IAI X-SEL PX, Operation Manual, Page: 505 / 560

477
Appendix
C
om
bi
na
tio
n
Ta
bl
e o
f X
-S
EL
P
X/
Q
X
Ax
is
5
/6
L
in
ea
r/R
ot
ar
y C
on
tro
l P
ar
am
et
er
(O
th
er
th
an
S
CA
R
A
Ax
es
)
Permitted
encod
er
processing
method
Axis-specific par ameter
No. 1, Axis opera tion type
Axis-specific par ameter
No. 68, Mode sel ection
for linear movement axis
Axis-specific par ameter
No. 66, Mode sel ection
for rotational movement
axis
Axis-specific par ameter
No. 67, Short-cut control
selection for rotational
movement axis
ABS
Simulated
INC
INC
Expression of current
position (approx. )
Axis-specific par ameter
No. 7, Soft limit +
Axis-specific par ameter
No. 8, Soft limit –
Axis-specific par ameter
No. 44, Length
measurement co rrection
Axis-specific par ameter
No. 47, Screw le ad
Axis-specific par ameter
No. 50, Gear rati o
numerator
Axis-specific par ameter
No. 51, Gear rati o
denominator
In
pu
t u
ni
t
0
(Normal
mode
)


Counter range
Valid
Valid
0
(Li nea r m ove men t
axis)
1
(Infinite-
str
oke
mode)
* Dut
y
cy
cle
timeout
check
must
be
reviewe
d.
Invalid
Invalid
x


-10000
~
9999.999 (Rotar
y)
Invalid (Note)
Invalid (Note)
Valid
Valid
Valid
Valid

Distance
mm

Speed
mm/sec

Acceler
ation/
deceleration
G
0
(Normal
mode)
0
(S
ho
rt-
cu
t c
on
tro
l n
ot
selected)
* “0”
mus
t be
specified
if
the
no
rmal
mode
is
selected
.


Counter range
Valid
Valid
0
(S
ho
rt-
cu
t c
on
tro
l n
ot
selected)


Counter range
1
(Rotational move ment axis)
Invalid
1
(Inde
x
mode)
1
(S
ho
rt-
cu
t c
on
tro
l
selected)
x


0
~
35
9.
99
9
(Rotar
y)
Invalid (fixed
to
359.999 inter
nally
)
Invalid
(fixed
to
0
inter
nally
)
Invalid
Invalid
Valid
Valid

Angle
mm

de
g

Angular
speed
mm/sec

deg/sec

Angular
acceleration/decel er
at
io
n
G
=
9807
mm/sec2

9807
deg/sec2
=
9807
x
2

/360
ra
d/sec2
* A
“deg”
value
indicates
the
angle
of
the
rotating
bod
y
at
the
end.
(Note):
An
y
positi
oni
ng
command oth
er than “J
XW
X” exce
ed
ing a c
oordi
nate ra
ng
e from
ap
pr
ox
. -
99
90
to
9
99
0 w
ill g
en
er
at
e a
n “
Er
ror No. CBE,
Ta
rget-path data
bou
ndar
y ov
er error.”
Exec
utin
g an
y
positio
ni
ng co
mmand
oth
er than “J
XW
X” ou
tside a coor
din
ate rang
e from appr
ox
. –999
0
to 9990
w
ill g
enerate a
n “Err
or No. CC5,
Positio
nin
g bo
und
ar
y
pul
l-out
error.”
478
Appendix
Erro
r Level Control
Program
run
(Ap
plication
only
)
Error
le
ve
l
Sy
stem
err
or
assignment
source
Error No. (HEX)
Display
(7-
segment
display
, etc.)
Error
lis
t
(Application
onl
y)
Error
LE
D
output
(M
AI
N
o
nl
y)
Other
parame
ter
No.
4
=
0
Other
parame
ter
N
o.
4
=
1
Error res
et
(Application
onl
y)
Remar
ks
MAIN
application
800
~
88F
MAIN
cor
e
890
~
8AF
PC
8B0
~
8DF
Secr
et
level
TP
8E0
~
8FF

Special
er
ro
r level
provided
for
maintenance purposes
MAIN
application
MAIN
core
PC PC
(Update
tool)
TP MAIN
application
200
~
24F
MAIN
core
-
PC
25
0
~
29
F
PC
(Update
tool)
2A0
~
2CF
TP
2D0
~
2F
F
MAIN
application
900
~
93F
M
AI
N
c
or
e
94
0
~
97
F
PC
980
~
9AF
PC
(Update
tool)
9B0
~
9BF
TP
9C0
~
9F
F
MAIN
application
A00
~
A6F
MAIN
core
A70
~
A9F
PC
AA0
~
ACF
Message
level
TP
AD0
~
AFF


(Batter
y
and
fieldbus er
ro
rs
w
ill be
re
gi
st
er
ed
in
an
erro
r l
is
t.)
Enabled.
Status
display
, in
put
er
ro
r,
et
c.
MAIN
application
MAIN
core
PC PC
(Update
tool)
TP MAIN
application
400
~
4CF
MAIN
core
PC
4D0
~
4DF
PC
(Update
tool)
4E0
~
4EF
Oper
ation-
cancellation
level
TP
4F0
~
4F
F


Th
e pr
og
ra
m in
w
hi
ch
th
e e
rror
ge
ner
at
ed
w
ill be ca
nc
ell
ed.
(E
xc
ept fo
r ax
is e
rror
s,
a
ca
nc
ell
ati
on fa
cto
r is pr
es
ent
only
for
th
e mom
ent t
he
er
ro
r
oc
cur
s.
)
* H
ow
ev
er,
in
th
e ca
se of an
err
or
re
qu
iri
ng
se
rv
o O
FF
or al
l-
ax
is serv
o O
FF
, al
l pr
og
ram
s
oth
er th
an th
e
“I/O
pr
oc
es
sin
g
pro
gr
am
a
t o
pe
ra
tion/
pr
og
ram
ab
ort
” w
ill b
e c
an
cell
ed.
(Ma
in
ap
pli
cat
io
n v
ersio
n 0
.1
7 o
r l
ate
r)
Al
l p
ro
gr
ams
ot
he
r
tha
n t
he
“I/O
pr
oc
es
si
ng
pro
gr
am
a
t
op
era
tio
n/
pr
ogr
am
ab
ort
” w
ill b
e
ca
nc
ell
ed.
(E
xcept
for
ax
is er
ro
rs,
a
ca
nc
ell
ati
on fa
cto
r
is pre
se
nt on
ly
for
the
moment the
err
or oc
cu
rs
.)
Enabled.
Error
s aff
ect
in
g
op
era
tio
n.
Th
e sy
stem
w
ill a
tte
m
pt
to
re
set
mino
r e
rro
rs
b
elo
w
this
lev
el us
in
g a
n
aut
o-
res
et fu
nct
io
n
vi
a
ex
ternal
a
ctiv
e
comma
nd
(S
IO/P
IO
)
(ap
pl
ica
tio
n onl
y)
.
481