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IAI X-SEL, Operation Manual

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IAI X-SEL Operation Manual Download Page 528

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Appendix

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Appendix

Summary of Contents for X-SEL

Page 1: ...Operation Manual Nineteenth Edition XSEL Controller P Q PCT QCT Type ...

Page 2: ......

Page 3: ... ...

Page 4: ...s problem this controller can output a low battery voltage alarm from its I O port To output this alarm signal from an I O port you must set the applicable I O parameter Alarm output for the system memory backup battery Set I O parameter No 59 to 1 Output port No 313 will be assigned as a dedicated port Alarm output for the absolute encoder backup battery Set I O parameter No 60 to 1 Output port N...

Page 5: ...on of High Speed Cartesian Robot CT4 It is necessary to declare specific functions in SEL language program for the operation Refer to Appendix Operation of High Speed Cartesian Robot CT4 for the details Power Supply Shutoff and Input of Emergency Stop 1 Do not turn on off the power frequently 2 Do not construct the system that allows frequent input of emergency stop or turning on off of the drive ...

Page 6: ... SEL T TD V1 01 or later How to check if the controller memory has been expanded Check in the PC software Ver 6 0 0 0 or later by displaying the ROM version information Controller C ROM Version Information V or on the teaching pendant IA T X IA T XD Ver 1 21 or later SEL T SEL TD Ver 1 00 or later by displaying the main CPU firmware version information Moni Ver Main Expanded memory As shown below ...

Page 7: ...PSRUWDQW VDIHW SDUWV RI PDFKLQHU 6DIHW GHYLFH HWF Ɣ R QRW XVH WKH SURGXFW RXWVLGH WKH VSHFLILFDWLRQV DLOXUH WR GR VR PD FRQVLGHUDEO VKRUWHQ WKH OLIH RI WKH SURGXFW Ɣ R QRW XVH LW LQ DQ RI WKH IROORZLQJ HQYLURQPHQWV RFDWLRQ ZKHUH WKHUH LV DQ LQIODPPDEOH JDV LQIODPPDEOH REMHFW RU H SORVLYH 3ODFH ZLWK SRWHQWLDO H SRVXUH WR UDGLDWLRQ RFDWLRQ ZLWK WKH DPELHQW WHPSHUDWXUH RU UHODWLYH KXPLGLW H FHHGLQJ W...

Page 8: ...he safety factor of the hook in such factors as shear strength Ɣ Do not get on the load that is hung on a crane Ɣ Do not leave a load hung up with a crane Ɣ Do not stand under the load that is hung up with a crane 3 Storage and Preservation Ɣ The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Ɣ S...

Page 9: ...seness Failure to do so may cause a fire electric shock or malfunction of the product Ɣ Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding Ɣ The grounding operation should be performed to prevent an electric shock or elect...

Page 10: ...DU WR VHFXUH safety Ɣ R QRW LQVHUW D ILQJHU RU REMHFW LQ WKH RSHQLQJV LQ WKH SURGXFW DLOXUH WR GR VR PD FDXVH DQ LQMXU HOHFWULF VKRFN GDPDJH WR WKH SURGXFW RU ILUH Ɣ KHQ UHOHDVLQJ WKH EUDNH RQ D YHUWLFally oriented actuator exercise SUHFDXWLRQ QRW WR SLQFK RXU KDQG RU GDPDJH WKH ZRUN SDUWV ZLWK WKH DFWXDWRU GURSSHG E JUDYLW 7HDFKLQJ Ɣ When the work is carried out with 2 or more persons make it cle...

Page 11: ...inal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Ɣ Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Ɣ Before starting automatic operation make sure that all peripheral equipment is in an automatic operation re...

Page 12: ...sult in a damage to the product Ɣ When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity Ɣ The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Ɣ Pay attention not to lose the cover or ...

Page 13: ... WKH SURGXFW LV QRW KDQGOHG FRUUHFWO ZLOO UHVXOW LQ GHDWK RU VHULRXV LQMXU DQJHU DUQLQJ 7KLV LQGLFDWHV D SRWHQWLDOO KD DUGRXV VLWXDWLRQ ZKLFK LI WKH SURGXFW LV QRW KDQGOHG FRUUHFWO FRXOG UHVXOW LQ GHDWK RU VHULRXV LQMXU DUQLQJ DXWLRQ 7KLV LQGLFDWHV D SRWHQWLDOO KD DUGRXV VLWXDWLRQ ZKLFK LI WKH SURGXFW LV QRW KDQGOHG FRUUHFWO PD UHVXOW LQ PLQRU LQMXU RU SURSHUW GDPDJH DXWLRQ 1RWLFH 7KLV LQGLFDWHV O...

Page 14: ... I Q 4 I9 A 5 ...

Page 15: ... 9 1 9 R K 4 5 R Q 4 5 ...

Page 16: ... R 4 5 A 91 B 9 Q O Y Q 4 5 4R 5 Q Q 4 7 5 ...

Page 17: ... C 6 C I 4 b 5 ...

Page 18: ......

Page 19: ...s 33 1 Controller Specifications 33 2 External I O Specifications 37 3 Power Source Capacity and Heat Output 41 4 External Dimensions 45 Chapter 6 Safety Circuit 53 1 Items to Notes 53 2 Safety Circuit for P PCT Type Standard Specification Controller 54 3 Safety Circuit for Q QCT Type Global Specification Controller 56 4 Safety Circuit Timing Charts for Q QCT type SEL Controller 61 Chapter 7 Syste...

Page 20: ...s Used 123 1 2 I O Ports 124 1 3 Virtual I O Ports 125 1 4 Flags 127 1 5 Variables 128 1 6 Tags 131 1 7 Subroutines 132 1 8 Symbols 133 1 9 Character String Literals 133 1 10 Axis Specification 134 2 Position Part 136 3 Command Part 137 3 1 SEL language Structure 137 3 2 Extension Condition 138 Part 4 Commands 139 Chapter 1 List of SEL Language Command Codes 139 Chapter 2 Explanation of Commands 1...

Page 21: ...ARCD ARCC Commands 309 Chapter 4 Palletizing Function 310 1 How to Use 310 2 Palletizing Setting 310 3 Palletizing Calculation 316 4 Palletizing Movement 317 5 Program Examples 319 Chapter 5 Pseudo Ladder Task 327 1 Basic Frame 327 2 Ladder Statement Field 328 3 Points to Note 328 4 Program Example 329 Chapter 6 Application Program Examples 330 1 Operation by Jog Command Doll Picking Game Machine ...

Page 22: ...t of Synchro Axis Sliders 393 3 Special Absolute Reset Procedure 393 4 Standard Absolute Reset Procedure 398 Vibration Control Function 399 Multiple Slider Near Miss Detection Collision Prevention Function 404 General Purpose RS232 2 Channel RS232 Unit 406 List of Parameters 413 1 I O Parameters 414 2 Parameters Common to All Axes 442 3 Axis Specific Parameters 446 4 Driver Card Parameters 452 5 E...

Page 23: ...6 256 board PR ProfiBus 256 256 board ET Ethernet Data communica tion board E Not used N1 Input 32 Output 16 NPN board N2 Input 16 Output 32 NPN board N3 Input 48 Output 48 NPN board P1 Input 32 Output 18 PNP board P2 Expanded I O PNP16 32 P3 Input 48 Output 48 PNP board E Not used N1 Expanded I O NPN32 16 N2 Expanded I O NPN16 32 N3 Multi point I O NPN48 48 P1 Expanded I O PNP32 16 P2 Expanded I ...

Page 24: ... connector turn off the power and wait for at least 10 minutes Even after the power is turned off the internal circuits will continue to carry high voltages for a short period About actuator duty IAI recommends that our actuators be used at a duty of 50 or less as a guideline in view of the relationship of service life and precision Duty n o i t o M e m i t y t i v i t c a n I n o e m i T Decelera...

Page 25: ... in this manual If you have any question regarding the content of this manual please contact IAI 2 Always use the specified genuine IAI cables for wiring between the controller and the actuator 3 Do not enter the operation area of the machine while the machine is operating or ready to operate the controller power is on If the machine is used in a place accessible to other people provide an appropr...

Page 26: ...from the scope of warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5...

Page 27: ... Medical equipment pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportuni...

Page 28: ... Auxiliary Power Devices I Q I 4 5 R 4 5 4 5 Q 4 5 4 5 8 4 5 8 4 5 4 5 I Q 9 9 91 B 1 4O 8 D L Q 9 K8 5 Q 8 9 4I 5 999 9 9 E C 9 9 4 5 9 9 4 5 9C B 4 5 B A 4 5 S T U 8 S T U I Q Q 8 8 99 9 91 Q 8 99 9 91 8 9 9 KY 1 4 L Q 9 K8 5 9 4 8 5 I C C R 99 99 4 5 9 9 4 9 998 5 8 N 4 5 ...

Page 29: ...7 Part 1 Installation Chapter 3 Installation Environment and Selection of Auxiliary Power Devices K Y 9f 4 5 9 9 9 4 5 9 9 9 9 9 9 9 ...

Page 30: ...calculated as three times the corresponding rated currents Guideline for AC Power supply Operating Current Motor power supply Control power supply 400 W 800 W 1200 W 1600 W 2000 W 2400 W Rated power 181 VA 800 VA 1595 VA 2390 VA 3185 VA 3980 VA 4775 VA Rated current 0 71 A 2 6 A 5 2 A 7 7 A 10 3 A 12 8 A 15 4 A Momentary maximum power 2400 VA 4785 VA 7170 VA 9555 VA 11940 VA 14325 VA Momentary max...

Page 31: ...9 Part 1 Installation Chapter 3 Installation Environment and Selection of Auxiliary Power Devices 4 5 8 4 5 R Q Q 3 8 G Q 8 F 8 8 G 4 8 7 8 5 Q 4 C 5 G 4 8 7 8 5 Q 4 C 5 I 8 4 5 T Q I Q Q b ...

Page 32: ...llowing noise filter ring core and clamp filters to ensure compliance with the EC Directives IAI uses the following filters in the evaluation certification tests under the EMC Directives Recommended Noise Filter Ring Core and Clamp Filters r e b m u n l e d o M r e i l p p u S Noise filter TDK Lambda MC1320 for three phase power supply MXB 1220 33 for single phase power supply Ring core NEC Tokin ...

Page 33: ...eaker Earth leakage breaker Surge protector Three phase noise filter Ring core Clamp filters Encoder cable Motor cable Actuator Controller System I Os Brake 24 VDC power supply Emergency stop switch Encoder cable Motor cable Actuator Electro magnetic contactor Safety relay Safety circuit 200 VAC three phase power bus Control panel Circuit breaker Earth leakage breaker Surge protector Three phase n...

Page 34: ...aker Earth leakage breaker Surge protector Single phase noise filter Ring core Clamp filters Encoder cable Motor cable Actuator Controller System I Os Brake 24 VDC power supply Emergency stop switch Encoder cable Motor cable Actuator Electro magnetic contactor Safety relay Safety circuit 200 VAC single phase power bus Control panel Circuit breaker Earth leakage breaker Surge protector Single phase...

Page 35: ...d cables for the AC power cable and 24 VDC external power cable Wire the controller cables separately from lines creating a strong electric field such as power circuit lines by not bundling them together or placing 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 Engineerin...

Page 36: ...14 Part 1 Installation Chapter 3 Installation Environment and Selection of Auxiliary Power Devices 4 5 O O C 888 888 I 8 998 Q R ...

Page 37: ...15 Part 1 Installation Chapter 3 Installation Environment and Selection of Auxiliary Power Devices Q Q 7 9 99 9 ...

Page 38: ...e and Function of Each Part Part 1 Installation Chapter 4 Name and Function of Each Part 1 Front View of Controller P PCT Type Standard Specification 4 axes P PCT Type Standard Specification 4 axes with expansion I O board and brake unit ...

Page 39: ...17 Part 1 Installation Chapter 4 Name and Function of Each Part Part 1 Installation Q QCT Type Global Specification 4 axes Q QCT Type Global Specification 4 axes with expansion I O board and brake unit ...

Page 40: ...18 Part 1 Installation Chapter 4 Name and Function of Each Part 4 5 J J I J Q 8 QI Q O J Y 9 J 4 5 I 8 8 8 R O b I Q 8 8 J 8Q 8 Y Y C RJ Q Y 9 4 RJ 5 I 7 7 4 8 5 a a J ...

Page 41: ...d Function of Each Part 4 5 8 998 8 8 I O 5 8 8 8 Q 8 8 J Q 8 R Q 8 99 9 9 9 KY I O WN 99 N O WO 99 O Y 9 4 RJ A5 O O WN 99 N Q 8 O 8O 99 O Y 4 RJ 5 I O WN 99 N O WO 99 O Y 9 4 RJ A5 O W 99 O WQ 99 Q 8 O W 99 Y 4 RJ 5 4 5 8 NI 3 4 5 8 8 Q 8 Q ...

Page 42: ... NQ II I 8 Q K 8 8 9 8 9 LN 4 Q 5 8 9 8 999 I 4 Q 5 4K C 9 8 9899A5 J I 8 9 O Q 7 8 7 4 75 a 8 8 4 85 7 8 7 4 75 a 8 8 4 85 U7 8U 7 4 R75 Ua 8U 8 4 R85 Q 7 Q 7 4 75 A Q a Q 8 4 85 B O O 9 O O O O Q 9 8 Q JO I JO JO A O O B O O 9 Ma 8 4 C 5 M7 7 O O 6 Q Q Q 6 Q 6 NII Q NII 6NQ Q NQ ...

Page 43: ...dant type switch P PCT type only This switch is used to change the type of the teaching pendant connected to the teaching connector 9 It switches between IAI s standard teaching pedant and ANSI teaching pendant The switch is located on the front side of the board Select the applicable setting in accordance with the teaching pendant used Left PC cable comforming to safety category 4 SEL T SEL TD SE...

Page 44: ...lf duplex communication Signal assignments conform to the RS232C DTE terminal layout Assign dedicated control lines to undefined lines etc Baud rate Up to 115 2 kbps Half duplex communication speeds of up to 115 2 kbps are supported Maximum wiring distance 10M At 38 4 kbps Interface standard RS232C Connected unit Dedicated teaching pendant IAI s standard teaching pendant for XSEL or ANSI teaching ...

Page 45: ...lation Chapter 4 Name and Function of Each Part Q Q O Q J S S Q Q Q I QJ Q A O O B Q S Q 9 Q S Q O O I J I 8 I J O O O Q 8 8 8S QIN8 4 5 I J I 8 IO I A 4 8 8 S 4 5 5 B IO S I 9 IO I IO S I I JQ I 8 I J O I 8 QJ Q Q OQ ...

Page 46: ... cutoff Overview of Terminal Assignments Pin No Signal name Description 9 DET IN External contact error input 8 IN Emergency stop detection input 7 EMGin 24V 24 V power output for emergency stop detection input 6 line Emergency stop switch 1 5 EMG1 line 8 mA P PCT type 4 line Emergency stop switch 2 3 EMG2 line 8 mA P PCT type 2 Out External relay drive cutoff contact output Left 1 SDN Out 18 DET ...

Page 47: ...mmand a controller operation mode To operate the switch pull it toward you and tilt Tilting the switch upward will select MANU manual mode while tilting it downward will select AUTO auto mode Teaching can be performed only in the MANU mode but auto program start is not enabled in the MANU mode With Q QCT type controllers connect the supplied dummy plug to the teaching connector 9 while this switch...

Page 48: ... O 5 8 99B 4 J O 5 8 9 9 4 J O A5 8 9 4 J O 95 8 9 4 J O 95 T 8 9 4 J O 95 J 8 9 J 8 8 9 J 8 8 A 9 J 8 J 8 B 9 J 8 R 8 9 9 A J 8 8 9 B J 8 8 9 9 J 8 8 9 J 8 8 9 J 8 T 8 9 J 8 J 8 9 J 8 8 9 J 8 8 A 9 J 8 J 8 B 9 J 8 R 8 9 9 A J 8 8 9 B J 8 8 9 9 J 8 8 9 J 8 8 99 T 8 9 J 8 9 I 8 8 9 J 8 8 A 9 J 8 J 8 B 9 J 8 R 8 9 9 J 8 8 9 J 8 8 9A J 8 8 9B J 8 8 9 J 8 T 8 J 8 J 8 J 8 8 J 8 8 A J 8 J 8 B J 8 R 8 9 ...

Page 49: ... and Function of Each Part 4 5 J Q 8 Q Q 4 O 9 9 5 4 5 J Q 8 Q Q 4 O 5 J Q Q 8 B8 4 I5 S 89B 8 9 N 4 O5 Q Q 9 A 99 Q 8 K 8 8 8 4 5 4 C O 5 4 S 5 Q 4 S 5 I I 4 5 QJ Q 4 Q 5 4 Q5 4 4 Q5C O 5 4 Q5 4 4 Q5C O 5 O O 8 Q 4 5 4 5 4 5 O 4 A5 I 4 5 ...

Page 50: ... that releases the actuator brake externally from the controller Shorting the COM and BKRMT terminals of this connector will release the brake Use this connector if you want to operate the actuator manually in the event of a power failure or error in the controller Brake release Switch Connector Specifications w e i v r e v O m e t I m e t I Connector Hirose DF11 6DP 2DS Connector name BK RMT Conn...

Page 51: ...29 Part 1 Installation Chapter 4 Name and Function of Each Part I R 46 5 4 8 5 Q 8 R I 4 5 I 4 5 4 5 8 8 8 8 R 8 4 5 4 5 4 5 4 5 A A B B B B Q B Q B Q B 4 5 666 4 4 55 B 4 5D O b B Y B B 4 5 B 4 5 46 5 ...

Page 52: ...30 Part 1 Installation Chapter 4 Name and Function of Each Part 46 5 4 8 5 8 8 8 8 K L 8 8 Q 46 5 ...

Page 53: ...31 Part 1 Installation Chapter 4 Name and Function of Each Part O B 9 4 9 9B 5 4 5 O B F O 9 F Q I 5 O B b O 9 b 8 8 R 4 5 415 b b 415 9 E 415 E 415 9 9 E 415 E 415 99 99 E 415 9 9 E 415 99 99 E 415 ...

Page 54: ...32 Part 1 Installation Chapter 4 Name and Function of Each Part 4 5 BBB O B F O 9 F R 4 5 b b 8 b 5 ...

Page 55: ...n stop Regenerative brake by timer failsafe Enable input Contact B input Internal power supply type System ready output No voltage contact relay output for generation of equipment ready signal based on the wired OR logic among multiple equipment Max 500 mA 24 VDC Axis control method AC full digital servo Position detection methods 15 bit incremental encoder Wire saving type 15 bit rotation data ba...

Page 56: ...y a switch RS232C port for general PC connection Dedicated 2 channel RS232C 9 pin DTE specification Half duplex at speeds up to 115 2 kbps 1 channel or up to 76 8 kbps simultaneous communication with 2 channels Note 2 Expanded inputs outputs optional Expandable to 3 slots Fieldbus interface optional Profibus DP IN 32 bytes max OUT 32 bytes max DeviceNet IN 32 bytes max OUT 32 bytes max CC Link IN ...

Page 57: ...le input Contact B input External power supply type redundant System ready output No voltage contact relay output for generation of equipment ready signal based on the wired OR logic among multiple equipment Max 500 mA 24 VDC Axis control method AC full digital servo Position detection methods 15 bit incremental encoder Wire saving type 15 bit rotation data backup absolute encoder Both have a cont...

Page 58: ...rming a withstand voltage test with the controller and actuator connected make sure the test voltage and duration will not exceed 1000 V and 1 minute respectively Note 2 The XSEL J K type supports 3000 positions Note 3 If one RS232C channel is used at a communication speed of 115 2 kbps use the other channel at 38 4 kbps or below If these speeds are exceeded an overrun error or other problems will...

Page 59: ...cer transistor output 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 XSEL controller s input signal At the default settings the system recogni...

Page 60: ...38 Part 1 Installation Chapter 5 Specifications 4 5 I Q 4O O Q 5 Q N 99 99 A O 5 N 9 9A 4 5 I Q O 5 99 O 99 4 O 99 7 O 99 7 7 99 9 A 5 6 C O 6 OC O 9 8 K 8 9 O6 6 7 8 Q N I 91 ...

Page 61: ...output open collector type 4 Sequencer contact output minimum load of approx 5 VDC 1 mA Input circuit N I O interface pin No 50 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 XSEL controller s input signal At the default settings the system recognizes the ON OFF d...

Page 62: ...40 Part 1 Installation Chapter 5 Specifications 4 5 I Q Q N 99 99 A O 5 N 9 A 4 5 I Q O 5 99 O 99 4 O 99 7 O 99 7 7 99 9 A 5 6 C O 6 OC O 9 8 K 8 9 O Q N I 91 7 8 ...

Page 63: ...leration deceleration the motor drive power increases by up to three times or by up to twice if the motor wattage is 600 W or 700 W 2 Calculate the control power source capacity VA by selecting the installed parts and then adding up the power x quantity products of all installed parts according to the Control power supply Internal consumption External consumption fields of Table 2 3 Calculate the ...

Page 64: ... DIO card DIO 96 points 8 33 26 81 0 to 4 DeviceNet 2 38 1 71 0 to 1 CC Link 2 38 1 19 0 to 1 Profibus DP 4 17 0 to 1 Network module Ethernet 5 36 0 to 1 IA T X XD 3 57 0 to 1 Teaching pendant SEL T TD 6 67 0 to 1 5 95 max4 1 5 One large high thrust linear actuator W21H occupies the space of two axes with one axis One axis requires one driver board 6 The use quantities of fans are shown in the tab...

Page 65: ...2 Heat output from control system 31 14 6 26 2 2 38 4 4 57 4 5 95 2 38 14 52 1 1 71 5 95 x 1 0 7 Efficiency x 0 6 Power factor 43 W 3 I O power source capacity 24 VDC 14 52 x 1 14 52 VA 4 Brake power source capacity 24 VDC 5 95 13 81 x 1 19 76 VA 5 Motor power source capacity 421 421 234 138 1214 VA 6 Heat output from motor power supply 9 12 9 12 6 12 3 39 27 8 W 7 Power source capacity 1 Control ...

Page 66: ...ge of DD Output for controller wattage calculation Wattage of other actuators Motor wattage Number of axes Wattage Calculation Table for LSA and DD in Single Phase Type Actuator model number Corresponding driver output W Number of sliders unit Output for controller wattage calculation W Remarks S6SS 100 1 300 S6SM 100 2 600 S8SS 100 1 300 S8SM 100 2 600 S8HS 100 1 300 S8HM 100 2 600 S10SS 100 1 30...

Page 67: ...n 4 axis Controller External views of enclosures for various 4 axis controllers are shown below the external enclosure dimensions are the same for 1 axis to 4 axis controllers Fig 4 1 P Q PCT QCT Type 4 axis Controller Incremental Specification Three phase Standard Specification Single phase Global Specification Single phase Standard Specification Fig 4 2 P Q PCT QCT Type 4 axis Controller with Ab...

Page 68: ...T QCT Type 4 axis Controller with Expansion I O Board Incremental Specification Three phase Standard Specification Single phase Global Specification Single phase Standard Specification Fig 4 4 P Q PCT QCT Type 4 axis Controller with Expansion I O Board Absolute Brake Unit Three phase Standard Specification Single phase Global Specification Single phase Standard Specification ...

Page 69: ...dard Specification External views of enclosures for various 6 axis controllers are shown below the external enclosure dimensions are the same for 5 axis and 6 axis controllers Fig 4 5 P Q PCT QCT Type 4 axis Controller Incremental Specification Three phase Standard Specification Single phase Global Specification Single phase Standard Specification Fig 4 6 P Q PCT QCT Type 6 axis Controller with Ab...

Page 70: ... PCT QCT Type 4 axis Controller with Expansion I O Board Incremental Specification Three phase Standard Specification Single phase Global Specification Single phase Standard Specification Fig 4 8 P Q PCT QCT Type 6 axis Controller with Expansion I O Board Absolute Brake Unit Three phase Standard Specification Single phase Global Specification Single phase Standard Specification ...

Page 71: ...hase Global Specification 4 axis Controller External views of enclosures for various 4 axis controllers are shown below the external enclosure dimensions are the same for 1 axis to 4 axis controllers Fig 4 9 Q QCT Type 4 axis Controller Incremental Specification Three phase Global Specification Fig 4 10 Q QCT Type 4 axis Controller with Absolute Brake Unit Three phase Global Specification ...

Page 72: ...295 279 5 9 1 6 8 1 0 8 1 64 5 75 75 64 5 5 3 5 299 315 0 8 1 6 8 1 5 9 1 29 5 120 120 29 5 5 3 5 Fig 4 11 Q QCT Type 4 axis Controller with Expansion I O Board Incremental Specification Fig 4 12 Q QCT Type 4 axis Controller with Expansion I O Board Absolute Brake Unit ...

Page 73: ...ee phase Global Specification 6 axis Controller External views of enclosures for various 6 axis controllers are shown below the external enclosure dimensions are the same for 5 axis and 6 axis controllers Fig 4 13 Q QCT Type 6 axis Controller Incremental Specification Three phase Global Specification Fig 4 14 Q QCT Type 6 axis Controller with Absolute Brake Unit Three phase Global Specification ...

Page 74: ...120 120 37 5 3 5 354 370 0 8 1 6 8 1 5 9 1 57 120 120 57 5 3 5 Fig 4 15 Q QCT Type 6 axis Controller with Expansion I O Board Incremental Specification Three phase Global Specification Fig 4 16 Q QCT Type 6 axis Controller with Expansion I O Board Absolute Brake Unit Three phase Global Specification ...

Page 75: ...he drive source an automatic reset using the emergency stop switch or a method requiring both an emergency stop switch action and an external input signal can be selected by a parameter I O parameter No 44 During an emergency stop the status can be output to an external device set by I O parameter No 48 2 Overview of enabling action Enabling operation via the safety gate or the deadman switch on t...

Page 76: ... It should be noted that the safety circuit cannot be driven by an external power source Do not use the internal power supply provided for the system I O connector for any other purpose It may damage the equipment or cause it to malfunction The tables below list the signals and wiring methods of the safety circuit interface connector System I O Connector for P PCT Type w e i v r e v O m e t I Deta...

Page 77: ...pening the specified pins or wiring them differently may compromise the safety actions of the controller The RDYOUT contacts will close only when the controller has started properly By connecting these contacts in series with similar contacts of other equipment the soundness of the entire system can be checked easily P PCT type XSEL controller External emergency stop circuit Emergency stop switch ...

Page 78: ...IAI is not liable for any losses arising from a malfunction of the safety circuit configured by the user The ANSI safety standards can be met only when an ANSI teaching pendant is connected to the teaching port The redundant emergency stop lines and enabling lines are designed with the assumption that they will be driven by a power source external to the controller Note however that the inputs to ...

Page 79: ... ENB1 must always be connected regardless of the required safety category If these signals are connected wrongly or not connected the safety functions will be compromised In the table the signals shown in fields EMG2 ENB2 must be connected to meet safety category 3 or above They are designed to provide redundant safety circuits In the table the signal shown in fields DET provides an input for dete...

Page 80: ...58 Part 1 Installation Chapter 6 Safety Circuit I I J IO IO I J 4 75 4 85 I J 4 75 4 85 8 IO 4 75 4 85 IO 4 75 4 85 Q I J IO I J 4 O5 I J 47 5 8 8 I J IO 4 O5 IO 47 5 8 8 IO O T T 4 75 T 4 85 ...

Page 81: ...To power stage External emergency stop reset contact output Teaching pendant Power on reset MPSDWN bit Power error Mushroom emergency stop switch EMG SW contact 1 EMG SW contact 2 Double position enabling control switch DEADMAN SW contact 1 DEADMAN SW contact 2 Emergency stop status Enable status Contact Rating 0 2A max for inductive load Contact Rating 0 2A max for inductive load ...

Page 82: ...5 Note Note 8 4 7 3 5 6 18 9 2 1 17 16 12 13 11 10 SDN Out SDN Out DET 24V DET IN EMG line EMG line EMG2 line EMG line EMGin 24V EMGin IN ENB1 line ENB1 line ENB2 line ENB2 line ENBin 24V ENBin IN RDY Out RDY Out Note It is recommended to connect ENB1 line to 14 and ENB1 line to 15 so the unit would not get burned even if a standard PC cable black is connected accidently to Q QCT Type There should...

Page 83: ...o 24 bits 0 to 3 0 The RDYOUT output system I O is SYSRDY PIO trigger program can be run and the hardware is normal emergency stop is not actuated and hardware error is not detected I O parameter No 44 0 The drive source cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present 200 VAC control...

Page 84: ...62 Part 1 Installation Chapter 6 Safety Circuit I O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 8 8 8 I F O I F ...

Page 85: ...63 Part 1 Installation Chapter 6 Safety Circuit O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 8 8 8 Q O O ...

Page 86: ...64 Part 1 Installation Chapter 6 Safety Circuit I O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 8 8 8 I F O I F ...

Page 87: ...65 Part 1 Installation Chapter 6 Safety Circuit Q 8 O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 8 8 8 ...

Page 88: ...66 Part 1 Installation Chapter 6 Safety Circuit 8 O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 8 8 8 Q O ...

Page 89: ...67 Part 1 Installation Chapter 6 Safety Circuit 8 O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 8 8 8 8 Q O ...

Page 90: ...68 Part 1 Installation Chapter 6 Safety Circuit A O 4 8 5 O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 8 C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 ...

Page 91: ...69 Part 1 Installation Chapter 6 Safety Circuit B I 4 8 5 O 9 F 9C T 4 5 QTQ T 4 5 4 5 O F 9C 8 O F C 9 F I T 4 8 5 998 Q C O 8 C O 9 4 5 Q O 4 5 I J I J 4 5 IO IO 4 5 I F O I F ...

Page 92: ... on set the switch back to the top position Note 2 When connecting a teaching pendant or PC cable PC software set the teaching pendant type switch to an appropriate position Left ANSI teaching pendant Right IAI s standard teaching pendant or PC cable Three phase specification CP Single phase 200 to 230 VAC power source MP Three phase 200 to 230 VAC power source Single phase specification CP Single...

Page 93: ...ice circuit Absolute data backup battery enable disable switch Safety circuit Axis 1 Regenerative unit Host system PLC Teaching pendan optional PC Axis 2 Dummy plug AUTO mode Single phase specification CP Single phase 200 to 230 VAC power source MP Three phase 200 to 230 VAC power source Three phase specification CP Single phase 200 to 230 VAC power source MP Three phase 200 to 230 VAC power sourc...

Page 94: ...g pendant and RS 232 communication function will not operate after the power is turned on P PCT type only 4 Set the teaching pendant type switch Note 1 Q QCT type controllers have no TP SW Note 2 Q QCT type controllers cannot be used with IAI s standard teaching pendants or standard PC cables Left SEL T SEL TD SEL TG teaching pendant IA T XA teaching pendant Right PC cable IA T X IA T XD teaching ...

Page 95: ... 99A 4 J O 5 99B 4 J O 5 9 9 4 J O A5 9 4 J O 95 9 4 J O 95 9 4 J O 95 9 J 8 9 J 8 A 9 J 8 B 9 J 8 9 9 A J 8 9 B J 8 9 9 J 8 9 J 8 9 J 8 9 J 8 9 J 8 9 J 8 A 9 J 8 B 9 J 8 9 9 A J 8 9 B J 8 9 9 J 8 9 J 8 99 9 9 I 8 9 J 8 A 9 J 8 B 9 J 8 9 9 J 8 9 J 8 9A J 8 9B J 8 9 J 8 J 8 J 8 J 8 A J 8 B J 8 9 8 9 7 O 9 O 9 4O 5 4O 5 9 7 ...

Page 96: ... 5 9 99A 4 J O 5 99B 4 J O 5 9 9 4 J O A5 9 4 J O 95 9 4 J O 95 9 4 J O 95 9 J 8 9 J 8 A 9 J 8 B 9 J 8 9 9 A J 8 9 B J 8 9 9 J 8 9 J 8 9 J 8 9 J 8 9 J 8 9 J 8 A 9 J 8 B 9 J 8 9 9 A J 8 9 B J 8 9 9 J 8 9 J 8 99 9 9 I 8 9 J 8 A 9 J 8 B 9 J 8 9 9 J 8 9 J 8 9A J 8 9B J 8 9 J 8 J 8 J 8 J 8 A J 8 B J 8 9 8 9 7 O 9 O 9 9 7 ...

Page 97: ...m Setup C M S8 9 4Q5 4 5 4M 5 O O O O O 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 T 8 T 8 T 8 T 8 T 8 J 8 J 8 J 8 J 8 J 8 8 8 8 8 8 8 8 8 8 8 A J 8 A J 8 A J 8 A J 8 A J 8 B R 8 B R 8 B R 8 B R 8 B R 8 9 8 9 8 9 8 9 8 9 8 Q 4 5C SJ 8 9 98 4 5 4 9 5 9 B ...

Page 98: ...n selection 000 program start whose function has been set by I O parameter No 30 Input function selection 000 to a different input port Use I O parameter No 30 Input function selection 000 to set the function of input function selection 000 program start For details refer to Appendix List of Parameters Set the input port number for input function selection 000 program start using I O parameter No ...

Page 99: ... 99b 99 4 5 N b Q 99 4 5 O BB 99 b b 99 4 5 O b 99 4 5 O b O 9 4 C 5b O BB 99b 99 4 5 O 99 b O 99b 8 O C I O A b 4 5 4 5 99 4 5 4 5 O 99 4 5b 99 4 5 b O 99 4 5b 99 4 5 4 5 N b Q 4 5 99 4 5 4 5 O 99 4 5 b b 99 4 5 4 5 O b 99 4 5 4 5 O b O 9 4 C 5b O 99 4 5b O C I O A b ...

Page 100: ...4 O 5 O F K 4 O 5 O F 8 4 O5 O F I T 4 5 O A F I 4 O5 O B F 8 4 O 5 O 9 F 4 5 O F 8 O 4 8 5 Q O Q 9 999 F 4 O 5 4 5 99 F Q O 99 9 F 9 F I 4 O 5 9 F K 4 O 5 99 F 8 4 O5 9 F I T 4 5 A 9 F I 4 O5 B 9 F 8 4 O 5 9 9 F 4 5 9 9 F 8 O 4 8 5 A 999 F A 99 F B9 B 99 9 A F A B 9 F BA 9 F BB 9B 99 9 F ...

Page 101: ...79 Part 1 Installation Chapter 7 System Setup 8 8 A A SQIN B SQIN A A Q O O O L O O O 2 8 8 99 4 C 99 A 5 8 8 9 8O SQIN 8 8 8 4O O 5 8 8 9 8O SQIN 8 8 8 4 O 5 Q Q Q O A A I 8 91 9 4 99 5 9 ...

Page 102: ...80 Part 1 Installation Chapter 7 System Setup I Q I 8 K 8 99 K 8 99 8 Q 4K 5 I I 91 A A 4 5 8 8 O999 9 99 8 O9 9 8 C 8 47 5 9 99 ...

Page 103: ... J 8 J A J 8 9 J A J 8 J B R 8 9 J B R 8 A J 9 8 9 A J 9 8 B J 8 9 B J 8 9 J 8 9 9 J 8 J 8 9 J 8 J T 8 9 J T 8 J J 8 9 J 8 J 8 8 I 9 O 8 8 8 I O 9 BB 8 J 8 9 J 8 J A J 8 9 J A J 8 J B R 8 9 J B R 8 J 9 8 9 J A9 8 A J 8 9 A J A 8 B J 8 9 B J A 8 9 J 8 9 9 J A 8 J T 8 9 J A T 8 J J 8 9 J A J 8 J 8 9 J A 8 J 8 9 J A 8 J A J 8 9 J AA J 8 J B R 8 9 J AB R 8 J 9 8 9 J B9 8 A J 8 9 A J B 8 B J 8 9 B J B ...

Page 104: ...82 Part 1 Installation Chapter 7 System Setup 8 C 8S8 K9 9 O Q C K 8 99 8 4K 5 4 9 5 N RJ A 4 95 4 995 ...

Page 105: ...83 Part 1 Installation Chapter 7 System Setup Q 4 O O O 5 I 8 91 N O O O I I ...

Page 106: ...84 Part 1 Installation Chapter 7 System Setup Q O O C 9A O C A I 8 91 9 4 99 5C 6 N 9 6 C 99 O O O N I N I ...

Page 107: ...onnection cable the cable supplied with the PC software RS232C cross cable PC end female 9 pin Controller end male 25 pin 3 All adjustments other than the absolute reset must have been completed 1 2 Procedure 1 Turn off the XSEL Controller power Turn on the PC power and wait for the operating system to be started 2 Connect the 9 pin D sub connector on one end of the connection cable to the communi...

Page 108: ...ill be displayed Clicking the OK button will clear the error message 7 From the Monitor menu select Detailed Error Information to check the current error status In the case of an encoder battery error the following will be displayed when axis 4 is using an absolute encoder After checking the error status close the Detailed Error Information window ...

Page 109: ...87 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4A5 4 5 4 5 4B5 R R M 4 95 I 4 5 I R T ...

Page 110: ...88 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 R T 4 5 R b 4 5C I Q O K Q O C R 9 9 O I R b 4 95 4 95 I 4O 5 4 95 4 5 4 5 4 5 4 5 Q 4 5 ...

Page 111: ...r s 7 segment LED display will show rdy 17 This completes the absolute encoder reset To redo the absolute encoder reset exit the XSEL PC software and repeat the procedure from the beginning Caution On certain models the current value may not return to 0 mm after an absolute encoder reset However this does not indicate any abnormality Refer to the model list below for the coordinates to take effect...

Page 112: ...rt 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification K U 4 5 U U 8 4 5 T U C 4 8 9 8S8665 9 9 4 8 8 S 8 8S 5 9 4QIN8 8 QIN8 5 9 B 8 C LJ8U Q 4 U Q5 LJ8U 4 U 5 I J R R b ...

Page 113: ...91 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification Q 4 8 Q R 5 4 5 Q 8 4 5 8 R O b I b 8 Q ...

Page 114: ...92 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 8 Q 5 4 5 Q N O b 4 8 5 4 5 4N 5 ...

Page 115: ...93 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 R T 4 5 R T ...

Page 116: ...94 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 I 4 5 Q O 4N 5 ...

Page 117: ...95 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 Q 4N 5 4U8 5 4A5 L 4 8 5 4 5 L 8 ...

Page 118: ...96 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4B5 Q 8 4N 5 4 95 4 5 4 5 ...

Page 119: ...97 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 Q 8 8 8 8 8 6 8 8 6 C K 6 C 9 O8 4 5 U 6 I 8 R 8 Q ...

Page 120: ...98 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 M 4 5 I 4 5 ...

Page 121: ...99 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 R T 4 5 R T ...

Page 122: ...100 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 K 4 5 4 5 4 A5 4 B5 N 4 5 4 95 4 5 4 5 M ...

Page 123: ...101 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 Q O 4N 5 4 5 Q 4N 5 46 95 4 8 5 Y 4U8 5 ...

Page 124: ...102 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 Q 8 4N 5 4 5 I 4N 5 ...

Page 125: ...103 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 5 R T 4 5 K 4 5 4N 5 Sb 8 R ...

Page 126: ...104 Part 1 Installation Chapter 8 How to Perform An Absolute Encoder Reset Absolute Specification 4 A5 8 8 T 4 B5 R T ...

Page 127: ...attery CR2032 Note 1 Must be replaced after approx 1 5 years Note 2 Absolute data backup battery AB 5 by IAI Must be replaced after approx 2 years Note 2 Absolute specification Fuses Note 1 CR2032 is a standardized product and can be used with products by any manufacture Note 2 The actual replacement timing will vary depending on the use condition For details refer to Battery Backup Function in Ap...

Page 128: ...e 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 The data will be used as a backup in case the SRAM data saved to the flash ROM fails 4...

Page 129: ...107 Part 1 Installation Chapter 9 Maintenance 5 8 NI Q 5 5 4 7 5 5 ...

Page 130: ...108 Part 1 Installation Chapter 9 Maintenance 4A5 R 8 4B5 O 9 8 b 6 4 95 4 5 4O 5 C I O 9C Q 8 I O C K 8 4 5 R Q ...

Page 131: ...109 Part 1 Installation Chapter 9 Maintenance 8 4O B 5 4 5 4A5 8 8 4 O 5 4 5 4 5 8 4 O B 5 4 5 4A5 A K I b O C 4 5 4 5 4 5 4 5 4 5 4 5 4 5 Q 8 4O 5 4 5 ...

Page 132: ...110 Part 1 Installation Chapter 9 Maintenance 4 5 4 5 Q 8 4IO 5 4O 5 4A5 R 4B5 Q 4 5 4 5 4 95 R R M R 4 5 I 4 5 O O 5 I 4 5 I I 4 5 I 4 5 4 5 Q 4 5 4O 5 C I O 9C Q 8 I O C K 8 8 ...

Page 133: ... provide simple means of checking the 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...

Page 134: ...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 When I O parameter No 33 is set to 2 The program of the selected n...

Page 135: ...113 Part 2 Operation Chapter 1 Operation Q I Q Q 4 5 R I T O T 4 5 R I 8 4 T 5 6 9 4 9995 b 4 b 5 O C 4 5 A K O B O A9 A IS J b O I T O H Q H I 8 H Q N O I 8 I I O I T H Q O I 8 OH I 8 O N H N Q ...

Page 136: ...rt 2 Operation Chapter 1 Operation 4 5 I C O F 9 C F 9 C F 99 99 C O 99 F 9 6 C Q O 6 O F Q 6 O F 99 Q 6 O F 99 Q R b 6 O 9 F Q O b 4 8 5 Q O b 4 8 5 I 8 C O 99 F 9 C F C C O 99 F 9 C F C 8 8 F C 8 F 9 C F 9 ...

Page 137: ...ation 8Q 8 4 5 8 5 K 8 8 C Q O b 4 9 F 8 5 O O Q 8Q 4 5 4 5 Q 4 5 4 8 5 5 8 8 C 8 O b 4 5 8 5 K 8 8 C Q O b 4 99 F 8 5 O O Q 8 4N5 4 5 Q 4 5 4 8 5 5 8 8 C O 9 b 4I 8 F 5 4 5 4 5 O b 4 F 5 4 5 4 5 8 O O b 4 99 F 8 5 4 5 O8 O 6 4 5 4 5 8 8 ...

Page 138: ...guage XSEL 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 Driver 1 Driver 2 Driver 3 Driver 4 Parameters Parameters Parameters Parameters Parameters Communication Main SEL language Position dat...

Page 139: ...ther parameter No 20 2 System memory backup battery installed 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 Transfer Main CPU memory Programs Parameters other than slave parameters Symbols Slave card parameters driver card parameters Slave card pa...

Page 140: ... accordance with the data in the main CPU memory excluding the parameters 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 Transfer Main CPU memory Programs Parameters other than slave parameters Symbols Position XSEL axes Nos 10001 to 20000 Write to...

Page 141: ...119 Part 3 Controller Data Structure Chapter 1 How to Save Data Q R Q 8 O I O 9 F 9 4Q 8 5 4 5 4 9 9 9 9 4 5 Q Q 4 5 Q 4 5 R R Q Q Q 4 4 55 QIN 4 5 I ...

Page 142: ...dited 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 Transfer Main CPU memory Main CPU flash memory Transfer Programs Parameters other than slave parameters Symbols Position XSEL axes Nos 1 to 20000 User data backup memory Positions RC axes Slave card paramete...

Page 143: ...121 Part 3 Controller Data Structure Chapter 1 How to Save Data Q O O II 3 4 II 5 3 II 4 5 4 5 R II 4 5 3 II 4 5 R O 4 5 9999 C 6 4 O 9 F 5 O 9999 O 999 9999 O 999 9999 4 O 9 F 5 O 9999 ...

Page 144: ...122 Part 3 Controller Data Structure Chapter 1 How to Save Data Q O 4 5 O R R 99 99 8 99 99 8 9 9 B B I 9 9 A A 9 99 C 6 ...

Page 145: ...er Controller without expanded memory 1 to 4000 4000 Controller with expanded memory with gateway function 1 to 128 128 Program number Controller without expanded memory 1 to 64 64 Controller with expanded memory with gateway function 1 to 9999 9999 Step number Controller without expanded memory 1 to 6000 6000 Task level NORMAL HIGH 2 SIO channel number 1 to 2 2 Wait timer 1 1 shot pulse timer 16 ...

Page 146: ...12345 If a floating 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 operatio...

Page 147: ... 4 F 5 9 9 8 4 5 9 N 8 8 4 Y 8 D 998 O5 9 8 8 4 5 4 5 9 8 8 8 4 8 8 7 8 5 9 4 F 5 9 8 8 9 8 8 4 8 5 9 8 8 4 9 A 5 9 A 8 8 4 8 5 9 B 8 8 9 9 8 8 4 8 5 9 8 8 9 8 8 4 8 5 9 8 8 4 5 9 8 8 4 8 5 4 5 9 8 8 4 5 9 8 8 4 8 5 4 5 9 9 9 4 F 5 9 9 4 F 5 9 4I 9B 5 9 4I 9B 5 9 4I 9B 5 9 4I 9B 5 9 4I 9B 5 9 A 4I 9B 5 9 B 9 9 4 F 5 9 9 9 99 4 F 5 9 O 9 4 5 ...

Page 148: ...tion is attempted 7301 1st axis grip release output ON Release command OFF Grip command Note 1 Note 2 7302 2nd axis grip release output ON Release command OFF Grip command Note 1 Note 2 7303 3rd axis grip release output ON Release command OFF Grip command Note 1 Note 2 7304 4th axis grip release output ON Release command OFF Grip command Note 1 Note 2 7305 5th axis grip release output ON Release c...

Page 149: ...127 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q b b b 4O 99 ABB5 4O B99 BBB5 J 4 5 N 99 ABB J b B99 BBB N b O 99 R O 99 O B99 O B99 99 R 99 O 4N 5 4 5 ...

Page 150: ...128 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q 4 5 b Q b C 4 5 4 5 47 5 4 5 ...

Page 151: ...129 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q 4 5 C 5 I 99 BB 99 BB J b BB 99 9BB N b BB aB BBB BBB BB BBB BBB 5 I 4 5 99 BB 99 BB J b 99 BB 99 BB N b BB 8 aBB BBB B BBB BBB B 4 5 ...

Page 152: ...130 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q 5 6b 4 5 4 5 6b 4 5 b b NI NI 6 b 6b 4 A Q b5 NI NI 6 4 5 ...

Page 153: ...131 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q b b J b J 4 BB5 J J ...

Page 154: ...132 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q Q b 4 5 ISQ Q 4 BBD 5 Q JQ Q 4 BB5 Q I Q Q Q Q ISQ ISQ ISQ JQ I Q ...

Page 155: ...sed by the two The same 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...

Page 156: ...134 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q 9 Q 4 5 I C K QI JI KU SQ QI KU KU J ...

Page 157: ...oller Data Structure Chapter 2 XSEL Language Data Q 4 5 R b 9 b 4 5 4N 5 O 9 9 9 9 9 9 I R 9999 888 4 9 R 9 b5 I R 99 888 4 9 5 I C K I 99 99 4 5 4 5 C NI K I 6 Q J Q O Q K I L RO L R L RO L R Q Q I K N O RUO RUO RU RU ...

Page 158: ...ing data set in the application program Leave the position data fields empty if you wish to enable the corresponding data in the application program Values pertaining to a rotating axis are processed in degrees instead of millimeters If axis specific parameter No 1 axis operation type is set to 1 rotational movement axis angle control for a given axis all millimeter values pertaining to that axis ...

Page 159: ...137 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q QIN Q 4 5 8 4 5 QIN Q I 4 O 5 4 5 4 5 C 4 5 KIOcb Q O 4 R O R 5 4 8 b 5 O 4O 5 4 5 C O O KIO INQI ...

Page 160: ...138 Part 3 Controller Data Structure Chapter 2 XSEL Language Data Q I 4QIN 5 I I I O 4N 5 O O O O ...

Page 161: ...iable ZR Clear variable 152 Optional ADD Augend variable Addend ZR Add 153 Optional SUB Minuend variable Subtrahend ZR Subtract 153 Optional MULT Multiplicand variable Multiplier ZR Multiply 154 Optional DIV Dividend variable Divisor ZR Divide 154 Arithmetic operation Optional MOD Remainder assignment variable Divisor ZR Calculate remainder 155 Optional SIN Sine assignment variable 6 5 1 e n i S R...

Page 162: ...Optional PTST Confirmation axis pattern Confirmation position number CC Confirm position data 191 Optional PVEL Speed mm sec Assignment destination position number CP Assign position speed 192 Optional PACC Acceleration G Assignment destination position number CP Assign position acceleration 193 Optional PDCL Deceleration G Assignment destination position number CP Assign position deceleration 194...

Page 163: ...d CP Change speed 237 Optional ARCD End position number Center angle deg PE Move along arc via specification of end position and center angle 238 Optional ARCC Center position number Center angle deg PE Move along arc via specification of center position and center angle 239 Optional PBND Axis pattern Distance CP Set positioning band 240 Optional CIR Passing position 1 number Passing position 2 nu...

Page 164: ...Channel number Prohibited CP Open channel 259 Optional CLOS Channel number Prohibited CP Close channel 259 Optional READ Channel number Column number CC Read from channel 260 Optional TMRW Read timer setting Write timer setting CP Set READ timeout value 262 Optional WRIT Channel number Column number CC Output to channel 263 Communica tion Optional SCHA Character code Prohibited CP Set end characte...

Page 165: ... Variable number CP Get palletizing position number 288 Optional PINC Palletizing number Prohibited CC Increment palletizing position number by 1 288 Optional PDEC Palletizing number Prohibited CC Decrement palletizing position number by 1 289 Optional PSET Palletizing number Data CC Set palletizing position number directly 289 Optional PARG Palletizing number Axis number CP Get palletizing angle ...

Page 166: ...erse tangent assignment operation Operand ZR Inverse tangent ATRG 286 Optional Position number Position number CP Set arch trigger AXST 252 Optional Variable number Axis number CP Get axis status B BASE 207 Optional Reference axis number Prohibited CP Set reference axis BGPA 274 Optional Palletizing number Prohibited CP Declare start of palletizing setting BGSR 178 Prohibited Declaration subroutin...

Page 167: ...tion is not satisfied EOR 161 Optional Exclusive OR operand variable Operand ZR Logical exclusive OR EXIT 180 Optional Prohibited Prohibited CP End program EXPG 181 Optional Execution program number Execution program number CC Start program EXSR 178 Optional Execution subroutine number Prohibited CP Execute subroutine F FMIO 174 Optional Format type Prohibited CP Set IN B OUT B command format G GA...

Page 168: ...cceleration Assignment destination position number CP Assign position acceleration PACH 293 Optional Palletizing number Position number PE Palletizing point arch motion PAPG 290 Optional Palletizing number Position number CP Get palletizing calculation data PAPI 275 Optional Count Count CP Set palletizing counts PAPN 275 Optional Pattern number Prohibited CP Set palletizing pattern PAPR 217 Option...

Page 169: ...d PE Move by push motion PVEL 192 Optional Speed Assignment destination position number CP Assign position speed Q QRTN 218 Optional 0 or 1 Prohibited CP Set quick return mode R READ 260 Optional Channel number Column number CC Read from channel RSPG 184 Optional Resumption program number Resumption program number CC Resume program S SCHA 264 Optional Character code Prohibited CP Set end character...

Page 170: ...ing to be performed when input condition is not specified TRAN 151 Optional Copy destination variable Copy source variable ZR Copy TSLP 298 Prohibited Time Prohibited CP Task sleep V VAL 271 Optional Variable number Column number character literal CC Convert character string data decimal VALH 272 Optional Variable number Column number character literal CC Convert character string data hexadecimal ...

Page 171: ...s position Optional RPIP X RC axis number Position number CP Assign content of variable 199 to positioning band under RC axis position Optional RPTQ X RC axis number Position number CP Assign content of variable 199 to current limiting value under RC axis position Optional RGVL X RC axis number Position number CP Assign speed under RC axis position to variable 199 Optional RGAD X RC axis number Po...

Page 172: ...lse I O board axis deceleration data read Extended motion board axis position operation Optional XGIP Axis number Position number CP Pulse I O board axis positioning band data read Extended motion board axis actuator control declaration Optional XAXS Axis pattern upper byte Axis pattern upper byte CP Pulse I O board axis extended pattern setting Optional XSON Prohibited Axis pattern lower byte CP ...

Page 173: ...1 Part 4 Commands Chapter 2 Explanation of Commands I NI 4 5 I 4N 5 4 5 4 5 NI U O 9 I NI 9 9 I NI NI 9 9 NI 6 6 4 95 4 5 O 4 5 I 4N 5 4 5 4 5 O U O 9 I O NI 6 NI I NI NI NI NI 9 9 O 6 6 4 95 4 5 C 9 9 9 ...

Page 174: ...152 Part 4 Commands Chapter 2 Explanation of Commands N 4 5 I 4N 5 4 5 4 5 N U 9 O 9 I N I NI 9 9 NI 9 9 N 6 6 4 95 4 95 ...

Page 175: ...rt 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 U O 9 I NI 4 5 4 7 F 5 I NI NI NI 6 6 4 5 4 5 4 7 F 5 Q 4Q 5 I 4N 5 4 5 4 5 Q U Q O 9 I NI Q Q 4 5 4 a F 5 I NI NI NI Q 6 6 Q 4 5 4 5 4 a F 5 ...

Page 176: ...54 Part 4 Commands Chapter 2 Explanation of Commands N 4 5 I 4N 5 4 5 4 5 N U O 9 I NI N 4 5 4 F 5 I NI NI NI N 6 6 4 5 4 5 4 F 5 4 5 I 4N 5 4 5 4 5 U O 9 4O 5 I NI 4 5 4 F 5 I NI NI NI 6 6 4 5 4 5 4 F 5 ...

Page 177: ...155 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 U O 9 4O 5 I NI 4 5 4 F 5 I NI NI NI 6 6 4 5 4 5 4 F 5 ...

Page 178: ...O 9 99 BB 99 BB 99 BB 99 BB 4O 5 F A9 I Q O 99 9 BB 9 BB 49 5 99 I NI 99 NI 9 9 N 9 B 9 A9 Q O 6 6 9 99 9 A9 4 5 4 9 9 5 9 49 5 4 995 Q 4 5 I 4N 5 4 5 4 5 Q U O 9 99 BB 99 BB 99 BB 99 BB 4O 5 F A9 I Q 99 9 B 9 B 49 5 99 I NI 99 NI 9 9 N 9 B 9 A9 Q 6 6 9 99 9 A9 4 5 4 9 9 5 9 49 5 4 995 ...

Page 179: ...5 4 5 4 5 O U O 9 99 BB 99 BB 99 BB 99 BB 4O 5 F A9 I O 99 9 A BA 9 A BA 4 5 99 I NI 99 NI 9 N 9 B 9 A9 O 6 6 9 99 A9 4 5 4 9 5 9 4 5 4 995 O 4 8 5 I 4N 5 4 5 4 5 O U O 9 99 BB 99 BB 99 BB 99 BB 4O 5 F A9 I O 99 49 A BA5 99 I NI 99 NI 9 O 6 6 9 99 9 9 49 A BA5 4 995 ...

Page 180: ...158 Part 4 Commands Chapter 2 Explanation of Commands QP 4 5 I 4N 5 4 5 4 5 QP U O 9 I QP 4 5 I NI 9 NI QP 6 6 9 4 5 4 95 ...

Page 181: ...159 Part 4 Commands Chapter 2 Explanation of Commands N O 4N O 5 I 4N 5 4 5 4 5 O U O O 9 I NI 9 9 O 9 O 4 5 4 9 5 9 I NI NI 9 9 NI 9 9 O 6 6 O 4 5 4 9 5 4 95 4 5 9 O 9 99 99 O 9 9 9 9 999 999 ...

Page 182: ...160 Part 4 Commands Chapter 2 Explanation of Commands 4N 5 I 4N 5 4 5 4 5 U O 9 I NI 9 9 9 4 A5 4 9 5 9 I NI NI 9 9 NI 9 9 6 6 4 A5 4 9 5 4 95 4 5 9 9 A 99 99 9 9 9 9 9 9 ...

Page 183: ...161 Part 4 Commands Chapter 2 Explanation of Commands I 4N 8 5 I 4N 5 4 5 4 5 I U 8 O 9 I NI 9 9 I 9 8 4 9 5 4 9 5 9 I NI NI 9 9 NI 9 9 I 6 6 8 4 9 5 4 9 5 4 95 4 5 9 I 9 9 99 99 I 9 9 9 9 9 99 9 ...

Page 184: ...162 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 IP OI J JI N NI O 4O 5 IP F OI J G JI N E NI I NI 9 9 IP 9 99 O 99 9 99 99 O I NI NI 9 9 NI 9 9 IP 6 6 9 O 9 4 5 ...

Page 185: ...163 Part 4 Commands Chapter 2 Explanation of Commands R 4 5 I 4N 5 4 5 4 5 R Q 9 9 BB O I R R I NI 9 9 R 6 R 4 9 5 ...

Page 186: ...164 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 4O 5 R R O R I R O R I I 9 9 I NI 9 9 6 4 95 I 9 C C C R O A 9 9 A 9 C 4R A5 9 4R A5 9 C C 4O 5 ...

Page 187: ...165 Part 4 Commands Chapter 2 Explanation of Commands J 4J 5 I 4N 5 4 5 4 5 J 9 I J 99 Q J RNI 6 I C C J I I NI J 6 Q 4 5 4O 5 9 A 4 A 5 ...

Page 188: ...166 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 4 5 O O Q O Q O I O 99 O 99 I 99 9 99 9 I NI 99 99 O 6 4 995 I NI 99 99 NI 9 9 O 6 6 O 4 995 4 9 5 ...

Page 189: ...167 Part 4 Commands Chapter 2 Explanation of Commands O 4 O 5 I 4N 5 4 5 4 5 O O R O 9 9 BB 99 4 5 4O 5 O 4O 5 4O 5 4O 5 O 4 5 4O 5 O O 4O 5 4 5 8 I O 99 O 99 O 99 9 O 99 9 4 5 O O ...

Page 190: ...168 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 R O 9 9 BB 99 4 5 4O 5 O 4O 5 O 4O 5 4O 5 O 4 5 4O 5 O O 4O 5 4 5 8 I 99 99 99 9 99 9 4 5 O ...

Page 191: ...169 Part 4 Commands Chapter 2 Explanation of Commands R 4R 5 I 4N 5 4 5 4 5 R 4 5 R O 9 9 BB O 4 5 O 5 R O R O R I R O R O I R 9A 9 R 9 9A I NI 99 99 R O 6 R 4 995 O I NI A A NI R 6 6 R 4 5 4 A5 ...

Page 192: ...mmands Chapter 2 Explanation of Commands O 4 5 I 4N 5 4 5 4 5 O BB 9 9 B A O O O 9 9 9 9 9 7 9 7 9 7 9 7 9 7 7 9 7 9 A 7 9 7 9 7 9 7 9 7 7 9 7 F BB 4O 5 4O 5 R O BB 4O 5 4 5 I O A A BB I NI A A NI O 6 6 4 A5 4 5 BB ...

Page 193: ...171 Part 4 Commands Chapter 2 Explanation of Commands O 4 5 I 4N 5 4 5 4 5 O BB 9 B A O O O A BB 4O 5 4 5 4O 5 4 5 4O 5 4 5 I O A A BB I NI A A NI O 6 6 4 A5 4 5 4 5 BB N A ...

Page 194: ...172 Part 4 Commands Chapter 2 Explanation of Commands 4R 5 I 4N 5 4 5 4 5 R BB BB N 9 9 9 9 9 9 9 9 9 9 9 9 99 O O O 4O 5 4O 5 4 5 I 99 9 R BB 99 9 I NI 99 99 NI 9 9 6 6 R BB 4 995 4 9 5 ...

Page 195: ...173 Part 4 Commands Chapter 2 Explanation of Commands 4R 5 I 4N 5 4 5 4 5 R BB A BB 9 9 9 9 9 9 9 99 O O O 4O 5 4 5 4O 5 4 5 4O 5 4 5 I 99 R BB 99 4 9 5 I NI 99 99 NI 6 6 R BB 4 995 4 5 4 9 5 ...

Page 196: ...s 4Q O O 5 I 4N 5 4 5 4 5 Q O O 4 5 F 9 4 5 4 5 4 5 9 9 9999 999 99 9 99 9 99 9 9 9 9 9 BB 49 F F O5 4 5 O4 5 4 5 F 4 5 4 5 9 9 99 9 99 9999 999 9 9 9 9 99 9 9 BB 49 F F O5 4 5 O4 5 4 5 F 4 5 4 5 9 9 9 99 9 9 9 9 9 9999 999 99 9 99 BB 49 F F O5 4 5 O4 5 ...

Page 197: ... 99 9999 999 BB 49 F F O5 4 5 O4 5 4O 5 9 I BB F 99 4 C B 9 C 5 99 BB B 9 4 O 5 4 O 5 4 5 4 5 F 9 99 9999 9999 999 99 9 99 9 99 9 9 9 9 F 99 999 99 9 9999 9999 9 9 9 9 99 9 99 F 99 99 9 99 9 9 9 9 9999 9999 999 99 9 F 99 9 9 9 9 99 9 99 999 99 9 9999 9999 49 F F O5 4 5 O4 5 4 5 O4 5 4 5 O4 5 ...

Page 198: ... 99 9 99 9 99 9999 9999 9999 9999 F 99 99 99 9 99 999 99 9 9999 9999 9999 9999 49 F F O5 I BB F 999999 4 C A C 5 999999 BB A 4 O 5 4 O 5 4 5 4 5 F 9 99 99 99 9999 9999 9999 9999 9999 9999 999 99 9 F 99 99 99 9999 9999 9999 9999 999 99 9 9999 9999 F 99 99 99 9999 9999 999 99 9 9999 9999 9999 9999 F 99 99 99 999 99 9 9999 9999 9999 9999 9999 9999 49 F F O5 4 5 O4 5 4 5 O4 5 4 5 O4 5 4 5 O4 5 4 5 O4 ...

Page 199: ...177 Part 4 Commands Chapter 2 Explanation of Commands A J 4L 5 I 4N 5 4 5 4 5 J L 4O 5 J I J Q C C C J L J Q I Y J J I 4 5 Q I 4 5 R I 4 5 QN I QN 4 5 JQ I Q 4 5 J I J 4 5 I 4N 5 4 5 4 5 J Q I J ...

Page 200: ...178 Part 4 Commands Chapter 2 Explanation of Commands ISQ 4I 5 I 4N 5 4 5 4 5 ISQ Q I 4O 5 I ISQ I C C IS JQ Q C C C I Q I I NI 9 9 ISQ 6 I 4 95 JQ 4Q 5 I 4N 5 4 5 4 5 JQ Q I ISQ 4O 5 J JQ 8I Q ...

Page 201: ...179 Part 4 Commands Chapter 2 Explanation of Commands I Q 4I 5 I 4N 5 4 5 4 5 I Q ISQ I ISQ ...

Page 202: ...180 Part 4 Commands Chapter 2 Explanation of Commands B IS 4I 5 I 4N 5 4 5 4 5 IS I IS 4O 5 Q N N J J I C C IS I ...

Page 203: ...Commands Chapter 2 Explanation of Commands IS J 4Q 5 I 4N 5 4 5 4 5 IS J 4 5 Q Q I IS J 9 Q O 9 I 8 8 R IS J 4 5 O 6 Q 6 I b O 9 O 8 b b O O 6 I 6 888 R IS J 4 5 O 6 6 Q O O 6 I b O 9 O 8 b b O O 6 I 6 888 6 888 8 ...

Page 204: ...er 2 Explanation of Commands J 4 5 I 4N 5 4 5 4 5 J 4 5 Q 4O 5 J 4O 5 O I J 9 I O 9 I 8 8 R J 4 5 O 6 Q 6 I O O O b O 4 6 5 O O 6 I 6 888 6 888 4 5 J R J 4 5 O 6 6 Q O O 6 I O O O b O 4 6 5 O O 6 I 6 888 6 888 8 6 888 4 5 J Q I ...

Page 205: ...ion of Commands QQ J 4 5 I 4N 5 4 5 4 5 QQ J 4 5 Q 4O 5 4O 5 O I QQ J 9 O 9 I 8 8 R QQ J 4 5 O 6 Q 6 I O O 9 O 8 b b O 6 I 6 888 R QQ J 4 5 O 6 6 Q 6 O O 6 I O O 9 O 8 b b O 6 I 6 888 6 888 8 IS J J QQ J Q J 6 888 4 5 QQ J Q J O 9 O O QQ J ...

Page 206: ...r 2 Explanation of Commands Q J 4 5 I 4N 5 4 5 4 5 Q J 4 5 Q 4O 5 I Q J 9 O 9 I 8 8 R Q J 4 5 O 6 Q 6 I O O 9 O 8 b b O 6 I 6 888 R Q J 4 5 O 6 6 Q 6 O O 6 I O O 9 O 8 b b O 6 I 6 888 6 888 8 6 888 4 5 QQ J Q J O 9 O O QQ J Q J ...

Page 207: ...185 Part 4 Commands Chapter 2 Explanation of Commands 9 JI 4 5 I 4N 5 4 5 4 5 JI BB I JI BB 4 JI 5 4 S SSSb 5 I JI BB I NI NI JI 6 6 BB 4 5 4 5 ...

Page 208: ...186 Part 4 Commands Chapter 2 Explanation of Commands 4R 5 I 4N 5 4 5 4 5 R BB I NI BB 9 9 BB R BB 4 95 I NI BB 9 9 BB NI NI 6 6 R BB 4 95 4 5 4 5 ...

Page 209: ...187 Part 4 Commands Chapter 2 Explanation of Commands N 4 5 I 4N 5 4 5 4 5 N 9 999 S SSS I N 9 9 O 9 9 I NI 9 9 NI 9 9 N 6 6 4 95 4 95 ...

Page 210: ...188 Part 4 Commands Chapter 2 Explanation of Commands T 4 5 I 4N 5 4 5 4 5 T I T 9 9 O 9 O 9 I NI 9 9 NI 9 9 T 6 6 4 95 4 95 ...

Page 211: ...189 Part 4 Commands Chapter 2 Explanation of Commands I 4 5 I 4N 5 4 5 4 5 I I I 9 O 9 I R I C 4 5 4 5 NI I 6 9 I NI 9 9 I 6 4 95 ...

Page 212: ...190 Part 4 Commands Chapter 2 Explanation of Commands P 4 4 55 I 4N 5 4 5 4 5 P 9 9 I Y I P 99 99 ...

Page 213: ...191 Part 4 Commands Chapter 2 Explanation of Commands Q 4 5 I 4N 5 4 5 4 5 Q O 4 S SSSb 5 9b I Q 9 99 O 99 9 99 C I R I C 4 5 4 5 NI Q 6 9 99 I NI Q 6 99 O 99 4 5 99 O C O Q 9 99 999 9 999 99 999 ...

Page 214: ...192 Part 4 Commands Chapter 2 Explanation of Commands IN 4 5 I 4N 5 4 5 4 5 IN Q R 4O 5 IN I I IN 99 9 R 99 O 9 I NI 99 99 NI 9 9 IN 6 6 R 4 99 5 4 95 ...

Page 215: ...193 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 R 4O 5 I 9 9 R 9 J O 9 I NI 99 9 9 99 NI 9 9 6 99 6 R 99 4 9 J5 4 95 ...

Page 216: ...194 Part 4 Commands Chapter 2 Explanation of Commands N 4 5 I 4N 5 4 5 4 5 N J I N 9 9 O ...

Page 217: ...rt 4 Commands Chapter 2 Explanation of Commands SQ 4 5 I 4N 5 4 5 4 5 SQ Q I SQ BB BB b 4 9 5 I NI NI 9 9 SQ 6 6 4 9 5 4 5 b 4 5 BA 9 9 F 9 7 9 F 9 BB 99 SSS 9 F 9 7 F 99 9 999 9 F 7 9 F 9 99 999 9 999 F 7 F ...

Page 218: ...196 Part 4 Commands Chapter 2 Explanation of Commands Q U 4 Y 5 I 4N 5 4 5 4 5 Q U Q R O Q U b F 9 4 5 R O Q U b F I Q U R O Q U b F 9 R O Q U b F ...

Page 219: ...197 Part 4 Commands Chapter 2 Explanation of Commands J IN 4J 5 I 4N 5 4 5 4 5 J IN I J IN 99 9 Q O 9 99 O 9 9 999 99 999 9 999 99 9 9 9 9 99 99 ...

Page 220: ...198 Part 4 Commands Chapter 2 Explanation of Commands J 4J 5 I 4N 5 4 5 4 5 J I J 99 9 Q O 9 99 O 9 9 999 99 999 9 999 99 9 9 9 9 9 99 ...

Page 221: ...199 Part 4 Commands Chapter 2 Explanation of Commands J N 4J 5 I 4N 5 4 5 4 5 J N I J N 99 9 Q O 9 99 O 9 9 999 99 999 9 999 99 9 9 9 9 9 99 ...

Page 222: ...200 Part 4 Commands Chapter 2 Explanation of Commands IN 4Q 5 I 4N 5 4 5 4 5 IN Q Q Q 4O 5 4O 5 I IN 99 Q 99 99 I IN 99 Q 99 99 I NI 99 99 IN 6 Q 4 99 5 ...

Page 223: ...201 Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 Q 4 5 991 C C 4Q 5 C N A 888 Q C 4 4 8 5 5 I IN 99 Q 99 9 91 9 ...

Page 224: ...202 Part 4 Commands Chapter 2 Explanation of Commands 4Q 5 I 4N 5 4 5 4 5 Q J 4O 5 O 8 O b I 9 Q 9 J 4O 5 Q ...

Page 225: ...203 Part 4 Commands Chapter 2 Explanation of Commands N 4Q 5 I 4N 5 4 5 4 5 N Q J 4O 5 O N 8 O b N I N 9 Q 9 J 4O 5 Q ...

Page 226: ...haped Motion Class S shaped Motion Effective Command Group See the table below XSEL P Q Not set 0 A 1 1 B 1 2 A 2 Note 2 3 B 2 Note 2 XSEL PCT QCT Not set 0 B Note 1 1 1 1 2 2 Note 2 3 2 Note 2 Note 1 The class of S shaped motion is compulsorily B Note 2 S shaped Motion is effective also at the speed change point position joint point during PATH Command If S shaped Motion is activated constant vel...

Page 227: ...205 Part 4 Commands Chapter 2 Explanation of Commands Q 4Q 5 I 4N 5 4 5 4 5 Q 9 99 Q QI 4O 5 Q Q Q N I Q 99 9 9 C Q 99 9 9 I R I C 99 4 5 4 5 NI Q 6 9 C Q 6 9 I NI 99 99 Q 9 9 6 4 99 5 ...

Page 228: ...206 Part 4 Commands Chapter 2 Explanation of Commands IJ 4Q 5 I 4N 5 4 5 4 5 IJ Q 4 5 4 5 R 9 9 9 b 4 A9 5 4O 5 8 O 9 b I IJ 9 Q 9 ...

Page 229: ...207 Part 4 Commands Chapter 2 Explanation of Commands QI 4Q 5 I 4N 5 4 5 4 5 QI QI I P SQ 8 K K N Y O Y I K I QI K I K 4 5 I NI QI 6 4 5 K ...

Page 230: ...ost Slave Axis No 6 axis 5 axis 4 axis 3 axis 2 axis 1 axis Use 1 1 1 1 1 1 Unused 0 0 0 0 0 0 Ɣ KHQ WKH D LV DQG D LV DUH XVHG 2 axis Ļ It should be 000011 0 in front are not necessary Remove 0 and make it 11 Ĺ 1 axis Ɣ KHQ WKH D LV DQG D LV DUH XVHG 4 axis Ļ It should be 1001 In this case 0 are necessary to express the position of the 4th axis Ĺ 1 axis ...

Page 231: ...er 2 Explanation of Commands K N 4K C 5 I 4N 5 4 5 4 5 K N 4 5 4K N 5 R 4 5 K N K N 9 F 4 5 F 4 5 F 4 Q 4 55 K N 9b 4 5 K N O K N I O b O K N K N O K N K N O K N K N 4O 5 K N 4 5 K N 4 5 4O 5 Q 4 L R K 5 4O 5 8 I K N 9 O O K N ...

Page 232: ...210 Part 4 Commands Chapter 2 Explanation of Commands O 4 C 5 I 4N 5 4 5 4 5 O 4 5 4 O 5 R 4 5 O O 9 F 4 5 F 4 5 O 9b 4 5 O 4O 5 O 4 5 O 4 5 4O 5 Q 4 LSRS K 5 I O 9 O O O ...

Page 233: ...211 Part 4 Commands Chapter 2 Explanation of Commands N S 4Q N S 5 I 4N 5 4 5 4 5 N S Q N S 4 5 I N S 8 O B N S b 4O 5 N S 4 K Q N5 N S 8 O A b IN I IN 999 999 N S N S ...

Page 234: ...4 6HWWLQJ RI 0 FFHOHUDWLRQ 4 Positive Axis Parameter No 196 6HWWLQJ RI 0 FFHOHUDWLRQ Axis Parameter No 197 Setting of ACMX Acceleration 4 Negative Axis Parameter No 197 Setting of ACMX Acceleration 4 Axis Parameter No 196 6HWWLQJ RI 0 FFHOHUDWLRQ Note 1 It may generate an error is the acceleration or deceleration is set above the actuator specifications Also it cause a malfunction or drop of the p...

Page 235: ...Axis 1 2 0 FFHOHUDWLRQ 300 3 0G 50 0 5G 3 ACMX Acceleration 1 300 3 0G 60 0 6G If the ACMX acceleration deceleration is set as described above the acceleration deceleration speed will be as shown in Figure 1 Horizontal Movement Falling Movement Uprising Movement End Arch Trigger Position No 11 Start Arch Trigger Position No 13 Start Point End Point Position No 10 Peak Point Position No 13 Positive...

Page 236: ...ion Number Axis Parameter No Parameter Name Example for Setting 1st Axis 1 2 0 FFHOHUDWLRQ 30 3 0G 3 ACMX Acceleration 1 30 3 0G 2 4 0 FFHOHUDWLRQ 100 1 0G 5 ACMX Acceleration 2 100 1 0G If the ACMX acceleration deceleration is set as described above the acceleration deceleration speed will be as shown in Figure 2 Positive Direction of 1st Axis Coordinates Position No 10 Position No 11 Acceleratio...

Page 237: ...215 Part 4 Commands Chapter 2 Explanation of Commands Q 4Q 5 I 4N 5 4 5 4 5 Q Q Q N 4 5 R Q N 9 b 4O 5 Q N Q 8 O b I Q 9 Q 9 ...

Page 238: ...art 4 Commands Chapter 2 Explanation of Commands 4Q K 5 I 4N 5 4 5 4 5 9 Q K Q N R K Q N 4 5 F 9 4 O 5 O 4 5 F 4 D O 5 K Q N O O 4O 5 9 b 4O 5 F O 4 Y K Q N 5 I K 99 O O 99 9 O O O O O 99 O O O 9 O 9 O 9 O 9 ...

Page 239: ...217 Part 4 Commands Chapter 2 Explanation of Commands 4Q 8 5 I 4N 5 4 5 4 5 Q Q QK Q 4 8 5 8 4 8 5 4 5 4 8 5 8 4 8 5 4 5 8 I 99 9 Q 8 QK 99 8 9 O QK 9 O O 9 4O 5 8 4 8 8 5 T8 8 4O 95 S8 Q 8 4 8 5 ...

Page 240: ...18 Part 4 Commands Chapter 2 Explanation of Commands P O 4Q 8 5 I 4N 5 4 5 4 5 P O 9 Q 8 4 5 P O F 9 4O 5 6 8 4 5 P O F 4P 8 5 4 5 b O b O 4O 5 8 4 O 5 4O 5 8 P O 9b 4 5 I O b 4O 5 8 8 4O 5 8 4O 5 8 8 8 ...

Page 241: ...219 Part 4 Commands Chapter 2 Explanation of Commands O K 4 5 I 4N 5 4 5 4 5 O K Q 9 Q 4 5 9C O 4 5 C 4 8 O 5 C 4 8 O B5 C 4 8 O 5 9 C O 4 5 I O K 9 Q E I G O O ...

Page 242: ...220 Part 4 Commands Chapter 2 Explanation of Commands Q 4 O 5 I 4N 5 4 5 4 5 Q I O Q O O I Q O 99 O O O I R I C 99 4 5 4 5 NI Q O 6 ...

Page 243: ...21 Part 4 Commands Chapter 2 Explanation of Commands K I 4 5 I 4N 5 4 5 4 5 K I I 8 O O 4O 5 8 K 8 8 4 95 K I O 9 O 9 9 b b 4 4F 955 b 4 5 K I 8 8 b 8 I K I 99 I R I C 99 4 5 4 5 NI K I 6 C NQ Q8O 9 O 8 ...

Page 244: ...ds Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 I 4 8 8 b5 O I IN 99 Q 99 O 4 99 995 I IN 99 Q 99 NI 6 4 O 4 99 9955 O S8 T8 Q 99 999 99 999 99 999 99 999 4O 5 4 N5 8 O 8 O O 4 99 995 S8 T8 T8 I 99 K 9 99 99 99 ...

Page 245: ...nds Chapter 2 Explanation of Commands N 4 5 I 4N 5 4 5 4 5 N I O I IN 99 Q 99 N O 4 99 995 I IN 99 Q 99 NI N 6 4 O 4 99 9955 O S8 T8 Q 99 999 99 999 99 999 99 999 4O 5 4 N5 8 O 8 O O 4 99 995 S8 T8 S T8 99 K 9 99 99 99 ...

Page 246: ... 100 in the Y direction 200 150 from the current position Example 2 VEL 100 Set the speed to 100 mm s LET 1 2 Assign 2 to variable 1 MVPI 1 Move from the current position by the travel distance corresponding to the content of variable 1 position No 2 or 100 100 No X axis Y axis Speed Acceleration Deceleration 1 150 000 100 000 2 100 000 100 000 Travel path from 50 50 by the travel distance corresp...

Page 247: ...tion 200 150 from the current position with interpolation Example 2 VEL 100 Set the speed to 100 mm s LET 1 2 Assign 2 to variable 1 MVLI 1 Move from the current position by the travel distance corresponding to the content of variable 1 position No 2 or 100 100 No X axis Y axis Speed Acceleration Deceleration 1 200 000 100 000 2 100 000 100 000 Travel path from 50 50 by the travel distance corresp...

Page 248: ...6 Part 4 Commands Chapter 2 Explanation of Commands K 4 5 I 4N 5 4 5 4 5 K Q I I 8 4O 5 8 K 4 5 4O 5 K O I O B 9 K K K B 9 I IN 99 Q 99 K 99 9 O 99 9 I IN 99 Q 99 NI 9 9 NI 99 99 K 6 6 4 O 95 4 O 995 Q I ...

Page 249: ...d the current position will cycle between approx 10 m and 10 m Any positioning command other than the above to a position exceeding a coordinate range from approx 9990 to 9990 will generate an Error No CBE Target data boundary over error Executing any positioning command other than the above outside a coordinate range from approx 9990 to 9990 will also generate an Error No CC5 Positioning boundary...

Page 250: ...228 Part 4 Commands Chapter 2 Explanation of Commands Q 4Q 5 I 4N 5 4 5 4 5 Q 4O 5 Q Q 4O 5 Q 8 4 5 b Q 8 I Q 9 I Q 99 I R I C 99 4 5 4 5 NI Q 6 ...

Page 251: ...229 Part 4 Commands Chapter 2 Explanation of Commands Q N 4 5 I 4N 5 4 5 4 5 Q N Q I I 8 8 4 5 4O 5 4 5 I IN 99 Q 99 Q N 99 9 O 99 9 8 Q I ...

Page 252: ...230 Part 4 Commands Chapter 2 Explanation of Commands QK 4 5 I 4N 5 4 5 4 5 QK I 8 8 8 4 8 5 8 4 8 5 8 O 8 O A b 4 C 915 4O 5 QK I O B 8 b 4O 5 8 4 5 4O 5 8 4O 5 R U 8 U8 T8 8 S8 Q 8 4 8 5 ...

Page 253: ...231 Part 4 Commands Chapter 2 Explanation of Commands I 99 9 QK 9 Q 8 99 8 9 O 8 O 9 8 C O SSS SSS SSS SSS SSS SSS SSS S SS S SS 9 999 99 999 SSS SSS SSS S SS S SS 9 99 999 99 9 9 9 9 99 O 8 4 C 9 5 O 9 ...

Page 254: ...232 Part 4 Commands Chapter 2 Explanation of Commands P 4 5 I 4N 5 4 5 4 5 P 4 C 15 P O AC b 4O 5 P O AC b 4O 5 P P 8 8 4O 5 P 8 4O 5 P O AC b 4 4 8 55 I P 99 9 91 99 9 Q 8 99 8 9 O QK 9 O O 9 ...

Page 255: ...233 Part 4 Commands Chapter 2 Explanation of Commands 4 4 55 I 4N 5 4 5 4 5 I R 4 5 R 4 5 C Q 4 5 Q Q Q IN Q 4 N5 8 O 4 8 O 5 AA b AB b 4O 5 4 5 I IN 99 Q 99 99 9 4 5 O 99 9 O 99 O 9 ...

Page 256: ...234 Part 4 Commands Chapter 2 Explanation of Commands 4 4 55 I 4N 5 4 5 4 5 I I C Q 4 5 Q Q Q IN Q 4 N5 8 O 4 8 O 5 AA b AB b 4O 5 4 5 I IN 99 Q 99 99 9 4 5 O 9 O 99 I O 99 O 9 ...

Page 257: ...235 Part 4 Commands Chapter 2 Explanation of Commands Q 4 8 5 I 4N 5 4 5 4 5 Q I 4 8 5 C Q Q Q Q IN Q 8 O Q AA b AB b 4O 5 8 4 4 5 5 4O 5 4O 5 4 5 ...

Page 258: ...236 Part 4 Commands Chapter 2 Explanation of Commands Q 4 8 5 I 4N 5 4 5 4 5 Q I I 4 8 5 C Q Q Q Q IN Q 8 O Q AA b AB b 4O 5 8 4 4 5 5 4O 5 4O 5 4 5 I ...

Page 259: ... 5 4 5 K N Q R K N 4O 5 Q N QK K K Q Q 4O 5 I K N 4Q 5 I O Q 8 b 4O 5 8 4 5 IN IN 99 K N 99 R C 4 5 4 5 NI K N 6 99 4O 5 Q K 8 IN 99 K N 99 K K N K K O O K N 4 99 5 K O IN 4 99 5 4O 5 K N 4O 5 8 O A b 8 O b K N K N K N I K N 99 K N 99 K N 999 99 O O K N 99 99 IN 99 O O O ...

Page 260: ...art 4 Commands Chapter 2 Explanation of Commands 4 4 55 I 4N 5 4 5 4 5 I I Q a B BBB a9 99 9 99 B BBB R 4 5 R 4 5 C Q 4 5 Q Q Q IN Q 4 N5 8 O 4 8 O 5 AA b AB b 4O 5 4O 5 4 5 I IN 99 Q 99 99 9 O 99 9 4 R 5 I ...

Page 261: ... Part 4 Commands Chapter 2 Explanation of Commands 4 4 55 I 4N 5 4 5 4 5 I Q a 99 99 4e 9 5 R 4 8 5 R 4 8 5 4 C 5 C Q 4 5 Q Q Q IN Q 4 N5 8 O 4 8 O 5 AA b AB b 4O 5 4O 5 4 5 I IN 99 Q 99 99 9 9 O 99 4 R 5 ...

Page 262: ...240 Part 4 Commands Chapter 2 Explanation of Commands O 4Q 5 I 4N 5 4 5 4 5 O Q 4O 5 4 P O P O 5 4O 5 O 8 O A b 4O 5 O O 4O 5 8 O A b O I O Q I R I C 4 5 4 5 NI O 6 9 b Q ...

Page 263: ... Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 I O C K Q 4O 5 4O 5 9b IJ 4 5 IN 4 5 4O 5 9b IJ 4 5 4 IN 5 IN IN 4O 5 8 O b 4O 5 4 5 I IN 99 Q 99 99 9 99 9 I IN 99 Q 99 NI NI 6 6 4 5 ...

Page 264: ... Part 4 Commands Chapter 2 Explanation of Commands 4 5 I 4N 5 4 5 4 5 I I O C K Q 4O 5 4O 5 9b IJ 4 5 IN 4 5 4O 5 9b IJ 4 5 4 IN 5 4O 5 8 O b 4O 5 4 5 I IN 99 Q 99 99 9 9 99 I IN 99 Q 99 NI NI 6 6 4 5 4 5 ...

Page 265: ... Part 4 Commands Chapter 2 Explanation of Commands Q 4Q 5 I 4N 5 4 5 4 5 INQI I I Q R IP F OI J G JI N E NI I 99 IP Q JI 9 Q L RO 9 INQI L RO 9 I INQI N 9 Q L RO 9 INQI L RO 9 I I L 47 a5 O 99 I 4O 5 J 8I ...

Page 266: ...planation of Commands Q 4 5 I 4N 5 4 5 4 5 Q INQI I QNIO Q I R Q IP F OI I Q T 9 XJ 3 4 5 Q T XJ M3 4 5 NI NI QNIO Q 99 QIP X SQ3 4 5 Q QIP 9 Q L RO 9 INQI L RO 9 I INQI QOI 6 6 Q L RO 9 INQI L RO 9 I I L A O 99 I A A SQ J 4O 5 J Q 8I ...

Page 267: ...245 Part 4 Commands Chapter 2 Explanation of Commands INQI 4I 5 I 4N 5 4 5 4 5 INQI INQI Q I Q I 4I 5 I 4N 5 4 5 4 5 I Q I Q ...

Page 268: ...mmands Chapter 2 Explanation of Commands Q R 4 RK NI5 I 4N 5 4 5 4 5 R I I NI R I Q R IP F OI J G JI N E NI I 99A RIP 9 I 9 b C C I R A I 4O 5 J R 8I NI 4 RK NI5 I 4N 5 4 5 4 5 NI I I RIP 9 I X9 b C 99 NI 99 O I C I ...

Page 269: ...247 Part 4 Commands Chapter 2 Explanation of Commands I 4 5 I 4N 5 4 5 4 5 I I I RIP 9 I 9 b C 99 I C I 99 O I I 4I RK NI5 I 4N 5 4 5 4 5 I R R I R ...

Page 270: ...248 Part 4 Commands Chapter 2 Explanation of Commands 8 QN 4Q 5 I 4N 5 4 5 4 5 QN RK RQ I QN KI QN RK RQ I QN 4O 5 J QN 8I QN I Q T X 3 X 3 C 99 QN L RSSS RQIP X 3 C X 3 RQIP XN 3 C X 3 KI C I QN 99 ...

Page 271: ...ter 2 Explanation of Commands RK 4Q D 5 I 4N 5 4 5 4 5 RK QN I QN R KI I QN RK IP F OI J G JI N E NI I NI 9 9 NI 9 9 C QN I 8 RKIP 9 C 4 5 4 5 9 Q 9 C RKJ C 6 4 5 Q 4F 95 G 4F 95 4 5 KI C 4 5 4 5 4 5 C I QN C 4 5 C 4 5 4 5 6 R ...

Page 272: ...er 2 Explanation of Commands RQ 4Q D 5 I 4N 5 4 5 4 5 RQ QN I QN R KI I QN QNIO RQ IP F OI I QNIO Q Q T X 3 X 3 NI C QN I 8 RQIP XSTU3 C 4 5 4 5 XSTU 3 Q X 3 C RQIP 6 C 4 5 C 4 5 QNIO KI C 4 5 C I QN C 4 5 C 4 5 4 5 4 5 4 5 6 R ...

Page 273: ...251 Part 4 Commands Chapter 2 Explanation of Commands KI 4Q 5 I 4N 5 4 5 4 5 KI QN I QN I QN RK RQ I QN 4I 5 I 4N 5 4 5 4 5 I QN QN I QN RK RQ ...

Page 274: ...252 Part 4 Commands Chapter 2 Explanation of Commands Q SQ 4J 5 I 4N 5 4 5 4 5 SQ Q 4 5 4O 5 9 b 4O 5 Q I SQ AA 4 5 C AA F BB BB F 4F 5 AA F 4F 5 S 7 S 7 F 4KIS5 4K 5 I O 8 b ...

Page 275: ...253 Part 4 Commands Chapter 2 Explanation of Commands JQ 4J 5 I 4N 5 4 5 4 5 JQ Q 4 5 4O 5 9 b 4O 5 4 5 I JQ O ...

Page 276: ...254 Part 4 Commands Chapter 2 Explanation of Commands QTQ 4J 5 I 4N 5 4 5 4 5 QTQ Q 4 8 5 4O 5 9 b 4O 5 Q 4O 5 Q 6 I QTQ ...

Page 277: ...ion of Commands U RUO 4R Y O O 5 I 4N 5 4 5 4 5 RUO U R Y 4 O 5 O 4 Y 5 Y 4O 5 Y 4 Y 5 4O 5 Y 4 8 O A B b5 4O 5 U 8 O AA B B B b I RUO Y O 4 5 I R I C 4 5 4 5 NI RUO 6 8 O A U b 4 9 99 5 99999 99999 8 O A U b 4 9 99 5 9999 99999 99 99 9 99 ...

Page 278: ...nation of Commands RUO 4R Y O 5 I 4N 5 4 5 4 5 RUO U R Y 4 5 O 4 Y 5 Y 4O 5 Y 4 Y 5 4O 5 Y 4 8 O A B b5 4O 5 U 8 O AA B B B b I RUO Y O 4 5 I R I C 4 5 4 5 NI RUO 6 8 O A U b 4 9 99 5 99999 99999 8 O A U b 4 9 99 5 9999 99999 99 99 9 99 ...

Page 279: ...planation of Commands RU 4R Y O 5 I 4N 5 4 5 4 5 RU U R Y 4 O 5 4 Y 5 Y 4O 5 Y 4 Y 5 4O 5 Y 4 8 O A B b5 4O 5 U 8 O AA B B B b I RU Y 4 5 I R I C 4 5 4 5 NI RU 6 8 O A U b 4 9 99 5 99999 99999 8 O A U b 4 9 99 5 9999 99999 99 99 9 99 ...

Page 280: ...Explanation of Commands RU 4R Y 5 I 4N 5 4 5 4 5 RU U R Y 4 5 4 Y 5 Y 4O 5 Y 4 Y 5 4O 5 Y 4 8 O A B b5 4O 5 U 8 O AA B B B b I RU Y 4 5 I R I C 4 5 4 5 NI RU 6 8 O A U b 4 9 99 5 99999 99999 8 O A U b 4 9 99 5 9999 99999 99 99 9 99 ...

Page 281: ...on I O flag Command declaration Operand 1 Operand 2 Output Output flag Optional Optional CLOS Channel number Prohibited CP Function Close the channel specified in operand 1 The specified channel will be disabled to send receive hereafter Example CLOS 1 Close channel 1 LET 1 2 CLOS 1 Assign 2 to variable 1 Close the content of variable 1 channel 2 Note 2 During the manual mode Channel No 0 cannot b...

Page 282: ...ommands I 4 5 I 4N 5 4 5 4 5 I Q K I 4 C BB5 R 9 4 2 5 9b 4 5 9b 9b C 9 9 I Q K 9 Q N 4F 95 IO I N O BB 4 BB5 N Q QN 4O 5 J QN 8I QN RKIP C 4 5 C 9 9b 4 5 4 5 4 5 RKIP C 4 5 C b 4 5 4 5 4 5 RKIP C b 4 5 4 5 4 5 4 5 C KI C 4 5 C 9 b b b 4 5 4 5 I QN ...

Page 283: ...mands 4O 5 I 4O 5 O 4 I 5 4 C 95 Q K 9 IO I N Q I O b BB 9C I 4 5 C I 4 5 4 5 C I 4 5 4 5 C I Q 4 5 C I Q 4 5 4 5 C I 4 5 4 5 4 Y QIN 5 C I 4 5 4 5 4 Y QIN 5 C I Q 4 5 AC I Q 4 5 BC I Q 4 5 9C I Q 4 5 C I Q 4 5 C I Q 4 5 9C I 4 5 C I Q 4 5 C I Q 4 5 ...

Page 284: ...onds including up to two decimal places Operand 1 can be specified indirectly using a variable 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 1 Open channel 1 READ 1 2 Read the character string from channel 1 to column 2 until LF is read TRAN 1 99 Assign the return ...

Page 285: ...rd SIO port channel 1 or 2 is open a task other than the one that opened the port can be used to execute send a WRIT command Accordingly if a READ command is executed in a port opening task and then a WRIT command is executed in other task the response from the other side can be received without delay after the command is sent from the XSEL Note 1 CP for channels other than 1 and 2 Return code of ...

Page 286: ...264 Part 4 Commands Chapter 2 Explanation of Commands Q K 4Q 5 I 4N 5 4 5 4 5 Q K Q I R 9 4 Q 5 I I R ...

Page 287: ...265 Part 4 Commands Chapter 2 Explanation of Commands B Q Q T 4 5 I 4N 5 4 5 4 5 Q T QNIO I Q T X 3 X 3 QNIO 9 Q 9 Q T 99 99 9 99 99 ...

Page 288: ...266 Part 4 Commands Chapter 2 Explanation of Commands Q 4 5 I 4N 5 4 5 4 5 Q IP QNIO I Q X 3 99 99 O X 3 QNIO Q Q 9 9 BBB O BBB 9 9 ...

Page 289: ...267 Part 4 Commands Chapter 2 Explanation of Commands QJI 4J 5 I 4N 5 4 5 4 5 QJI 8 I QJI 99 99 NI NI Q T X 3 X 3 QJI 6 6 X 3 4 5 4 5 ...

Page 290: ...268 Part 4 Commands Chapter 2 Explanation of Commands Q 4Q 5 I 4N 5 4 5 4 5 Q Q I Q 9 Q 9 4N 5 NI 99 99 NI 9 9 Q 6 6 Q 4 9 4X 355 4 995 ...

Page 291: ...269 Part 4 Commands Chapter 2 Explanation of Commands Q 4 D 5 I 4N 5 4 5 4 5 Q QNIO QNIO QNIO O 4O 5 98 4 5 I QNIO Q Q BC A B 9 9 9 NI 9 9 NI 9 BA BA 9 QNIO Q Q 6 6 9 9 C 9 A Q A B 993 ...

Page 292: ...270 Part 4 Commands Chapter 2 Explanation of Commands Q K 4 D 5 I 4N 5 4 5 4 5 Q K QNIO QNIO QNIO O 4O 5 I QNIO Q Q K C NI 9 9 NI 9 BA BA 9 QNIO Q Q K 6 6 9 9 C 9 b QNIO b 9 X 3 Q b ...

Page 293: ...1 Part 4 Commands Chapter 2 Explanation of Commands N 4 D 5 I 4N 5 4 5 4 5 N QNIO 8 4O 5 M A I Q T 9 X 3 Q X 3 9 QNIO Q N 9 X 3 9 NI 99 99 NI 9 9 Q T 9 X 3 X 3 9 Q T X 3 X 3 QNIO A Q N 6 6 X 3 4 95 4 995 ...

Page 294: ...272 Part 4 Commands Chapter 2 Explanation of Commands NK 4 D 5 I 4N 5 4 5 4 5 NK QNIO 8 4O 5 M A I Q T 9 X 3 Q X 3 9 QNIO Q NK 9 9 X 3 9 NI 99 99 NI 9 9 Q T 9 X 3 X 3 9 QNIO Q NK 6 6 BA X 3 4 95 4 995 ...

Page 295: ...273 Part 4 Commands Chapter 2 Explanation of Commands QNIO 4Q 5 I 4N 5 4 5 4 5 QNIO Q C Q Q T Q RQ Q K N NK Q I C ...

Page 296: ...74 Part 4 Commands Chapter 2 Explanation of Commands 9 Y 8 J 4 Y 5 I 4N 5 4 5 4 5 J Y Y Y Y 4 KU IS U J J 5 Y 9 R Y I O J Y I J O Y Y 4O 5 J J 8I I 4 Y 5 I 4N 5 4 5 4 5 I Y Y 8 4 J KU J IS U5 J 4F Y 5 O ...

Page 297: ...275 Part 4 Commands Chapter 2 Explanation of Commands 4Q Y 5 I 4N 5 4 5 4 5 Q Y 8 8 4 S8 5 T8 J 4F Y 5 O O 4Q Y 5 I 4N 5 4 5 4 5 O Q Y Y 4 F F 5 J 4F Y 5 O ...

Page 298: ...276 Part 4 Commands Chapter 2 Explanation of Commands QI 4 Y 5 I 4N 5 4 5 4 5 QI Q Y 4 S T8 5 4 S8 5 T8 Q 8 4 Q5 R 8 4 Q5 Y J 4F Y 5 O 4Q Y 5 I 4N 5 4 5 4 5 Q Y 4 S8 5 T8 QI Q J 4F Y 5 O ...

Page 299: ...277 Part 4 Commands Chapter 2 Explanation of Commands Q 4Q Y 5 I 4N 5 4 5 4 5 Q 4 5 Q Y 8 QI 49 95 Y S T8 8 Y N Y U8 4 U8 5 U8 U8 I U8 d U8 O C U8 S T U8 Y U8 S T8 R b J 4 Y 5 Y N K J 4F Y 5 O ...

Page 300: ...s Chapter 2 Explanation of Commands Q 4Q Y 5 8 2 8 I 4N 5 4 5 4 5 Q 4 Y 5 Q Y 8 Y 8 8 Y 8 b S8 O 7 T8 O 7 8 O 7 Y Y 9b Y 8 4 5 Y S8 T8 b Y 8 4 8 5 4 5 Y S8 T8 Y Y I S8 I T8 I I S8 Q Q I T8 T8 T8 4 S8 5 4 S8 5 4 5 8 4 5 8 ...

Page 301: ...Commands Chapter 2 Explanation of Commands Y 8 Y Y Y 8 b Y 8 4 5 4 5 S8 T8 Q U 4 5 Y 84 5 U 4 5 Q I R 8 Q Q 8 4 4 5 5 Q 8 U8 S8 4 4 5 5 U8 T8 4 4 5 5 U8 S8 T8 4 4 5 5 Q U8 6 U8 8 Y 8 7 8 7 8 I S8 Q I T8 I 8 I Q U8 ...

Page 302: ...ds Chapter 2 Explanation of Commands R U8 4 U8 T8 5 8 8 9 Y 8 b J 8 Y I J U8 U8 U8 IC Y 8 b C I Y 8 b 8 U8 C 8 U8 8 b 8 84 5 Q 8 7 8 7 8 I I T8 Q I S8 I 8 8 Y 84 5 R 8 7 8 Q 8 I 8 I S8 7 8 Q U8 7 8 8 7 8 8 8 Y 8 I I T8 ...

Page 303: ...281 Part 4 Commands Chapter 2 Explanation of Commands QN 4Q Y Y 5 I 4N 5 4 5 4 5 QN 4 5 Q Y Y Y 8 8 4 Y Q b a U Y b K 5 8 8 8 Q 4 Y 5 S T8 S8 8 S8 8 J 4F Y 5 O ...

Page 304: ...282 Part 4 Commands Chapter 2 Explanation of Commands KU 4 Y U8 5 I 4N 5 4 5 4 5 KU 4 5 Q Y U Y U Y U8 J 4F Y 5 O ...

Page 305: ...283 Part 4 Commands Chapter 2 Explanation of Commands J 4Q Y 5 I 4N 5 4 5 4 5 J Q Y 4 K 5 Q Y U8 4 U8 5 Y 8 U8 Y 8 J 4 Y Q b a Y b K 5 U8 KU 8 Y Y 8 8 Y J 4F Y 5 O Y 8 O Y 8 O Q I ...

Page 306: ...284 Part 4 Commands Chapter 2 Explanation of Commands IS 4Q Y 5 I 4N 5 4 5 4 5 IS 4 5 Q Y R Y S T 4 U58 8 J 4F Y 5 O U 4Q Y U8 5 I 4N 5 4 5 4 5 U Q Y U8 Y U8 9 99 K 4 Y 8 5 J 4F Y 5 O ...

Page 307: ...285 Part 4 Commands Chapter 2 Explanation of Commands KU 4 8 U8 5 I 4N 5 4 5 4 5 KU Q 8 U 8 U O ...

Page 308: ...286 Part 4 Commands Chapter 2 Explanation of Commands J 4Q 5 I 4N 5 4 5 4 5 J Q 4 K 5 Q 8 U8 8 8 U8 8 J 4 Y Q b a b K b5 8 Y 8 8 Y O Q 8 O I 8 O Q I ...

Page 309: ...287 Part 4 Commands Chapter 2 Explanation of Commands IS 4Q 8 5 I 4N 5 4 5 4 5 IS 4 5 Q 8 R 8 8 8 U8 8 O U 4Q 8 U8 5 I 4N 5 4 5 4 5 U Q 8 U8 8 U8 9 99 K 4 5 O ...

Page 310: ...288 Part 4 Commands Chapter 2 Explanation of Commands Y OJ 4J Y 5 I 4N 5 4 5 4 5 OJ Y Y Y O O 4 Y 5 I 4N 5 4 5 4 5 O Y Y Y Y Y O ...

Page 311: ...289 Part 4 Commands Chapter 2 Explanation of Commands I 4 Y 5 I 4N 5 4 5 4 5 I Y Y Y Y Y O QI 4Q Y 5 I 4N 5 4 5 4 5 QI Y Q Y Y Y Y O Y ...

Page 312: ...Chapter 2 Explanation of Commands J 4J Y 5 I 4N 5 4 5 4 5 J Y Y Y 4 5 Y BB Q 4 Y 5 Q Q QI J Q 4 Q5 8 9 Y 8 b 8 4 U8 Y U8 4 U8 5 5 I Y 8 b 8 B S T8 Y b U8 S T8 Y b S8 U8 S8 Y b 8 O 8 b O J 4J Y 5 I 4N 5 4 5 4 5 J Y Q Y Y O ...

Page 313: ...291 Part 4 Commands Chapter 2 Explanation of Commands Y 4 Y 5 I 4N 5 4 5 4 5 Y 4 5 I Y Y Y S T8 4 Y U8 4 U8 5 5 S T8 U8 Y U8 K U8 Y 4 5 U8 U8 Y S T 4 U58 I Y Y U8 4 KU5 Y Y U8 ...

Page 314: ...292 Part 4 Commands Chapter 2 Explanation of Commands N 4 Y 5 I 4N 5 4 5 4 5 N Y 4 5 I Y Y Y S T8 4 Y U8 4 U8 5 5 S T8 U8 Y U8 K U8 Y 4 5 U8 U8 Y S T 4 U58 I Y Y U8 4 KU5 Y Y U8 ...

Page 315: ...293 Part 4 Commands Chapter 2 Explanation of Commands K 4 Y 8 5 I 4N 5 4 5 4 5 K Y I Y Y S T8 Y 8 U 4 5 S T8 Y 8 Y Y J KU J K 6 R 4 5 Y Y K Y O 6 6 6 6 Q I Y O Y 8 O Y 8 O ...

Page 316: ...294 Part 4 Commands Chapter 2 Explanation of Commands U8 U8 Y Y U8 U U8 U8 Y U8 4O Y U 5 Y 8 Y 8 4O C 7 a 5 U8 U 4 5 Y U8 8 Y 8 U C Y U Y S T U8 K I Y U Y 8 8 Y 8 8 Q I Q I ...

Page 317: ...ommands Chapter 2 Explanation of Commands K 4 5 I 4N 5 4 5 4 5 K I 8 U8 8 U 4 5 8 U8 8 Y J KU J K 9 6 R 4 5 Y Y 8 U8 8 U8 8 U8 8 U 8 U8 8 U8 8 U8 4O 8 U 5 8 8 4O C 7 a 5 8 U8 U 4 5 Y K O 6 6 6 6 Q 8 O I 8 O Q I O 9 ...

Page 318: ...296 Part 4 Commands Chapter 2 Explanation of Commands 8 U8 8 K 8 U U 8 8 8 U8 d 8 8 8 U8 ...

Page 319: ...297 Part 4 Commands Chapter 2 Explanation of Commands 8N K 4 5 I 4N 5 4 5 4 5 K 9 Q b 4 K JK5 8 49C O N C K JK5 K JK QN 4R QN O N 5 4Q 5 I 4N 5 4 5 4 5 9 Q 49C I C 5 b 4 5 8 9b 4I 5 4 9 b5 ...

Page 320: ...298 Part 4 Commands Chapter 2 Explanation of Commands QN 4 5 I 4N 5 4 5 4 5 QN Q K JK 4O 5 4 5 8 ...

Page 321: ...299 Part 4 Commands Chapter 2 Explanation of Commands I I 4J 4 55 I 4N 5 4 5 4 5 I 9 9 9 OQ 9 3 Q BB 4 5 b 4O 5 4 5 8 1 8 4 8 5 4 5b 9 I I I Q 4 5 BB ...

Page 322: ...300 Part 4 Commands Chapter 2 Explanation of Commands I 4J 5 I 4N 5 4 5 4 5 I 9 9 9 OQ 9 3 b 4O 5 K N 8 8 O K 8 b 9b 4 5 8 O K 8 b 4 5 I I O ...

Page 323: ...301 Part 4 Commands Chapter 2 Explanation of Commands I 4J 5 I 4N 5 4 5 4 5 I 9 9 9 OQ 9 3 b 4O 5 K N 8 8 O 8 b 9b 4 5 8 O 8 b 4 5 I I AB9 O AB9 ...

Page 324: ...302 Part 4 Commands Chapter 2 Explanation of Commands I 4J 5 I 4N 5 4 5 4 5 I 9 9 9 OQ 9 3 b 4O 5 K N 8 8 O 8 b 9b 4 5 8 O 8 b 4 5 I I O ...

Page 325: ...4 Commands Chapter 2 Explanation of Commands I 4 5 I 4N 5 4 5 4 5 I Q BB O BB 9 Q 49 F O F 5 K 499 F O 9 F 9 F 5 Q O 49 F F O5 4F O F Q 5 8 49 F O F 5 4O 5 C QIN b I I Q BB A 4 5 BB BB A BB 9 9 9 9 9 Q K Q O 8 Q ...

Page 326: ... 1 2 3 4 5 7 n 1 Device number axis number 0 0 1 to 6 1 to 6 1 to 6 0 to 9 0 n 2 Parameter number 1 to 999 1 to 400 1 to 250 1 to 97 1 to 30 1 to 82 1 to 200 Specify an integer variable in operand 2 integer variables 98 99 298 299 1098 1099 1298 and 1299 cannot be specified because if any of these variables is specified there won t be three consecutive integer variables If a variable not of the in...

Page 327: ... b F R b F R b F R b F R b F O 7 888 8 4 8 5 4 5 4 1 O 9 415b5 6 O 7 888 8 4 8 5 4 5 b 49 9 999 5 6 Q b 6 9b 4 5 8 4 8 5 91 O 7 888 9b 4 6 5 O 7 888 9b 4 6 5 8 4 8 5 4 5b 8 4 8 5 b 4 8 5 8 4 8 5 b b 9b 4 5 8 O B 8 4 8 5 4 5b 9C 8 4 5 4I O 9 Q 8 4 8 5 5 C 4 QIN 5 I NI B9 Q 4 5 B9 NI B A9 Q 8 B NI B 999 Q 8 b B I 9 B9 B9 F Q 8 F A91 Q 8 b F 999 O I 9 ...

Page 328: ...8 4 8 5 b 8 4 8 5 4 5 6 8 4 8 5 b 9b 4 Y 5b 4 QK 5 4 5 R 4 QK 5 4O 5 8 O 4O 5 4 8 8 b 5 8 4O 5 I O b I O Q 8 b I O 9 Q 8 4 8 5 b 4O 5 R Q 8 4 5 4O A5 R 4 5 9991b 8 4 8 5 4 5b 9999 b 8 4 8 5 b 6 8 4 8 5 4 5b 4 99 9915 4O B5 O C Q 8 4 8 5 4 5 F O 9 415b Q 8 4 8 5 b F 9999 4O 95 8 4 8 5 4 5 8 4 8 5 b QIN 8 4 8 5 4 5b 8 4 8 5 b QIN 8 4 8 5 4 5b 8 4 8 5 b 8 4 8 5 4 5b 8 4 8 5 b 4O 5 O 9 b 4 5 4 8 5 ...

Page 329: ...t 4 Commands Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note M O K Q N Q Q 4 5 K K A 4 5 K 9 K A 4 5 O O 4 5 4 F 5 I 9A O 9B O 9 O O K 9A O 9 O K O I 4 F 95 9A O K 9A O 9 O 4 5 Q ...

Page 330: ... Part 4 Commands Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note K I O 9A O 9B O 9 O O K 9A O 9 9 O K O 4 5 R 99 8 K K A Q O 9 4 5 9 9A 9 K 9 9 9A 4 5 Q K O O B 9 K K K B 9 K ...

Page 331: ...309 Part 4 Commands Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note K Q N R K Q N 8 I K R 4 5 C Q 4 5 Q Q Q IN Q 4 N5 8 O 4 8 O 5 IJ ...

Page 332: ...palletizing calculation 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 declar...

Page 333: ...311 Part 4 Commands Chapter 4 Palletizing Function 4 5 Y 888 C O Q Y Y Y b O R 4Q 5 4 S8 5 b Y T8 b 4 5 Y 888 C Q Y 4 S8 5C T8 C 4 5 Y Y Q Y Y Q 8 Q 8 Y Q Y Q Y Y Y QI Q 4 S8 5 4 S8 5 Q 4 T8 5 4 T8 5 Q ...

Page 334: ...312 Part 4 Commands Chapter 4 Palletizing Function 8 Y 8 Q S8 T8 8 R O O C Q 4 Y 5 O C Y S8 O C Y T8 Y 4 Y 5 Q Q 8 Y 8 4 S8 5 Q 4 T8 5 ...

Page 335: ...313 Part 4 Commands Chapter 4 Palletizing Function Y Y C Q 4 Y O 5 Q Y C S8 T8 Y C QI S8 T8 Y 4 4 S8 5 5 Q 99 O 99 9 S8 T8 9 QI Q 4 S8 5 4O 5 R Y Y Y S8 T8 Q Y S8 9 O 99 T8 ...

Page 336: ... 888 C QN QN Y Y U Y C 8 8 I 8 b U Y C O 8 QN 4 5 8 4 5 8 U8 888 C KU 4 5 8 U8 888 C U 4 5 8 888 C IS 8 8 8 U8 I O 8 8 4 5 888 C J 8 8 8 4 8 5 Q 8 Q 8 U8 Q 8 F U 4 8 5 I 8 Q 8 U8 I 8 F U 4 S8 5 8 4 T8 5 I 8 K 4S T U 5 Q 4S9 T9 U95 I 4S T U 5 4S T U 5 4S T U 5 ...

Page 337: ...315 Part 4 Commands Chapter 4 Palletizing Function 4 5 Y 8 4 5 Y U8 888 C KU 4 5 Y U8 888 C U 4 5 Y 888 C IS Y S T 4 U58 I O Y Y 8 Y 4 5 Y 888 C J Y Y Y 8 Y 8 4 8 5 Y 8 4 8 5 Y 8 ...

Page 338: ...n the figure below indicates an angle calculated by ignoring the coordinate in the palletizing Z axis direction In the figure below will become a negative value if axis 1 is used as the reference for angle calculation Fig 4 If the composite axis is a rotating axis obtaining the palletizing angle and adding it to the composite axis operation as an offset will allow correction of the composite axis ...

Page 339: ...317 Part 4 Commands Chapter 4 Palletizing Function Y Y Y 4 5 Y 888 N K 8 8 Y 4 Y Y 5 8 4 U8 5 C Y NC Y KC Y Y Y KU J K K O Q 8 O I 8 O Q I Y O ...

Page 340: ...318 Part 4 Commands Chapter 4 Palletizing Function 4 5 888 K U8 KU J K 9 K O Q 8 O I 8 O Q I O 9 ...

Page 341: ...r 4 Palletizing Function I 4 5 Q 4 8 5 Q 4 8 5 Q I O J Q Y O Y C Q Q 8 I I Y O IN 99 Q C 99 N A QI Q Y B J 9 N Y N O 99 Y 99 J O IS I O 9 999 9 999 9 999 9 999 8 A 999 999 S8 8 B 999 999 T8 8 T8 8 O 4 B 5 S8 8 O 4 A 5 O 4 9 95 O ...

Page 342: ...pter 4 Palletizing Function 4 5 Q 4 8 5 Q QI Q I O J Q Y O Y C QI S8 F T8 F 9 C S F 9 T F Q O I I Y O A IN 99 Q C 99 B N 9 QI Q Y J N Y N O 99 Y 99 J O IS I O 9 999 9 999 9 999 9 999 8 T8 4 S8 5 9 O 4 9 95 O S8 C 9 T8 C S8 T8 ...

Page 343: ...4 Commands Chapter 4 Palletizing Function 4 5 Q Q 4 8 5 Q I O J Q Y O Y C O Y Q Q 8 O QN 9 U Y F 9 A KU Y U8 F B J Q Y 9 O U 99 U8 F 99 IS Q Y O I J J Y Q BB A Q B BB O 9 6 J Q O KU Q 8 U8 9 N 9 A N S B 9 QI Q Y ...

Page 344: ... A O 99 Y B 99 J J O 9 IS I O 99 999 99 999 99 999 6 666 9 999 9 999 99 999 6 666 S8 8 B 999 A9 999 99 999 6 666 T8 8 6 666 6 666 9 999 6 666 8 6 666 6 666 6 666 6 666 4O 5 6 666 6 666 6 666 8 B Y 8 6 666 6 666 6 666 6 666 4O 5 A 9 999 9 999 99 999 9 999 8 B 6 666 6 666 9 999 6 666 U 9 ...

Page 345: ...323 Part 4 Commands Chapter 4 Palletizing Function Q 8 Y S8 F T8 F U Y C 9 U Y C C a B 8 I 8 4 S8 5C O 4 9 9 995 C O 4 99 99 995 T8 I 8 T8 C O 4B A9 995 S8 8 9 B A A 9 9 B 9 B A ...

Page 346: ...mands Chapter 4 Palletizing Function 4 5 Q QI Q Q I O J Q Y O Y C O Y QI S8 F T8 F 9 9 4S F 9 T F 9 5 Q Q A O B QN 9 U Y F 9 9 U Y F KU Y U8 F J Q Y O U 99 U8 F 99 I A 6 B J Q 9 O KU Q 8 U8 9 N 9 N S QI Q Y A A B 6 9 ...

Page 347: ...O 99 Y 99 J J O A B IS I 9 O 99 999 99 999 99 999 6 666 6 666 6 666 6 666 6 666 4O 5 6 666 6 666 6 666 6 666 4O 5 6 666 6 666 9 999 6 666 8 6 666 6 666 6 666 6 666 4O 5 6 666 6 666 6 666 6 666 4O 5 6 666 6 666 6 666 6 666 4O 5 A 9 999 9 999 99 999 9 999 8 B 6 666 6 666 9 999 6 666 U 9 ...

Page 348: ...326 Part 4 Commands Chapter 4 Palletizing Function Q 8 Y S8 F T8 F S8 C 9 T8 C 9 U Y C 9 U Y C 4S T U5 F 4 99 99 995 8 T8 S8 8 9 B A A 9 9 B 9 B A 9 9 ...

Page 349: ...ion must be used by expert engineers with a full knowledge of PLC software design 1 Basic Frame Extension condition Input condition Command Operand 1 Operand 2 Output E N 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 to 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 to 100 LD 7001 GOTO 1 LD 7001 EXIT Virtual input 7001 N...

Page 350: ...328 Part 4 Commands Chapter 5 Pseudo Ladder Task N Q 4 5 I N N O O N M N M 8 4 5 N N 4 F 5 N 4 F N F 4 55 O 4 8 5 N 4N 5 Ob K QN J 4N 99 5 99 C O Ob 9 9 ...

Page 351: ...329 Part 4 Commands Chapter 5 Pseudo Ladder Task I I I O N 99 K J N A O B 9 N O N O B99 9 N 99 QN N 99 J N 99 IS B99 9 QI A B 9 ...

Page 352: ...330 Part 4 Commands Chapter 6 Application Program Examples I L 8 J 4 5 8 8 8 K K N 8 8 ...

Page 353: ...peated 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 Axis 1 movement command Pushbutton switch 17 Axis 2 movement command Pushbutton switch Input 18 Hand operation completion External control unit Output 309 Hand start command 24 VDC XSEL Flag is not used Sta...

Page 354: ...tch 5 JFWN 1 16 Move forward 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 309 Start command for external control unit turns ON 9 WTON 18 Wait for external control unit to complete operation 10 BTOF 309 Start command for external control unit turns OFF 11 JBWF 11 18 Axes 1 and 2 move backw...

Page 355: ...333 Part 4 Commands Chapter 6 Application Program Examples Q 4 5 ST8 8 8 ST8 R ST8 ...

Page 356: ...5 When all 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 309 ...

Page 357: ...ET 1 2 Set 2 in work part counter 6 BTOF 600 Clear completion flag 7 WTON 16 Wait for start command 8 TAG 2 9 MOVL 1 Move to work part counter position 10 BTON 309 Riveting command turns ON 11 WTON 17 Wait for riveting to complete 12 BTOF 309 Riveting command turns OFF 13 ADD 1 1 Increment work part counter by 1 14 CPEQ 1 5 600 Turns ON flag if operation is complete 15 N 600 GOTO 2 Jump to TAG2 if...

Page 358: ...336 Part 4 Commands Chapter 6 Application Program Examples Y Y Q 4 5 Y 8 8 U8 4 Y 5 ...

Page 359: ...tion are shown below Operation Position I O Assignments Category I O No Signal name Specification 16 Z axis cylinder upper limit Proximity SW 17 Z axis cylinder lower limit Proximity SW Input 18 Start Pushbutton switch 309 Z axis cylinder SV 24 VDC 310 Z axis chuck SV 24 VDC Output 311 Pallet completion indicator 24 VDC XSEL Flag is used from 600 Pallet specifications Axis 1 direction 20 mm pitch ...

Page 360: ...alue in variable 300 16 OFST 10 301 Offset axis 2 by value in variable 301 17 MOVL 1 Move to position No 1 offset value 18 EXSR 1 Call chuck subroutine unchuck 19 ADD 300 20 Add 20 to variable 300 20 CPEQ 300 80 600 Turn ON flag 600 if variable 300 80 21 N 600 GOTO 2 Jump to TAG2 if flag 600 is OFF 22 LET 300 0 Clear variable 300 23 ADD 301 30 Add 30 to variable 301 24 CPEQ 301 120 601 Turn ON fla...

Page 361: ...cer language for peripherals Since SEL language 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 ...

Page 362: ...340 Part 5 Multi Tasking Chapter 1 Real Time Multi Tasking 8 8 8 b Q 8 8 8 8 8 8 4 5 8 8 b ST Q Q O Q M Q ...

Page 363: ...341 Part 5 Multi Tasking Chapter 1 Real Time Multi Tasking 8 Q Q 4 5 8 4 5 8 4 5 Q 8 8 Q ...

Page 364: ...are as follows Programs Aborted 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 th...

Page 365: ...343 Part 5 Multi Tasking Chapter 1 Real Time Multi Tasking 8 Q I Q 8 IS 8 IS J 4 5 I b 4Q I Q Q 5 b 4 5 Q 8 I IS 4 5 K 8 IS J 4 5 ...

Page 366: ...roller 2 Operation 1 Tighten six screws 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 t...

Page 367: ...345 Part 5 Multi Tasking Chapter 2 Example of Building a System 8 Q 8 Q 8 8 U8 8 U8 Q 8 R ...

Page 368: ...99B 4 J O 5 a 9 9 4 J O A5 a 9 4 J O 95 a 9 4 J O 95 T a 9 4 J O 95 J a 9 J 8 a 9 J 8 a A 9 Q J a B 9 Q R a 9 9 A U8 8 a 9 B 8 a 9 9 Q a 9 J 8 a 9 J 8 T a 9 J 8 J a 9 J 8 a 9 J 8 a A 9 J 8 J a B 9 J 8 R a 9 9 A J 8 a 9 B J 8 a 9 9 J 8 a 9 J 8 a 99 T a 9 J a 9 I 8 a 9 J 8 a A 9 J 8 J a B 9 J 8 R a 9 9 J 8 a 9 J 8 a 9A J 8 a 9B U8 a 9 Q T a J a J 8 a J 8 a A J 8 J a B J 8 R a 9 8 J 8 C O C 9 a ...

Page 369: ...9 99A 4 J O 5 99B 4 J O 5 9 9 4 J O A5 9 4 J O 95 9 4 J O 95 9 4 J O 95 9 J 8 9 J 8 A 9 Q B 9 Q 9 9 A U8 8 9 B 8 9 9 Q 9 J 8 9 J 8 9 J 8 9 J 8 9 J 8 A 9 J 8 B 9 J 8 9 9 A J 8 9 B J 8 9 9 J 8 9 J 8 99 9 9 I 8 9 J 8 A 9 J 8 B 9 J 8 9 9 J 8 9 J 8 9A J 8 9B U8 9 Q J 8 J 8 A J 8 B J 8 9 8 J 8 C O C 9 O 7 O 9 9 4O 5 Q Q 4O 5 9 7 Q Q U8 8 8 Q 8 U8 99 Q U8 Q 8 ...

Page 370: ...348 Part 5 Multi Tasking Chapter 2 Example of Building a System 8 Q 4 5 C Q 8 Q Q 4 5 U8 Q Q U8 H Q H Q Q I TIQ TIQ O O Q C Q O Q ...

Page 371: ...f Building a System 8 4 5 Q 8 O I O IS J Q K I IN 99 Q C 99 9 C 9 J J L R O Q 8 NI Q A J L B N 6 9 O 9B U8 O 9 Q R O 9 Q 9B 9 R O A U8 IP B99 OB99 J J 8 A O J B J Q 9 Q IS I O S T 9 9 9 9 B9 9 9 9 9 9 B9 9 4 5 Q O I O J L R B Q O Q R O B Q Q R J ...

Page 372: ...apacity is based on operation at the rated acceleration Note 3 RCS2 R 7 series actuators cannot be used as axis 5 or 6 Stroke mm and maximum speed mm sec Note 1 Payload capacity Note 2 Horizontal Model number Vertical Rated acceleration Horizontal Vertical RCS2 Slider type RCS2 Rod type RCS2 Arm flat type Actuator Specification List Appendix ...

Page 373: ...351 Appendix 4O 5 4 5 4O 5 Q 4 5 4 5 4O 5 4O 5 K Y K Y 5 5 5 5 5 8 Appendix ...

Page 374: ...352 Appendix 4O 5 4 5 4O 5 4O 5 Q8 Q 4 5 4 5 4O 5 4O 5 K Y K Y 5 5 5 5 ...

Page 375: ...353 Appendix 4O 5 4 5 4O 5 Q 4 5 4 5 4O 5 4O 5 K Y K Y Appendix ...

Page 376: ...354 Appendix 4O 5 4 5 4O 5 Q 4 5 4 5 4O 5 4O 5 K Y K Y ...

Page 377: ...355 Appendix 4O 5 4O 5 4O 5 NQ Q 4 5 K Y 4 5 4 5 4O5 4 5 4O 5 4J5 4O 5 Appendix ...

Page 378: ...er in the program Axis1 to Axis3 Enter the target position 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 pre...

Page 379: ...ing online edit Click the B field in the line where you want 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 co...

Page 380: ...358 Appendix 99 K R 4K I 5 Q K Q I ...

Page 381: ...359 Appendix K J J J J J J I I Q Q L Q Appendix ...

Page 382: ...360 Appendix I J J Q K ...

Page 383: ...361 Appendix 4 K 5 N C K 4 5 I K b K b K b K b 4 5 K K K B 9 O K O B 9 9 B Appendix ...

Page 384: ...he 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 310 turns ON A declaration command to specify signal output during path movement 310 turns ON when the actuator approaches P2 specified in this step Outputs and flags can only be turned ON The output or flag that w...

Page 385: ...363 Appendix A 8 K I Q b b b I Q b 8 4 5 8 4 5 QC 8 QC 8 Appendix ...

Page 386: ...I O parameter Nos 70 and 71 Example of Use a Output a home return completion signal Execute home return General purpose output arbitrary b Use a home return completion signal to make sure the actuator will not perform home return if it has already been performed Execute home return if output 303 is OFF Home return completion output c Use the output field instead of a BTON command Execute the same ...

Page 387: ...365 Appendix 9 R K I 9 O O 9 Q 9 9 O 9 O I Appendix ...

Page 388: ...00 mm 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 ...

Page 389: ...367 Appendix Q K I 9 9 9 4 K 5 K b K N 4 5 4 8 5 Q Q Q Appendix ...

Page 390: ...ables 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 XSEL controller has a built in battery for retaining variables and flags used in the p...

Page 391: ...369 Appendix K Q Q BB K C ISQ C JQ C 4 5 I Q C 4 5 I L J J Q Appendix ...

Page 392: ...370 Appendix K N K 4 5 K N R K N 4 5 I K N 9 8 9 O T K N 9 F 4 5 Q F 4 5 F 4 5 Q 9 O 9 ...

Page 393: ...371 Appendix 4 O 5 O K R O I O 9 O 4 5 6 6 R O 4 5 Q R O O 9 F 4 5 Q F 4 5 Q 9 O Appendix ...

Page 394: ...372 Appendix 4Q 5 4Q 5 K I Q 4 8 5 Q I Q Q b N b N b N b I Q 9b N b N b N b Q 4 5 N Q Q 9 O Q R Q R ...

Page 395: ...373 Appendix A O Q N I O 9 Q A A B 9 9 9 9 A9 99 99 99 A99 Q Q O Appendix ...

Page 396: ...374 Appendix B I I O I I C b 9 Q Q Q O ...

Page 397: ...375 Appendix 9 I P 9 8 9 99 BBB BB O O C 6 R P 9 Q SSS SSSb 99 SSSSS Sb O BB 8 Appendix ...

Page 398: ...376 Appendix L Q J 4 5 I 9 O J 6 9 O 9 I 9 9 9 O 9 I J 9 O 9 O 9 O O ...

Page 399: ...377 Appendix R R O I 9 9 4 5 R O 9 9 O 6 O O Appendix ...

Page 400: ...378 Appendix K R Q 4 5 Q 4 8 b5 9b 4 8 5 K ...

Page 401: ...379 Appendix I O I I IP 9 RIP Appendix ...

Page 402: ...380 Appendix 8 I Q S8 Q I Q N Q Q H I 4 5 4O 5 ...

Page 403: ...381 Appendix L O K I 9 O O I Q I 4 5 K N Q O Q 4 95 Q R Appendix ...

Page 404: ...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 XSEL controller supports multi tasking Up to 16 programs can be run at the same time To use other programs whe...

Page 405: ...383 Appendix A I J 4 5 8 6 I 4 5 4 5 R 6 J Appendix ...

Page 406: ...cordingly no battery is required if operation is always resumed using the data in the flash ROM after the power has been cut off or a software reset has been performed in which case the value set in other parameter No 20 must be changed to 0 no backup memory Note On a controller with expanded memory with gateway function only position data from Nos 1 to 10000 will be backed up To also back up posi...

Page 407: ...385 Appendix E G 8 8 8 3 9 9 A91 9 1 9 9 M d d 9 Q Q N Q 8 9 4O 5 9 K Q 4 5 A 4 B 5 Q 8 4 5 9 4 5 4 5 4 5 9 9 D A 9 9 D 9 4 Q 5 4 5 9 D 9 D 9 4 5 9 O 91 J 9 O 91 4O 5 9 b Appendix ...

Page 408: ...e replaced regularly in accordance with the power on frequency duration of the controller 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 ambient temperature of 20 C if the power is supplied to the controller continuously Once a battery error oc...

Page 409: ...ist of Absolute Data Backup Battery Functions Battery type AB 5 by IAI Battery voltage 3 6 V Current capacity 2000 mAH Detection voltage for battery voltage low alarm Typical 3 1 V 3 0 V 3 2 V Detection voltage for battery voltage low error Typical 2 5 V 2 3 V 2 7 V Time after alarm detection until error detection reference 10 days at 20 C based on continuous operation 7 days if the power is not s...

Page 410: ...8 J 8 J 8 J 8 J 8 J 8 J 8 A A J 8 A J 8 B B J 8 B J 8 9 9 J 8 9 A J 8 J 8 B J 8 J 8 9 J 8 J 8 J 8 J 8 J 8 J 8 J 8 J 8 J 8 J 8 J 8 A A J 8 A J 8 B B J 8 B J 8 9 9 J 8 9 A J 8 J 8 B J 8 J 8 9 J 8 J 8 J 8 J 8 J 8 J 8 J 8 A J 8 J 8 B J 8 J 8 A 9 J 8 A J 8 B J 8 B J 8 9 J 8 9 A J 8 J 8 B J 8 J 8 9 J 8 J 8 J 8 J 8 J 8 J 8 J 8 A J 8 J 8 B J 8 J 8 A 9 J 8 A J 8 B J 8 B J 8 9 8 9 9 8 9 O 5 4 5 ...

Page 411: ...ront View of Controller 2 Confirm that the settings in Axis Specific Parameter No 34 and No 103 on the axis number that Pick Rotary Axis is connected ordinary the 5th axis are established as follows No 34 Brake equipment specification 1 No 103 Brake output control method select 1 3 Refer to CT4 Actuator Instruction Manual to set up the appropriate gain 4 The operation of the rotary axis is conduct...

Page 412: ...W 4 units to 2400 W 5 units If actuators used horizontally and vertically are combined the required quantity is the sum of the quantity calculated from the total sum of motor capacities of horizontal axes and the quantity calculated from the total Specifications n o i t a c i f i c e p S m e t I Controller dimension W34 mm x H195 mm x D126 mm Controller weight 0 9 kg Built in regenerative resistan...

Page 413: ...391 Appendix Q 4 5 Q R 8 8 8 O 4 9b 5 I 5 8 4 5 4 5 I 5 K I 4 5 8 8 8 8 8 Q R 8 8 4 5 K Q 4R 5 I O 4Q O5 4 8 5 4 5 Q Appendix ...

Page 414: ...392 Appendix Q Q Q 4 5 R 8 O A I Q O b 8 O A I Q O b Q Q 9 Q 9 9 4 F 9 F 9 K 8 5 I 5 8 I 5 8 4 5 Q Appendix ...

Page 415: ...393 Appendix Q 8 Q 8 4 5 4 5 R 4 5 4 5 4 5 C 8 O 8 b 4 5 I 9b 8 O 8 b R 4 5 8 O 8 b R 4 5 Q 8 R F F 8 O A I Q O b 4O 5 8 8 Y 4 5 8 O A Q 8 Y b 4 5 4 5 I 9b 8 O A Q 8 Y b Q R 4 5 Appendix ...

Page 416: ...394 Appendix 4 5 4 8 5 C I b I b I b 8 I b Q I T I Q I T 8 I I Appendix ...

Page 417: ...395 Appendix 4 5 I 4 5 8 O A Q 8 Y b Q R 4 5 4 5 Q 8 8 3 8 NI b 4 I O 8 b b 5 6 I O 9 b I O b I O Q 8 b Q 8 8 O K b 9 99 7 44 a 5 9995 C 9 7 4489 99 a A 5 S 9995 F 8 A Appendix ...

Page 418: ...396 Appendix I 8 8 O K b Q R 4 5 4 5 4 5 I O 9 b I O b I O Q 8 b C 4 5 C 8 O 8 b 8 O A Q 8 Y b Y 4O 5 8 8 Appendix ...

Page 419: ...397 Appendix 8 K Q 4 5 4 5 4 5 Q 4 5 Q 4 5 U8 U8 U8 C R 8 Q 4 5 R 8 Q 5 ޓ a Q G 9 ޓ a Q E 9 Q ޓ a Q i 9 5 Q 4 5 5 Appendix ...

Page 420: ...he current positions of the master axis and slave axis after the servo is turned on and turns ON global flag 600 when the distance between the two axes becomes 0 3 mm or less Operation commands are written so that they will be executed after 600 is turned ON SVON 1 Turn on the servos of the synchro axes BTOF 600 Turn OFF flag 600 LET 100 1 000 Assign 1 or any value larger than 0 2 to variable 100 ...

Page 421: ...e used with different works Note however that only one of three natural vibration frequencies can be selected and used for one move command Two or more natural vibration frequencies cannot be set at the same time Note When this function is used be sure to check the notes on the following page Image of Operation under This Function If actuator B beam vibrates as actuator A operates measure the natu...

Page 422: ...400 Appendix 8 4 5 8 8 O 8 8 8 O I C b b O 9 KY A 4 9 KY 5 9 9 B 4 5 9 9 A O 9 KY 49 KY 5 9 A 4 5 9 b Y Y O K 4 K Q N Q Q5 O ...

Page 423: ...401 Appendix Q Q 9 Q Q Q Q 4 5 Q I 4 5 8 Q 4 5 Q Q 4 Q I 5 Q Q Q QIN 4O K 5 b b Appendix ...

Page 424: ...99 99 9999 O B 9 46 5 9999 9 9 999 999 9 999 A O 999 KU 9999 99 9999 B O B 9 46 5 9999 9 9 999 999 9 999 O 999 KU 9999 99 9999 O B 9 46 5 9999 46 5 C BB 9 O 999 KY Q Q I Q O 8 Q KY N 9 9 99 9 9 9 99 BBA9 BB BB BB 9 BB 9 9 BB 9 BB BB 9 BB 9 BB BB 9 BB BB ...

Page 425: ...403 Appendix Q C O C Q O C Q 4 5 4 5 K Q Q Q I Q QIN 4K N O Q J5 I I O I 8 Y Y 4 5 Y 4 5 Q L Q L I L U U8 4 5 Q 4 5 9 I 9 U8 K 8 BB K 8 B 8 B U8 8 B U8 Q 9 I 9 9 4 I95 B I 99 8 Appendix ...

Page 426: ...inate system of the target axis Example 2 When an interlocked slider exists on the negative side of the coordinate system of the target axis Axis 2 is on the negative side 2 Set the effective stroke in axis specific parameter No 105 Effective stroke of multiple sliders The example below assumes a stroke of 1140 Note 1 The multiple slider near miss detection collision prevention function is enabled...

Page 427: ...405 Appendix 4 8 5 O 9 8 8 9K 9K K 9 C 8 4 5 C 8 4 5 6 4 5 6 6 4Q 5 6 Q 9b 9 I 9 9 BBBBBBBB 9 99 I b 4 5 8 8 4 5 6 b 4 8 5 9 I 8 8 9 BBB 9 9 J 9 8 C K 9K K 9 C 8 8 4 5 4 5 C 8 8 4 5 4 5 Appendix ...

Page 428: ...ppendix J 8 Q 4 8 Q 5 4 5 Q 8 Q 8 B8 Q 8 Q Q Q 8 B8 4 I5 S 89B 8 9 N 4 O5 Q Q 9 A 99 Q 8 K 8 8 8 4 5 4 C O 5 4 S 5 Q 4 S 5 I I 4 5 QJ Q 4 Q 5 4 Q5 4 4 Q5C O 5 A 4 Q5 4 4 Q5C O 5 B O O 4 5 4 5 Q I Q 8 B8 8 B8 ...

Page 429: ...C C O 9 9 O Q 4 5 O 9 Q 4 5 A 9999 K 9K K O Q 4 5 A 9999 K 9K K O A C 49C B C B C A C C A C 5 C 4 A5 9 C Q 4 5 BC 49C O C C I 5 C A C C 9 C 49C C 5 Q C A C A Q C C O C Q 9C B C B C A C C A C A Q 9C O C C I 49C C 5 Appendix ...

Page 430: ...andard mount 01118040H 0H to FFFFFFFFH None Settings Bits 28 to 31 Flow control type 0 None 1 Xon Xoff 2 Hardware Valid only in full duplex communication If flow control is performed select 38 4 kbps or below Use of a higher baud rate may generate an overrun error etc Bits 24 to 27 Xon send selection when send is enabled after SIO CPU reset 0 Do not send 1 Send Valid only in full duplex communicat...

Page 431: ...409 Appendix 4 5 Q J N J C 99 BBB 4 995 N C BB 4 BB5 Q I Q Y b 8 K Ib b N b I Appendix ...

Page 432: ...410 Appendix I b Q K Ib K Ib 99 N BB J 99 J K Ib 99 ...

Page 433: ...411 Appendix K Q Appendix ...

Page 434: ... b 9 O Mb Q I O O 8 I O O Q Q K 9 Q N IO Q J I Q QIP _K I_ K K I A ISQ Q M b B I 9 QIP _ I_ C QNIO Q N 9 Q 9 IN 6 9 Q N QNIO A N BB A BB B Q 9 N BB BB Q N ISQ Q M b I J A 88888888888 B JQ M 9 Q T _ M_ Q M b Q Q b Q 9 Q N b R Q I Q ...

Page 435: ...413 Appendix N 3 Q I Q Q Y b b b b Appendix ...

Page 436: ... 8 8 BB 9 7 4 A5 4 5 4Q 5 4 5 8 8 BB 99 7 4 A5 4 5 4 5 8 8 BB 9 7 4 A5 4 5 4 5 8 8 BB 99 7 4 A5 4 5 A 4 5 8 8 BB 9 7 4 A5 4 5 B 4 5 8 8 BB 99 7 4 A5 4 5 9 Q 4 5 9 9C C C 4 8 5 C 4 8 5 6 Q I 4 5 9 9C C C 4 8 5 C 4 8 5 6 Q 4Q 5 6 9 4F 5 4F 4 8 55 8 K I 4 5 9 9C C C 4 8 5 C 4 8 5 6 Q 6 9 4F 5 4F 4 8 55 8 K ...

Page 437: ... 7 4 A5 4 5 A O 9 9C C 6 Q B 4 5 9 9 B Y 4 5 9 B 8 8 999 9 BBBBB 9b 8 8 9K 9K K 9 C Q 4 5 C I 4 5 A C I 4 5 C I 4 5 49C C F O9 C F O9 C F O9 5 6 8 6 8 4 5 9999K 9K K 9 C T 4Q 5 49C QTQ T 4Q F 5 4 5 C I 8 C I 8 5 C T NI 49C C I 8 C I 8 5 A C I 4 IN 5 4 8 5 49C C I 5 C 8 I 4 IN 5 4 5 49C C 5 BC 8 I 4 IN 5 4 5 49C C 5 Appendix ...

Page 438: ... O C I 4 5 b 6 R 8 8 O 99 BB 9 999 9 9C J 8 C 4 O 5 4 99 9 8 5 C 4 O 5 4 99 9 8 5 C 4 O 5 4 O 99A 9 8 5 4 9 B 5 O C O 9 b 4 8 5 O 99 b O 9 b 4 5 O 9 b C b O A 99Ab O 9 b C 4 O 5 4 O 99A 9 8 5 4 9 B 5 O C O 9 b 4 8 5 O 99 b O 9 b 4 5 O 9 b C b O A 99Ab O 9 b 6 R O 99 6 R 8 8 8 O B 8 O O A O C O A 999 b 4 9 8 8 5 ...

Page 439: ...O A 99 b 4 9 8 8 5 99 9 9C J 8 C J 8 4Q 8 8 O 5 C 8 4 O C Q C 4 55 6 8 O 99 O C O A 99 b 4 9 8 8 5 99 9 9 9C J 8 C 4 5 4 5 4 D 8 5 O C O A 99 b 4 9 8 8 5 99 9 9 9C J 8 C 8 4 O 5 O C O AA 99 b 4 9 8 8 5 99 9 9 9C J 8 C 8 4 5 4 5 6 8 O C O AB 99 b 4 9 8 8 5 99 9 9C J 8 C 4 5 O C O 9 999 b 4 9 B 5 O C O B9 99 b 4 9 8 8 5 Appendix ...

Page 440: ... 9 8 8 5 9 9 9 9 9C J 8 C O C O 9 999 b 4 9 B 5 O C O B 9 9 b 4 9 8 8 5 9 9 9C J 8 C O C O 9 999 b 4 9 B 5 O C O B 9 b 4 9 8 8 5 9 9 9C J 8 C O C O 9 999 b 4 9 B 5 O C O B 9 b 4 9 8 8 5 9 9 9C J 8 C C I 4 O 5 O C O 9 999 b 4 9 B 5 O C O B 9 b 4 9 8 8 5 9 9 9 9C J 8 4 8 5 C 8 4 O 5 4 5 6 8 8 8 O C O 9 999 b 4 9 B 5 O C O B 9 b 4 9 8 8 5 ...

Page 441: ...C J 8 C 8 4 O5 C 8 4 5 C 8 7 4 O5 C 8 7 4 5 O C O BB 99 b 4 9 8 8 5 9 9 9 9C J 8 C I T 4 5 C I T 4 8 5 C I T 4 8 5 O C O 99 9 b 4 9 8 8 5 A 9 9 9 9C J 8 C I 8 4 O5 C I 8 4 5 O C O 9 9 b 4 9 8 8 5 B 9 9 9 9C J 8 C C 4 O 5 O C O 9 9 b 4 9 8 8 5 9 9 9 9 9C J 8 C 4F 95 C 4 5 C 6 8 9 K I O C O 9 9 b 4 9 8 8 5 Appendix ...

Page 442: ... 9 9 b 4 9 8 8 5 9 9 9 9C J 8 C 8 4 8 5 C 8 O 4Q 5 C O C O 9 9 b 4 9 8 8 5 9A 9 9 9C J 8 C 8 4 8 5 C 8 O 4Q 5 C O C O 9 9A b 4 9 8 8 5 9B 9 9 9C J 8 C 8 4 8 5 C 8 O 4Q 5 C O C O 9A 9B b 4 9 8 8 5 9 9 9 9C J 8 C 8 4 8 5 C 8 O 4Q 5 C O C O 9B 9 b 4 9 8 8 5 9 9 9C J 8 C O C O 9 b 4 9 8 8 5 A 9 9 9C J 8 C O C O b 4 9 8 8 5 ...

Page 443: ...4 O 9 5 6 6 R 8 8 O 999 BB 8 9 9 BBB O 4 5 6 9b 4 O 9 5 6 6 R 8 8 O 999 BB 8 9 9 BBB O 4 5 6 9b 4 O 9 5 6 6 R 8 8 O 999 BB 8 9 9 BBB O 4 5 6 9b 4 O 9 5 6 6 R 8 8 O 999 BB 8 9 9 BBB O 4 5 6 9b 4 O 9 5 6 6 6 R 8 8 O 999 BB 8 9 9 BBB O 4 5 6 9b 4 O 9 5 6 6 6 R 8 8 O 999 BB A B 4 5 9 4 5 9 8 4 O5 9 9 BBB 6 C b 4 9b 5 6 R 8 8 O 99 BB 8 4 S5 9 9 BBB Appendix ...

Page 444: ...ed Invalid if 0 is set 78 Axis pattern permitted to receive PC TP servo movement command for 0 0B to 11111111 B 79 Input port number for remote mode control 0 0 to 3999 System mode MANU if specified DI ON or AUTO MANU SW MANU Invalid if 0 is set Debug filter is invalid for the remote mode control input port With the F ROM 16 Mbit version only output port Nos 000 to 299 are valid 80 PC TP SIO usage...

Page 445: ... Q 4Q 5 4 5 A 999 9K 9K K 4Q O 995 9 4 Q 4Q 5 4 55 9 9K K 9 Q 4Q 5 4 5 A 999 9K 9K K 4Q O 995 9 4 Q 4Q 5 4 55 9 9K K 9 Q 4Q 5 4 5 A 999 9K 9K K 4Q O 995 9 4 Q 4Q 5 4 55 9 9K K 9A Q 4Q 5 4 5 A 999 9K 9K K 4Q O 995 9B 4 Q 4Q 5 4 55 9 9K K 9 Q 4Q A5 4 5 A 999 9K 9K K 4Q O 995 4 Q 4Q A5 4 55 9 9K K Q 4Q B5 4 5 A 999 9K 9K K 4Q O 995 4Q 4Q B55 4 5 9 9K K Q 4Q 95 4 5 A 999 9K 9K K 4Q O 995 4Q 4Q 955 4 5...

Page 446: ...commended because of device limitations such as an error generation when the port is opened for approx 10 minutes after disablement of close response check due to a power failure at the connection destination etc 3 Server Specification of own port number Note Number of clients that can be connected simultaneously to one server port channel 1 Bits 0 to 3 IAI protocol B TCP MANU mode PC software can...

Page 447: ...C Q 4 5 C 8Q 8 4 5 4 5 A O B 9K 9K K I 9 C QIN 4 5 4O 9b 5 B O 9 9K 9K K I 9 C 9C O C 4 IS I O 5 C 4I IS I O 4 55 6 C I O 4 9 5 C 49C O C 5 A C 4 5 9 4K5 9K 4KIS5 4N5 9K 4KIS5 4K5 B 6 Q 9b b 4 K5 A 9 4 N5 9 9 4N5 6 Q 9b b Q 4K5 9 Q 4 K5 9 A Q 4 N5 9 B Q 4N5 9 9 9 4K5 9 9 4 K5 9 9 4 N5 9 9 4N5 9 9 Appendix ...

Page 448: ...O 5 B C 4 O 5 4K5 B 9 6 Q 9b b 9 C 4 O 5 4 K5 A 9 C 4 O 5 4 N5 9 9 C 4 O 5 4N5 99 9 6 Q 9b b C 4 O 5 9 6 9b 9 F 4 5 6 9b C 4 5 4K5 B 9 6 Q 9b b C 4 5 4 K5 A 9 C 4 5 4 N5 9 9 C 4 5 4N5 99 9 6 Q 9b b A C 4 5 9 6 9b 9 F 4 5 6 9b B C 4 5 9 6 C 4 O 5 9 B 4 5 9 9 99 4 5 9 ...

Page 449: ...t check CTS ON at send 1 Check CTS ON at send Bits 0 to 7 Minimum Receive Send switching delay in half duplex communication msec 203 Attribute 3 of SIO channel 1 opened to user standard mount 01118040H 0H to FFFFFFFFH Bits 28 to 31 Flow control type 0 None 1 Xon Xoff 2 Hardware Valid only in full duplex communication If flow control is performed select 38 4 kbps or below Use of a higher baud rate ...

Page 450: ...999999K 9K K 9B B Q 4 5 99999999K 9K K 9 9 Q 4 5 99999999K 9K K Q 4 5 99999999K 9K K Q 4 5 99999999K 9K K Q 4 5 A 9999 K 9K K A C 49C B C B C A C C A C 5 6 A 4 A5 9 C Q 4 5 BC 49C O C C I 5 C 49C Q C 5 6 4 9 4 5 5 A C C 9 C 49C C 5 6 Q 4 5 9999999 K 9K K A C C 9 C BC 4 5 C 49C 8 C K 8 5 A C Q 8 49C Q8 O C Q8 O 5 9 C Q 8 4 5 ...

Page 451: ... one fourth the SCI receive buffer size SCI Receiving Buffer Size㸻192 bytes 216 Attribute 4 of SIO channel 2 opened to user standard mount 00000000H 0H to FFFFFFFFH This parameter is valid only in the RC gateway mode Bits 28 to 31 EMG operation type 0 No processing 1 Decelerate all axes to a stop 2 Turn all axis servos OFF Bits 24 to 27 Reserved Bits 20 to 23 Control type 0 SEL Bits 12 to 19 Reser...

Page 452: ... Q O 99 b 6 O 4 9 8 8 5 A 99 8 8 BBB Q O 99 b 6 O 4 9 8 8 5 A 99 8 8 BBB Q O 99 b 6 O 4 9 8 8 5 A 99 8 8 BBB Q O 99 b 6 O 4 9 8 8 5 AA 99 8 8 BBB Q O 99 b 6 O 4 9 8 8 5 AB 99 8 8 BBB Q O 99 b 6 O 4 9 8 8 5 B9 99 8 8 BBB Q O 99 b 6 O 6 b 99 NQ NQ 4 C O 9 999b5 4 9 8 8 5 B 99A 8 8 BBB Q O A 99A b 6 O A 6 b 99A NQ NQ 4 9 8 8 5 ...

Page 453: ...BBB Q O 9 9 9 b 6 O 9 6 b 9 9 NQ NQ 4 9 8 8 5 B 9 8 8 BBB Q O 9 b 6 O 6 b 9 NQ NQ 4 9 8 8 5 B 9 8 8 BBB Q O 9 b 6 O 6 b 9 NQ NQ 4 9 8 8 5 B 9 8 8 BBB Q O 9 b 6 O 6 b 9 NQ NQ 4 9 8 8 5 B 9 8 8 BBB Q O 9 b 6 O 6 b 9 NQ NQ 4 C O 9 999b5 4 9 8 8 5 BA 9 8 8 BBB Q O 9 b 6 O 4 9 8 8 5 Appendix ...

Page 454: ... b 6 9 O 9 4 9 8 8 5 9 9 9 9 BBB Q O 9 9 b 6 9 O 9 4 9 8 8 5 9 9 9 9 BBB Q O 9 b 6 9 O 9 4 9 8 8 5 9 9 9 9 BBB Q O 9 b 6 9 O 9 4 9 8 8 5 9 9 9 9 BBB Q O 9 b 6 9 O 9 4 9 8 8 5 9 9A 9 9 BBB Q O 9A b 6 9 O 9A 4 9 8 8 5 9A 9B 9 9 BBB Q O 9B b 6 9 O 9B 4 9 8 8 5 9B 9 9 9 BBB Q O 9 b 6 9 O 9 4 9 8 8 5 9 9 9 BBB Q O b 6 9 O 4 9 8 8 5 9 9 BBB Q O A b 6 9 O 4 9 8 8 5 ...

Page 455: ...Q O 9 4 5 b 6 9 4 9 8 8 5 9 4 5 9 9 BBB Q O 9 4 5 b 6 9 4 9 8 8 5 A 9 4 5 9 9 BBB Q O 9 4 5 b 6 9 4 9 8 8 5 B 9 4 5 9 9 BBB Q O 9 4 5 b 6 9 4 9 8 8 5 9 9 4 5 9 9 BBB Q O 9 4 5 b 6 9 4 9 8 8 5 9 4 5 9 9 BBB Q O 9 4 5 b 6 9 4 9 8 8 5 9 4 5 9 9 BBB Q O A 9 4 5 b 6 9 4 9 8 8 5 9A 4 5 9 9 BBB Q O B 9A 4 5 b 6 9 4 9 8 8 5 9B 4 5 9 9 BBB Q O 9 9B 4 5 b 6 9 4 9 8 8 5 Appendix ...

Page 456: ...6 9 4 9 8 8 5 B 4 5 9 9 BBB Q O 4 5 b 6 9 4 9 8 8 5 9 4 5 9 9 BBB Q O 4 5 b 6 9 4 9 8 8 5 99 4 5 9 9 9 9C J 8 C 8 4 O5 C 8 4 5 C 8 7 4 O5 C 8 7 4 5 4 9 8 8 5 9 4 5 9 9 9 9C J 8 C I T 4 5 C I T 4 8 5 C I T 4 8 5 4 9 8 8 5 9 4 5 9 9 9 9C J 8 C I 4 O5 C I 4 5 4 9 8 8 5 9 4 5 9 9 9C J 8 C 8 4 O 5 4 9 8 8 5 9 4 5 9 9 9C J 8 C 4F 95 C 4 5 C 6 Q 9 K I 4 9 8 8 5 ...

Page 457: ... 8 8 5 B 9A 4 5 9 9 9C J 8 C 8 4 8 5 C 8 O 4 8 5 C 4 9 8 8 5 9 9B 4 5 9 9 9C J 8 C 8 4 8 5 C 8 O 4 8 5 C 4 9 8 8 5 9 4 5 9 9 9C J 8 C 8 4 8 5 C 8 O 4 8 5 C 4 9 8 8 5 4 5 9 9 9C J 8 C 4 9 8 8 5 4 5 9 9 9C J 8 C 4 9 8 8 5 4 5 9 9 9C J 8 C Q 8 8 4 9 8 8 5 4 5 9 9 9C J 8 C 8 8 4 8 O 5 4 9 8 8 5 4 5 9 9 9C J 8 4 9 8 8 5 B 4 5 9 A9 8 4 O5 9 9 BBB 4Q O 95 4 9 8 8 5 Appendix ...

Page 458: ...BB 4Q O 95 4 9 8 8 5 A 8 4 S5 9 9 BBB 4 9 8 8 5 A AB 4 5 9 B9 8 4 O5 4 8 7 8 5 999 9 BBB 4Q O 5 4 9 8 8 5 B 8 4 S5 4 8 7 8 5 BBB 9 BBB 4 9 8 8 5 B 8 4 O5 4 8 7 8 5 9 9 BBB 4Q O 5 4 9 8 8 5 B 8 4 S5 4 8 7 8 5 9 9 BBB 4 9 8 8 5 B 8 4 O5 4 8 7 8 5 9 9 BBB 4Q O 5 4 9 8 8 5 B 8 4 S5 4 8 7 8 5 9 9 BBB 4 9 8 8 5 B BB 4 5 9 99 4 5 ...

Page 459: ...0 to 512 Number of position data points used for reserving RC axis position data areas in the user data backup memory If 0 no areas are reserved If a value other than 0 is set areas will be reserved regardless of whether the RC gateway function is enabled or disabled Main application version 0 65 or later F ROM 32 Mbit version only 504 Port number of first shared output port occupied in RC gateway...

Page 460: ...B R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 A 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 B A 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 B 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 9 9 BBB R O 4 5 6 9 4Q O 9 5 4 9 8 8 5 B 4 ...

Page 461: ... Y 4 5 49C C 5 9 C Y C Y A C Y C Y BC Y 9 C Y C 4 5 4 9 B 8 8 5 9 9 9 9 9C 4 5 C O O C Q O O 7 C O 7 C K O 7 C O C Q O O 7 C K O 7 C C Q O O C Q O O 7 C O 7 C K O 7 C O 7 C O C Q O O 7 C K O 7 C 6 C O 9 b 6 C O 9 b 4 9 B 8 8 5 9 O 9 9 BB 4 9 B 8 8 5 9 O 9 9 BB 4 9 B 8 8 5 Appendix ...

Page 462: ...5 O 9 9 BB 4 9 B 8 8 5 9 9 9 46Q O 5 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 A O 9 9 BB 4 9 B 8 8 5 B 9 9 9 46Q O 5 4 9 B 8 8 5 9 O 9 9 BB 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 9 9 9 46Q O 5 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 9 9 9 46Q O 5 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 A A 9 9 9 46Q O 5 4 9 B 8 8 5 B A O 9 9 BB 4 9 B 8 8 5 9 A O 9 9 BB 4 9 B 8 8 5 B 9 9 9 46Q O 5 4 9...

Page 463: ...9 B 8 8 5 A O 9 9 BB 4 9 B 8 8 5 B O 9 9 BB 4 9 B 8 8 5 9 9 9 9 46Q O 5 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 9 9 9 46Q O 5 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 9 9 9 46Q O 5 4 9 B 8 8 5 O 9 9 BB 4 9 B 8 8 5 A O 9 9 BB 4 9 B 8 8 5 B 9 9 9 46Q O 5 4 9 B 8 8 5 A9 O 9 9 BB 4 9 B 8 8 5 A O 9 BB 4 9 B 8 8 5 A 99 4 5 9 Appendix ...

Page 464: ...heck at input PC TP checks the input in All Axes Parameter No 22 Maximum Acceleration and No 23 Maximum Deceleration 1 Check at operation If it is set to the check at operation the distributed acceleration deceleration CP of the indicated acceleration and deceleration or the indicated acceleration and deceleration PTP are checked and compared with the maximum parameter of the operational accelerat...

Page 465: ...n cancellation level 1 Message level Main application version 0 37 or later 30 Default division angle 150 0 to 1200 0 1 degree 0 can be input in PC software version 1 1 1 0 or later or TP application version 1 06 or later 31 Default division distance 0 0 to 10000 mm 32 Arch trigger start point check type 0 0 to 5 0 Check operation amount and actual position 1 Check operation amount only 33 Safety ...

Page 466: ...Bits 0 to 7 Driver encoder communication line channel number of axis 5 Bits 8 to 15 Driver encoder communication line channel number of axis 6 Bits 16 to 23 For future expansion Bits 24 to 31 For future expansion Invalid if FFh is set driver board not installed The channel number corresponds to the number assigned internally to the hardware 0 103 Driver initialization communication type setting ax...

Page 467: ... application version 1 00 or later F ROM 32 Mbit version only 125 Vision System I F 1 Z Axis Direction Vision System Position Identification Datum 0 99999999 to 99999999 0 001 mm Related information Parameters Common to All Axes No 130 Vision System I F 1 control 2 Main application version 1 00 or later F ROM 32 Mbit version only 126 Vision System I F 1 X Axis GTVD Acquirement Data Correction Offs...

Page 468: ...id only for ball screw spline linear movement axes Related information Axis specific parameter Nos 10 12 141 Main application version 0 82 or later 11 Home return end search direction selection 0 0 to 1 0 Negative end of the coordinate system 1 Positive end of the coordinate system 12 Home preset value 0 99999999 to 99999999 0 001 mm Refer to axis specific parameter No 76 13 SIO PIO home return or...

Page 469: ...o 32 Have a manual operation for rewriting 34 Brake equipment specification 0 0 to 1 0 Not equipped 1 Equipped Effective when Each Axis Parameter No 103 0 35 Brake unlock check time 150 0 to 3000 msec Time after receiving a brake unlock start response until transition to an operation enabled status 36 Brake lock check time 300 0 to 1000 msec Time after receiving a brake lock start response until s...

Page 470: ...stop detection at home return 20 1 to 99999 0 001 mm Used to confirm pushing action at the time of home return 55 Travel distance for push stop detection at positioning 30 1 to 99999 0 001 mm Used to confirm pushing action according to the PUSH command 56 Push abort deviation ratio at home return 2000 1 to 99999 HYLDWLRQ LV FRPSDUHG DJDLQVW 6WHDG VWDWH GHYLDWLRQ RI SXVK VSHHG Push speed pulse spee...

Page 471: ... a synchro slave axis 84 Maximum synchronization correction speed of synchro slave axis 5 0 to 100 mm sec Maximum travel speed for synchronization position correction of slave axis Valid only with a synchro slave axis Note Not limited by the safety speed 85 Home return acceleration deceleration 15 1 to 300 0 01 G 86 Zone 1 MAX 0 99999999 to 99999999 0 001 mm Valid only when MAX MIN Must be inside ...

Page 472: ...ple slider axes Main application version 0 51 or later 106 Emergency deceleration margin upon multiple slider near miss detection 5 0 to 999 0 01 G Main application version 0 51 or later 107 Multiple slider setting Bit pattern 1 12H 0H to FFFFFFFFH Bits 0 to 3 Margin for multiple slider actual position near miss detection mm Of the multiple sliders only the parameter for the master axis is valid M...

Page 473: ...icates width of notch filter attenuation Main application version 0 84 or later 157 Attenuation characteristic coefficent 2 Parameter set 2 1000 0 to 1000 1 1000 Rate For anti vibration control Indicates depth of notch filter attenuation Main application version 0 84 or later 158 Natural vibration frequency Parameter set 2 10000 500 to 100000 1 1000 Hz For anti vibration control Main application v...

Page 474: ...Q 4 5 Q 4 5 Q A 4 5 B 4 5 9 9 K 9 4 5 9999K 4 5 9999K Q 4 5 9999K 4 5 9999K 4 5 9999K 4 5 9999K 4 5 9999K 4 5 9999K A 4 5 9999K B 4 5 9999K 9 4 5 9999K 4 5 9999K 4 5 9999K 4 5 9999K 4 5 4 I I5 4 5 99 K 4 5 4 I I5 4 5 99 AK 4 I I5 4 5 9999K 4 5 9999K A 4 5 9999K ...

Page 475: ... Pressing torque limit max in positioning 70 Main application Ver 0 71 or later 38 Push torque limit at positioning 70 39 Push torque limit at home return 100 0 to 150 40 Maximum torque limit 300 10 to 400 The maximum value that can be set varies depending on the motor etc 41 Dynamic brake operation specification 0 0 to 1 0 Disable 1 Enable 42 Software DB operation specification 0 0 to 1 0 Enable ...

Page 476: ... Appendix O 4 5 4 5 9K 9999K K A 9 9K B 9 9K 9 9 9K 9 9K 9 9K 9 9K 9 9K 9A 9K 9B 9K 9 9K A 9K B 9K A9 9K A 9K A 9K A 9K A 9K A A 9K A B 9K A 9 9K AA 9K AB 9K B9 9K B 9K B 9K B 9K B 9K B A 9K B B 9K B 9 9K ...

Page 477: ... Q 4 5 Q 4 5 Q A 4 5 A9 B 4 5 4 S I5 4 5 99 K 9 4 5 4 S I5 4 5 99 AK 4 S I5 4 5 9999K I 4 5 4 S I5 4 5 999 K I 4 5 4 S I5 4 5 9999K 4 S I5 4 5 999 K 4 5 A 9 M 4M F 5 4 5 9999K 4 5 9999K A 4 5 999 K B 4 5 9999K 9 4 5 9999K 4 5 9999K 4 5 9999K 9 4 5 9999K Appendix ...

Page 478: ...4 5 4 5 Q 4 5 Q 4 5 Q 4 5 Q 4 5 Q A 4 5 9 B 9 4 5 9999K 9 9 4 5 9999K 9 4 5 9999K 9 4 5 9999K 9 4 5 9999K 9 4 5 9999K 9 4 5 9999K 9A 4 5 9999K 9B 4 5 9999K A 9 4 5 9999K B 4 5 9999K 9 4 5 9999K 4 5 9999K 4 5 9999K 4 5 9999K A P 9 9 4 5 9999K ...

Page 479: ...5 4 9b 5 6 9 9 4 8 8 5 9 A 4 9 8 8 5 8 8 8 8 4 5 4 9b 5 6 9 9 9C 8 4 8 8 8 b 5 C b 8 9 9 9C R 8 8 4 5 C R 8 8 4 5 C 8 8 7 I 8 4 O F 9b 5 4 5 C 8 8 7 I 8 4 O F 9b 5 4 5 999 BBBBB 6 A 4 5 9 B 4 5 9 9 9 I 8 9 9 9C C C 4 6 5 C 4Q 8 8 4IJ 5 5 C 4I 4 8 5 8 4 O O F O O O 8 8 5 5 8 8 C C Appendix ...

Page 480: ... 8 C O 8 8 B 4 5 9 9 Q 8 9 9C O 4QIN 5 C O 4QIN 5 C 6 R 6 b 6 R 9b 4 5 4O QIN 5 9 9 9C Q 4 F R 5 C Q 4 5 4I 5 C Q 4 F R 4 55 6 9 9 BB 9C L C I C I Q U 9 9 9C C O N QIN BB BB 99 9BB B 4 5 9 9 99 9K 9K K K I 4 5 6 9 9K 9K K 4 5 6 9 9K 9K K 4 5 6 4 5 9 9K K ...

Page 481: ... 9 C 49C C C O 5 C 49C Q 5 A C 4 3 5 C 4 93 5 BC 4 3 5 9 C 4 93 5 6 6 R 8 8 O 99 A 4 5 4 5 9K 9K K 9 C 49C C C O 5 C 49C Q 5 A C 4 93 5 C 4 993 5 BC 4 9993 5 9 C 4 93 5 C 4 993 5 A C 4 9993 5 6 3 9b 6 6 R 8 8 O BBB 9999 4 5 Appendix ...

Page 482: ... C C O 5 C 4Q 5 49C Q 5 6 B 4 5 9K 9K K 9 II A K 9C C I 9 F F I F F 4 5 F 9C II C II F 4 5 A F B F 4 5 4 C 9 5 K 9K 9 F 4 5 K K 9C C 9 F F 8 F 9K 9K K 4 5 9 Q 9 9K K 9 C I F 49C C I 5 C 4 9995 Q 49C O C Q 5 6 R 4 9995 4 9995 A C 8 8 49C C 5 C O 4 9995 8 8 49C C 5 6 O8 I O IC Q 8 b ...

Page 483: ... Error Bits 16 to 19 For future expansion Bits 20 to 23 Continuous recovery movement operation resumption timing type 0 Resume operation after completion of continuous recovery movement of all axes using the same task same as before 1 Hold resumption of operation while any axis is performing continuous recovery operation This does not mean the system will wait for completion of continuous recovery...

Page 484: ... B 8 9 9 B 9C C b b 8 b 4 8 5 O 9 b 4 9 9B 5 9 E 415 E 415 9 9 E 415 E 415 99 99 E 415 9 9 E 415 99 99 E 415 C 4 99 BBB5 b b 9 b J b O 9 b 4 9 9B 5 9 8 9 8BBBBBBBB BBBBBBBB 6 O B b 99 4 5 9 4 9 8 8 5 9 99 4 5 9 4 9 8 8 5 ...

Page 485: ... 5 C 9 Y 4 5 4 5 A C O 49 5 4 5 9 C Y 4 5 4 5 6 Q O 9 9 Y 7 O Y b 9 BBB 9 9 J L J 9 9 9 9 B 9 4 5 99999999K 9K K 99999999K 9K K 99999999K 9K K 9 4 5 99999999K 9K K 9999 BBBBBB 9999 9 BBBBBB 99 999 8 8 9 99 9 BBBBBBBB 9 99 99999 9 9999 B 99 4 5 99999999K 9K K Appendix ...

Page 486: ...464 Appendix B O 4 5 9 9 9C O C Y C J 8 9 9 9C C 7 C 9 9 J 99 4 5 99999999K 9K K ...

Page 487: ... 7 999 8BBBBBBBB BBBBBBBB 9 99 A Q 8 9 8BBBBBBBB BBBBBBBB 9 99 B Q 99 9 BBBB 9 99 Q Y 9 I BBBBBBBB I BBBBBBBB 99 BBBB 9 99 9 9 J 9 99 9 9 J Y 9 9 9 9 J Y 4 5 N S 99 BBBB 99 BBBBBBBB A 9 9 Q O b 4 5 B 9 4 5 99999999K 9K K 8 O 9 BBB 99 8 9 BBBB 8 9 BBB 99 8 O 8 O 99 999 8 9 BB 8 9 BB 99 BBB A 9 9 B 99 4 5 99999999K 9K K Appendix ...

Page 488: ...R O Q F 4Q 4 55 I Q L Q I O Q 4 5 A 46 5 Q A A 46 5 Q A B 46 5 46 5 9 9 9 4 9999b 9 9 9 9 9 9 5 4 5 Q F 9 4 Q 5 Q 8 I Q L Q I O O Q F 4Q 4 55 Q 8 I Q L Q I O 46 5 A A 46 5 46 5 I Q L Q O 46 5 I A B 46 5 46 5 46 5 9 9 4 9 9 5 46 5 46 5 b 46 5 Q 8 b 6 6 ...

Page 489: ...T N R 4 O 8N 5 4R 5 8 Q 9b Q 4 5C O 9 F 9 I 4 5C O F 9 I 4 5C O F 9 I 4 5C O F 9 Q 9b O 9 4 5 4 5 O C b R 4 5 O O F O O R O O O O F Q O O O Q R 4 O 4 5 5 4 5 O O F O O R O O O F O F O O O O O 4 O O 5 R 4 8 5 O O F I O O Appendix ...

Page 490: ... R O O F K O O 4Q O 5 R 4 5 O O 9 F R R I O O 99 9 I O O 9 O F O F O A F 4 5 O O 99 9 99 9 8 8 C O C O 9 9 I I O 5 R O 9 O B F O 9 O R O 9 O B F O 9 O C O Y 4 O 5 Y 4 5 8 8 Y O F 9 Y O F Y 8 8 b 8 O 8 O 8 O O 4 8 5 Appendix ...

Page 491: ... O INN JIO R O 9 O C K I O 9 F O 9 O R O 9 O 9 F O 9 O R 8 O 8 O B F O O 8 R 8 O 8 4 9 A 5 O 9 F O O 8 O R 8 8 4 5 Q Q 8 C C O C O C O C O Q 5 O 8 C O F O O O R 8 O 9 F O O F S Q 5 O 9 C O 9 F 9 O F O 9 8 Appendix ...

Page 492: ...470 Appendix O INN JIO R 8 4 5 Q O F O 9 F O O F S Q 5 O O 9 C O F O 9 F 9 O F O 8 O 9 R O 8 4 5 Q O B O B F Q O O O O O 99 R 4 5 8 8 4Q 5 b O 9 F O F 8 4 5 8 R 8 8 4I 5 b O 9 F O F O 8 8 Appendix ...

Page 493: ...471 Appendix O INN JIO R 4 5 8 4 8 5 8 b O 9 F O F 4 O 5 O F 4 O 5 8 O O O O O8 O 8 8 O 9 F 9 QIN 4 5 O R 8 b Appendix ...

Page 494: ...Y 4Y 5 Y C 8 O A Y C 8 O A U C 8 O AA Y C 8 O AB Y C 8 O B9 U C 8 O B Y C 8 O B Y C 8 O B U C 8 O B Y C 8 O B Y C 8 O B U C 8 O B Q 5 Q Y C C O O 9 99 C O O 8 O A 99999 999 6 8 O A 9999 999 6 8 O AA 6C 9 99 Y C O O C O O N 9 9 99 Appendix ...

Page 495: ...automatically acquired Each Parameter No 33 is a section to store the value of No 32 If the value in No 32 is overwritten change the value manually and save it 1 The current value in Each Axis Parameter No 32 gets recorded Also if the value in Each Axis Parameter No 33 differs from that in No 32 the value in No 32 is set to No 33 2 Set to 1 in No 32 to return home 3 After home return compare the v...

Page 496: ...valid Invalid X 10000 to 9999 999 rotary Invalid Note Invalid Note Valid Valid Valid Valid Distance mm Speed mm sec Acceleration deceleration G 0 Normal mode 0 Short cut control not selected 0 must be specified if the normal mode is selected Counter range Valid Valid 0 Short cut control not selected Counter range 1 Rotational movement axis Invalid 1 Index mode 1 Short cut control selected x 0 to 3...

Page 497: ...S5 4 8 5 I 4 5 I NI 4 O 5 O F 9 O F I 4 5 O A99 AA O AB9 A A 9 A Q AI9 A Q O O 8 4 5 O 99 O 8 9 B 4 5 9 9 O B99 B O B 9 B BA9 B 4 5 B 9 B B 9 B O 99 O 9 B 9 9 4 5 I Q O O 8 4 5 O 99 O 8 9 4 5 I9 I 8 9 4I 5 6 K 8 b b 4I 5 I I 8 4Q 5 4 5 Appendix ...

Page 498: ... 9 O F I 4 5 O 99 B O 9 9 I9 O 99 O 9 I9 I 8 9 4I 5 6 K 8 b b 4I 5 I I 8 4Q 5 4 5 O O 8 4 5 O 99 O 8 9 4 5 I9 I 9 O 99 A O B9 9 4 5 9 I9 O I99 IA O IB9 I I 9 I 8 II9 I 4 5 6 K 8 8 4 Y 5 b b O 4 O 5 4 Q 5 O O 8 4 5 O 9 O 9 9 Q 8 I9 I O 4 O 5 4 Q 5 O 5 Q 8 8 C C Appendix ...

Page 499: ...pe 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 controller 20D Flash busy reset timeout error Error erasing writing the flas...

Page 500: ...RC button in X SEL PC software cannot be used in FB Type Connect the RC PC software directly to RC controller 400 Mounted SIO unopen error S An attempt was made to use a channel that is not open 401 Mounted SIO in use error An attempt was made to open a channel that has already been opened by other task 402 Mounted SIO unopen error M An attempt was made to use a channel not opened by the applicabl...

Page 501: ...r configuration information in 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 40C Vision system initialization incomplete error The vision system is not yet initialized Among others check the input port number setting in all axis parameter No 88 and if the vision system has been initialized 40D Visio...

Page 502: ...on of motor motor cable motor drive circuit and so on 422 Multiple slider command position near miss error The sum of distances traveled by both sliders in near miss directions as calculated from their estimate stopped positions after decelerating at the multiple slider emergency deceleration margin axis specific parameter No 106 from the speed corresponding to the command value exceeds the sum of...

Page 503: ... RC indication method ĺ KHFN WKH SURJUDP An RC position number velocity or acceleration deceleration out of the range has been indicated X SEL position data in RC indication method ĺ KHFN WKH SURJUDP DQG 5 SRVLWLRQV 436 RC gateway command alarm generation An error has occurred in gateway command ĺ 3OHDVH FRQWDFW 437 RC axis number error There is a mistake in the indication of RC axis number ĺ KHFN...

Page 504: ...hich has already been occupied ĺ RQILUP WKDW XVH RI 5 D LV LV QRW GXSOLFDWHG LQ VHYHUDO SURJUDPV 43E Error RC axis use error Use of RC axis was tried on which is in an error ĺ DQFHO WKH HUURU RQ 6 FRQWUROOHU DQG WKH 5 FRQWUROOHU ZKLFK LV FXUUHQWO generating the error Refer to the instruction manual of each RC controller for how to cancel an error 43F RC axis right to use acquisition error There is...

Page 505: ...unched before the RC controller Alarm signal OFF negative logic of pulse train drivers SCON ACON PCON etc used by pulse I O boards was detected Causes can be that any alarm occurred in pulse train drivers the power is not turned on cables are disconnected etc Check the pulse train drivers or cables 453 Pulse I O board axis home return completion timeout error The home return completion status of p...

Page 506: ...484 Appendix O INN JIO 4 Ib 5 I O I O Q O b I Y I Q I Y 8 O B 4 5 b 9 Y Y I Y C 4 5 8 4 5 R Appendix ...

Page 507: ...485 Appendix O INN JIO 4 Ib 5 I O I A 4 5 8 8 O B 8 C 4 5 8 4 5 C 4 5 8 4 Q 5 I C 4 5 8 9 C Y Y Y Appendix ...

Page 508: ...486 Appendix O INN JIO 4 Ib 5 I O I 4 5 Y O O Y Q Y B Y Y 8 8 Q 8 R K 4Q O O O 5 I Q Y Y Y 8 Y B Q O O A BA Q B 8 A A Y Appendix ...

Page 509: ...487 Appendix O INN JIO 4 Ib 5 I O I 99 Q R 9 Q O I 9 9 Q Q 9 O 9 Y Y 9 Q O A O 9 I Q O 9 9 O 9 9A 9B 9 4 5 9 8 4 5 C 4 5 8 4 5 9 4 5 9 4QN N 5 9I 9 4 5 Appendix ...

Page 510: ...488 Appendix O INN JIO 4 Ib 5 I O I 9 C O B O O O O O O 3 4 5 A I B Appendix ...

Page 511: ...489 Appendix O INN JIO 4 Ib 5 I O I J J C 4 5 8 Y Y Y O b R I O 9 4 5 C 4 5 8 4 5 C 4 5 8 4 5 4 5 C 4 5 8 4 5 4 5 4 5 8 4 5 Appendix ...

Page 512: ...490 Appendix O INN JIO 4 Ib 5 I O I C 4 5 8 4 5 4 5 O O A B 8 4 5 O b C Y O O A 4 O A5 4 O 9 5 4 5 8 9 Appendix ...

Page 513: ...id specification parameter error There are errors in parameter settings parameter for individual axes No 166 that specifies drive invalid The following causes can be considered Parameter for individual axes No 38 1 ABS Specifications by parameters related to resolution and maximum speed parameters for individual axes No 28 42 43 44 47 50 51 are outside the range Movement conditions do not allow sp...

Page 514: ...9 8 N 9A 8 Q 8 O 8 Q 8 O 9B 8 OQ 8 O 8 OQ 8 O 9 8 OQ 8 8 OQ 8 9 8 Q 8 8 Q 8 9 8 8 9 Q 4 5 4 8 5 9I O O 9 8 4 Q QTI 5 8 J 4 5 9 8 4 NMI 5 8 J 4 5 8 N 8 J 4 5 8 8 J 4 5 J 4 5 N J 4 5 J 4 5 8Q 8Q 8Q 8Q O 9 8Q 8Q 8Q 8Q I 8Q 8 4 5 4 J 5 8 8Q 8Q 4 J 58 NN 8Q 9 8Q 8Q 8Q 8Q Appendix ...

Page 515: ...493 Appendix O INN JIO 4 Ib 5 I O I 8Q 8Q 8 J 4 5 A 4 5 B 4 5 4 5 4 5 4 5 4 5 I 4 5 4 5 9 4 5 4 5 4 5 Y 4 5 Y 4 5 Y 4 5 Y 4 5 Q Q A Q B Q U 8 I I U U b O O Appendix ...

Page 516: ...494 Appendix O INN JIO 4 Ib 5 I O I I U 8 I 9 I 8 O Q O I 8 O C I b I 4 5 O O I II I II A I II B b O O Q 8 O 4 5 8 O I 4 5 I Q 4 5 I O 4 5 9 I 4 Y 5 Q Q I I O A B 9 A U Y Y U 8 Appendix ...

Page 517: ...495 Appendix O INN JIO 4 Ib 5 I O I O 4 5 O b O O 4 5 O b O O 4 5 b b b O O I b b b O O 4 5 b O O 9 8 b b b O O I 4 5 b O O 98 9 4 9 b 5 Q Q b b 8 O 9 9 b 4 5 Y 8 O 9 9 Y b 4 5 Appendix ...

Page 518: ...496 Appendix O INN JIO 4 Ib 5 I O I Y Y 8 O b O 9 9 b O 9 9 Y b A Y Y 8 O 9 9 9 9 O O B I Y Y 8 O 9 9 9 9 O O 8 Y Y 8 8 8 Q Q N 4 5 N Q I Q 4 5 4 5 9 I O B O A B O U U 8 U 8U Appendix ...

Page 519: ...497 Appendix O INN JIO 4 Ib 5 I O I A I 4 5 4 5 A O A 9 A U 8 O U AI 4Q 5 8 Q 4Q 5 A 4 5 8 Q 4 5 9 8 8 Y Y 8 Y 8 8 8 8 I C O 9 O 9 O 9 8 8 8 4 5 Q 4 5 8 4 Q 5 Q 4 Q 5 Appendix ...

Page 520: ...upported error Mounted SIO The configuration of the RC gateway system is invalid 6B2 RC gateway I O assignment parameter error I O assignment setting error is occurred in the RC gateway SIO type ĺ KHFN WKH VHWWLQJV LQ 2 3DUDPHWHU 1R DQG VR RQ Fieldbus type There is an error in the node address setting ĺ KHFN WKH VHWWLQJV LQ 2 3DUDPHWHU 1R DQG WR RC axis control job timeout error No response was re...

Page 521: ...e return The command cannot be executed Check if the operation is locked and also check the wiring encoder motor etc There is a possibility of mismatched electrical angle If it occurs frequently there is a concern of malfunction of the controller IPM on power stage board 6BC Standstill deviation overflow error Before completion of home return While at standstill the axis may have moved due to an e...

Page 522: ...ded SIO framing ER status SEL reception Communication failure Check for noise shorted disconnected communication cable connected equipment and communication setting 80D Expanded SIO receive ER status due to other factor SEL reception Communication failure Take the same action specified for error No 80A 80B or 80C 80E Expanded SIO receive buffer overflow status SEL reception The receive buffer over...

Page 523: ...dix O INN JIO 4 Ib 5 I O I B99 B9 Q B9 Q 8 8 B9 B9 B9 B9 B 9 4 K 5 4 5 B 4 K 5 4 5 B 8 8 O A O 4 C 8 5 B 8 Q B 8 8 B B O 8 B Q B A Q B B B I 4 5 B I 4 5 B 8 4Q 5 B 4Q 5 B I 4O 5 4Q 5 B 4 5 4Q 5 B 9 B B Appendix ...

Page 524: ...502 Appendix O INN JIO 4 Ib 5 I O I B B B B B B A B B 4 5 B B 4 5 B 8 8 4 5 B I 8 8 4 5 B I B Y Y Appendix ...

Page 525: ...INN JIO I O I 9 Q 8 8 8 4 8 5 9 8 8 4 8 5 9 8 8 4 5 8 9 Q 4 5 9 Q 9 Q 9 Q 9A Q 9B 8 4R 5 I 9 8 4I 5 I 9 8 I 9 8 M I 9 K I 9I Q I 9 R 8 4 8 5 I 9 R 8 4 8 5 I 8 8 8 R 8 8 8 II 8 II II 8II II II II 8II II II 4 5 Appendix ...

Page 526: ...504 Appendix O INN JIO 4 Ib 5 I O I A 4 5 4 B 5 B 4 5 4 5 Q 4 O 5 I Q 8 Q 8 8 4 8 C 8 8 5 4Q 5 9 Q 8 8 4Q 5 Q 8 8 8 4Q 5 Q 8 8 8 4Q 5 8 8 4 5 8 Q 8 A Y 8 Y I B 8 I 8 I 9 8 Appendix ...

Page 527: ...505 Appendix O INN JIO 4 Ib 5 I O I 8 I 8 8 I 8 4 5 A O O B O 8 Y Y Y I QIN QIN 8 9 8 8 9 8 9 8 Q 8 8 A I 8 I 8 B I 8 I 8 8 8 M I M Q Q 4Q 5 4 5 9 8 8 4 5 8 8 8 4 8 8 5 Appendix ...

Page 528: ...NN JIO 4 Ib 5 I O I O O A 4 BB5 B O 4 5 4 5 8 8 Q T Q 8 8 O I I 8 4NI 8 O5 NI 8 O 9 4NI 8 N OM5 NI 8 N OM 4KI 8 O5 KI 8 O 4KI 8 N OM5 KI 8 N OM Q 4Q 5 Q 4Q 5 Q 4Q 5 Q 4Q 5 A Q 4Q 5 B 4 5 Q Q 4 Q 5 Q Q 9 8 9 I Appendix ...

Page 529: ...507 Appendix O INN JIO 4 Ib 5 I O I 4 5 AI 4 5 Appendix ...

Page 530: ...ed simultaneously in the RS485 mode B0A Expanded SIO unassigned channel use error An attempt was made to use a channel not assigned properly Check I O parameter Nos 100 to 111 and the statuses of I O slots B10 Phase Z search timeout error Z phase cannot be detected Check for operation restriction wiring encoder motor etc B11 Home sensor pull out timeout error Pull out from the home sensor cannot b...

Page 531: ...s IP_H IP_MH IP_ML and IP_L the error conditions are described as follows IP_H 0 or IP_H 127 or IP_H 255 or IP_MH 0 or IP_MH 255 or IP_ML 0 or IP_ML 255 or IP_L 0 or IP_L 255 Check I O parameter Nos 132 to 135 149 to 152 and 154 to 157 the IP address of connection destination specified by an IPCN command in an integer variable or the like B13 Backup SRAM data checksum error The backup SRAM data ha...

Page 532: ...1 to 64 was specified via an I O or in a program C04 Program entry point non detection error A request was made to execute a program number for which no program steps are registered C05 Program first step BGSR error The program specified for execution starts with BGSR C06 Executable step non detection error The program specified for execution does not contain executable program steps B22 Ethernet ...

Page 533: ...I I I QN Q I I QN I QN 9 R Q QN 8 I I I QN Q I I QN I QN 9I JQ 8 I Q JQ JQ I Q JQ I Q 9 Q 8 Q J 9 QN 8 QN J Q 8 J Q 8 I I Q I I J QN 8 I QN QN I Q J Q 8 I Q JQ I Q J QN 8 QN RKIP RKOI RKJ RKJI RKN RKNI RQIP RQOI KI I QN Y 8 8 I 8 A I 8 N N B I 8 N N I 8 N N 8N N Appendix ...

Page 534: ...512 Appendix O INN JIO 4 Ib 5 I O I 8 O 8 8 8 8 8 8 A 8 B 9 9b QP QP 9b QP Q A O Q I 9 8 8 U Y A B Q 8 Q I Q 8 Appendix ...

Page 535: ... O INN JIO 4 Ib 5 I O I 9 Q 8 8 Q 8 Y Y 8 8 I QNIO 8 8 8 QNIO Q 8 Q A Q 8 Q B QIN8Q 8 Q Q Q IO 8 Q Q K I Q IO O B9 Q b QIN 9 Q Q Q 8 QIN QIN 8 QIN QIN 8 QIN QIN 4 5 I 8 4 5 I A 8 M 4 5 I B K 4 5 I Q 4 5 I Appendix ...

Page 536: ...o doesn t have the servo control right attempted to retain the control right C6A Push motion flag logic error The internal logic for push motion processing is invalid C6B Deviation overflow error The command cannot be followed Check for operation restriction wiring encoder motor etc C6C Movement error during absolute data acquisition Axis movement was detected while acquiring absolute encoder data...

Page 537: ...515 Appendix O INN JIO 4 Ib 5 I O I Q 8 8 6 Q 8 b 8 8 8 8 8 K 8 A 8 8 B Q 8 8 I P O O A9 Q 8 8 I O 8 b 4 b Y 5 A 8 O Q A Q Q A Q A 8 4 5 A O 8 A A QIN QIN AA Q Appendix ...

Page 538: ...516 Appendix O INN JIO 4 Ib 5 I O I AB A A AI A 8 O b B9 Q B 8 8 B 8 8 B Q 4 Y 8 5 B B O 8 b B Q 8 4 5 B O b BA O b BB K 8 B 8 B U8 8 U8 B 8U 8U O B I BI Q 8 4 5 8 8 4 5 8 Q 8 8 Q Appendix ...

Page 539: ...int teaching Axes to comprise the palletizing PX PY planes cannot be specified CAF Excessive valid axes for palletizing 3 point teaching data There are too many valid axes in the point data for palletizing 3 point teaching Axes to comprise the palletizing PX PY planes cannot be specified CB0 Mismatched valid axes for palletizing 3 point teaching data The valid axis pattern in the point data for pa...

Page 540: ...518 Appendix O INN JIO 4 Ib 5 I O I 8 S8 8 Y 8 S8 8 U8 Y Y Y 9 9b I 8 8 8 I O 8 b 4 b Y 5 9 Q 4 Q8 5 QIN QIN 8 Y U8 8 U8 Y A U8 8 U8 B U8 8 U8 8 8 8 8 8 8 8 I I Y 8 8 S T4 U58 QI KU 8 Q Appendix ...

Page 541: ...519 Appendix O INN JIO 4 Ib 5 I O I 9 I II 8 9 I II 8 9 I 9 I 8 9 I 8II 9 I 8 9 9A I 9B 9 9 II II 9 I II II 9I 9 9 I J 8 8 A Q B I Q I I 8 I I I Appendix ...

Page 542: ...520 Appendix O INN JIO 4 Ib 5 I O I 9 4 O 5 I I I I 9 4 P 5 P NI 4 P 5 P NI 4 QT5 QT NI 4 QTI 5 QTI NI R 4NI 5 NI NI 4 5 NI 4 M 5 M NI 4 Q 5 Q NI Appendix ...

Page 543: ...response error was detected Check the statuses of monitor LEDs on the front panel of the board by referring to the operation manual for the field network board D60 Expanded SIO 2 4 CH isolation power error An Expanded SIO isolation power error was detected D61 Expanded SIO 1 3 CH isolation power error An Expanded SIO isolation power error was detected D62 Expanded SIO baud rate generator clock osc...

Page 544: ...522 Appendix O INN JIO 4 Ib 5 I O I A O 8 K 8 8 4 O 5 O B B I 8 8 K 8 b N I 8 4 OQ 8 5 8 4 OQ 8 5 8 4QK ROQ 8 5 O 9 9 8 8 8 O 9 8 8 b A I Y Y B I I Q Q I I I I I 8 O A 9 9B 8 O A A A Appendix ...

Page 545: ...ave card E0A SCI CRC error Slave communication The CRC in the message is invalid E10 SCIF communication mode error The communication mode is invalid E11 SCI communication mode error The communication mode is invalid E12 SIO bridge SCIF send queue overflow error The send queue overflowed E13 SIO bridge SCI send queue overflow error The send queue overflowed E14 SCI receive data register full wait t...

Page 546: ... 9 I I U 4 9b 5 8 O AA B B B I 4 8 b 5 7 A O B A O I 9 O B 4 5 I O B 4 5 I K 4Q 5 I 4Q 5 I 4Q 5 I 4Q 5 I I O 4 5 I B II 4IRIO IR Q 5 II 4 5 I II II 4 5 I II 8II I Y II Y 8II I 8 II 8II I I O I O I 9 O 8 8 I O Q I O I Q I Q I Q Q I A II II Appendix ...

Page 547: ... II I I 8 8 I QIN I I I J 8 O 9 b I 9 8 8 O A I Q 8 8 I Q I Q I Y 8 Y I O 8 O I B I I I I I I I I 8U 8U 8U I I 8U 8 O A I Q 8 O B 8 O I 9 M8 M I 4 IQ 5 I I I 4 IQ 5 I I 4 IQ 5 I I Q 4 IQ 5 I I 4 IQ 5 I I 4 IQ 5 I I A Q O Q O I B O O I 8 Appendix ...

Page 548: ...nd then reconnect the power E69 Abnormal 24 V I O power source The 24 V I O power source is abnormal Turn on the 24 V power before turning on the control power 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 cannot be determined E6C DO output current error The DO output curren...

Page 549: ...ng slave command The receive size exceeded the limit value when an EEPROM data setting slave command was sent E7B Motor drive power ON timeout error Abnormal current flow from the motor drive power source E7C Register read write test error Error reading writing the register E7D Linear movement axis parameter error Check axis specific parameter Nos 38 68 1 etc E7E Parameter error The parameter is i...

Page 550: ...528 Appendix O INN JIO 4 Ib 5 I O I IA QIN 8 IA Q 8 IA 8 IA 8 I 4 5 Appendix ...

Page 551: ...529 Appendix O INN JIO 4 Ib 5 I O I 9 99 Q 4 W 45 5 4 W 45 5 9 A Q 4 Q 5 4 Q 5 9 Q 8 8 8 8 8 8 8 8 8 8 Q 8 8 A R 8 4 RI I F 5 B J 9 9 9 9 Q 4 5 Q 4 5 A O O 9 Q 4 W 45 5 4 W 45 5 Appendix ...

Page 552: ... O INN JIO I N 4 O 5 4 Ib 5 I O I 9 Q 4R 3 5 Q 4R 3 5 Q 4R 3 5 4R 3 5 4R 3 5 4R 3 5 4R 3 5 Q A Q B Q Q 4R 5 I 4R 5 4I 5 I 4R 5 I 4R 5 I M I 4R 5 K I 4R 5 A9 Q I 4R 5 A R 8 4 8 5 4 5 A R 8 4 8 5 I 4R 5 A A Appendix ...

Page 553: ...de error Core 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 controll...

Page 554: ...IB IB 4 5 I IB 4 5 I IB M 4 5 I IB K 4 5 I IBA Q 4 5 I IBB 4 5 I IB 4 5 I IB M 4 5 I IB R 8 4 5 I IB R 8 4 5 I IBI R R 4 5 4 5 IB I N F 4O 5 b 4O 5 I 9 I N F 4 O 5 b 4 O 5 I N N I I 8 8 I I I 8 8 I 8 8 I A 8 8 I B R 8 4 RI I F 5 I Q Q I 8 Q 8 Appendix ...

Page 555: ...lication update SCIF receive queue overflow error 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...

Page 556: ...other code starting with E Some errors do not begin with E y a l p s i d w o d n i w l e n a P s u t a t S 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 t...

Page 557: ...535 Appendix O INN JIO 4 M I 5 I O I 99 3 99 8 3 8 b 99 8 b 99 I J I 4 5 I 8 I 8 C 8 O 4 8 8 5 J Q Q Q B 8U 8U 6 8 O 99b Appendix ...

Page 558: ...er Stage Board Replace the Power Stage Board C6b Deviation overflow error Operation 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...

Page 559: ...537 Appendix O INN JIO I O I A Q A9 Q I 8 4 5 Appendix ...

Page 560: ...538 Appendix Q J Q K 4 5 J 8 4 5 9 9 BBBB 9 K Q N J 4 N 5 4 5 8 99 4 5 K Q Q 4 5 Q Q Q 4 5 Q Appendix ...

Page 561: ...539 Appendix Q N 4 N 5 4 5 8 999 9 N O 4 5 8 9 O K 4 N 5 4 5 8 99 9 Q Q 4 5 Q Appendix ...

Page 562: ...540 Appendix Q Q C IN 4I 5 S Q O 4 5 F F F F F F F A F I I F 4 5 F R H 4 C 4 5 4 55 K Y K Y 7 N N 8 N C Q C Q 4 5 Appendix ...

Page 563: ...ess January 2012 Thirteenth edition March 2012 P 70 Warning note added to tell the internal components of XSEL Q QCT controller may burn if the enclosed cable CB ST E1MW050 black is used Fourteenth edition March 2012 P 1 to 7 Contents added and changed in Safety Guide Cautions added regarding use of PC cables Related pages P 20 21 35 53 56 59 70 P 207 GRP command table revised Fifteenth edition Ju...

Page 564: ...ange History Appendix Revision Date Description of Revision May 2014 September 2014 Eighteenth edition Applied for CT4 Pick Rotary Axis Nineteenth edition Caution added to MVPI and MVLI Commands etc Appendix ...

Page 565: ...543 ...

Page 566: ...6 889524 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 825 PhairojKijja Tower 12th Floor Bangna Trad RD Bangna Bangna Bangkok 10260 Thailand TEL 66 2 361 4458 FAX 66 2 361 4456 Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891...

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