leading to death or serious injury Danger Warning Failure to observe the instruction may result in death or serious injury Warning Caution Failure to observe the instruction may result in injury or property damage Caution Note The user should take heed of this information to ensure the proper use of the product although failure to do so will not...

Page 20: ...als is determined and conformance with the EMC directives and related standards is ensured based on this model 2 Applicable Standards Low voltage Directive EN50178 Electronic equipment used in electrical installations EMC Directives EN55011 Radio interference characteristics of industrial scientific and medical equipment generating radio frequency EN61000 6 2 Immunity in industrial environment EN6...

Page 21: ...ety measures without relying solely on the basic insulation to provide protection against electric shock where specifically the current carrying parts that may come in contact with the user are connected to the protective grounding conductor in the fixed wiring cable of the facility so that they will not become live parts even when the basic insulation is damaged In short it is equipment that obli...

Page 22: ...y II as specified in IEC 60664 1 To meet this requirement be sure to install a circuit breaker between the distribution board and the SSEL controller B If the I O power or electromagnetic brake power is supplied externally use a 24 VDC power supply bearing a CE mark whose inputs and outputs are protected by reinforced insulation SELV 100 VAC or 200 VAC power supply bus Control panel Circuit breake...

Page 23: ...er of type B RCD on the primary side of the SSEL controller Note Type A AC or pulse can be detected Type B Both AC DC can be detected 5 Noise filter Install a noise filter in the AC power line An appropriate noise filter to be installed varies depending on the input voltage specification Supplier Densei Lambda 100 VAC input Model MC1220 200 VAC input Model MC1210 Fig 1 External View of Noise Filte...

Page 24: ... mm A 39 1 B 34 1 C 13 1 D 30 1 Fig 2 External View of Clamp Filter 7 Surge Absorber Install a surge absorber on the primary side of the noise filter to protect the equipment from surge noise that may generate due to lightning Supplier Okaya Electric Industries Model R A V 781BWZ 2A Fig 3 External View of Surge Absorber Shape Dimensions ZCAT Type BWZ series ...

Page 25: ... cables connected to the SSEL controller such as the motor cable and encoder cable must be kept to a length below 30 m B For the brake power cable use a shielded 2 core 1 pair twisted paired cable of AWG16 to 24 in wire size and connect the shield to ground on the 24 VDC power supply side ...

Page 26: ......

Page 27: ... the information contained in this manual However should you find any error in the manual or if you have any comment regarding its content please contact IAI Keep this manual in a convenient place so that you can quickly reference it whenever necessary 2 Type Refer to the following table for details on type specification Example of type specification Type specification table Series Controller type...

Page 28: ...ich position numbers are specified from the host PLC to operate the actuator s The positioner mode provides five sub modes to meet the needs of various applications The program mode has been selected at the factory prior to the shipment of the controller Other parameter No 25 0 Caution Two modes cannot be selected at the same time Program mode Positioner mode Standard mode Product switching mode 2...

Page 29: ...e to wait for at least 5 seconds before turning it back on If the control power is turned on too soon E6D Drive source cutoff relay error may occur Do not insert or remove connectors while the controller power is on Doing so may cause malfunction Note on introducing a controller of absolute specification The following steps must be taken to initialize the absolute data backup battery circuit to pr...

Page 30: ... Connect the absolute data backup battery connector Once the connector has been plugged in the main power can be turned off For the installation of the absolute data backup battery refer to 7 9 Installing the Absolute Data Backup Battery in Chapter 3 in Section 1 If you have disconnected the encoder cable for any reason such as to move the controller also follow the same steps to connect the absol...

Page 31: ... Defect caused by inappropriate or erroneous maintenance inspection Defect caused by use of a part other than IAI s genuine part Defect caused by unauthorized modification etc not approved by IAI or its agent Defect due to an act of God accident fire etc The warranty covers only the product as it is delivered IAI shall not be liable for any loss arising in connection with the delivered product The...

Page 32: ...umber of program steps Controller without increased memory size 2000 steps total Controller with increased memory size 20000 positions total Number of positions Controller without increased memory size 1500 positions total Controller with increased memory size 128 programs Number of programs Controller without increased memory size 64 programs Multi tasking capability 8 programs Storage device Fla...

Page 33: ...ector 4 MANU AUTO switch 5 USB connector 11 Axis 1 motor connector 12 Axis 2 motor connector 13 Axis 1 brake release switch 14 Axis 2 brake release switch 1 LED indicators 7 Panel unit connector 2 System I O connector 3 TP connector 8 Power connector 9 Grounding screws 10 Regenerative unit connector 15 Axis 1 encoder sensor connector 16 Axis 2 encoder sensor connector ...

Page 34: ...op View 17 Axis 1 absolute data backup battery connector 18 Axis 2 absolute data backup battery connector 19 Axis 1 2 absolute data backup battery holder 20 System memory backup battery holder 21 System memory backup battery connector ...

Page 35: ... and brake power input Item Specification Remarks Applicable connector 8 pin 2 piece connector FMC1 5 4 ST 3 5 x 2 by Phoenix Contact Applicable cable size 0 2 1 25 mm2 AWG24 16 Recommended stripped wire length 10 mm Pin No Signal name 1 S1 Emergency stop switch contact output for the TP connector 2 S2 Emergency stop switch contact output for the TP connector 3 EMG 24 V output for emergency stop 4...

Page 36: ...are supported Maximum wiring distance 10M At 38 4 kbps Interface standard RS232C Connected unit Dedicated teaching pendant IAI s standard IA T X D for X SEL Connection cable Dedicated cable Power supply 5 VDC or 24 VDC A multi fuse MF R090 is installed to protect each line against short current the fuse will trip with currents of between 1 1 A and 2 2 A Protocol X SEL teaching protocol The connect...

Page 37: ...top contact output negative 10 Out RSVVCC Power output ANSI compliant IA T XA power supply 24 V 11 NC Not connected 12 Out EMGOUT2 Emergency stop contact output positive 13 Out RTS Request to send Not used fixed to 0 V 14 In CTS Clear to send Not used Used as the TP connection detection terminal 15 Out TXD Transmitted data 16 In RXD Received data 17 Out DSR Data set ready Shorted to DTR 18 NC Not ...

Page 38: ...tch is within an easy reach 5 USB connector This connector is used to connect the PC software and the controller via a USB cable Connector USB connector B XM7B 0442 Connected to USB cable Note When a USB port is used all of the controllers to be connected must be linked one by one with the USB driver provided in the X SEL PC Software IA 101 X USB CD ROM installed in PC For the method to install th...

Page 39: ...eral purpose input 2 Green 8B 006 General purpose input 2 Blue 9A 007 General purpose input 2 Purple 9B 008 General purpose input 2 Gray 10A 009 General purpose input 2 White 10B 010 General purpose input 2 Black 11A 011 General purpose input 3 Brown 11B 012 General purpose input 3 Red 12A 013 General purpose input 3 Orange 12B 014 General purpose input 3 Yellow 13A Input 015 General purpose input...

Page 40: ...rminal assignments 4 Out W Motor drive phase W 12 Axis 2 motor connector This connector is used to connect the motor drive source cable for axis 2 13 Axis 1 brake release switch This switch is used to forcibly release the electromagnetic brake of the actuator constituting axis 1 Name Description RLS Supply the power to the brake and forcibly release the brake NOM Turn the brake ON OFF using an int...

Page 41: ...ors for actuator axis 1 such as LS CREEP and OT LS CREEP and OT sensors are optional Encoder Axis Sensor Connector Specifications Item Description Details Applicable connector Half pitch I O connector 26 pins 10226 52A2PL Sumitomo 3M Cable end connector 10126 3000VE Sumitomo 3M Connector name PG1 2 Encoder axis sensor connector Maximum connection distance 30 m ...

Page 42: ...ge Green Purple Gray Red Black Blue Yellow Controller end Plug connector Hood Sumitomo 3M Sumitomo 3M Actuator end Plug housing Socket contact Retainer JST JST X 9 JST Wiring diagram Wire Color Signal soldered Connect the shield to the hood using a clamp Drain wire and braided shield wire pressure welded Signal Color Wire ...

Page 43: ...ray Orange Green Red Black Ground Blue Yellow Controller end Plug connector Hood Sumitomo 3M Sumitomo 3M Actuator end Plug housing Socket contact Retainer JST X 9 LS side JST X 9 Plug housing Socket contact Retainer soldered Connect the shield to the hood using a clamp Drain wire and braided shield wire pressure welded Signal Color Wire Signal Color Wire pressure welded Wiring diagram Wire Color S...

Page 44: ...ite Black White Purple White Gray Drain Orange Green Purple Gray Red Black Blue Yellow Controller end Plug connector Hood Sumitomo 3M Sumitomo 3M Actuator end Plug housing Socket contact Retainer JST X 15 Taiyo Electric Wire Cable soldered Connect the shield to the hood using a clamp Drain wire and braided shield wire pressure welded Signal Color Wire Wiring diagram Wire Color Signal JST X 2 JST ...

Page 45: ...e White Yellow White Red White Black White Purple White Gray Drain Orange Green Purple Gray Red Black Blue Yellow Controller end Plug connector Hood Sumitomo 3M Sumitomo 3M Actuator end Plug housing Socket contact Retainer JST X 15 LS side JST X 6 Plug housing Socket contact Retainer soldered Connect the shield to the hood using a clamp Drain wire and braided shield wire pressure welded Signal Col...

Page 46: ... This connector is used to connect the absolute data backup battery for axis 1 This connector is required only when the actuator is of absolute encoder specification 18 Axis 2 absolute data backup battery connector This connector is used to connect the absolute data backup battery for axis 2 This connector is required only when the actuator is of absolute encoder specification ...

Page 47: ...he holder is fitted onto the bottom face of the resin cover 20 System memory backup battery holder optional This battery holder is used to install the system memory backup battery The holder is fitted onto the top face of the resin cover 21 System memory backup battery connector This connector is used to connect the system memory backup battery ...

Page 48: ...23 Part 1 Installation Chapter 3 Installation and Wiring 1 External Dimensions 1 2 axis specification The same external dimensions also apply to the 1 axis specification ...

Page 49: ...24 Part 1 Installation 2 2 axis absolute specification The same external dimensions also apply to the 1 axis specification ...

Page 50: ...25 Part 1 Installation 3 Specification with system memory backup battery optional ...

Page 51: ...such as a heat treating furnace 4 Use the controller in a non condensing environment free from corrosive or inflammable gases 5 Use the controller in an environment where it will not receive external vibration or impact 6 Prevent electrical noise from entering the controller or its cables Environmental Condition of Controller Item Specification and description Surrounding air temperature range 0 4...

Page 52: ...ted inside the controller to the PE of the power connector Use this terminal if protective grounding cannot be made with the two piece connector in order to comply with the safety standards etc Item Description Cable size 2 0 to 5 5 mm2 or larger Grounding method Class D grounding 10 Regenerative unit connector This connector is used to connect a regenerative resistance unit when the built in rege...

Page 53: ...If multiple controllers are to be installed side by side providing additional suction fans on top of the controllers will help maintain a uniform surrounding air temperature Provide a minimum clearance of 150 mm between the front side of the controller and a wall enclosure If multiple controllers are to be connected on top of one another prevent the controller above from taking in the exhaust air ...

Page 54: ...xternal power supply Wire the controller cables separately from lines creating a strong electric field such as power circuit lines by not bundling them together or placing them in the same cable duct If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable please contact IAI s Technical Service Section or Sales Engineering Section 2 Grounding for noise elimin...

Page 55: ... a diode in parallel with the coil Determine the diode capacity in accordance with the load capacity In a DC circuit connecting a diode in reversed polarity will damage the diode internal parts of the controller and DC power supply Exercise due caution The above noise elimination measures are particularly important when a 24 VDC relay is driven directly by a controller output and there is also a 1...

Page 56: ...30 Part 1 Installation Reference Circuit Diagram Controller Surge absorber Solenoid valve OUT COM CR 24 V 0 V 100 VAC CR 0 V ...

Page 57: ...nected 1 Capacity and heat output of the control power supply The table below shows the maximum capacity and heat output of the control power supply These values are not affected by the motor output 2 Capacity and heat output of the motor power supply The table below shows reference capacity and heat output of the motor power supply for one axis With the 2 axis specification find the capacities an...

Page 58: ...on example Power supply capacities when the output of axis 1 is 400 W and that of axis 2 is 200 W 200 V controller The capacities and heat output of the motor power supply are calculated as follows Rated motor power supply capacity Maximum instantaneous motor power supply capacity Heat output at rated power output The capacities and heat output of the control power supply are added Rated power sup...

Page 59: ...apacity VA Input voltage Also always use an earth leakage breaker of leak current detection type specified for inverter so that leak current from servos can also be cut off 2 Surge absorber The motor power supply and control power supply have no built in surge absorber for protecting the equipment from surge noise that may generate inside the controller in the event of lightening shock If you wish...

Page 60: ... a screwdriver Recommended cable diameter Motor power L1 L2 2 mm AWG14 Control power L1C L2C 0 75 mm AWG18 Recommended stripped wire length 7 mm As shown to the left tighten the screws to affix the connector Note Always install a noise filter Recommended noise filter Controller power supply Manufacture and model name 100 VAC TDK Lambda MC1210 200 VAC TDK Lambda MC1210 ...

Page 61: ...ly tighten the screws at the top and bottom of the connector 7 2 2 Connecting the Encoder Cable PG1 PG2 Connect the encoder cable from the actuator to the applicable encoder connector on the front face of the controller Caution With the absolute specification disconnect the absolute data backup battery connector before connecting the encoder cable Connect the absolute data backup battery connector...

Page 62: ...ing to the SIO Connector As shown to the left insert the stripped end of each cable while pressing down the spring using a driver Applicable cable size 0 2 1 3 mm AWG24 16 Recommended stripped wire length 10 mm Emergency stop switch Enable switch 24 V brake power supply for the specification with brake ...

Page 63: ...onnector EMG switch ENB switch Power connector Inside controller AUTO MANU status detection AUTO Closed MANU Open TP connector connection status detection Connected Open Not connected Closed ENB input detection EMG input detection Status signal Drive source cutoff control Command signal Status signal Drive source Drive source cutoff relay ...

Page 64: ...y to the controller AUTO MANU switch TP connector System I O connector EMG switch ENB switch Power connector Inside controller AUTO MANU status detection AUTO Closed MANU Open TP connector connection status detection Connected Open Not connected Closed ENB input detection EMG input detection Status signal Drive source cutoff control Command signal Status signal Drive source Drive source cutoff rel...

Page 65: ...own 1 9B Gray 2 1B Red 1 10A White 2 2A Orange 1 10B Black 2 2B Yellow 1 11A Brown 3 3A Green 1 11B Red 3 3B Blue 1 12A Orange 3 4A Purple 1 12B Yellow 3 4B Gray 1 13A Green 3 5A White 1 13B Blue 3 5B Black 1 14A Purple 3 6A Brown 2 14B Gray 3 6B Red 2 15A White 3 7A Orange 2 15B Black 3 7B Yellow 2 16A Brown 4 8A Green 2 16B Red 4 8B Blue 2 17A Orange 4 9A Purple 2 Flat cable pressure welded 17B ...

Page 66: ...General purpose input 2 Yellow 8A 005 General purpose input 2 Green 8B 006 General purpose input 2 Blue 9A 007 General purpose input 2 Purple 9B 008 General purpose input 2 Gray 10A 009 General purpose input 2 White 10B 010 General purpose input 2 Black 11A 011 General purpose input 3 Brown 11B 012 General purpose input 3 Red 12A 013 General purpose input 3 Orange 12B 014 General purpose input 3 Y...

Page 67: ...e input 2 Yellow 8A 005 General purpose input 2 Green 8B 006 General purpose input 2 Blue 9A 007 General purpose input 2 Purple 9B 008 General purpose input 2 Gray 10A 009 General purpose input 2 White 10B 010 General purpose input 2 Black 11A 011 General purpose input 3 Brown 11B 012 General purpose input 3 Red 12A 013 General purpose input 3 Orange 12B 014 General purpose input 3 Yellow 13A Inpu...

Page 68: ...le 9B 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position No 10 input 2 Gray 10A 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position No 20 input 2 White 10B 10 Position input 4 Input 4 Position input 1 Position input 8 Position No 40 input 2 Black 11A 11 Position input 5 Input 5 Position input 2 Position input 9 Position No 80 input 3 Brown 11B 12 Position input ...

Page 69: ...le 9B 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position No 10 input 2 Gray 10A 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position No 20 input 2 White 10B 10 Position input 4 Input 4 Position input 1 Position input 8 Position No 40 input 2 Black 11A 11 Position input 5 Input 5 Position input 2 Position input 9 Position No 80 input 3 Brown 11B 12 Position input ...

Page 70: ...open collector type 4 Sequencer contact output minimum load of approx 5 VDC 1 mA Input circuit P24 I O interface pin No 1 Caution If a non contact circuit is connected externally malfunction may result from leakage current Use a circuit in which leakage current in a switch off state does not exceed 1 mA SSEL controller s input signal At the default settings the system recognizes the ON OFF duratio...

Page 71: ...put unit Note 400 mA is the maximum total load current of output port Nos 300 to 307 Output circuit P24 I O interface pin No 1A N I O interface pin No 17B Caution In the event that the load is short circuited or current exceeding the maximum load current is input the overcurrent protection circuit will be actuated to cut off the circuit However give due consideration to the circuit connection layo...

Page 72: ...pe 4 Sequencer contact output minimum load of approx 5 VDC 1 mA Input circuit N I O interface pin No 17B Caution If a non contact circuit is connected externally malfunction may result from leakage current Use a circuit in which leakage current in a switch off state does not exceed 1 mA SSEL controller s input signal At the default settings the system recognizes the ON OFF durations of input signa...

Page 73: ...put unit Note 400 mA is the maximum total load current of output port Nos 300 to 307 Output circuit P24 I O interface pin No 1A N I O interface pin No 17B Caution In the event that the load is short circuited or a current exceeding the maximum load current is input the overcurrent protection circuit will be actuated to cut off the circuit However give due consideration to the circuit connection la...

Page 74: ... be connected 200 W Not required 600 W 1 800 W 2 The above are reference numbers by assuming that each actuator is operated back and forth at 3 000 rpm 0 3 G rated load 1 000 mm stroke and 50 duty If the operation duty exceeds 50 more regenerative resistance unit s may be required than as specified in the above table A maximum of four external regenerative resistance units can be connected Never c...

Page 75: ...regenerative resistance connection cable CB SC REU 2 Standard X SEL E CON regenerative resistance connection cable CB ST REU Light blue Brown Green Yellow Controller end Receptacle housing Receptacle contact Model number nameplate Wiring diagram External regenerative resistance unit end Plug Phoenix Contact Wire Color Signal Signal Color Wire Light blue Brown Green Yellow Controller end Model numb...

Page 76: ... a teaching pendant or PC software cable connect the cable to a connector conversion cable and then connect the conversion cable to the teaching connector on the controller 7 8 Connecting the Panel Unit Optional When the optional panel unit is connected the controller status program number of each active program error codes etc can be monitored Connector conversion cable ...

Page 77: ...evel error 5 Operation cancellation level error 5 Operation cancellation level error 6 Waiting for a drive source cutoff reset input except during the update mode 6 Operation is in pause waiting for restart except during the update mode 7 All servo axes are interlocked except during the update mode 8 Message level error 8 Message level error 9 Core update mode 9 Core update is in progress 9 Core u...

Page 78: ...tus auto mode Program mode 9 Ready status manual mode Program mode 9 Operating in positioner mode No indicates positioner mode number 9 Ready status auto mode Positioner mode 9 Ready status manual mode Positioner mode 1 The priority increases as the number decreases ...

Page 79: ...peration cancellation level error 2 Message level error 2 Message level error 2 Application update mode 2 Application update is in progress 2 Application update has completed 2 Hardware test mode process 2 Clearing the application flash ROM 2 Application flash ROM has been cleared 2 Jump to the application 2 Core flash ROM check process 2 Application flash ROM check process 2 SDRAM check process 1...

Page 80: ... the far right segment digit will show the current for axis 1 When data is written to the flash ROM or a software reset restart is executed after the parameter values have been input the panel window will show the motor current to rating ratio by a segment pattern instead of ready status or program run number The segment display patterns and corresponding motor current to rating ratios are shown b...

Page 81: ...arameter No 49 2 Other parameter No 50 Variable number of the global integer variable to be monitored When data is written to the flash ROM or a software reset restart is executed after the parameter values have been input the panel window will show the content of the global integer variable instead of ready status or program run number The far left segment digit should read U Display example ...

Page 82: ...ttom of the controller Insert the battery into the holder Connect the battery connector Pay attention to the connector orientation The connector hook should face the right side Caution If the main power cannot be turned on immediately after the encoder cable has been connected do not connect the battery connector Axis 1 connector Axis 2 connector ...

Page 83: ...y holder at the top of the controller Insert the battery into the holder Connect the battery connector Pay attention to the connector orientation The hook of the connector should face right when viewed from the front side of the controller Caution If the system memory backup battery is used Other parameter No 20 must be set to 2 ...

Page 84: ...ke power to the SIO connector 6 Turn on the control power and motor power at the same time They should be taken from the same power supply 7 Reset the emergency stop The EMG lamp turns off If the ALM lamp is lit an error is present Check the error list to identify the problem If the 24 V PIO power is not supplied an E69 error will generate If your controller is of absolute specification an E914 or...

Page 85: ...er and motor power as long as it is turned off after the control power motor power Taken from the same power supply Control power Motor power Controller status Must be turned on first as a rule PIO power The PIO power must be turned on before the control power in order to perform checks during initialization and self diagnosis and apply a hardware latch upon detection of an error Must be turned on...

Page 86: ...on cable Or USB cable dummy plug optional 3 All adjustment items other than absolute reset must have been completed 2 2 Procedure 1 Turn off the SSEL controller power Turn on the PC power and wait for the OS to start 2 Connect the 9 pin D sub connector of the connection cable to the COM port on the PC and connect the 25 pin D sub connector to the teaching connector on the controller Alternatively ...

Page 87: ... the Monitor menu select Error Detail to check the condition of the present error If the controller is experiencing an encoder battery error the displayed window should look like the one shown below an absolute encoder is used for axis 2 in this example After checking the error detail close the Error Detail window ...

Page 88: ...solute Reset 9 When the Warning dialog box appears click OK 10 The Absolute Reset dialog box appears Click here to select the axis you want to perform an absolute reset for 11 Click Encoder Rotation Data Reset 1 When the Warning dialog box appears click Yes Yes Y No N ...

Page 89: ...with the servo turned on Accordingly the Servo OFF step will be skipped 5 Encoder Rotation Data Reset 2 After you have clicked Encoder Rotation Data Reset 2 and the processing is finished the red arrow will return to the position shown in 10 To perform an absolute encoder reset for another axis select the target axis and perform the steps from 10 again To end the procedure click Close to close the...

Page 90: ...errors may generate Error No C70 ABS coordinate non confirmation error Error No C6F Home return incomplete error 15 If an optional panel unit is connected and no other error is present rdy when the controller is in the program mode or Pry in the positioner mode should be displayed on the 7 seg LED 16 This completes the absolute reset To repeat the absolute reset close the X SEL PC software and per...

Page 91: ...he operation For details on starting from the teaching pendant read the operation manual for the optional teaching pendant For starting from the PC software read the applicable explanation in the manual supplied with the PC software The latter two methods are starting automatically via parameter setting and starting via external signal selection This chapter only explains the methods for starting ...

Page 92: ...ng function such as allowing the program execution to proceed only after receiving a confirmation signal at the beginning of the program If you wish to start multiple programs at the same time write multiple EXPG commands at the beginning of the main program to start the remaining programs Provide safety measures for each program to be started If the following setting is performed the program of t...

Page 93: ...ogram numbers as binary codes The factory setting is 1 for BCD code specification Note The maximum number of programs supported by a controller with increased memory size is 128 However programs that can be started by BCD code specification are from Nos 1 to 79 To start Nos 80 to 128 using BCD codes use the auto program start function or program start command EXPG Select a desired program number e...

Page 94: ...on of external start signal T3 100 msec min Ready output Auto program start signal input Auto program start T1 Time after the ready output turns ON before the auto program start signal can be input to input port No T1 10 msec min Auto program start Set 0 in other parameter No 7 Auto program start setting Ready output Soft reset signal input Program starting T1 Time after the ready output turns ON ...

Page 95: ...eset The automatic operation was stopped using the deadman switch or enable switch when other parameter No 11 was set to 2 Deadman enable switch recovery type Continued operation only during automatic operation Recovery reset of operation pause after the stop is reset Specify a desired input port for receiving the operation pause input signal dedicated function Set the input function specification...

Page 96: ...SSEL Controller Data Structure The user must create position data and application programs The parameters are predefined but their settings can be changed in accordance with the user s system Refer to Appendix List of Parameters for details on the parameters Parameters Main SEL language Position data Application programs Parameters Parameters Driver 1 Driver 2 Communication ...

Page 97: ...data in the main CPU memory excluding the parameters Note SEL global data cannot be retained if the backup battery is not installed SEL global data will be cleared once the control power is turned off or a software reset is executed The error list will be cleared once the control power is turned off Data edited on the PC or teaching pendant Data will be retained while the power is on and cleared u...

Page 98: ...data flags variables strings Error lists Data edited on the PC or teaching pendant Data will be retained while the power is on and cleared upon reset Data will be retained even after the power is turned off PC software TP Transfer Transfer Main CPU memory Programs Parameters other than slave card parameters Symbols Write to flash memory Transfer upon reset Transfer upon reset Transfer Main CPU fla...

Page 99: ...parameters are saved to a file after turning on the controller or restarting it via a software reset without an actuator encoder connected the encoder parameters saved to the file will become invalid Point to note when transferring a parameter file to the controller When a parameter file is transferred to the controller the encoder parameters will be transferred to the EEPROM of the encoder exclud...

Page 100: ... for looseness Inspect each cable axis link cable general purpose I O cable system I O cable power cable for loose connection disconnection play etc 2 Spare Consumable Parts Without spare parts a failed controller cannot be repaired even when the problem is identified quickly We recommend that you keep the following consumable parts as spares Consumable parts Cables System memory backup battery op...

Page 101: ...n Manual for X SEL PC Software 1 Turn on the controller power 2 Record write down the current setting of Other parameter No 20 Backup battery installation function type This will be used when reverting the parameter to its original setting following the replacement of system memory backup battery 3 If the PC software is installed in your PC save the position data to a file using the PC software Th...

Page 102: ... Other parameter No 20 Backup battery installation function type to the value recorded in step 2 transfer the setting to the controller and then perform a flash ROM write Confirm that the flash ROM writing process has completed 10 Perform a software reset restart the controller Note Commencing the operation without first executing a software reset or reconnecting the power may generate the followi...

Page 103: ...m steps 1 to 11 If an absolute data backup battery voltage error Error No 914 or CA2 has been issued perform steps 1 to 4 and then perform the procedure explained in How to Perform Absolute Reset Note Among the steps explained below complete 2 to 4 within 15 minutes 1 Turn off the controller power Turn off both the control power and drive power 2 Disconnect the battery connector and pull out the b...

Page 104: ...t the controller Note If you continue to operate the controller without resetting the software or reconnecting the power the following errors may generate Error No C70 ABS coordinate non confirmation error Error No C6F Home return incomplete error This completes the procedure to reset a battery voltage low alarm error Warning 8 Set the address number corresponding to the axis whose battery has jus...

Page 105: ... without increased memory size 1 64 64 Controller with increased memory size 1 9999 9999 Step number Controller without increased memory size 1 2000 2000 Task level NORMAL HIGH 2 SIO channel number 1 0 Wait timer 1 1 shot pulse timer 16 Number of timers that can be operated simultaneously Ladder timer Local flag 100 Virtual input port SEL system SEL user program 7000 7299 300 Virtual output port S...

Page 106: ...ating point is used in operations the number of valid digits will be limited to seven Also note that operations using a floating point are subject to error 2 Position data The input range of position data consists of four integer digits and three decimal digits 9999 999 to 9999 999 The maximum value varies depending on the actuator model If position data are used in internal operations as numeric ...

Page 107: ...ervo axis interlock factor is present all operation pause factor interlock input port factor 7014 For future expansion Use strictly prohibited 7015 Voltage low warning for axis 1 absolute data backup battery 7016 Abnormal voltage of axis 1 absolute data backup battery latched until power on reset or software reset 7017 Voltage low warning for axis 2 absolute data backup battery 7018 Abnormal volta...

Page 108: ...cancellation factor is present 7011 latch is cancelled only when operation cancellation factor is no longer present 7300 will be turned OFF following an attempt to cancel latch 7301 7380 For future expansion Use strictly prohibited 7381 7399 For future expansion Use strictly prohibited 7400 7599 For future expansion Use strictly prohibited ...

Page 109: ...in each program Global flags will be retained backed up by battery even after the power is turned off Local flags will be cleared when the power is turned off Flag number 600 899 Can be used in all programs Global flags Flag number 900 999 Used only in each program Local flags Program 1 Program n BTON 600 WTON 600 BTON 900 BTON 900 Turn on flag 600 Wait for flag 600 to turn ON Like this global fla...

Page 110: ...utting in or taking out a value and performing addition or subtraction Command Operand 1 Operand 2 ADD 1 1 If this command is applied to variable box 1 which already contains 2 then 1 will be added to the current value and 3 will result Variable box 1 A variable can be used in many ways such as Putting in a value 1234 Taking out a value 456 or Adding a value 1 Variable box 1 1 is added Already con...

Page 111: ...Any value in the range from 9 999 999 to 99 999 999 can be input in programs 2 Real variables Actual values These variables can handle decimal places Example 1234 567 Decimal point Real variable number 300 399 1300 1399 Can be used in all programs Global real variables Real variable number 100 199 1100 1199 Used only in each program Local real variables Caution Real number 199 is a special registe...

Page 112: ...nd 1 Operand 2 LET 1 1234 Command Operand 1 Operand 2 LET 2 1 The above use of variables is called indirect specification An is also used when indirectly specifying a symbol variable refer to 1 8 Symbols Command Operand 1 Operand 2 LET ABC 1 LET BCD 2 ADD ABC BCD Put 1 in variable ABC Put 2 in variable BCD Add the content of variable BCD or 2 to variable ABC The content of variable ABC becomes 3 V...

Page 113: ...e used in the same way you attach labels to the pages in a book you want to reference frequently A tag is a destination specified in a jump command GOTO Command Operand 1 TAG Tag number Integer between 1 and 256 They are used only in each program Tag TAG 1 GOTO 1 ...

Page 114: ...of 15 nests are accommodated They are used only in each program Command Operand 1 EXSR Subroutine number Integer between 1 and 99 variable is also supported Subroutine execution command Command Operand 1 BGSR Subroutine number Integer between 1 and 99 Subroutine start declaration Command Operand 1 EDSR Subroutine end declaration Subroutines are called Subroutines EXSR 1 EXSR 1 EXSR 1 BGSR 1 EDSR ...

Page 115: ...me applies to character string literals 5Ch PC software Backslash overseas specifications etc Teaching pendant Yen mark 7Eh PC software Teaching pendant Right arrow 2 Symbols of the same name must not be defined within each function The same local symbol can be used in different programs 3 Symbols of the same name must not be defined within the flag number input port number or output port number g...

Page 116: ...e stated Each of multiple axes is stated as follows Axis number How axis is stated 1 Axis 1 2 Axis 2 The axis numbers stated above can also be expressed using symbols Use axis number if you wish to specify only one of multiple axes Commands that use axis specification based on axis number BASE PPUT PGET ACHZ AXST PASE PARG PRDQ ECMD ...

Page 117: ...axis pattern is considered a binary value and a converted decimal value is assigned to a variable Example To perform home return for axis 2 only you can specify as follows based on axis pattern HOME 10 In indirect specification 10 binary is expressed as 2 decimal so the same operation can be specified as follows LET 6 2 HOME 6 If you must select and specify multiple axes at the same time use axis ...

Page 118: ... the operation 1 Setting value for the position data in the operation 1 2 Setting value for VEL directive Setting value for ALL DLL direction 3 Initial value for all axes parameter No 11 acceleration Initial value for all axes parameter No 12 deceleration Values pertaining to a rotating axis are processed in degrees instead of millimeters If axis specific parameter No 1 axis operation type is set ...

Page 119: ...he next step regardless of the command that follows e g WTON WTOF Obviously nothing will happen at the output port but caution must be exercised 2 If no condition is set the command will be executed unconditionally 3 To use the condition in reverse logic so called contact b logic add N NOT to the condition 4 The input condition supports input port output port and flag 5 The operand 1 operand 2 and...

Page 120: ... Extension condition Input condition Command Operand 1 Operand 2 Output Condition 1 O Condition 2 Command Operand 1 Operand 2 Command Extension condition Input condition Command Operand 1 Operand 2 Output Condition 1 A Condition 2 O Condition 3 Command Operand 1 Operand 2 AND extension Ladder diagram Condition 1 Condition 2 Condition 3 AND AND OR extension Condition 1 Condition 2 OR AND extension ...

Page 121: ...Addend ZR Add 108 Optional SUB Minuend variable Subtrahend ZR Subtract 108 Optional MULT Multiplicand variable Multiplier ZR Multiply 109 Optional DIV Dividend variable Divisor ZR Divide 109 Arithmetic operation Optional MOD Remainder assignment variable Divisor ZR Calculate remainder 110 Optional SIN Sine assignment variable Operand radian ZR Sine 111 Optional COS Cosine assignment variable Opera...

Page 122: ...rect 146 Optional PTST Confirmation axis pattern Confirmation position number CC Confirm position data 147 Optional PVEL Speed mm sec Assignment destination position number CP Assign position speed 148 Optional PACC Acceleration G Assignment destination position number CP Assign position acceleration 149 Optional PDCL Deceleration G Assignment destination position number CP Assign position deceler...

Page 123: ...ge speed 189 Optional ARCD End position number Center angle deg PE Move along arc via specification of end position and center angle 190 Optional ARCC Center position number Center angle deg PE Move along arc via specification of center position and center angle 191 Optional PBND Axis pattern Distance CP Set positioning band 192 Optional CIR Passing position 1 number Passing position 2 number PE M...

Page 124: ...ted CP Open channel 211 Optional CLOS Channel number Prohibited CP Close channel 211 Optional READ Channel number Column number CC Read from channel 212 Optional TMRW Read timer setting Write timer setting CP Set READ timeout value 214 Optional WRIT Channel number Column number CP Output to channel 216 Communica tion Optional SCHA Character code Prohibited CP Set end character 217 Optional SCPY Co...

Page 125: ... 236 Optional PSLI Offset amount Count CP Set zigzag 238 Optional PTNG Palletizing number Variable number CP Get palletizing position number 239 Optional PINC Palletizing number Prohibited CC Increment palletizing position number by 1 239 Optional PDEC Palletizing number Prohibited CC Decrement palletizing position number by 1 240 Optional PSET Palletizing number Data CC Set palletizing position n...

Page 126: ...rt of palletizing setting BGSR 134 Prohibited Declaration subroutine number Prohibited CP Start subroutine BTPF 123 Optional Output port flag Timer setting CP Output OFF pulse BTPN 122 Optional Output port flag Timer setting CP Output ON pulse BT 121 Optional Start output flag End output flag CP Output flag ON OF NT C CANC 166 Optional Input port to abort CANC type CP Declare port to abort CHPR 24...

Page 127: ...ime GVEL 153 Optional Variable number Position number CP Get speed data H HOLD 165 Optional Input port to pause HOLD type CP Declare port to pause HOME 173 Optional Home return axis pattern Prohibited PE Return to home I IF 195 Optional Comparison variable Comparison value CP Compare EQ NE GT GE LT LE INB 126 Optional Head I O flag Conversion digits CC Input BCD 8 digits max IN 125 Optional Head I...

Page 128: ...nt PATH 180 Optional Start position number End position number PE Move along path PAXS 151 Optional Axis pattern assignment variable number Position number CP Read axis pattern PBND 192 Optional Axis pattern Distance CP Set positioning band PCLR 143 Optional Start position number End position number CP Clear position data PCPY 144 Optional Copy destination position number Copy source position numb...

Page 129: ...n number character literal CC Copy character string SCRV 160 Optional Ratio Prohibited CP Set sigmoid motion ratio SGET 220 Optional Variable number Column number character literal CP Get character SIN 111 Optional Sine assignment variable Operand ZR Sine SLCT 200 Optional Prohibited Prohibited CP Declare start of multi branching SLEN 226 Optional Character string length Prohibited CP Set length S...

Page 130: ...condition is not specified TRAN 106 Optional Copy destination variable Copy source variable ZR Copy TSLP 245 Prohibited Time Prohibited CP Task sleep V VAL 224 Optional Variable number Column number character literal CC Convert character string data decimal VALH 225 Optional Variable number Column number character literal CC Convert character string data hexadecimal VEL 156 Optional Speed Prohibit...

Page 131: ... variable specified in operand 1 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 LET 1 10 Assign 10 to variable 1 Example 2 LET 3 10 Assign 10 to variable 3 LET 1 3 Assign the content of variable 3 10 to variable 1 Note When data in a real variable is assigned to an integer variable all decimal fractions are rounded to the nearest integer LET 100 13 5 As...

Page 132: ... specified in operand 1 Example 1 TRAN 1 2 Assign the content of variable 2 to variable 1 LET 1 2 A LET command of the same effect as the above operation Example 2 LET 3 4 Assign 4 to variable 3 LET 4 10 Assign 10 to variable 4 TRAN 1 3 Assign the content of variable 3 which is variable 4 or 10 to variable 1 Note When data in a real variable is assigned to an integer variable all decimal fractions...

Page 133: ...s from the one specified in operand 1 through the other specified in operand 2 The contents of the variables that have been cleared become 0 The output will turn ON when 0 is assigned to the variable specified in operand 1 Example 1 CLR 1 5 Clear variables 1 through 5 Example 2 LET 1 10 Assign 10 to variable 1 LET 2 20 Assign 20 to variable 2 CLR 1 2 Clear the variables from the content of variabl...

Page 134: ... 3 ADD 1 3 Add the content of variable 3 2 to the content of variable 1 2 4 2 2 4 will be stored in variable 1 SUB Subtract Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional SUB Variable number Data ZR Function Subtract the value specified in operand 2 from the content of the variable specified...

Page 135: ...he content of variable 3 2 8 4x2 8 will be stored in variable 1 DIV Divide Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional DIV Variable number Data ZR Function Divide the content of the variable specified in operand 1 by the value specified in operand 2 and assign the result to the variable s...

Page 136: ...y the value specified in operand 2 The output will turn ON when the operation result becomes 0 Note A MOD command is used with integer variables Example 1 LET 1 7 Assign 7 to variable 1 MOD 1 3 Obtain the remainder of dividing the content of variable 1 7 by 3 1 7 3 2 with a remainder of 1 will be assigned to variable 1 Example 2 LET 1 7 Assign 2 to variable 1 LET 3 3 Assign 3 to variable 3 MOD 1 3...

Page 137: ...be converted to radian and assigned to variable 101 Assign the sine of the content of variable 101 0 5 to variable 100 COS Cosine operation Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional COS Variable number Data ZR Function Assign the cosine of the data specified in operand 2 to the variable...

Page 138: ...0 radian 45 will be converted to radian and assigned to variable 101 Assign the tangent of the content of variable 101 1 to variable 100 ATN Inverse tangent operation Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional ATN Variable number Data ZR Function Assign the inverse tangent of the data sp...

Page 139: ...g Optional Optional SQR Variable number Data ZR Function Assign the root of the data specified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 SQR 1 4 Assign the root of 4 2 to variable 1 Example 2 LET 2 5 SQR 100 2 Assign 5 to variable 2 Assign the root of the content of variable 2 5 to variable 100 ...

Page 140: ...alue specified in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 AND 1 170 Assign the logical AND operation result 136 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 204 Assign 204 to variable 1 LET 3 170 Assign 170 to variable 3 AND 1 3 Assign the logical AND operatio...

Page 141: ...fied in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 OR 1 170 Assign the logical OR operation result 238 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 204 Assign 204 to variable 1 LET 3 170 Assign 170 to variable 3 OR 1 3 Assign the logical OR operation result 238 o...

Page 142: ...ied in operand 2 to the variable specified in operand 1 The output will turn ON when the operation result becomes 0 Example 1 LET 1 204 Assign 204 to variable 1 EOR 1 170 Assign the logical exclusive OR operation result 102 of the content of variable 1 204 and 170 to variable 1 Example 2 LET 1 204 Assign 204 to variable 1 LET 3 170 Assign 170 to variable 3 EOR 1 3 Assign the logical exclusive OR o...

Page 143: ... in the variable does not change The output will be turned OFF if the condition is not satisfied Note The output will not be turned OFF when the command is executed CP EQ Operand 1 Operand 2 NE Operand 1 Operand 2 GT Operand 1 Operand 2 GE Operand 1 Operand 2 LT Operand 1 Operand 2 LE Operand 1 Operand 2 Example 1 LET 1 10 Assign 10 to variable 1 CPEQ 1 10 600 Turn ON flag 600 if the content of va...

Page 144: ...onal TIMW Time Prohibited TU Function Stop the program and wait for the time specified in operand 1 The setting range is 0 01 to 99 and the unit is second The output will turn ON when the specified time has elapsed and the program proceeds to the next step Example 1 TIMW 1 5 Wait for 1 5 seconds Example 2 LET 1 10 Assign 10 to variable 1 TIMW 1 Wait for the content of variable 1 10 seconds ...

Page 145: ...OF and READ commands even if timeout is not specified it is assumed that an unlimited timer has been specified and the wait time will be cancelled Example 1 TIMC 10 Cancel the wait time in program 10 Example 2 LET 1 10 Assign 10 to variable 1 TIMC 1 Cancel the wait time in the content of variable 1 program 10 Example 3 Program 1 Program 10 WTON 8 20 Program 10 waits for input 8 for 20 seconds Wait...

Page 146: ...00 Set the ending time to 5 seconds later GTTM 2 Read the current system time to variable 2 DWLE 2 1 Proceed to the step next to EDDO when 5 seconds elapsed The above process will be repeated for 5 seconds GTTM 2 Read the current system time to variable 2 EDDO Example 2 LET 1 5 Assign 5 to variable 1 GTTM 1 Store the current system time in the content of variable 1 variable 5 Note System time is c...

Page 147: ...e specified in operand 1 through the other specified in operand 2 BT ON Switch the status to ON OF Switch the status to OFF NT Reverse the status Example 1 BTON 300 Turn ON output port 300 Example 2 BTOF 300 307 Turn OFF output ports 300 through 307 Example 3 LET 1 600 Assign 600 to variable 1 BTNT 1 Reverse the content of variable 1 flag 600 Example 4 LET 1 600 Assign 600 to variable 1 LET 2 607 ...

Page 148: ...ut port or flag already ON the output port or flag will be turned OFF upon elapse of the timer setting Note 2 If the program ends after the command has been executed but before the timer is up the output port or flag will not be turned OFF Note 3 This command will not be cancelled by a TIMC command Note 4 A maximum of 16 timers including BTPN and BTPF can be operated simultaneously in a single pro...

Page 149: ... seconds including up to two decimal places Note 1 If this command is executed with respect to an output port or flag already OFF the output port or flag will be turned ON upon elapse of the timer setting Note 2 If the program ends after the command has been executed but before the timer is up the output port or flag will not be turned ON Note 3 This command will not be cancelled by a TIMC command...

Page 150: ...ON upon elapse of the specified time only when operand 2 is specified Note A local flag cannot be entered in operand 1 WT ON Wait for the applicable I O port or flag to turn ON OF Wait for the applicable I O port or flag to turn OFF Example 1 WTON 15 Wait for input port 15 to turn ON Example 2 WTOF 307 10 Wait for 10 seconds for output port 307 to turn OFF Example 3 LET 1 600 Assign 600 to variabl...

Page 151: ...OFF ON 1 0 0 0 0 1 0 1 Binary 27 0 0 0 0 22 0 20 128 0 0 0 0 4 0 1 133 133 Variable 99 Note 1 A maximum of 32 bits can be input Note 2 When 32 bits have been input and the most significant bit is ON the value read to variable 99 will be treated as a negative value Note 3 The read data format can be changed using a FMIO command refer to the section on FMIO command Example 1 IN 8 15 Read input ports...

Page 152: ...umber ON OFF OFF OFF OFF ON OFF ON 85 Variable 99 Note 1 A maximum of eight digits 32 bits can be input Note 2 The number of I O ports and flags that can be used is 4 x n digits Note 3 The read data format can be changed using a FMIO command refer to the section on FMIO command Example 1 INB 8 2 Read input ports 8 through 15 to variable 99 as a BCD Example 2 LET 1 8 Assign 8 to variable 1 LET 2 2 ...

Page 153: ...pper Lower 1 0 0 0 0 1 0 1 Binary 307 306 305 304 303 302 301 300 Output port number ON OFF OFF OFF OFF ON OFF ON Note 1 A maximum of 32 bits can be output Note 2 The write data format can be changed using a FMIO command refer to the section on FMIO command Example 1 OUT 300 307 Write the value in variable 99 to output ports 300 through 307 as a binary Example 2 LET 1 300 Assign 300 to variable 1 ...

Page 154: ...ort number ON OFF OFF OFF OFF ON OFF ON Note 1 A maximum of eight digits 32 bits can be output Note 2 The number of output ports and flags that can be used is 4 x n digits Note 3 The write data format can be changed using a FMIO command refer to the section on FMIO command Example 1 OUTB 300 2 Write the value in variable 99 to the output ports from 300 for two digits until output port 307 as a BCD...

Page 155: ...d or otherwise the command becomes invalid 32 bit binary data extended by sign is output The minimum unit is 0 001 mm Note 1 Only output ports of No 300 or higher port numbers multiples of 8 can be specified in operand 1 Note 2 Only network output ports are supported Note 3 Even if this command is executed output data remains indeterminable if home return is not yet completed Note 4 The output dat...

Page 156: ... command has not been executed Data is read or written without being reversed I O flag number upper I O flag number lower 01234567h 01h 23h 45h 67h 0000 0001 0010 0011 0100 0101 0110 0111 Variable 99 Temporary data I O port flag status 0 OFF 1 ON OUT B command IN B command 2 Operand 1 1 Data is read or written after its upper eight bits and lower eight bits are reversed every 16 bits I O flag numb...

Page 157: ...B command IN B command Example 1 Variable 99 00123456h Decimal 1193046 BCD 123456 00123456h Variable 99 1193046 IN OUT command 123456 INB OUTB command I O flag number upper I O flag number lower FMIO 0 00h 12h 34h 56h 0000 0000 0001 0010 0011 0100 0101 0110 FMIO 1 12h 00h 56h 34h 0001 0010 0000 0000 0101 0110 0011 0100 FMIO 2 34h 56h 00h 12h 0011 0100 0101 0110 0000 0000 0001 0010 FMIO 3 56h 34h 1...

Page 158: ...a I O port flag status 0 OFF 1 ON Example 3 Variable 99 00000012h Decimal 18 BCD 12 00000012h Variable 99 18 IN OUT command 12 INB OUTB command I O flag number upper I O flag number lower FMIO 0 00h 00h 00h 12h 0000 0000 0000 0000 0000 0000 0001 0010 FMIO 1 00h 00h 12h 00h 0000 0000 0000 0000 0001 0010 0000 0000 FMIO 2 00h 12h 00h 00h 0000 0000 0001 0010 0000 0000 0000 0000 FMIO 3 12h 00h 00h 00h ...

Page 159: ...sts is defined for each conditional branching command or subroutine call a nest will be infinitely repeated if an ED is not passed and a nest overflow error will generate In the case of palletizing setting an error will generate if the second BGPA is declared after the first BGPA declaration without passing an EDPA 1 IF or IS and EDIF syntax 2 DW and EDDO syntax 3 SLCT and EDSL syntax 4 BGSR and E...

Page 160: ...rogram Example 1 EXSR 1 Execute subroutine 1 EXIT BGSR 1 Start subroutine 1 EDSR End subroutine 1 Example 2 LET 1 10 Assign 10 to variable 1 EXSR 1 Execute the content of variable 1 subroutine 10 BGSR Start subroutine Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited BGSR Subroutine number ...

Page 161: ...aration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDSR Prohibited Prohibited CP Function Declare the end of a subroutine This command is always required at the end of a subroutine Thereafter the program will proceed to the step next to the EXSR that has been called Example 1 Refer to the section on EXSR command ...

Page 162: ...t flag Optional Optional EXIT Prohibited Prohibited CP Function End the program If the last step has been reached without encountering any EXIT command the program will return to the beginning Note Status at program end Output ports Retained Local flags Cleared Local variables Cleared Current values Retained Global flags Retained Global variables Retained Example 1 EXIT End the program ...

Page 163: ...t generate in accordance with the status of the specified program Errors caused by other factors are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple EXPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running p...

Page 164: ...4 2 If an own task own program is specified in an ABPG command the own task will be terminated and then deleted The output will turn OFF When multiple ABPG programs are specified both operands 1 and 2 are specified No program number error 3 Registered program exists inside the specified range 4 Status of the specified program Running program exists inside the specified range None of programs insid...

Page 165: ...s are excluded 1 Program number error indicates specification of a number smaller than 1 or exceeding 64 When multiple SSPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running program exists inside the specified range 4 None of programs inside the specified range are runn...

Page 166: ...am number error indicates specification of a number smaller than 1 or exceeding 64 When multiple RSPG programs are specified both operands 1 and 2 are specified No program number error 2 Registered program exists inside the specified range 3 Status of the specified program Running program exists inside the specified range 4 None of programs inside the specified range are running None of programs i...

Page 167: ...ified in operand 2 If the position data table contains no data to be loaded the position data display on the teaching pendant shows X XXX or position data display fields in the PC software are blank when the PGET command is executed no data will placed in variable 199 the PGET command will not be executed Example 1 PGET 2 3 Read to variable 199 the data of axis 2 at position 3 Example 2 LET 1 2 As...

Page 168: ...lue in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2 Example 1 LET 199 150 Assign 150 to variable 199 PPUT 2 3 Write the content of variable 199 150 to axis 2 at position 3 Example 2 LET 199 150 Assign 150 to variable 199 LET 1 2 Assign 2 to variable 1 LET 2 3 Assign 3 to variable 2 PPUT 1 2 Write the content of variable 199 150 to the content o...

Page 169: ...ugh the other specified in operand 2 When data is cleared the field no longer contains data which is different from the value of 0 000 The position data display on the teaching pendant changes to X XXX while position data fields in the PC software become blank Example 1 PCLR 10 20 Clear the data from position Nos 10 through 20 Example 2 LET 1 10 Assign 10 to variable 1 LET 2 20 Assign 20 to variab...

Page 170: ...nal PCPY Position number Position number CP Function Copy the position data specified in operand 2 to the position number specified in operand 1 Example 1 PCPY 20 10 Copy the data of position No 10 to position No 20 Example 2 LET 1 20 Assign 20 to variable 1 LET 2 10 Assign 10 to variable 2 PCPY 1 2 Copy the data of the content of variable 2 position 10 to the content of variable 1 position 20 ...

Page 171: ... in operand 1 to the position specified in operand 2 Example 1 PRED 11 10 Read the current positions of axes 1 and 2 to position No 10 Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary 3 decimal LET 1 3 Assign 3 to variable 1 PRED 1 10 Example 3 LET 1 10 Assign 10 to variable...

Page 172: ...t flag Optional Optional PRDQ Axis number Variable number CP Function Read the current position of the axis number specified in operand 1 to the variable specified in operand 2 The current position can be obtained more quickly than when a PRED command is used The current position of a synchronized slave axis can also be read Example PRDQ 2 100 Read the current position of axis 2 to variable 100 ...

Page 173: ...e are blank 0 is treated as valid data Example 1 PTST 11 10 300 Turn ON output 300 if there are no valid values of axes 1 and 2 at position 10 Output 300 will turn OFF if the position data is given as follows Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variable 11 binary 3 decimal LET 1 3...

Page 174: ...cified in operand 1 to the position number specified in operand 2 Note If a negative value is written with a PVEL command an alarm will generate when that position is specified in a movement operation etc Exercise caution Example 1 PVEL 100 10 Write speed 100 mm s to position No 10 Example 2 LET 1 100 Assign 100 to variable 1 LET 2 10 Assign 10 to variable 2 PVEL 1 2 Write the content of variable ...

Page 175: ...Write the acceleration specified in operand 1 to the position number specified in operand 2 Note Range check is not performed for a PACC command Be careful not to exceed the limit set for each actuator Example 1 PACC 0 3 10 Write acceleration 0 3 G to position No 10 Example 2 LET 100 0 3 Assign 0 3 to variable 100 LET 2 10 Assign 10 to variable 2 PACC 100 2 Write the content of variable 100 accele...

Page 176: ... Operand 2 Output Output flag Optional Optional PDCL Deceleration Position number CP Function Assign the deceleration data specified in operand 1 to the deceleration item in the position data specified in operand 2 The deceleration is set in G and may include up to two decimal places Example 1 PDCL 0 3 3 Assign 0 3 to the deceleration data at position No 3 ...

Page 177: ...t position 99 to variable 1 If the position is given as follows 1 binary 01 will be read to variable 1 Example 2 LET 1 3 Assign 3 to variable 1 LET 2 101 Assign 101 to variable 2 PAXS 1 2 Read the axis pattern at the content of variable 2 position 101 to the content of variable 1 variable 3 If the point is given as follows 3 binary 11 will be stored in variable 3 The table below shows different po...

Page 178: ...meter setting When Other parameter No 23 PSIZ function type 0 The maximum number of position data that can be stored in the controller will be set Regardless of whether the data are used or not When Other parameter No 23 PSIZ function type 1 The number of point data used will be set Example PSIZ 1 When Other parameter No 23 PSIZ function type 0 The maximum number of position data that can be store...

Page 179: ...mber CP Function Obtain speed data from the speed item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GVEL 100 10 Set the speed data at position No 10 in variable 100 Position Data Display in PC Software No Axis 1 Axis 2 Vel Acc Dcl 1 2 10 50 000 100 000 200 0 30 0 30 If the position data is set as above when the command is executed 200...

Page 180: ... Function Obtain acceleration data from the acceleration item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GACC 100 10 Set the acceleration data at position No 10 in variable 100 Position Data Display in PC Software No Axis 1 Axis 2 Vel Acc Dcl 1 2 10 50 000 100 000 200 0 30 0 30 If the position data is set as above when the command i...

Page 181: ... Function Obtain deceleration data from the deceleration item in the position data specified in operand 2 and set the value in the variable specified in operand 1 Example GDCL 100 10 Set the deceleration data at position No 10 in variable 100 Position Data Display in PC Software No Axis 1 Axis 2 Vel Acc Dcl 1 2 10 50 000 100 000 200 0 30 0 30 If the position data is set as above when the command i...

Page 182: ...operand 1 The unit is mm s The maximum speed will vary depending on the model of the actuator connected Set a speed not exceeding the applicable maximum speed Note 1 Decimal places cannot be used An error will generate Note 2 The minimum speed is 1 mm s Example 1 VEL 100 Set the speed to 100 mm s MOVP 1 Move to point 1 at 100 mm s Example 2 VEL 500 Set the speed to 500 mm s MOVP 2 Move to point 2 ...

Page 183: ...mit speed that can be generated Travel distance per encoder pulse mm pulse time msec Smoothness of actual operation cannot be guaranteed Movement must be checked on the actual machine Calculation formula of travel distance per encoder pulse Rotary encoder Travel distance per encoder pulse mm pulse Screw lead 0 001 mm x Gear ratio numerator Encoder resolution pulses rev x Gear ratio denominator 2 E...

Page 184: ...ing on the load and model of the actuator connected The acceleration is set in G and may include up to two decimal places Note If the position data contains no acceleration AND acceleration is not set by an ACC command the actuator will move based on the default value set in All axis parameter No 11 Default acceleration Example 1 ACC 0 3 Set the acceleration to 0 3 G Note Setting an acceleration e...

Page 185: ...of the actuator connected The deceleration is set in G and may include up to two decimal places Note If the position data contains no deceleration AND deceleration is not set by a DCL command the actuator will move based on the default value set in All axis parameter No 12 Default deceleration A DCL command cannot be used with CIR and ARC commands Example DCL 0 3 Set the deceleration to 0 3 G Note...

Page 186: ...Function Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1 The ratio is set as an integer in a range from 0 to 50 a b X 100 If the ratio is not set using this command or 0 is set a trapezoid motion will be implemented A SCRV command can be used with the following commands MOVP MOVL MVPI MVLI JBWF JBWN JFWF JFWN MOVD MVDI Example 1 SCRV 30 Set the sigmoid m...

Page 187: ... OFST command is processed with respect to soft axes before a BASE shift Note An OFST command cannot be used outside the applicable program To use OFST in multiple programs the command must be executed in each program An OFST command cannot be used with MVPI MVLI and MVDI commands Example 1 OFST 10 50 Add 50 mm to the specified position of axis 2 OFST 10 0 Return the offset of axis 2 to 0 Example ...

Page 188: ... will be divided by the angle set here to calculate the passing points The angle is set in a range from 0 to 120 degrees If the angle is set to 0 an appropriate division angle will be calculated automatically so that the actuator will operate at the set speed maximum 180 degrees The angle is set in degrees and may include up to one decimal place Note If a CIR or ARC command is executed without set...

Page 189: ...ally based on the axis number specified in operand 1 being the first axis A BASE command can be used with PRED PRDQ AXST actuator control and zone commands Note that each zone range is assigned to the actuator via parameter Example 1 HOME 1 Axis 1 returns to the home BASE 2 Axis 2 is considered the first axis HOME 1 Axis 2 returns to the home Example 2 LET 1 2 Assign 2 to variable 1 BASE 1 The con...

Page 190: ...s are run simultaneously assigning axes will allow the same position data to be used effectively among the programs A GRP command can be used with operand axis pattern specification commands excluding an OFST command as well as with servo operation commands using position data A GRP command is processed with respect to soft axes before a BASE shift Example 1 GRP 10 Data of axis 2 becomes valid Exa...

Page 191: ... will generate an Error No C66 Axis duplication error If the servo of that axis was ON prior to the HOLD stop the system will automatically turn on the servo when the HOLD is cancelled Therefore do not issue a servo ON command to any axis currently stopped via a HOLD servo OFF If any axis currently stopped via a HOLD servo OFF is moved by external force etc from the stopped position and when the s...

Page 192: ...tion will become invalid A CANC type can be specified in operand 2 CANC type 0 Contact a Deceleration stop 1 Contact b Deceleration stop The CANC type is set to 0 contact a when the program is started If nothing is specified in operand 2 the current CANC type will be used Note 1 The input port or global flag specified by a CANC command will only abort the axes used in the task program in which the...

Page 193: ...s specific parameter No 29 VLMX speed as the travel speed Note If the VLMX speed is specified in a continuous position travel command PATH PSPL the target speed to each position will become a composite VLMX speed not exceeding the maximum speed of each axis set in Axis specific parameter No 28 Maximum operating speed of each axis To make the target speed constant a desired speed must be expressly ...

Page 194: ...ecuted a passing point will be calculated at each distance set here and the calculated passing points will be used as interpolation points If the distance is set to 0 an appropriate division distance will be calculated automatically so that the actuator will operate at the set speed The distance is input in mm Note If a PSPL command is executed without setting a distance with a DIS command the def...

Page 195: ...specified in the output field will be incremented and turned ON when each specified position approaches At the last position however the output will turn ON upon completion of operation This setting provides a rough guide for output in sequence control Note 1 The default value of POTP before it is set is 0 Note 2 If POTP 1 and there is no valid data at the specified position the output number will...

Page 196: ...ch distance specified in operand 1 may contain up to three decimal places while the speed specified in operand 2 cannot contain any decimal place Example PAPR 100 30 Set the push motion approach distance in a PUSH command to 100 mm and the push motion approach speed to 30 mm sec MOVP 2 Move to position No 2 PUSH 10 Perform push motion operation from position No 2 to position No 10 Note The push mo...

Page 197: ...e positioning band set by a PBND command will not be cancelled Note 2 If a given axis is used even once in the quick return mode the program will not release the right to use the axis until the QRTN is set to 0 normal mode or the program ends Any attempt to use the axis from other program will generate an Error No C66 Axis duplication error Note 3 Following a return from a normal deceleration comm...

Page 198: ...unction Turn ON OFF the servos of the axes specified by the axis pattern in operand 1 SV ON Turn ON the servo OF Turn OFF the servo Example 1 SVON 11 Turn ON the servos of axes 1 and 2 Nothing will occur if the axis servos are already ON Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based on indirect specification using a variabl...

Page 199: ...an output function specification value of 12 All valid axed home 0 output or 14 All valid axes preset home coordinate output is stored in the I O parameter Output function setting nnn use a MOVP command not a HOME command when moving each absolute encoder axis for the purpose of turning ON the applicable output If the operation is stopped or cancelled while a HOME command is being executed for an ...

Page 200: ...the position corresponding to position No 1 200 100 Example 2 VEL 100 Set the speed to 100 mm s LET 1 2 Assign 2 to variable 1 MOVP 1 Move the axes to the position corresponding to the content of variable 1 position No 2 or 100 100 Position Data Display in PC Software No Axis 1 X axis Axis 2 Y axis Vel Acc Dcl 1 200 000 100 000 2 100 000 100 000 Note If acceleration and deceleration are not specif...

Page 201: ...0 with interpolation Example 2 VEL 100 Set the speed to 100 mm s LET 1 2 Assign 2 to variable 1 MOVL 1 Move the axes to the position corresponding to the content of variable 1 position No 2 or 100 100 with interpolation Position Data Display in PC Software No Axis 1 X axis Axis 2 Y axis Vel Acc Dcl 1 200 000 100 000 2 100 000 100 000 Note If acceleration and deceleration are not specified by posit...

Page 202: ...eleration and deceleration are not specified by position data or ACC DCL commands the actuator operates at the default values set in all axis parameter No 11 Default acceleration and all axis parameter No 12 Default deceleration Travel path from 50 50 by the travel distance corresponding to position No 1 150 100 Note If the specified travel distance is equal to or less than the travel distance per...

Page 203: ...eleration and deceleration are not specified by position data or ACC DCL commands the actuator operates at the default values set in all axis parameter No 11 Default acceleration and all axis parameter No 12 Default deceleration Travel path from 50 50 by the travel distance corresponding to position No 1 150 100 Note If the specified travel distance is equal to or less than the travel distance per...

Page 204: ...the axis pattern in operand 2 to the target position corresponding to the value specified in operand 1 If operand 2 is not specified all axes will be moved The output will turn OFF at the start of axis movement and turn ON when the movement is complete The target position is set in mm and the set value is valid to the third decimal place Example 1 MOVD 100 10 Move axis 2 to position 100 Example 2 ...

Page 205: ... may not move Calculation formula of travel distance per encoder pulse Rotary encoder Travel distance per encoder pulse mm pulse Screw lead 0 001 mm x Gear ratio numerator Encoder resolution pulses rev x Gear ratio denominator 2 Encoder division ratio Linear encoder Travel distance per encoder pulse mm pulse Encoder resolution 0 001 m pulse x 1000 2 Encoder division ratio Reference Use the values ...

Page 206: ...d current position upon execution of the applicable command Inputting a point number corresponding to the predicted current position will trigger movement to the same point during continuous movement thereby causing the speed to drop Note 2 Continuous movement is possible even when the positions are discontinuous As shown in the example specify the number corresponding to the discontinuous positio...

Page 207: ...approx 10 m and 10 m A positioning command other than the above where the coordinate range of approx 9990 to 9990 is exceeded will generate an Error No CBE Target data boundary over error Executing a positioning command other than the above where the coordinate range of approx 9990 to 9990 is exceeded will result in an Error No CC5 Positioning boundary pull out error These errors generate because ...

Page 208: ...ot wait for stopping to complete Issuing other servo commands to a decelerating axis will either become invalid or generate an axis duplication error etc Set a timer etc in the program so that the next servo command will be issued after a sufficient deceleration stop processing time elapses Even when a STOP command is to be issued to an axis currently stopped provide a minimum interval of 0 1 seco...

Page 209: ...nd position numbers that position number will be skipped during continuous movement The above diagram is only an example Note If the acceleration and deceleration are different between points the speeds will not be connected smoothly In this case input in operand 1 the point number of the next target instead of the predicted current position upon execution of the applicable command Inputting a poi...

Page 210: ...y a PAPR command If the output field is specified the output will turn ON when a contact is confirmed and turn OFF when a missed contact is detected The push force can be adjusted using Driver parameter No 38 Push torque limit at positioning default value 70 Note 1 A PUSH command only moves a single axis If multiple axes are specified an Error No C91 Multiple push axes specification error will gen...

Page 211: ...orm push motion movement from position Nos 2 to 10 The diagram below describes a push motion movement based on the position data shown in the table below Position Data Display in PC Software Position No Axis 1 Axis 2 Vel Acc Dcl 1 2 50 000 100 000 10 200 000 200 0 30 0 30 Move at 200 mm sec Axis 2 Position No 2 Perform push motion approach operation speed 20 mm sec Axis 1 50 100 200 Position No 10...

Page 212: ...ding a system using the PTRQ command in every program explicitly specify a push torque limit using a PTRQ command before each push motion operation Assuming that the push torque limit will be reset to the original value when push motion operation ends in one program can cause an unexpected problem in another program because a different push torque limit will be used if the program is aborted due t...

Page 213: ...es Priority Speed Acceleration deceleration 1 Setting value in the position data specified in operand 1 Setting value in the position data specified in operand 1 2 Setting value by VEL command Setting value by ACC DCL command 3 Default acceleration in all axis parameter No 11 Default deceleration in all axis parameter No 12 If speed is not set a C88 speed specification error will generate If accel...

Page 214: ...ue in the position data specified in operand 1 2 Setting value by VEL command Setting value by ACC DCL command 3 Default acceleration in all axis parameter No 11 Default deceleration in all axis parameter No 12 If speed is not set a C88 speed specification error will generate If acceleration deceleration is not valid a C89 acceleration deceleration specification error will generate Note This comma...

Page 215: ...d change processing so caution must also be exercised against the locus shift Program 1 Program 2 VEL 300 CHVL 11 100 PATH 1 5 If CHVL is executed in program 1 while PATH is executed in program 2 or specifically during the PATH movement from point No 2 to point No 3 the speed specified by CHVL 100 mm sec in the above example will become valid only during the PATH movement to point No 3 Other trave...

Page 216: ...wo axes are combined and so on Perform test operation to check the rotating direction The center angle is set in degrees and may include up to three decimal places The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting value in the position data specified in operand 1 Setting value in the position data specified in ope...

Page 217: ...led how the two axes are combined and so on Perform test operation to check the rotating direction The center angle is set in degrees and may include up to three decimal places The speed and acceleration will take valid values based on the following priorities Priority Speed Acceleration deceleration 1 Setting value in the position data specified in operand 1 Setting value in the position data spe...

Page 218: ...s specific parameter No 58 Positioning band will be used Note 2 If the positioning band is changed the new setting will remain valid even after the program ends Therefore to build a system using PBND commands a positioning band must be expressly specified with a PBND command before operation of each program An assumption that the positioning band will be reset to the original value when the operat...

Page 219: ...n angle is set to a value other than 0 with a DEG command normal division angle the speed specified in the target position data will be used The speed set by a VEL command will become valid if position data is not specified In the case of circular movement the axes will return from passing position 2 to the start position at the speed declared by a VEL command Therefore a VEL command must always b...

Page 220: ...no meaning Note 2 If the division angle is set to a value other than 0 with a DEG command normal division angle the speed specified in the target position data will be used The speed set by a VEL command will become valid if position data is not specified Note 3 The acceleration is selected in the order of the acceleration in the data at passing position 1 the value set by an ACC command and the v...

Page 221: ...mmand is not executed the program will proceed to the step next to the corresponding EDIF A maximum of 15 nests are supported when IS and DW are combined IF EQ Operand 1 Operand 2 NE Operand 1 Operand 2 GT Operand 1 Operand 2 GE Operand 1 Operand 2 LT Operand 1 Operand 2 LE Operand 1 Operand 2 Example 1 600 IFEQ 1 1 Select an axis IFGE 2 0 Select a moving direction JFWN 01 5 Move axis 1 forward EL...

Page 222: ...d and the IS command is not executed the program will proceed to the step next to the EDIF A maximum of 15 nests are supported when IF and DW are combined IS EQ Operand 1 Operand 2 NE Operand 1 Operand 2 Example 1 SCPY 10 GOFD Move forward SCPY 14 GOBK Move backward LET 1 5 LET 2 14 SLEN 4 Set the number of comparing characters to 4 600 ISEQ 1 1AXS Axis 1 Select an axis ISEQ 5 10 Select a moving d...

Page 223: ...ily in conjunction with an IF or IS command to declare the command part to be executed when the condition is not satisfied Example 1 Refer to the sections on IF and IS EDIF End IF Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDIF Prohibited Prohibited CP Function Declare the end of an ...

Page 224: ...pported when IF and IS are combined DW EQ Operand 1 Operand 2 NE Operand 1 Operand 2 GT Operand 1 Operand 2 GE Operand 1 Operand 2 LT Operand 1 Operand 2 LE Operand 1 Operand 2 Example 1 008 DWEQ 1 0 Repeat the command up to an EDDO command while variable 1 contains 0 EDDO If DW is specified at the start and input 8 is OFF nothing will occur and the program will proceed to the step next to EDDO No...

Page 225: ...O command while variable 1 contains 0 600 ITER Forcibly switch the control to an EDDO command and perform end judgment if flag 600 is ON EDDO EDDO End DO WHILE Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDDO Prohibited Prohibited CP Function Declare the end of a loop that began with ...

Page 226: ...ditions are satisfied A SLCT command must be followed by a WH WS or EDSL command A maximum of 15 nests are supported Note Using a GOTO command to branch out of or into a SLCT EDSL syntax is prohibited Example 1 SCPY 1 Right Assign right to columns 1 and 2 600 SLCT Jump to a WXXX whose condition is satisfied WSEQ 1 Right If right is stored in columns 1 and 2 this command will be executed WSEQ 1 Lef...

Page 227: ...variable 1 LET 2 10 Assign 10 to variable 2 SLCT Execute multi branching WHEQ 1 10 1 1 will be executed if the content of variable 1 is 10 Since variable 1 contains 20 however the next condition will be referenced WHGT 1 2 This command will be executed if the content of variable 1 is greater than the content of variable 2 2 Since variable 1 20 variable 2 10 2 will be executed OTHE 3 This command w...

Page 228: ...EN 3 Set the number of comparing characters to 3 SCPY 1 ABC Assign ABC to column 1 LET 1 2 Assign 2 to variable 1 SLCT Execute multi branching WSEQ 1 XYZ 1 1 will be executed if columns 1 to 3 contain XYZ Since columns 1 to 3 contain ABC however this command will not be executed WSEQ 2 1 2 2 will be executed if the content of the number of characters specified by SLEN after column 2 is the same as...

Page 229: ...een SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied Example 1 Refer to the sections on SLCT WH and WS EDSL End selected group Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited EDSL Prohibited Prohibited CP Function Declare the end of a ...

Page 230: ...1 the status axis error number of the axis specified in operand 2 Note 1 If the obtained result is 0 it means no axis error is present Note 2 Since the error lists are written in hexadecimals they must be converted to decimals Example AXST 1 2 Read the error number for axis 2 to variable 1 If 3188 decimal is stored in variable 1 after the execution of this command 3188 16 199 4 199 16 12 C 7 3188 ...

Page 231: ...ore in the variable specified in operand 1 the status program error number of the program specified in operand 2 Note 1 If the obtained result is 0 it means no program error is present Note 2 Although the error lists are written in hexadecimals the status to be stored program error number is a decimal Therefore the decimal program error numbers must be converted to hexadecimals Example PGST 1 2 Re...

Page 232: ...or number in the variable specified in operand 1 Note 1 If the obtained result is 0 it means no system error is present Note 2 Since the error lists are written in hexadecimals they must be converted to decimals Note 3 Relationship of error statuses System errors Program errors Axis errors Other errors An axis error that generates during operation with a program command will be registered both as ...

Page 233: ...ne output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example 1 WZNA 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 and 2 becomes ON inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased b...

Page 234: ... output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example 1 WZNO 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 or 2 becomes ON inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased base...

Page 235: ...output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example WZFA 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 and 2 becomes OFF inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased based...

Page 236: ...e output can be specified using Axis specific parameter Nos 88 91 94 and 97 irrespective of this command Example 1 WZFO 1 11 If the parameters are set as follows the program will wait until the zone status of axes 1 or 2 becomes OFF inside the shaded area shown in the diagram below Example 2 The axis pattern can be specified indirectly using a variable When the command in Example 1 is rephrased ba...

Page 237: ...et an end character Example SCHA 10 OPEN 0 Specify 10 LF as the end character Open channel 0 Note If OPEN 0 is executed communication with the teaching pendant or PC software will be cut off CLOS Close channel Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional CLOS Channel number Prohibited CP F...

Page 238: ...Example SCHA 10 Set LF 10 as the end character OPEN 0 Open channel 0 READ 0 2 Read a character string from channel 0 to column 2 until LF is received TRAN 1 99 Assign the return code variable 99 to variable 1 CLOS 0 Close the channel SLCT The processing flow branches out in accordance with each return code Note Using a GOTO command to branch out of an SLCT EDSL syntax or to other branch processing...

Page 239: ...r Receive disabled 4 READ SCIF receive error framing error or parity error Receive disabled 5 READ factor error program abort error Receive disabled Cannot be recognized by SEL commands 6 READ task ended program end request etc Receive disabled Cannot be recognized by SEL commands 7 READ SCIF receive error due to other factor Receive disabled 8 READ SIO overrun error Receive disabled 9 READ SIO pa...

Page 240: ...up to two decimal places A variable can be specified indirectly in operand 1 Note TMRW is set to 0 in the default condition before TMRW setting is performed Example SCHA 10 Set LF 10 as the end character TMRW 30 Set the READ timeout value to 30 seconds OPEN 0 Open channel 0 READ 0 2 Read the character string from channel 0 to column 2 until LF is read TRAN 1 99 Assign the return code to variable 1...

Page 241: ...ithin 30 seconds Variable No 1 0 Timeout occurs Variable No 1 1 The return code of READ command may not be limited to 0 or 1 The variable to store the return code can be set in Other parameter No 24 Refer to the explanation of READ command for details ...

Page 242: ...nce the channel has been opened a WRIT command can be executed data can be sent for other tasks besides the one that opened the channel Accordingly if a READ command is executed for a channel opening task and then a WRIT command is executed for other task the response from the other side can be received without delay after the applicable data is sent from the SSEL The return code is stored in a lo...

Page 243: ...flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional SCHA Character code Prohibited CP Function Set the end character to be used by a READ or WRIT command Any character from 0 to 255 character code used in BASIC etc can be specified Example Refer to the sections on READ and WRIT commands ...

Page 244: ...mn number character literal CC Function Copy the character string in the column specified in operand 2 to the column specified in operand 1 Copy will be performed for the length set by a SLEN command If a character literal is specified in operand 2 copy will be performed for the entire length of the literal Example SCPY 1 ABC Copy ABC to column 1 SLEN 10 Set the copying length to 10 bytes SCPY 100...

Page 245: ...nction Compare the column specified in operand 1 with the column specified in operand 2 Comparison will be performed for the length set by a SLEN command If a character literal is specified in operand 2 comparison will be performed for the entire length of the literal Example SCMP 1 ABC 600 Flag 600 will turn ON if columns 1 to 3 contain ABC SLEN 5 Set the comparing length to five bytes SCMP 10 30...

Page 246: ...unction Assign one character from the column specified in operand 2 to the variable specified in operand 1 If a character string literal is specified in operand 2 the first character will be assigned Example SGET 1 100 Assign one byte from column 100 to variable 1 LET 1 3 Assign 3 to variable 1 LET 2 1 Assign 1 to variable 2 SCPY 1 A Copy A to column 1 SGET 1 2 Assign A from the content of variabl...

Page 247: ... Operand 2 Output Output flag Optional Optional SPUT Column number Data CP Function Set the data specified in operand 2 in the column specified in operand 1 Example SPUT 5 10 Set 10 LF in column 5 LET 1 100 Assign 100 to variable 1 LET 2 50 Assign 50 to variable 2 SPUT 1 2 Set the content of variable 2 50 2 in the content of variable 1 column 100 ...

Page 248: ...ecified in operand 2 is a 10 digit integer including eight or more valid digits conversion of the values in the eighth and subsequent digits will not be guaranteed the values through the seventh digits will be converted properly Example SLEN 5 3 Set a length consisting of five integer digits and three decimal digits STR 1 123 The following values will be set in columns 1 to 9 1 2 3 4 5 6 7 8 9 1 2...

Page 249: ...rted within the length set by a SLEN command the output will turn ON Note If the data specified in operand 2 is a negative value eight columns will be required to covert the entire data Example SLEN 5 Set a format consisting of five integer digits STRH 1 255 The following values will be set in columns 1 to 5 1 2 3 4 5 F F LET 1 10 Assign 10 to variable 1 LET 102 987 6543 Assign 987 6543 to variabl...

Page 250: ... a character string literal is specified in operand 2 conversion will be performed for the entire length of the literal Note Keep the converting length to 18 characters or less Example SCPY 10 1234 Set 1234 in column 10 SLEN 4 Set the converting length to four bytes VAL 1 10 Assign 1234 which is a binary converted from 1234 in column 10 to variable 1 LET 1 100 Assign 100 to variable 1 LET 2 20 Ass...

Page 251: ... be converted with the decimal part being ignored If a character string literal is specified in operand 2 conversion will be performed for the entire length of the literal Note Keep the converting length to 8 characters or less Example SCPY 10 1234 Set 1234 in column 10 SLEN 4 Set the converting length to four bytes VALH 1 10 Assign 4660 which is a binary converted from hexadecimal 1234 in column ...

Page 252: ...r string length Prohibited CP Function Set the length to be processed by a string command This must always be set before using the following commands SCMP Decimal part is invalid SCPY Decimal part is invalid ISXX Decimal part is invalid WSXX Decimal part is invalid STRH Decimal part is invalid VAL VALH Decimal part is invalid STR Decimal part is valid Example Refer to the examples of the above com...

Page 253: ...or the composite section from ascent to horizontal movement or from horizontal movement to descent Be careful not to cause interference The arch motion Z axis coordinate of the end point will become the arch motion Z axis component of the point data specified in operand 1 if any plus the arch motion Z axis offset If there is no arch motion Z component the arch motion Z axis coordinate of the end p...

Page 254: ...nt to improve the efficiency of movement The table below shows a program and data to cause the actuator to perform arch motion operation by moving back and forth along the above path Z point Palletizing start point Arch trigger point Palletizing start point Arch trigger point Start point End point Start point End point Position No 21 Position No 20 Speed 200 mm sec Arch motion Z axis Axis 2 Arch t...

Page 255: ...Operand 1 Operand 2 Output Output flag Optional Optional ACHZ Axis number Prohibited CP Specify the axis number representing the arch motion Z direction The axis number specified in operand 1 will be set as the axis number representing the arch motion Z direction If the output field is specified the output will turn ON after this command is executed ...

Page 256: ... trigger and set the arch motion Z axis position data in the point data specified in operand 2 as the end point arch trigger ATRG 13 11 Refer to Palletizing Setting Arch triggers under How to Use For an arch motion operation set it so that a horizontal movement will begin when the start point arch trigger is reached during ascent from the start point and that the end point arch trigger will be rea...

Page 257: ...e arch motion Z axis direction The value specified in operand 1 will be set as the offset in the arch motion Z axis direction The offset amount is set in mm and the effective resolution is 0 001 mm A negative value can also be specified as the offset as long as the operation range will not be exceeded This offset is valid only at the end point of ARCH arch motion operation If the output field is s...

Page 258: ...DPA command and then execute a BGPA command again If the output field is specified the output will turn ON after this command is executed Palletizing numbers are in the local range Therefore a given palletizing setting is valid only within the program in which it is set Note Using a GOTO command to branch out of or into a BGPA EDPA syntax is prohibited EDPA Declare end of palletizing setting Comma...

Page 259: ...is not enabled an error will generate If the output field is specified the output will turn ON after this command is executed PAPN Set palletizing pattern Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PAPN Pattern number Prohibited CP Set a palletizing pattern The palletizing pattern specif...

Page 260: ...uires high precision If this command is executed before BGPA is declared while palletizing setting is not enabled an error will generate If the output field is specified the output will turn ON after this command is executed PAPT Set palletizing pitches Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional ...

Page 261: ...position number setting for storing reference point data will become invalid This command is used in conjunction with PASE and PAPT If this command is not set coordinates 0 0 are used as the reference point If this command is set the set coordinates are used as the reference point in calculating the position coordinates of palletizing points Coordinates in both the PX and PY axis directions must a...

Page 262: ...sition data for the end point should be stored in position No n 3 In operand 2 specify the applicable palletizing position setting type Palletizing position setting type If operand 2 is 0 or blank 3 point teaching will be specified As shown in Fig 1 a palletizing positions will be set on the quadrilateral pallet plane determined by the three points including the start point end point in the PX axi...

Page 263: ...ng a GRP command thereafter with a different setting will have no effect If there are not enough valid axes an error CAE Insufficient valid axes for palletizing 3 point teaching data will generate This command cannot be used with a PASE set palletizing axes command Whichever was set later will be given priority A single PAPS command can substitute a set of PASE PAPT and PAST commands If this comma...

Page 264: ...for even numbered rows will become the same as the count for odd numbered rows If a setting is performed by 3 point teaching with PAPS set palletizing points the PX and PY axes need not be parallel with the physical axes In this case the offset will apply in parallel with the PX axis If the offset is a positive value the absolute value of offset will be applied toward the end point direction of th...

Page 265: ...s command is executed PINC Increment palletizing position number by 1 Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PINC Palletizing number Prohibited CC Increment by 1 the palletizing position number for the palletizing number specified in operand 1 If the incremented value is considered n...

Page 266: ...utput will turn ON when the value was successfully decremented and turn OFF if the decrement failed PSET Set palletizing position number directly Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PSET Palletizing number Data CC Set the value specified in operand 2 as the palletizing position nu...

Page 267: ...two valid axes associated with the point data an error CBA Reference axis PX PY axis mismatch error at palletizing angle acquisition will generate If the reference point data is the same as the point data at the PX axis end point in 3 point teaching an error Reference point PX axis end point duplication error at palletizing angle acquisition will generate and angle calculation will be disabled The...

Page 268: ...B Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PMVP Palletizing number Prohibited PE Move to the calculated palletizing points via PTP The axes will move to the palletizing points specified in operand 1 via PTP Executing this command will not increment the palletizing position number by 1 ...

Page 269: ...flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional PMVL Palletizing number Prohibited PE Move to the calculated palletizing points via interpolation The axes will move to the palletizing points specified in operand 1 via interpolation Executing this command will not increment the palletizing position number by 1 ...

Page 270: ...r HIGH will require a TSLP command explained below Without TSLP tasks of the User NORMAL level will not be processed TPCD Specify processing to be performed when input condition is not specified Command declaration Extension condition LD A O AB OB Input condition I O flag Command declaration Operand 1 Operand 2 Output Output flag Prohibited Prohibited TPCD 0 or 1 Prohibited CP Function Specify the...

Page 271: ...ill sleep in order to distribute the processing time to other tasks If the task level is set to User HIGH this command must always be specified The applicable task will sleep during the set time The time in operand 1 is set in msec An appropriate time setting must be examined on the actual system Normally approx 1 to 3 is set If the ladder statement becomes long state this command multiple times b...

Page 272: ...tional ECMD 1 Axis number CC Function Store the motor current value percentage of the rated current corresponding to the axis number specified in operand 2 in variable 99 Note The current value data percentage of the rated current obtained by this command has been processed by feedback current filtering and includes analog error Example ECMD 1 2 Extended command 1 Store the motor current value per...

Page 273: ...ed in operand 2 C44 SEL data error will generate Example ECMD 5 2 Store the status of axis 2 in variable 99 If 28 decimal value was stored in variable 99 after the command was executed the status of axis 2 is interpreted as follows Variable 99 Servo axis in use 0 Not in use 1 In use Home return 00 Not yet complete 01 In progress 10 Complete Servo ON OFF 0 OFF 1 ON Successful execution of movement ...

Page 274: ...Device number axis number 0 0 1 2 1 2 1 2 0 7 0 Parameter number 1 300 1 120 1 200 1 97 1 30 1 82 1 100 Specify an integer variable in operand 2 integer variables 98 99 298 299 1098 1099 1298 and 1299 cannot be specified because three consecutive integer variables cannot be allocated if any of these integer variables is specified If a variable of non integer type is specified C3C Variable number e...

Page 275: ...mber and end position number in the PATH command In the example the passing position is position No 6 The actuator moves continuously in the sequence of position Nos 1 2 3 4 6 9 10 PATH 1 4 ARC2 6 6 discontinuous position PATH 9 10 3 Continuous movement will not be achieved if an input condition is specified for any continuous movement command PATH 1 5 20 ARC2 6 7 PATH 8 12 4 The output field of e...

Page 276: ...ion is complete 5 When executing continuous movement commands sequentially the controller is calculating approx 100 positions ahead This is why the steps are displayed continuously on the PC screen or teaching pendant screen regardless of the actual operation The last step in the continuous operation section executed by continuous movement commands will wait for the applicable operation to complet...

Page 277: ...ause the speed to drop CIR2 ARC2 ARCD and ARCC commands actually perform arc interpolation 4 CIR2 ARC2 ARCD ARCC Commands With a CIR2 ARC2 ARCD or ARCC command the speed can be changed only in the arc interpolation section by inputting a speed for the point specified in operand 1 These commands are effective when you must lower the speed partially because the radius is small and the arc locus cann...

Page 278: ...alculation commands 3 Palletizing movement Execute motion using palletizing movement commands 2 Palletizing Setting Use the palletizing setting commands to set items necessary for palletizing operation The setting items include the following 1 Palletizing number setting Command BGPA At the beginning of a palletizing setting determine a palletizing number using a BGPA command to declare the start o...

Page 279: ...ing counts Command PAPI Set the palletizing counts PAPI 3 4 Count for preferential axis PX axis 3 Count for PY axis 4 4 Palletizing position setting Palletizing position setting is performed mainly by method A or B as explained below Set the palletizing positions for each palletizing setting based on method A or B Setting method Commands A 3 point teaching method Set three position data points spe...

Page 280: ...tion data fields When three points are taught from position No 11 Position No 11 1 Start point First palletizing position Position No 12 3 Palletizing position corresponding to the end point in the PX axis direction Position No 13 10 Palletizing position corresponding to the end point in the PY axis direction The encircled numbers indicate palletizing position numbers palletizing order Use a PAPS ...

Page 281: ...ting the PY axis direction to be used in palletizing An actuator axis number parallel with the preferential axis PX axis and another perpendicular to the preferential axis PAST 100 Teach position data No 100 as the start point PAPT 45 30 The PX axis direction pitch is 45 mm and the PY axis direction pitch is 30 mm PASE 2 1 See two axes for PX axis and one axis for PY axis Note When the above palle...

Page 282: ...l axis direction which will be applied when even numbered rows are placed Even numbered rows refer to the rows occurring at the even numbers based on the row placed first representing the first row Zigzag count Number in the even numbered rows Two in the diagram below PSLI 35 2 Preferential axis PX axis Offset Odd numbered row PY axis Even numbered row ...

Page 283: ...diately next to the start point in the PX axis direction 2 Palletizing angle Command PARG This is the angle formed by the physical axis actuator and the preferential palletizing axis PX axis in the figure below In the figure below will become a negative value if axis 1 is used as the reference for angle calculation Fig 4 With SSEL commands executing a get palletizing angle command following a pall...

Page 284: ...alletizing point are calculated and movement is performed using the calculated point as the end point The axes will move to the palletizing point of the palletizing position number specified in the executed command Two actuator axes will be required to comprise a two dimensional plane PMVP Move from the current position to a palletizing point via PTP PMVL Move from the current position to a pallet...

Page 285: ...oordinates Position No 3 152 71 Reference point Position No 2 70 70 Picking position Position No 1 Start of palletizing No 1 setting Palletizing count 3 x 7 3 point teaching setting Zigzag offset 20 mm End of palletizing No 1 setting PTP movement through palletizing points PTP movement to pickup position Palletizing position number 1 Back to beginning of loop if PINC is successful Speed 200 mm sec...

Page 286: ...on No 10 Start of palletizing No 2 setting Palletizing count 4 x 5 PX axis Axis 1 PY axis Axis 2 Pitch X 20 Y 15 Position No 11 Reference point Zigzag offset 10 mm End of palletizing No 2 setting PTP movement through palletizing points PTP movement to pickup position Palletizing position number 1 Back to beginning of loop if PINC is successful Speed 200 mm sec Movement to pickup position Setting o...

Page 287: ...expert engineers with a full knowledge of PLC software design 1 Basic Frame Extension condition N Input condition Command Operand 1 Operand 2 Output E Cnd Cmnd Pst LD 7001 CHPR 1 TPCD 1 TAG 1 l l l l l l l l l l l l l l l l l l l l l l l l LD 7001 TSLP 1 100 l l l l l l l l l l l l l l l l l l l l l l l l LD 7001 TSLP 1 100 LD 7001 GOTO 1 LD 7001 EXIT Virtual input 7001 Normally ON contact Ladder ...

Page 288: ...ladders using an interpreter Therefore the processing time is much longer than that of a dedicated commercial sequencer This system is not suitable for large scale ladder processing If an extension condition is not specified for steps in which an input condition is specified the steps will be treated as LD LOAD Always specify a normally ON contact for those steps that must be processed without fai...

Page 289: ...N Input condition Command Operand 1 Operand 2 Output E Cnd Cmnd Pst LD 7001 CHPR 1 TPCD 1 TAG 1 LD 8 A N 9 O 10 LD N 11 A 12 LD 13 A N 14 OB AB OUTR 314 A 15 TIMR 900 0 5 LD 7001 TSLP 3 LD 7001 GOTO 1 LD 7001 EXIT OUTR314 TIMR900 0 5 SEC 8 9 11 12 10 13 14 15 ...

Page 290: ... machine consisting of axis 1 and axis 2 actuators Pushbutton switches corresponding to the two axes are provided on an external operation switch box and these switches are used to move the actuators to a desired position to grab and pick up dolls inside the case Axis 2 Hand control unit Axis 1 Hand Load Axis 1 movement pushbutton switch Axis 2 movement pushbutton switch ...

Page 291: ...n external I O assignments and operation flow chart of this operation are shown below Operation Position I O Assignments Category I O No Signal name Specification 16 Axis 1 movement command Pushbutton switch 17 Axis 2 movement command Pushbutton switch Input 18 Hand operation completion External control unit Output 307 Hand start command 24 VDC X SEL Flag is not used Operation Flow Chart Operation...

Page 292: ... while axis 1 movement switch is ON 6 WTON 17 Wait for input from axis 2 movement switch 7 JFWN 10 17 Move forward while axis 2 movement switch is ON 8 BTON 307 Start command for external control unit turns ON 9 WTON 18 Wait for external control unit to complete operation 10 BTOF 307 Start command for external control unit turns OFF 11 JBWF 11 18 Axes 1 and 2 move backward while 18 is ON 12 GOTO 1...

Page 293: ...is a riveting system consisting of an XY table operated by axis 1 and axis 2 actuators and a riveter By setting a load on the XY table at the operation home and turning on the start switch rivets will be driven at the three points specified on the load Riveter Load XY table Axis 2 Axis 1 Operation box Body frame ...

Page 294: ...three points have been riveted the table will return to the operation home P1 The above operation will be repeated The operation position external I O assignments and operation flow chart of this operation are shown below Operation Position I O Assignments Category I O No Signal name Specification 16 Start command Pushbutton switch Input 17 Riveting completion Contact signal Output 307 Riveting co...

Page 295: ...ounter 6 BTOF 600 Clear completion flag 7 WTON 16 Wait for start command 8 TAG 2 9 MOVL 1 Move to load counter position 10 BTON 307 Riveting command turns ON 11 WTON 17 Wait for riveting to complete 12 BTOF 307 Riveting command turns OFF 13 ADD 1 1 Increment load counter by 1 14 CPEQ 1 5 600 Turns ON flag if operation is complete 15 N 600 GOTO 2 Jump to TAG2 if not complete 16 GOTO 1 Jump to TAG1 ...

Page 296: ...anguage is the only language used an efficient system can be designed The current version of SEL language represents a pioneering evolution of the widely proven programming language evidenced by higher performance features and advanced functions The latest version is also easier to use compared with the conventional SEL language General system Robot control unit Robot language If Then Else MOVP P1...

Page 297: ...s 1 and axis 2 actuators and a screw tightening machine up down air cylinder etc Operation Flow Although the flow chart is simple the movement of axis 1 and axis 2 actuators and the operation of the parts feeder must take place simultaneously This requires multi tasking operation Move Tighten screw Move XY Tighten screw Parts feeder prepares screws Parts feeder prepares screws Start Program 1 Move...

Page 298: ...ogram and outputs only where the condition is satisfied On the other hand a system consisting of a microcomputer and a real time operating system no longer uses parallel processing scan by always scanning the entire program but adopts an event driven method instead whereby the system operates only when an event occurs such as upon receipt of an input signal Since no extra scan is necessary the sys...

Page 299: ...d excluding I O processing programs operation when program is aborted Output ports local flags local variables Cleared Global flags global variables Retained If the peripherals are to be controlled by program create a management program beforehand and use the program to control the peripherals Alternatively start EXPG or abort ABPG other programs in accordance with the status of each general purpo...

Page 300: ...am 1 External start method Refer to Chapter 4 2 2 Standing via External Signal Selection in Part 1 2 Program method Single tasking Executing an EXIT command end program at the end of each program will end the program and cause the system to return to the condition immediately after the power is turned on However since the home position is retained another program can be started by an external star...

Page 301: ...ws at 30 mm pitches on axes 1 and 2 1 The actuators move to a screw tightening position 2 The Z axis air cylinder of the screw tightening machine comes down 3 The screw tightening machine starts operating 4 When the screw tightening is complete the Z axis air cylinder rises 5 The actuators move to the next position 2 The parts feeder operates in parallel with the above operation 1 The parts feeder...

Page 302: ...em consists of axis 1 and axis 2 actuators Z axis cylinder screw tightening device and parts feeder and tightens the screws fed by the parts feeder at the specified positions on the load Axis 1 Axis 2 Parts feeder Z axis cylinder Screw tightening device Load Operation box ...

Page 303: ...ral purpose input 9B 008 General purpose input 10A 009 General purpose input 10B 010 General purpose input 11A 011 General purpose input Screw tightening start 11B 012 General purpose input Screw tightening end 12A 013 General purpose input Z axis air cylinder top 12B 014 General purpose input Parts feeder all screws tightened 13A Input 015 General purpose input Screw tightening complete 13B 300 A...

Page 304: ... tightening pushbutton Move Z axis air cylinder down Start screw tightening Screw tightening complete Z axis air cylinder up 6 screws tightened Screw tightening complete Stop program 2 Stop parts feeder End YES YES NO NO Sub program Parts feeder Program 2 Screws short Parts feeder ON Screws fully loaded Parts feeder OFF 5 seconds on timer ...

Page 305: ...p screw tightening stopped 14 WTON 13 Check Z axis air cylinder top position 15 ADD 1 1 Increment screw counter by 1 16 CPEQ 1 7 900 Compare after tightening six screws 17 N900 GOTO 2 Go to next screw tightening cycle after tightening one screw 18 N17 GOTO 1 Restart screw tightening 19 ABPG 2 Stop program 2 20 BTOF 307 Stop parts feeder 21 EXIT End of program 1 Position program No X Y 1 30 30 2 60...

Page 306: ...sition of each axis for each position number Vel Set a speed The speed set in this field takes precedence over the speed specified in the program In other words the actuator uses the speed specified here when moving to the position specified for the corresponding position number Acc Set an acceleration The acceleration set in this field takes precedence over the acceleration specified in the progr...

Page 307: ...t to set a breakpoint Once a breakpoint has been set B is shown in the line Breakpoint A breakpoint is set in a step where you want to stop the program temporarily while the program is run from the PC software E Enter a desired extension condition A O LD AB or OB N Specify N to indicate negation of the input condition Cnd Enter an input condition Cmnd Enter a SEL command Operand 1 Enter operand 1 ...

Page 308: ...wchart Homing must be performed and a speed must be set before the actuator can be operated The actuator moves to the position data coordinates specified by the respective move commands With the absolute specification homing HOME command is not required Application program Position data Start Homing Set speed Move to P1 Move to P2 Move to P3 Move to P4 Move to P5 End of program ...

Page 309: ...he same operation within the program or to jump to a desired step if a condition is satisfied A TAG command can be written in a step either before or after a GOTO command Example of Use 1 Repeat the same operation Example of Use 2 Skip steps Repeated Steps to be repeated Jump Steps to be ignored ...

Page 310: ...between two points Flowchart The actuator moves back and forth between P1 and P2 indefinitely Use of only 1 axis is assumed Enter TAG in the first of the steps to be repeated and enter GOTO in the last of the steps to be repeated Application program Position data Start Homing Move to P1 Move to P2 ...

Page 311: ...points can be brought closer to the specified positions by increasing the acceleration Even if PATH 2 3 and PATH 3 4 are input successively the actuator will still move in the same way as when PATH 2 4 is input If PATH 4 1 is executed while the actuator is stopped at P4 the actuator will move along the same path in the opposite direction P4 P3 P2 P1 Continuous movement is possible even when the po...

Page 312: ...e position specified in the PATH command Example of Use 1 The actuator moves from P1 to P5 along the positions shown at right without stopping As the actuator approaches P2 output port 304 turns ON A declaration command to specify signal output during path movement 304 turns ON when the actuator approaches P2 specified in this step Outputs and flags can only be turned ON The output or flag that wa...

Page 313: ...To specify an arc specify the starting point passing point and end point Example of Use 1 Circle Specify CIR2 2 3 after the actuator has moved to P1 If CIR2 2 3 is specified in the figure shown at left the actuator will move along this circle clockwise To cause the actuator to move counterclockwise specify CIR2 3 2 Example of Use 2 Arc Specify ARC2 2 3 after the actuator has moved to P1 ...

Page 314: ... started It will turn OFF upon emergency stop etc but the ON status can be maintained using an I O parameter I O parameter Nos 70 and 71 Example of Use a Output a home return completion signal Execute homing General purpose output arbitrary b Use a home return completion signal to make sure the actuator will not perform homing if it has already been performed Execute homing if output 303 is OFF Ho...

Page 315: ...chart Example of Use The actuator waits until input port 10 turns ON and then moves to P1 The actuator waits until input port 11 turns ON and then moves to P2 A movement completion signal is output from 303 upon reaching P1 and from 304 upon reaching P2 Application program Start Input 10 Move to P1 Output 303 ON Input 11 Output 303 OFF Move to P2 Output 304 ON End of program ...

Page 316: ...m The actuator moves at 100 mm sec Position at 200 mm The actuator moves at 500 mm sec Position at 300 mm The actuator moves at 1000 mm sec Position at 400 mm The actuator moves at 50 mm sec If a speed is specified in the position data table this speed takes precedence over the speed specified in the application program as shown above In general speeds are set in the application program using VEL ...

Page 317: ...on volume changes in the middle Example of Use The actuator moves through linear sections a b and c at 50 mm sec 20 mm sec and 50 mm sec respectively without stopping PATH movement Position data Application program PATH 1 4 is the only movement command required Reference The speed can also be changed from other program using a CHVL speed change command in the multi tasking mode Application width S...

Page 318: ...bles among the programs Example of Use Program handshake Program A Program B Use of global flags with the above two programs permits handshake between the programs and the actuator moves per MOVL 1 in program A moves per MOVL 2 in program B and then move per MOVL 3 in program A for example Backup in Battery The SSEL controller has a built in battery for retaining variables and flags used in the pr...

Page 319: ... used in one program Up to 15 subroutine calls can be nested How to Use Declare call subroutines using the following commands EXSR Call a subroutine BGSR Declare the start of a subroutine start of a group of steps EDSR Declare the end of a subroutine end of a group of steps Example of Use Caution Jumping from within a subroutine to a TAG position outside the subroutine using a GOTO command is proh...

Page 320: ...e pause if general purpose input 15 turns ON Application You can specify a global flag instead of an input port in Operand 1 of the HOLD command Use of a global flag allows the actuator to be paused from other program The input signal pattern and stop action can be selected using Operand 2 0 Contact a Decelerates to a stop Same as when Operand 2 is not specified 1 Contact b Decelerates to a stop 2...

Page 321: ...l operation commands are cancelled sequentially while tasks other than operation commands such as I O processing and calculation processing are executed sequentially Caution Since execution of this command makes it no longer possible to specify which program step is currently executed it is recommended that a WTON command be used to create an input wait step Application A desired input signal patt...

Page 322: ...ator will continue its operation from MOVL 2 Example of Use 2 Main program Stop control program If STOP 10 is executed while MOVL 1 is being executed only the axis 2 part of MOVL 1 will be cancelled Both axes 1 and 2 will operate under MOVL 2 Caution If a STOP command is executed during a CP operation interpolation operation initiated by MOVL etc the operations of all axes will be cancelled regard...

Page 323: ...ent Output Port Description 303 Movement completion 1 Start input 2 Position specification 1 3 Position specification 2 4 Position specification 4 5 Position specification 8 6 Position specification 10 7 Position specification 20 8 Position specification 40 9 Position specification 80 10 Position specification 100 11 Position specification 200 12 Position specification 400 13 Position specificatio...

Page 324: ... four digits with the last digit indicating a decimal place The moving axis is axis 1 Example If a BCD of 1234 is received the axis will move to the position at 123 4 mm Note When using input port Nos 16 and 17 do so after changing them to general purpose inputs Flowchart Input assignment Output Port Description 303 Movement completion Start input Application program Start Initial setting Start in...

Page 325: ... processing a and perform processing b If input 10 turns OFF the actuator will perform processing a and then perform processing b Example of Use 2 The controller waits for an input signal to be received at input port 10 or 11 If an input signal is received at input 10 the actuator will perform processing a If an input signal is received at input 11 it will perform processing b If both inputs 10 an...

Page 326: ...oller cannot wait for multiple inputs Example of Use Inputs 10 and 11 are monitored and the actuator will proceed to the next step when either input is received OR logic Program a Program b As shown in the sample the controller waits for input without using a WTON command This method can also be used when multiple input conditions must be combined Input 10 Input 11 Next processing Both programs a ...

Page 327: ...sition or for other reasons An OFST command can also be used to perform pitch feed Refer to 24 Constant pitch Feed Caution Once an offset has been set the offset applies to all movement commands executed thereafter To cancel the offset execute an offset command again by specifying 0 mm An offset does not apply to other programs even in the multi tasking mode If a given offset must be applied to al...

Page 328: ... actuator moves back and forth between P1 and P2 ten times and then the program ends Use a CPEQ command to compare the number of times the movement has been actually repeated against 10 It is assumed that homing has been completed Application program Reference The same operation can also be performed using a DWEQ command ...

Page 329: ...imes the actuator has been fed is counted by a counter variable The X axis is fed in the positive direction Point An OFST command applies to movement commands Executing an OFST command alone does not move the axis Application program Reference Pitch feed can also be performed using a MVPI or MVLI command Start Initial setting Start input Move Increment pitch variable Apply offset Increment feed co...

Page 330: ...ted How to Use Explanation of commands Axis 1 moves forward while input 1 is ON Axis 1 moves forward while input 2 is OFF Axis 2 moves backward while input 3 is ON Axis 2 moves backward while input 4 is OFF Example of Use 1 Stop the axis when a sensor input is received Example of Use 2 Cause the actuator to jog just like in teaching pendant operation 2 axes are operated Application program Referen...

Page 331: ...running program 2 will be aborted Application If a program number is specified in operand 2 the programs from the one corresponding to the program number in operand 1 to the other corresponding to the program number in operand 2 can be started EXPG or ended ABPG simultaneously Caution The SSEL controller supports multi tasking Up to 8 programs can be run at the same time To use other programs when...

Page 332: ...arget program was executing a movement command the actuator immediately decelerates to a stop and the program ends Example of Use Main program Prg 1 Abort control program Prg n The abort control program starts Wait for an abort input Prg 1 is aborted The program ends If ABPG was executed while the actuator was moving via a MOVP command the actuator immediately decelerates to a stop and the program...

Page 333: ...ner mode provides five sub modes associated with different PIO parallel I O patterns Select a mode appropriate for your specific purpose To select a desired mode set a number between 1 and 4 or 16 in other parameter No 25 Operation mode type 1 Feature of Each Mode Value set in parameter No 25 Feature of each mode 1 Standard mode Positioning to up to 1 500 positions can be performed Push motion ope...

Page 334: ...S S C1 compatible mode Push motion operation x x x Error reset x CPU reset x x x x Home return Note 1 Note 2 Servo ON x Cancellation x Interpolation x x Input Jog x x x x Home return complete x Servo ON output x System battery error x Note 3 Output Absolute battery error x Note 4 Note 1 In the teaching mode home return will be performed when the start signal is input after specifying a desired pos...

Page 335: ...put 1 Input 1 Axis 2 servo ON Position input 5 Position No 8 input 2 Purple 9B 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position No 10 input 2 Gray 10A 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position No 20 input 2 White 10B 10 Position input 4 Input 4 Position input 1 Position input 8 Position No 40 input 2 Black 11A 11 Position input 5 Input 5 Position inp...

Page 336: ...ut 3 PC3 2 White 10B 010 Position input 4 PC4 2 Black 11A 011 Position input 5 PC5 3 Brown 11B 012 Position input 6 PC6 3 Red 12A 013 Position input 7 PC7 3 Orange 12B 014 Position input 8 PC8 3 Yellow 13A Input 015 Position input 9 PC9 Input the position number corresponding to the position you want to move the actuator to Be sure to specify a position input by no later than 6 msec before the sta...

Page 337: ...follows 2 0 for PC1 21 for PC2 22 for PC3 23 for PC4 24 for PC5 and 210 for PC11 By combining these bits any position number between 0 and 1500 maximum can be specified The input mode can be changed to BCD by changing the setting of other parameter No 71 as follows Other parameter No 71 1 BCD input Default setting of other parameter No 71 0 Binary input In the BCD input mode PC1 through 4 indicate...

Page 338: ...alarm output signal ALM that has been generated due to an error If an error occurred check the content of the error and then turn this signal ON The error will be reset upon detection of the leading edge of the signal Note Errors of cold start and higher level cannot be reset using this signal The power must be reconnected to reset these errors For details refer to Appendix Error Level Management ...

Page 339: ...e the two axes to perform interpolation operation the two axes will start simultaneously and arrive at the target position simultaneously To perform interpolation operation turn ON the interpolation input signal before turning ON the start input signal Axis 2 Axis 1 Movement when the interpolation signal is OFF Movement when the interpolation signal is ON ...

Page 340: ...turn operation initiated by input of the home return signal is completed Once this signal turns ON it will not turn OFF until the input power is cut off or the home return signal is input again Alarm ALM This signal remains ON while the controller is normal and will turn OFF if an alarm occurs This signal will turn OFF when an error of operation cancellation level or higher generates Program the P...

Page 341: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 342: ...tioning complete output signal is OFF 5 Turn OFF the home return input signal 6 Confirm that the home return complete output signal is ON Home return is now completed Pause and cancellation inputs are contact B input signals always ON so keep these signals ON while home return is in progress To initiate home return using the home return signal input the servo ON input signal must be ON These opera...

Page 343: ... servo ON status output signal are all ON 1 Change the previous position number input to a different position number 2 Turn ON the start input signal 3 Confirm that the positioning complete output signal is OFF 4 Turn OFF the start input signal 5 Confirm that the positioning complete output signal is ON Repeat steps 1 through 5 sequentially Pause and cancellation inputs are contact B input signals...

Page 344: ...N While the start input signal is ON the positioning complete output signal will not turn ON even after the actuator physically completes moving to the target position Therefore always turn OFF the start input signal 4 to detect the completion of positioning As for the positioning complete output signal and push motion complete output signal they will not be output until the start signal turns OFF...

Page 345: ... is turned ON while this signal is ON 2 Blue 9A 007 Input 1 PC1 2 Purple 9B 008 Input 2 PC2 2 Gray 10A 009 Input 3 PC3 2 White 10B 010 Input 4 PC4 2 Black 11A 011 Input 5 PC5 3 Brown 11B 012 Input 6 PC6 3 Red 12A 013 Input 7 PC7 3 Orange 12B 014 Input 8 PC8 3 Yellow 13A Input 015 Input 9 PC9 These input signals specify position numbers and product numbers Sixteen bits of inputs 1 through 16 are di...

Page 346: ...t the parameters are set as follows Other parameter No 71 0 Binary Position number input mode specification Other parameter No 72 6 Number of position number input bits Other parameter No 73 50 Number of positions per product Each position number is assigned to six bits of inputs 1 through 6 007 through 012 as a binary code and position Nos 1 through 63 can be specified Each product number is assi...

Page 347: ...ut bits Other parameter No 73 50 Number of positions per product Each position number input is assigned to six bits of inputs 1 through 6 007 through 012 as a binary code Each product number input is assigned to 10 bits of inputs 7 through 16 013 through 022 as a binary code Position numbers and product numbers are specified as shown in the table below based on the ON OFF levels of inputs 1 throug...

Page 348: ...prevent contact with other equipment 3 For positioning based on sensor or LS signal detection Note When this signal is input during home return the movement command will be held if the actuator has not yet contacted the mechanical end If the signal is input after the actuator has reversed upon contacting the mechanical end home return will be performed again Cancellation CANC If this signal turns ...

Page 349: ...following items The position data for position No n indicates the target position The position data for position No n 1 indicates the push width The speed data for position No n 1 indicates the push speed The acceleration data for position No n 1 multiplied by 100 indicates the current limiting value during push motion operation Example The position data for position No 1 as specified in the table...

Page 350: ...turn operation initiated by input of the home return signal is completed Once this signal turns ON it will not turn OFF until the input power is cut off or the home return signal is input again Alarm ALM This signal remains ON while the controller is normal and will turn OFF if an alarm occurs This signal will turn OFF when an error of operation cancellation level or higher generates Program the P...

Page 351: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 352: ...tioning complete output signal is OFF 5 Turn OFF the home return input signal 6 Confirm that the home return complete output signal is ON Home return is now completed Pause and cancellation inputs are contact B input signals always ON so keep these signals ON while home return is in progress To initiate home return using the home return signal input the servo ON input signal must be ON These opera...

Page 353: ...atus output signal are all ON 1 Change the previous product position number inputs to different product position numbers 2 Turn ON the start input signal 3 Confirm that the positioning complete output signal is OFF 4 Turn OFF the start input signal 5 Confirm that the positioning complete output signal is ON Repeat steps 1 through 5 sequentially Pause and cancellation inputs are contact B input sig...

Page 354: ...N While the start input signal is ON the positioning complete output signal will not turn ON even after the actuator physically completes moving to the target position Therefore always turn OFF the start input signal 4 to detect the completion of positioning As for the positioning complete output signal and push motion complete output signal they will not be output until the start signal turns OFF...

Page 355: ... operation at the leading edge of this signal 2 Blue 9A 007 Axis 2 servo ON SON2 2 Purple 9B 008 Axis 2 pause STP2 2 Gray 10A 009 Axis 2 cancellation CANC2 2 White 10B 010 Position input 1 PC1 2 Black 11A 011 Position input 2 PC2 3 Brown 11B 012 Position input 3 PC3 3 Red 12A 013 Position input 4 PC4 3 Orange 12B 014 Position input 5 PC5 3 Yellow 13A Input 015 Position input 6 PC6 The servo for ax...

Page 356: ... to axis 1 from among the 13 bits of position inputs 1 through 13 The remainder of the bits will be assigned to axis 2 By specifying binary or BCD in the position number input mode specification parameter the setting unit of this parameter will change between bit and BCD digit Example Assume that the parameters are set as follows Other parameter No 71 0 Binary Position number input mode specificat...

Page 357: ...er parameter No 71 1 BCD Position number input mode specification Other parameter No 72 8 Specification of position number input bits for axis 1 Bits are input in units of four Each position number input for axis 1 is assigned to eight bits of PC1 through 8 010 through 017 as a two digit BCD code position Nos 1 to 99 can be specified Specify the one s place in PC1 through 4 and ten s place in PC5 ...

Page 358: ...sed upon contacting the mechanical end home return will be performed again Axis 2 pause STP2 If this signal turns OFF while the actuator constituting axis 2 is moving the controller will cause the actuator to decelerate to a stop The rest is the same as the explanation given under Axis 1 pause STP1 except that CANC2 is used as the signal to cancel the move command Axis 1 cancellation CANC1 If this...

Page 359: ...Axis 2 servo ON SON2 The servo for axis 2 will remain ON while this signal is ON The rest is the same as the explanation given under Axis 1 servo ON SON1 Note To turn on the axis 2 servo using the axis 2 servo ON signal input the axis 2 pause signal and axis 2 cancellation signal and turn the signals ON Error reset RES 1 This signal is used to reset the alarm output signal ALM that has been genera...

Page 360: ...ower is input It will turn ON when the home return operation initiated by the start signal 1 for the first movement command has completed or when the home return operation initiated by input of the home return 1 signal has completed Once this signal turns ON it will not turn OFF until the input power is cut off or the home return 1 signal is input again Axis 2 home return complete HEND2 The same a...

Page 361: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 362: ...signal 4 Confirm that the positioning complete output signal is OFF 5 Turn OFF the home return input signal 6 Confirm that the home return complete output signal is ON Home return is now completed Pause and cancellation inputs are contact B input signals always ON so keep these signals ON while home return is in progress To initiate home return using the home return signal input the servo ON input...

Page 363: ...complete output signal and servo ON status output signal are all ON 1 Change the previous position number input BCD input to a different position number 2 Turn ON the start input signal 3 Confirm that the positioning complete output signal is OFF 4 Turn OFF the start input signal 5 Confirm that the positioning complete output signal is ON Repeat steps 1 through 5 sequentially Pause and cancellatio...

Page 364: ...er the actuator physically completes moving to the target position Therefore always turn OFF the start input signal 4 to detect the completion of positioning As for the positioning complete output signal and push motion complete output signal they will not be output until the start signal turns OFF based on the I O control handshake rules For the actuator to operate upon start signal input the ser...

Page 365: ...e of the following measures must be taken Install the optional system memory backup battery to back up the position data To do this the setting of other parameter No 20 must be changed to 2 Note however that the position data may still be lost if the battery voltage drops The battery should be replaced after approx five years If the battery is replaced as soon as a voltage low warning generates th...

Page 366: ...n input 10 PC10 3 Red 12A 013 Position input 11 PC11 Input the position number corresponding to the position you want to move the actuator to Be sure to specify a position input by no later than 6 msec before the start input signal turns ON Position numbers are input as binary codes factory setting In the teaching mode specify the position number for which the current position will be written Posi...

Page 367: ... is as follows 2 0 for PC1 21 for PC2 22 for PC3 23 for PC4 and 210 for PC11 By combining these bits any position number between 0 and 1500 maximum can be specified In the teaching mode specify the position number for which the current position will be written When the PWRT input signal is turned ON the current position will be written to the position number specified by the binary code Also the i...

Page 368: ...ut signal is ON To return the controller to the normal positioning mode turn this signal OFF Program the PLC so that it will accept operation commands in the normal positioning mode after confirming that the TCMD output signal is OFF The controller will not return to the positioning mode right away when this signal is turned OFF while the actuator is jogging It will not immediately stop the actuat...

Page 369: ...ill decelerate to a stop upon detection of the ON OFF trailing edge of the signal while the actuator is moving Note Exercise due caution not to perform jogging before home return is complete because the soft limits are still invalid and the actuator may collide with the mechanical end Inching IN001 through 1 These signals are used to specify the inching distance for inching operation performed in ...

Page 370: ...n this condition exercise due caution not to let the actuator contact the stroke end Once this signal turns ON it will not turn OFF until the input power is cut off or the home return signal is input again Teaching mode specification MODES This signal will turn ON when the teaching mode was selected by the teaching mode input signal turning ON the MODE signal and the teaching mode has become effec...

Page 371: ...ommand after the servo ON output signal has turned ON System battery error This signal will turn ON when the voltage of the optional system memory backup battery drops to a specified level Absolute battery error This signal will turn ON when the voltage of the absolute data backup battery drops to a specified level ...

Page 372: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 373: ... signal is OFF 1 Turn ON the servo ON input signal 2 Confirm that the servo ON status output signal is ON 3 Turn ON the start input signal 4 Confirm that the positioning complete output signal is OFF 5 Turn OFF the start input signal 6 Confirm that the home return complete output signal is ON Home return is now completed Pause input is a contact B input signal always ON so keep this signal ON whil...

Page 374: ...ile the actuator is moving to the target position only the pause or cancellation input is accepted The servo cannot be turned off even if the servo ON input signal is turned OFF The servo can be turned off only when the positioning complete output signal is ON While the start input signal is ON the positioning complete output signal will not turn ON even after the actuator physically completes mov...

Page 375: ... desired inching distance IC001 through 1 before the jog command is input If the current position write PWRT input signal has remained ON for at least 20 msec the current actuator position will be written to the selected command position number Once the data write is complete the write complete WEND output signal will turn ON To confirm if the controller has finished writing data check if the WEND...

Page 376: ...o 2 input PC2 2 Green 8B 006 Position No 4 input PC4 2 Blue 9A 007 Position No 8 input PC8 2 Purple 9B 008 Position No 10 input PC10 2 Gray 10A 009 Position No 20 input PC20 2 White 10B 010 Position No 40 input PC40 2 Black 11A 011 Position No 80 input PC80 3 Brown 11B 012 Position No 100 input PC100 3 Red 12A 013 Position No 200 input PC200 3 Orange 12B 014 Position No 400 input PC400 3 Yellow 13...

Page 377: ...1000 A desired position number between 1 and 1500 can be specified Specify the one s place in PC1 through 8 ten s place in PC10 through 80 hundred s place in PC100 through 800 and thousand s place in PC1000 An example of position number specification based on ON OFF levels of PC1 through 1000 is shown below Pause STP If this signal turns ON while the actuator is moving the controller will cause th...

Page 378: ...error occurs identify and eliminate the cause and then turn this signal ON Interpolation LINE With the 2 axis specification input of the position signal and start signal while this signal is ON will cause the two axes to perform interpolation operation the two axes will start simultaneously and arrive at the target position simultaneously To perform interpolation operation turn ON the interpolatio...

Page 379: ...ator reached the target position and the positioning has completed When the start signal is turned ON to execute a movement command this signal turns OFF The signal will turn ON once the position deviation from the positioning target falls within the in position band regardless of whether the start signal is ON or OFF Once this signal turns ON it will not turn OFF even after the position deviation...

Page 380: ...etc Except for certain signals the input signal will switch if the new signal level has remained for at least 6 msec For example when an input signal is turned ON the controller will recognize that the signal is ON after elapse of 6 msec The same applies when the signal is turned OFF Fig 1 Fig 1 Recognition of Input Signal Input signal Recognition by controller Not recognized Not recognized ...

Page 381: ... the start signal can be input 50 msec or more T2 Start signal input 30 msec or more Timing Chart of Home return Operation Standard Positioner Mode Perform home return operation by following the procedure explained below Before commencing the procedure confirm that the ready output signal and alarm output signal are ON 1 Specify position No 0 PC1 through 1000 are all OFF 2 Turn ON the start input ...

Page 382: ...gnal continuously for 30 msec or more T2 3 Turn OFF the start input signal 4 Wait for T3 from 2 5 Confirm that the positioning complete output signal is ON Repeat steps 1 through 5 sequentially To perform interpolation operation turn ON the interpolation setting input signal 30 msec before turning ON the start input signal Turn OFF the interpolation signal after the start input signal has turned O...

Page 383: ... in each band indicates the maximum speed at each applicable stroke Note 2 The load capacity is based on operation at the rated acceleration Model Stroke mm and maximum speed mm sec Note 1 Load capacity Note 2 Rated acceleration Horizontal Vertical Horizontal Vertical ...

Page 384: ...ates the maximum speed at each applicable stroke Note 2 The load capacity is based on operation at the rated acceleration Model Stroke mm and maximum speed mm sec Note 1 Load capacity Note 2 Rated acceleration Horizontal Vertical Horizontal Vertical ...

Page 385: ...359 ...

Page 386: ...with an absolute type actuator is shipped with the absolute data backup battery Each battery is explained in details 1 System Memory Backup Battery The system memory backup battery can be installed on the top face of the controller so that the data stored in the SSEL controller s SRAM will be retained even after the power is cut off Data to be backed up include controller parameters SEL language v...

Page 387: ... evacuate the data in the SRAM to the flash ROM and then reload the flash ROM data to the SRAM after a new battery is installed The battery specifications are shown in the table below List of System Memory Backup Battery Functions Battery type AB 5 by IAI Battery voltage 3 6 V Current capacity 2000 mAH Switching voltage at momentary power failure Typical 2 81 V 2 7 V 2 93 V System reset detection ...

Page 388: ...ew battery It is recommended that the battery be replaced regularly in accordance with the frequency duration of usage The battery must be replaced as soon as the controller s battery voltage monitor function generates a battery voltage low alarm After an alarm is detected a battery error will occur in approx 10 days at a surrounding air temperature of 20 C if the power is supplied to the controll...

Page 389: ...is not supplied 10 days at 40 C based on continuous operation 2 5 days if the power is not supplied Minimum data retention voltage 2 7 V min Varies depending on the encoder characteristics Time after error detection until data loss reference With an absolute encoder an absolute reset must be performed once an error is detected Data protection time during battery replacement 15 minutes Maximum rete...

Page 390: ...nected using a bracket etc Consider the relative positions of the master axis and slave axis to make sure the slave slider will not hit the mechanical end during home return or full stroke movement 2 Incremental Specification With the incremental specification the relative positions of the master axis and slave axis sliders are fixed when the power is turned on If the sliders had moved while the p...

Page 391: ...as the master axis Commands in the program are valid only for the master axis Issuance of commands for the slave axis is prohibited An absolute reset can be performed using either the standard procedure or special procedure Which procedure should be used is determined by the value of Axis specific parameter No 38 Encoder ABC INC type Value of Axis specific parameter No 38 Encoder ABS INC type Mast...

Page 392: ...xis and slave axis Thereafter transfer the parameter data to the controller write to the flash ROM and then restart the controller software reset 4 Perform an absolute reset using the standard procedure separately for the master axis and slave axis 5 Adjust the relative slider positions via jogging etc and connect the sliders 6 To enable the synchro function again enter the values recorded in 2 in...

Page 393: ...h Encoder Rotation Data Reset 2 and follow the onscreen instructions to perform the respective operations 3 Perform an absolute reset using the special procedure explained below perform a forced reset by ignoring the onscreen instructions 1 Perform encoder rotation data reset 1 for the slave axis 2 Follow the onscreen instructions to perform encoder rotation data reset 1 through encoder rotation d...

Page 394: ...ster axis and slave axis if the controller s 7 segment display shows rdy If an Error No C74 Actual position soft limit over error generates reset the error Once rdy is displayed you can read the current positions displayed When the servo is turned on Error No D0A Driver overload error Error No C6B Deviation overflow error Error No CA5 Stop deviation overflow error etc will generate 2 Perform the f...

Page 395: ...ke sure the necessary changes have been made and the values are entered correctly Axis parameter No 65 Synchro mating axis number Axis specific parameter No 83 Absolute synchro slave axis initialization cancellation Check if either slider is locked 4 Standard Absolute Reset Procedure When Axis specific parameter No 38 Encoder ABS INC type is set to 1 for the master axis and 0 for the slave axis Af...

Page 396: ...aster axis and slave axis will be acquired with a PRDQ command after the servo is turned on and operation commands will not be issued until after the difference between the current position of the slave axis and that of the master axis becomes 0 3 mm or less A reference program is shown below Reference program This program reads the current positions of the master axis and slave axis after the ser...

Page 397: ...oordinate system of the applicable axis Note In the case of a single slider set 0h 2 Set axis specific parameter No 105 Effective multi slider stroke The example below assumes a stroke of 1140 Note 1 The multi slider near miss collision prevention function is effective only when the coordinates of both target axes paired axes have been confirmed This function is disabled when an encoder error is p...

Page 398: ...axis is prohibited If no adjacent slider is present on the corresponding side of the coordinate system of the applicable axis set 0 105 Effective multi slider stroke 0 0 to 99999999 0 001 mm Effective stroke from the soft limit on the end farthest end of the range of operation of both multi slider near miss detection target axes Only the parameter for the main multi slider axis is effective The so...

Page 399: ...ave purchased the PC software we recommend that you back up the parameters immediately after the controller is delivered and when the system incorporating the controller is started Since a number of customizing settings use parameters you should back up the parameters regularly as you back up the programs To make the new parameters effective write them to the flash ROM and then execute a software ...

Page 400: ...FF in specific conditions Dedicated outputs cannot be turned ON OFF in SEL programs 1 I O parameters A desired input output port can be specified as a dedicated input output or general purpose input output Set an appropriate input function specification value in the I O parameter Input output function selection n corresponding to the input output port number you want to set The relationship of inp...

Page 401: ...r No 53 which corresponds to output port No 307 to 24 Axis 1 servo ON status output I O parameter No 53 24 Example 3 How to set input port Nos 21 and 22 as general purpose inputs Change the input function specification values of I O parameter Nos 256 and 257 which correspond to input port Nos 21 and 22 respectively to 0 General purpose input I O parameter No 256 0 I O parameter No 257 0 If the abo...

Page 402: ...Servo ON Allow the applicable signal to turn on the servo of a valid axis at its ON edge The signal will turn off the servo of a valid axis at its OFF edge Note There must be an interval of at least 1 5 seconds between ON and OFF edges Input function specification value 5 Auto start program start signal If an auto start program is set this signal can be used to start the program The program will s...

Page 403: ...cifies the seventh bit of a program number Input function specification value 16 Error reset ON edge This signal is used to reset errors Note Only errors of operation cancellation level or lower can be reset using this signal Input function specification value 17 Drive source cutoff reset input ON edge Effective when the problem factor has been removed This signal is used as a drive source cutoff ...

Page 404: ...his function is effective only when the brake switch is tilted down NOM Input function specification value 23 Axis 2 forced brake release Forcibly release the brake axis 2 Note This function is effective only when the brake switch is tilted down NOM Input function specification value 24 27 For future expansion Not used ...

Page 405: ... is completed following the controller power input The signal will turn ON only when the controller is able to perform program operation Output function specification value 6 READY output Absence of operation cancellation level or higher error The function is the same as that of output function specification value 5 but absence of operation cancellation level or higher error is added as a conditio...

Page 406: ...ut function specification value 16 Voltage low warning output for absolute data backup battery A signal will be output when the voltage of the absolute data backup battery drops to approx 3 2 V Once an abnormal voltage level is detected the signal will remain ON until a power ON reset or software reset is performed Output function specification value 17 Drive source cutoff SDN notification output ...

Page 407: ...sponding axis specific parameters Before changing a given parameter always read the applicable section in the parameter list Change the home return direction About the home return method Set a home preset Set a home offset Apply length measurement correction Axis operation type rotational axis mode Perform rotation operation or short cut control with a rotational axis Zone output ...

Page 408: ...home return operation can be selected Setting value 0 Motor CCW Positive coordinate direction 1 Motor CCW Negative coordinate direction Example 1 A linear axis whose home is at the standard position When the parameter is set to 1 Example 2 A linear axis whose home is at the standard position When the parameter is set to 1 Note With a rod type actuator the home direction cannot be reversed by chang...

Page 409: ...ied only when an incremental encoder is used Related parameter Axis specific parameter No 12 Home preset value The position at which the actuator is currently stopped is recognized as the home On the coordinate system this position becomes the value set by the home preset parameter Home return operation is not performed 3 to 5 For future expansion Home return command The actuator moves at low spee...

Page 410: ...n Normally the actuator should be at 0 mm coordinate upon completing home return Setting value Unit 0 001 mm Example 1 Do not set a home preset value Home return complete 0 000 mm is displayed Example 2 Set 3000 as a home preset value Home return complete 3 000 mm is displayed Note Take note that when a home return preset value is set the effective stroke will also change In particular the stroke ...

Page 411: ...ting unit 0 001 mm Example Set the offset to 0 5 mm 500 Note If the offset travel distance is near an integer multiple of the ball screw lead such as 0 6 12 or 18 mm when the lead is 6 mm the home will come directly above phase Z and thus rotation data may shift by one revolution upon absolute reset due to an unstable servo lock condition a phenomenon where the coordinate values shift by one motor...

Page 412: ...tween the actual distance traveled and the measured distance for the commanded travel distance Example Move the actuator from 0 mm to 1000 mm by specifying a position Correct the travel distance of 2 with respect to 1 In the above example enter 1000 because the actual distance traveled is 999 mm Setting unit 0 001 1 m C10 class ball screws are subject to a margin of error of 0 21 mm per 300 mm 1 A...

Page 413: ...e Input range Unit 66 Mode selection for rotational movement axis 0 0 5 None Explanation of setting Set a desired mode for a rotational movement axis Related parameter Axis specific parameter No 7 Soft limit Set value 0 Normal 1 Index mode When the index mode is selected the soft limit will be fixed to 359 999 mm internally When the index mode is selected short cut control is possible 2 to 5 For f...

Page 414: ...int along the shortest path Setting value 0 Do not select 1 Select 2 to 5 For future expansion Do not select The Select setting causes the axis to always turn in the same direction Position No 1 Position No 4 Position No 2 Position No 3 Example Move the actuator continuously in the sequence of position No 2 3 4 1 with position No 1 being the reference position Program Position table Step No Comman...

Page 415: ...ormed Axis operation type Mode selection for linear movement axis Mode selection for rotational movement axis Short cut control selection for rotational movement axis Expression of current position approx Soft limit Soft limit etc are summarized in a table in Appendix Combination Table of SSEL Linear Rotary Control Parameters Use this table as a reference ...

Page 416: ...mm Example To set 50 mm set the value 50000 Axis specific parameter No 87 Zone 1 MIN Set the minimum limit of the zone in units of 0 001 mm Example To set 10 mm set the value 10000 Axis specific parameter No 88 Zone 1 output number Set an output port or flag number for the zone The output number set in this parameter cannot be used in programs Note Set the zone so that the passing time through the...

Page 417: ...99999 0 001 mm 88 Zone 1 output number 0 0 899 None 89 Zone 2 MAX 0 99999999 99999999 0 001 mm 90 Zone 2 MIN 0 99999999 99999999 0 001 mm 91 Zone 2 output number 0 0 899 None 92 Zone 3 MAX 0 99999999 99999999 0 001 mm 93 Zone 3 MIN 0 99999999 99999999 0 001 mm 94 Zone 3 output number 0 0 899 None 95 Zone 4 MAX 0 99999999 99999999 0 001 mm 96 Zone 4 MIN 0 99999999 99999999 0 001 mm 97 Zone 4 output...

Page 418: ...e set as an input for auto program start signal Set the following value in the I O parameter Input function selection n corresponding to the selected input port I O parameter Input function specification value 5 Other parameter No 7 0 The program will start at the ON edge of the specified port The program will end at the OFF edge 5 Pause operations using an external input signal A desired input po...

Page 419: ...put function specification value 10 The specified port will turn ON during the AUTO mode 12 Output a signal during auto operation A desired output port can be set as an auto operation status output Set the following value in the I O parameter Output function selection n corresponding to the selected output port I O parameter Output function specification value 11 The specified port will turn ON du...

Page 420: ...tion specification value 22 Axis 1 I O parameter Input function specification value 23 Axis 2 Setting example To set input port No 12 as the brake release input for axis 2 set 23 in I O parameter No 42 The brake will be forcibly released when the specified port turns ON 19 Retain output conditions upon actuation of an emergency stop or opening of the safety gate The minimum and maximum output port...

Page 421: ...or after an emergency stop has been reset resume actuator operation from immediately before the emergency stop input signal turned ON When an emergency stop input signal is ON all programs remain active and only programs involving actuator operation will be stopped When an emergency stop is actuated all programs in which actuator operations are not specified will remain active Programs in which ac...

Page 422: ...determines the level of response with respect to a position control loop Increasing the value set in this parameter improves compliance with the position command However increasing the setting too much increases the tendency of the actuator to overshoot If the setting value is low compliance with the position command drops and the positioning time increases as a result Speed loop proportional gain...

Page 423: ...que command If the mechanical resonance frequency is equal to or lower than the servo loop response frequency the motor will vibrate This mechanical resonance can be suppressed by increasing the value set in this parameter It should be noted however that increasing the setting value too much may affect the stability of the control system Current control band number Driver parameter number Unit Inp...

Page 424: ... as you back up the programs To make the new parameters effective write them to the flash ROM and then execute a software reset or reconnect the power The lists below are examples of default values displayed on the PC software The default parameter settings vary depending on the operating condition and actuators used The values in the Input range column represent input limitations on the teaching ...

Page 425: ...roller 11 13 For future expansion 1 0 5 14 Network system reservation 0 0 256 15 Network system reservation 0 0 256 16 Network system reservation 1 1 599 17 Network system reservation 1 1 599 18 Network system reservation 1 0 5 19 For expansion 0 20 Input filtering periods 2 1 9 msec Input signal is recognized when the status is held for twice the period set by this parameter 21 For future expansi...

Page 426: ... 99 Input function specification value Refer to 1 2 I O Function Lists under I O Parameters 42 Input function selection 012 0 0 99 Input function specification value Refer to 1 2 I O Function Lists under I O Parameters 43 Input function selection 013 0 0 99 Input function specification value Refer to 1 2 I O Function Lists under I O Parameters 44 Input function selection 014 0 0 99 Input function ...

Page 427: ...rated under the responsibility of user programs including the I O processing program at operation program abort Outputs outside this area will be forcibly turned OFF Invalid if 0 is set 71 Unaffected general purpose output area number MAX when all operations programs are aborted 0 0 599 72 Unaffected general purpose output area number MIN when all operations are paused servo axis soft interlock ou...

Page 428: ...col minimum response delay for SIO channel 0 opened to user 0 0 999 msec Valid only with IAI protocol 98 Reservation of SIO channel 0 opened to user 0 99 Reservation of SIO channel 0 opened to user 0 100 115 SIO system reservation 0 0H FFFFFFFFH 116 For expansion 0 117 For expansion 0 118 For expansion 0 119 For expansion 0 120 Network system reservation 1H 0H FFFFFFFFH 121 Network system reservat...

Page 429: ... 00000000H 225 250 For expansion 0 251 Input function selection 016 9 0 99 Input function specification value Refer to 1 2 I O Function Lists under I O Parameters 252 Input function selection 017 10 0 99 Input function specification value Refer to 1 2 I O Function Lists under I O Parameters 253 Input function selection 018 11 0 99 Input function specification value Refer to 1 2 I O Function Lists ...

Page 430: ... 271 Output function selection 320 0 0 99 Output function specification value Refer to 1 2 I O Function Lists under I O Parameters 272 Output function selection 321 0 0 99 Output function specification value Refer to 1 2 I O Function Lists under I O Parameters 273 Output function selection 322 0 0 99 Output function specification value Refer to 1 2 I O Function Lists under I O Parameters 274 Outpu...

Page 431: ...5 cannot be assigned discontinuously from the LSB or in descending order from the LSB port numbers are not considered Program No 1 BIN or BCD 10 Start program number specification bit 2 Same as Input function specification value 9 Program No 2 BIN or BCD 11 Start program number specification bit 3 Same as Input function specification value 9 Program No 4 BIN or BCD 12 Start program number specific...

Page 432: ...top output OFF Output function specification value 9 9 Emergency stop output OFF Same as Output function specification value 8 10 AUTO mode output 11 Auto operation status output Other parameter No 12 12 All valid axes home 0 output To move the absolute encoder axis to coordinate 0 or the preset home coordinate use a MOVP command instead of a HOME command 13 All valid axes home return complete coo...

Page 433: ...ecified in position data program or SIO message etc 13 Default speed 30 1 250 mm s Used if not specified in SIO message or position data when movement is to be continued etc 14 Valid selection when operation point data deceleration is 0 0 0 5 0 Deceleration Acceleration when the deceleration in the operation point data is 0 1 Deceleration 0 when the deceleration in the operation point data is 0 15...

Page 434: ...el 2 Operation cancellation level at reset thereafter cold start level Bits 8 to 11 Actual position soft limit over servo error level 0 Operation cancellation level 1 Cold start level 2 Operation cancellation level at reset thereafter cold start level Bits 12 to 15 For future expansion Bits 16 to 19 Absolute data backup battery voltage error level 0 Operation cancellation level 1 Message level 30 ...

Page 435: ...ut polarity 0 0 2 0 Do not use 1 Contact a 2 Contact b 17 Initial home sensor pull out speed at home return 10 1 100 mm sec 18 Creep speed at home return 100 1 500 mm sec End search speed in the section where a creep sensor detection signal has not yet been received when a creep sensor is used 19 End search speed at home return 20 1 100 mm sec 20 Phase Z search speed at home return 3 1 10 mm sec E...

Page 436: ...heck time 150 0 3000 msec Time after receiving a brake unlock start response until transition to an operation enabled status 36 Brake lock check time 300 0 1000 msec Time after receiving a brake lock start response until start of servo OFF 37 Encoder linear rotary type 0 0 1 0 Rotary encoder 1 Linear encoder 38 Encoder ABS INC type 0 0 1 0 INC 1 ABS 39 Magnetic pole sensor equipment specification ...

Page 437: ...lies This setting can be specified only when an incremental encoder is used 69 For expansion 0 70 For future expansion 0 Reference only 71 For future expansion 0 Reference only 72 DRVVR offset 0 Reference only DRVVR Change prohibited To maintain symmetry of the positive and negative sides 73 DRVVR offset 0 Reference only DRVVR Change prohibited To maintain symmetry of the positive and negative sid...

Page 438: ...t or global flag Output is invalid if 0 is input multiple specification is invalid 95 Zone 4 MAX 0 99999999 99999999 0 001 mm Valid only when MAX MIN Must be inside the range for at least 3 msec 96 Zone 4 MIN 0 99999999 99999999 0 001 mm Valid only when MAX MIN Must be inside the range for at least 3 msec 97 Zone 4 output number 0 0 899 Physical output port or global flag Output is invalid if 0 is...

Page 439: ...n 0 12 or later 106 Emergency deceleration pattern at multi slider near miss 5 0 999 0 01 G Main application version 0 12 or later 107 Multi slider setting Bit pattern 1 12H OH FFFFFFFFH Bits 0 to 3 Multi slider actual position near miss detection margin mm Only the parameter for the main multi slider axis is effective Main application version 0 12 or later Bits 4 to 7 Multi slider command positio...

Page 440: ...ly For adjustment by the manufacturer 14 Motor control data use selection Function information 0000H Reference only For adjustment by the manufacturer 15 Function information 0000H Reference only For adjustment by the manufacturer 16 Function information 0000H Reference only For adjustment by the manufacturer 17 Function information 0000H Reference only For adjustment by the manufacturer 18 Functi...

Page 441: ...que limit during positioning 70 70 200 Main application version 0 17 or later 38 Push torque limit during positioning 70 0 200 39 Push torque limit during home return 100 0 150 40 Maximum torque limit 300 10 400 The maximum value that can be set varies depending on the motor etc 41 Dynamic brake operation specification 0 0 1 0 Enable 1 Disable 42 Software DB operation specification 1 0 1 0 Disable...

Page 442: ... query information 14 0H Reference only For adjustment by the manufacturer 82 Current control query information 15 0H Reference only For adjustment by the manufacturer 83 Current control query information 16 0H Reference only For adjustment by the manufacturer 84 Current control query information 17 0H Reference only For adjustment by the manufacturer 85 Current control query information 18 0H Ref...

Page 443: ...n upper word compatible with X E function information 0002H Reference only For adjustment by the manufacturer 13 Encoder resolution lower word compatible with X E function information 0000H Reference only For adjustment by the manufacturer 14 Motor encoder characteristic word compatible with X E function information 0004H Reference only For adjustment by the manufacturer 15 Motor encoder control w...

Page 444: ...00H Reference only For adjustment by the manufacturer 12 Function information 04 by board type 0000H Reference only For adjustment by the manufacturer 13 Function information 05 by board type 0000H Reference only For adjustment by the manufacturer 14 Function information 06 by board type 0000H Reference only For adjustment by the manufacturer 15 Function information 07 by board type 0000H Referenc...

Page 445: ...erated Always 2 All operation cancellation factor Error of operation cancellation level or higher Other parameter No 4 0 is considered Only when a program is running 3 All operation cancellation factor Error of operation cancellation level or higher Other parameter No 4 0 is considered Always 6 PC TP reconnection delay at software reset 14000 1 99999 msec The setting will become effective after th...

Page 446: ...st written to the flash ROM will be restored Thereafter reset this parameter to the original value No remedy is available for recovery of SEL global data error lists 21 Manual mode type 0 0 5 0 Always enable edit and SIO PIO start Initial condition after connection With safety speed 1 Select edit and start with password EU etc 2 Always enable edit and SIO PIO start Initial condition after connecti...

Page 447: ...al operation Bits 8 to 11 Protect range maximum number 10 s place BCD Bits 12 to 15 Protect range maximum number 100 s place BCD Bits 16 to 19 Protect range maximum number 1000 s place BCD Bits 20 to 23 Protect range minimum number 10 s place BCD Bits 24 to 27 Protect range minimum number 100 s place BCD Bits 28 to 31 Protect range minimum number 1000 s place BCD The value in the 1 s place is cons...

Page 448: ...h the same program number as the one started by the last PIO program start is running Bits 8 to 11 Permission of auto program start when all operation cancellation factor is present 0 Do not permit 1 Permit Bits 12 to 15 Permission of ON edge acceptance for PIO program start input port 000 when all operation cancellation factor is present 0 Do not permit 1 Permit In accordance with the input port ...

Page 449: ...rent to rating ratio 200 200 Motor current to rating ratio 2 Display user information number U001 to U999 The user information number is displayed instead of ready status or program run number only when the user information number is not 0 Global integer variable number for specifying user information number is specified by Other parameter No 50 50 Auxiliary specification for panel 7 segment displ...

Page 450: ...versions 0 0 0 0 through 0 0 5 x 2 Teaching pendant 1 Setting value 0 Always enable edit and SIO PIO start Functions Safety speed enable selection Password Edit Safety speed Jog move continuous move SIO program start PIO program start Enable Not required Disable Not required 2 Setting value 1 Select edit and start with password Functions Safety speed enable selection Password Edit Safety speed Jog...

Page 451: ...alid Distance mm Speed mm sec Acceleration deceleration G 0 Normal mode 0 Do not select short cut control Setting other than 0 is prohibited in the normal mode Counter range Valid Valid 0 Do not select short cut control Counter range 1 Rotational movement axis Invalid 1 Index mode 1 Select short cut control x 0 359 999 Rotary Invalid Set to 359 999 internally Invalid Set to 0 internally Invalid In...

Page 452: ...us errors will be registered in an error list Enabled Status display input error etc MAIN application MAIN core PC PC Update tool TP MAIN application 400 4CF MAIN core PC 4D0 4DF PC Update tool 4E0 4EF Operation cancellation level TP 4F0 4FF The program in which the error generated will be cancelled Except for axis errors a cancellation factor is present only for the moment the error occurs Howeve...

Page 453: ...ommand SIO PIO application only MAIN application MAIN core PC PC Update tool TP MAIN application 600 6CF MAIN core PC 6D0 6DF PC Update tool 6E0 6EF TP 6F0 6FF MAIN application D00 D8F MAIN core D90 DAF PC DB0 DCF PC Update tool DD0 DDF TP DE0 DFF MAIN application E00 E8F MAIN core E90 EBF PC EC0 EDF Cold start level TP EE0 EFF Core only The program in which the error generated will be cancelled H...

Page 454: ...e message that has been sent 20B Control constant table write data type specification error The specified control constant table write data type is invalid Check the message that has been sent 20C Control constant table management information mismatch error The management information regarding the control constant table is invalid Confirm that the control constant table is supported by the control...

Page 455: ...n driver parameter No 26 and encoder parameter No 11 40B Speed control parameter calculation error Check driver parameter Nos 38 39 40 43 44 45 etc 420 Stationary non push torque limit over error The stationary non push torque limit is exceeded The load or operation may have been locked or other event occurred unexpectedly 422 Multi slider command position near miss error Entry into the multi slid...

Page 456: ...upply board cannot be confirmed 60E Dynamic brake ON OFF timeout error Dynamic brake ON OFF cannot be confirmed within the specified time 613 Driver synchronous communication driver read error A communication failure occurred between the driver board and FPGA main 614 Driver synchronous communication LRC error A communication failure occurred between the driver board and FPGA main 615 Driver synch...

Page 457: ...to the flash ROM or the data is of an old incompatible version 63C Encoder motor control constant table checksum error The flash ROM data is corrupted 63D ABZ encoder specification error An ABZ encoder cannot be installed for this axis Check the motor encoder configuration information in driver parameter No 26 and encoder parameter No 11 63E ABZ encoder magnetic pole sensor signal logic error Chec...

Page 458: ...llowing power on The power may have been turned on or a software reset executed while the actuator was moving due to external force such as reactive force of a self supported cable or while the installation location was vibrating 65A Unsupported encoder ID error The encoder is not supported No encoder control constant record is available that corresponds to the encoder ID Check the installed encod...

Page 459: ... setting is invalid invalid value duplicate specifications 666 Driver initialization communication type specification error All axis parameter No 103 or 104 Driver initialization communication type setting is invalid invalid value duplicate specifications mismatch 667 Invalid driver initialization communication line specification error at specification of valid axis Initialization communication li...

Page 460: ...ocked status encoder was stopped 690 Motor overcurrent error Excessive current flew through the motor 691 Driver error Driver error for future expansion 692 Driver error Driver error for future expansion 693 Driver error Driver error for future expansion 694 Driver error Driver error for future expansion 695 Driver error Driver error for future expansion 696 Driver error Driver error for future ex...

Page 461: ...ion cable and error in the connected equipment 804 SCIF overrun status SEL reception Communication failure Check for noise connected equipment and communication setting 805 SCIF receive ER status SEL reception Communication failure Check for noise shorted disconnected communication cable connected equipment and communication setting 806 SCIF receive ER status due to other factor SEL reception Comm...

Page 462: ...arting of multiple programs is inhibited 914 Absolute data backup battery voltage error Check the connection of the absolute data backup battery and replace the battery if necessary and also check the connection of the encoder cable and then perform an absolute reset A01 System memory backup battery voltage low warning The voltage of the system memory backup battery is low Replace the battery Abov...

Page 463: ...PROM read request was received for a driver or other unit with CPU not equipped with EEPROM A17 Message checksum error IAI protocol reception The checksum in the received message is invalid A18 Message header error IAI protocol reception The header in the received message is invalid Invalid header position message is 9 bytes or less is suspected among other reasons A19 Message station number error...

Page 464: ...y not running A2F Breakpoint error The step number specified as a breakpoint is invalid A30 Breakpoint setting count specification error The number of breakpoints to be set exceeds the limit value A31 Parameter change value error The value of parameter changed is invalid A32 Parameter type error The parameter type is invalid A33 Parameter number error The parameter number is invalid A34 Card param...

Page 465: ...reset refusal error during operation Software reset SIO is prohibited during operation program is running servo is in use etc A50 Drive source recovery request refusal error The drive source cutoff factor error deadman switch safety gate emergency stop etc has not been removed A51 Operation pause reset request refusal error The all operation pause factor drive source cutoff operation pause signal ...

Page 466: ...vo is in use etc A6A Software reset refusal error during write Software reset is prohibited while data is being written to the flash ROM or slave parameters are being written A6B Fieldbus error FBRS link error A FBRS link error was detected A6C PC TP start command refusal error in AUTO mode Starting from the PC software TP connector is prohibited in the AUTO mode A6D P0 P3 FROM area direct write p...

Page 467: ...EL command is invalid B17 Parameter register busy error at issuance of slave command The driver special command ACK generated a timeout at issuance of a slave command B18 Device number error The device number is invalid B19 Unit type error The unit type is invalid B1A Absolute reset specification error The specification for absolute reset using an optional function etc is invalid Two or more axes ...

Page 468: ...ing error The EDSL position is invalid Check the correspondence between SLCT and EDSR or branching out of or into the syntax using a GOTO command C14 Subroutine under nesting error The EDSR position is invalid Check the correspondence between BGSR and EDSR or branching out of or into the syntax using a GOTO command C15 SLCT next step command code error The program step next to SLCT must be WHEQ WH...

Page 469: ...ern is invalid C32 Operating axis addition error during command execution An operating axis for point data was added during continuous point movement or push motion movement calculation C33 Base axis number error The base axis number is invalid C34 Zone number error The zone number is invalid C35 Point number error The point number is invalid C36 I O port flag number error The I O port flag number...

Page 470: ...eter No 90 Usage of SIO channel opened to user C4F SEL program source symbol checksum error The flash ROM data has been destroyed C50 Symbol definition table checksum error The flash ROM data has been destroyed C51 Point data checksum error The flash ROM data has been destroyed C52 Backup RAM data SBM destruction error The backup SRAM data has been destroyed Check the battery C53 Invalid flash ROM...

Page 471: ... movement was detected while acquiring absolute encoder data after the power was turned on The power may have been turned or a software reset executed while the actuator was moving due to external force such as reactive force of a self supported cable or while the installation location was vibrating Or a software reset may have been executed Absolute coordinates cannot be confirmed in this conditi...

Page 472: ...ror has also generated the controller may be experiencing a servo packet calculation overflow caused by abnormal current position resulting from an unsuccessful absolute reset Perform an absolute reset again by following the operation manual Simply selecting Encoder error reset on the absolute reset screen will not allow the controller to recognize the correct position Always perform an absolute r...

Page 473: ...e sensor cannot be detected Check the wiring and sensor C9A Creep sensor non detection error The creep sensor cannot be detected Check the wiring and sensor C9B Phase Z non detection error Phase Z cannot be detected Check the wiring and encoder C9C Defective phase Z position error The phase Z position is defective Normal wear and tear of the mechanical ends and home sensor may also be a reason Rea...

Page 474: ... error The BGPA EDPA syntax is invalid EDPA was declared before BGPA or another BGPA was declared after BGPA without first declaring EDPA CB4 Arch motion Z axis non declaration error Z axis has not been declared by PCHZ or ACHZ CB5 BGPA non declaration error during palletizing setting Palletizing setting cannot be performed without first declaring BGPA Declare BGPA CB6 Palletizing point error The ...

Page 475: ...e to execute a command not permitted outside the positioning boundary CC6 Driver error primary detection A driver error was found by primary detection CC7 Palletizing movement PZ axis pattern non detection error PZ axis component is not found in the axis pattern during palletizing movement CC8 Arch top Z axis pattern non detection error Z axis component relating to the highest point of arch motion...

Page 476: ...D0E Axis sensor error An error occurred in the axis sensor D0F Power stage temperature error The power stage board exceeded the upper temperature limit D10 IPM error A failure occurred in the motor drive circuit D11 Driver abnormal interruption error The driver CPU board is in a condition where it cannot operate normally D12 Encoder disconnection error The encoder cable is disconnected The power m...

Page 477: ...ork board D52 Fieldbus error FBMBSY A FBMBSY was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for the field network board D53 Fieldbus error BSYERR A BSYERR was detected The power must be reconnected Check the status of the monitor LED on the front face of the board by referring to the operation manual for the field network board ...

Page 478: ...rror A FBRS link error was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for the field network board D5E Fieldbus error Mailbox response A mailbox response error was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for the field network board D67 Motor encoder configur...

Page 479: ...r thermal alarm error An encoder thermal alarm error occurred E01 DMA address error DMA transfer error E02 SCIF send buffer overflow error The SCIF send buffer overflowed E03 SCI send buffer overflow error The SCI send buffer overflowed E04 SCIF receive buffer overflow error The SCIF receive buffer overflowed Excessive data was received from outside E05 SCI receive buffer overflow error The SCI re...

Page 480: ...nments exceed the specified range Check I O parameter Nos 2 to 9 and 14 to 17 and the I O slot card type number of I Os E22 Header error Slave communication The header in the message received from the slave card is invalid E23 Card ID error Slave communication The card ID in the message received from the slave card is invalid E24 Response type error Slave communication The response type in the mes...

Page 481: ...olute data acquisition The receive size is too large when acquiring absolute data E47 No normal response error at absolute data acquisition Normal response is not received when acquiring absolute data E49 Encoder rotation error An encoder rotation error was detected E4A Encoder rotation counter overflow error An encoder rotation counter overflow error was detected E4B Encoder count error An encode...

Page 482: ...tor power overvoltage error was detected E68 Emergency stop status requiring reset recovery not error Reset the emergency stop and then reconnect the power E69 Abnormal 24 V I O power source The 24 V I O power source is abnormal E6A Safety gate open status requiring reset recovery not error Close the safety gate and then reconnect the power E6B Shutdown factor indeterminable error Shutdown factor ...

Page 483: ...ent card cannot be detected E82 Card mismatch error The combination or positioning of I O slot cards has a problem E83 I O slot card error The I O slot card is invalid E84 Resolution parameter error Check axis specific parameter Nos 47 50 51 44 42 43 1 37 etc E85 Driver ready OFF factor indeterminable error Driver ready OFF factor cannot be determined E86 Fieldbus error FBVCCER A fieldbus error FB...

Page 484: ...or power overvoltage error A motor power overvoltage error was detected F66 Servo control underrun error A servo control underrun error was detected F67 FROM write bus width error A write operation other than 32 bit long word access was detected while writing the flash ROM F68 FROM write protect error Write operation to a write protected flash ROM area FRMWE bit in DEVCTR 1 was detected F69 Boot w...

Page 485: ...ation protocol error Check for noise and connected equipment When updating the application connect to a PC and use IAI s update tool A77 Motorola S record type error The update program file is invalid Check the file A78 Motorola S checksum error The update program file is invalid Check the file A79 Motorola S load address error The update program file is invalid Check the file A7A Motorola S write...

Page 486: ... detection The system code in the message received with the updating target specification command does not match the controller system Check the target specification and other settings in the updating PC tool A8B Updating unit code error Core detection The unit code in the message received with the updating target specification command does not match any updatable unit in the controller Check the ...

Page 487: ...chdog reset occurrence error A WDT watchdog timer was manually reset error detection E9F Exception occurrence error while BL 1 NMI An exception occurred while the block bit in the CPU status register was 1 NMI EA0 Exception occurrence error while BL 1 Other than NMI An exception occurred while the block bit in the CPU status register was 1 Other than NMI EA1 Bit exception reset due to command data...

Page 488: ...ror Excessive data is received from outside Confirm that a PC and IAI s update tool are used to update the application EAF Installed flash ROM type mismatch Core The flash ROM type anticipated in the software does not match the flash ROM type actually installed Check the combination of software and hardware EB0 Undefined NMI error Core An undefined NMI interruption occurred EB1 FPGA write read tes...

Page 489: ...ow will show EA1D or other code starting with E Some errors do not begin with E Status Panel window display After turning on the power rdy Ardy Program is running P01 P64 etc Error has generated EA1D ED03 etc Among the alphabets B and D are shown in lower case Depending on the error number it may be possible to reset the error after removing the cause of the error or the power must be reconnected ...

Page 490: ...ut in the following condition 1 The emergency stop button on the teaching pendant is pressed 2 The applicable input terminal in the system connector is turned ON 3 The port switch on the front panel is set to the manual side The teaching pendant PC software connector is not connected 4 The actuator is of sensor specification and the slider is stopped on either end of the slider Enb Safety gate ope...

Page 491: ...ation is mechanically disabled Check to see if the actuator mounting bolts are contacting inside the axes or if the slider attachment is contacting any surrounding mechanical parts d03 Faulty encoder or attachment of dust The encoder is faulty or dust is attached Remove the motor cover and apply cleaning air spray for OA equipment etc over the cord wheel If the problem persists replace readjust th...

Page 492: ...nderrun error The driver CPU board was damaged due to noise in the encoder cable Replace the board and implement noise control measures 807 Shutdown relay ER status The transistor on the power supply board to which the power cable is connected is damaged Replace the board ...

Page 493: ...Position deviation 3 Runaway machine 4 Error Error code 5 Other 3 Problem frequency and condition Frequency Condition 4 When did the problem occur 1 Right after the system was set up 2 After operating for a while Operating hours year s and month s 5 Operating direction 1 Horizontal 2 Horizontal Vertical 6 Load condition 1 Load transfer 2 Push motion operation 3 Load Approx kg 4 Speed Approx mm sec...

Page 494: ...ide immediately after the table of contents Changed Manufacture TDK Lambda to Model number MC1210 in the table Recommended noise filters at the bottom of page 33 Changed both 100 VAC and 200 VAC to MC1210 by TDK Lambda in the table Recommended noise filters on page 34 Changed the model number in the above illustration to MC1210 also Added Change History on the last page Updated the back cover Chan...

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Page 497: ...70 FAX 678 354 9471 website www intelligentactuator com Ober der Röth 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 IAI Shanghai Co Ltd SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com The information contained in this document is subject to change without notice for the purpose of p...

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