IAI X-SEL PX, Operation Manual, Page: 500 / 560

473
Appendix
Descripti
on
Action Parameter
setti
ng
Manip
ul
ation/o
perati
on
W
ant to output signa
l w
hen al
l valid
line
ar moveme
nt axes are at their
home.
Output port No
. 304 can b
e set as a
si
gn
al
in
di
ca
tin
g t
ha
t a
ll v
al
id
lin
ea
r
m
ov
em
en
t a
xe
s a
re
a
t t
he
ir h
om
e.
Note: Do not u
se a HOME command
w
hen th
e contr
oller is of the a
bsolut
e
specificati
on.
I/O paramet
er No. 50 = 1
Output p
ort No. 304
w
ill tu
rn
ON
w
hen
all val
id li
ne
ar movement a
xe
s are at
their hom
e.
W
ant to output signa
l w
hen al
l valid
line
ar moveme
nt axes have c
omplet
ed
home retur
n.
Output port No
. 304 can b
e set as a
si
gn
al
in
di
ca
tin
g t
ha
t a
ll v
al
id
lin
ea
r
movement a
xe
s have comp
let
ed h
om
e
return.
I/O paramet
er No. 50 = 2
Output p
ort No. 304
w
ill tu
rn
ON
w
hen
al
l v
al
id
li
ne
ar
m
ov
eme
nt
a
xe
s h
av
e
complet
ed home return.
W
ant to releas
e brake us
ing
an
ex
ternal input signal.
A gener
al-p
urp
ose in
put port can be set
as
a
b
ra
ke
fo
rc
ed
-re
le
as
e i
np
ut
(dedic
ated i
np
ut). Set a desired in
put
po
rt n
um
ber
in
th
e a
pp
lic
ab
le
paramet
er.
Set a desire
d i
nput port n
umb
er in the
I/O paramet
er corresponding
to the
ta
rg
et
a
xis
n
um
be
r.
Corresp
on
den
ce of brake-re
leasin
g
axis num
ber a
nd par
ameter n
umber:
Ax
is 3
:
I/O parameter No. 64
Ax
is 4
:
I/O parameter No. 65
Ax
is 5
:
I/O parameter No. 66
Ax
is 6
:
I/O parameter No. 67
Setting e
xam
pl
e) T
o set input
port No.
12
a
s t
he
b
ra
ke
fo
rc
ed
-re
le
as
e i
np
ut
fo
r
axis 3, set as follo
w
s:
I/O paramet
er No. 64 = 12
Brake
w
ill be fo
rcibl
y rel
ease
d
w
hen th
e
appl
ica
bl
e p
ort turns ON.

Brake of axi
s 3
w
ill be forci
bl
y
releas
ed
w
hen
input p
ort No. 12 turns
ON.
W
ant to retain output status
w
hile
emerge
nc
y-sto
p sign
al is in
pu
t or the
sa
fe
ty
g
at
e i
s o
pe
n.
Minimum and
maximum port
numbers
indic
atin
g the o
utput ports
you
w
is
h to
retain can be set.
I/O parameter No. 70 = Output port number MIN I/O parameter No. 71 = Output port numb
er MAX
Setting e
xam
pl
e) T
o retain output ports
from port Nos. 303 thro
ug
h 31
5, set as
fo
llo
w
s:
I/O paramet
er No. 70 = 303
I/O paramet
er No. 71 = 315

T
he status of output port Nos. 305
throug
h 31
5
w
ill be retai
ned
w
hile
emerge
nc
y-sto
p sign
al is in
pu
t or the
sa
fe
ty
g
at
e i
s o
pe
n.
474
Appendix
Descripti
on
Action Parameter
setti
ng
Manip
ul
ation/o
perati
on
W
ant to st
art p
rograms
w
hile
emerge
nc
y-sto
p sign
al is in
pu
t or the
sa
fe
ty
g
at
e i
s o
pe
n.
Programs to be started are I/O processi
ng or c
alcul
atio
n prog
rams that
do not comma
nd actuator o
pe
ratio
n
(PIO processin
g progr
ams).
A PIO processing pro
gram to start can
be
s
et
. S
et
in
th
e a
pp
lic
ab
le
pa
ra
m
et
er
s a
d
es
ired
P
IO
p
ro
ce
ss
in
g
program
as
w
ell as mini
m
um and
maximum port
numb
ers ind
ica
ting the
output ports at
w
hich th
e prog
ram
w
ill
be proc
essed.
Other pa
rame
ter No. 2 =
PIO
processi
ng pr
og
ram num
ber
I/O parameter No. 70 = Output port number MIN I/O parameter No. 71 = Output port numb
er MAX
Setting e
xam
pl
e) T
o start program No.
5 that involv
es processi
ng at o
utput
port Nos. 303 t
hrou
gh 31
5, se
t as
fo
llo
w
s:
Other paramet
er No. 2 =
5
I/O pa
ra
me
ter No. 70 = 303
I/O pa
ra
me
ter No. 71 = 315

Program No
. 5
w
ill start
w
hi
le
emerge
nc
y-sto
p sign
al is in
pu
t or the
safet
y g
ate is o
pen. Output po
rt Nos.
303 thro
ug
h 31
5 can be us
ed
for
processi
ng.
W
ant to s
w
itch
bet
w
een AUT
O
and
MANU
modes using an
in
put port.
A gener
al-p
urp
ose in
put port can be set
as
a
mode
sw
itching
in
pu
t (de
dicate
d
input). Set a de
sired in
put port
number
in I/O parameter No. 79.
I/O
parameter
No.
79
=
Input
port
numb
er
Set the mode s
w
itc
h to the AU
TO
side.
The AU
TO
mode
w
ill be e
nab
led
w
hen
the specifi
ed in
put port turns OF
F,
and
the MANU mo
de
w
ill be e
nab
led
w
hen
the input port turns ON. If the mode s
w
itch is set to the MANU
side, the MAN
U
mode
w
ill be
enab
led
regard
les
s of
ON/OF
F of this in
put port.
Thi
s f
un
ct
io
n i
s a
va
ila
bl
e o
n c
on
tro
lle
rs
shipp
ed i
n or a
fter 2003.
W
ant to automaticall
y e
xecut
e restart
(soft
w
ar
e reset
) af
ter the emergenc
y
stop is reset, and start the aut
o-start
program.
The emergenc
y-stop rec
over
y t
ype ca
n
be set to “Abor
t operatio
ns/pr
ograms
(Soft
w
ar
e reset
w
hen the em
er
genc
y
stop is reset).”
Other paramet
er No. 10 =
3
I/O
p
ar
ame
te
r N
o.
3
3 =
1
After the emergenc
y-sto
p but
ton is
releas
ed,
the
sy
stem
w
ill
auto
m
aticall
y
execute restart
(soft
w
are res
et) and
start the auto-start program.
W
ant to automaticall
y e
xecut
e error
reset after the emerge
nc
y sto
p is reset,
and start the a
uto-start progr
am.
The emergenc
y-stop rec
over
y t
ype ca
n
be set to “Abor
t operatio
ns/pr
ograms
(Error reset an
d auto pro
gram
start
w
hen th
e emer
genc
y stop is r
es
et).”
Other paramet
er No. 10 =
4
I/O
p
ar
ame
te
r N
o.
3
3 =
1
I/O
p
ar
ame
te
r N
o.
4
4

1
After the emergenc
y-sto
p but
ton is
releas
ed,
the
sy
stem
w
ill
auto
m
aticall
y
execute err
or reset and start the auto-
st
ar
t p
ro
gr
am
.
476