Iai-america XSEL-KE Manual do Utilizador

J/K/KE TypeX-SEL ControllerTwenty third EditionOperation Manual

CableCable trackPower lineSignal lines (flat cable)Duct7. Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling

85Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

86Part 4 Commands Chapter 2 Explanation of Commands 1. Commands 1.1 Variable Assignment z LET (Assign) Command, declaration Extension condition (LD,

87Part 4 Commands z CLR (Clear variable) Command, declaration F condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operan

88Part 4 Commands 1.2 Arithmetic Operation z ADD (Add) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

89Part 4 Commands z MULT (Multiply) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Oper

90Part 4 Commands z MOD (Remainder of division) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

91Part 4 Commands 1.3 Function Operation zSIN (Sine operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

92Part 4 Commands z TAN (Tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

93Part 4 Commands z SQR (Root operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

94Part 4 Commands 1.4 Logical Operation z AND (Logical AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

1. Action to Be Taken in Case of EmergencyIf this product is found to be in a dangerous condition, immediately turn off all power switches of themain

95Part 4 Commands z OR (Logical OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Oper

96Part 4 Commands z EOR (Logical exclusive-OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

97Part 4 Commands 1.5 Comparison Operation z CPXX (Compare) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

98Part 4 Commands 1.6 Timer z TIMW (Timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

99Part 4 Commands z TIMC (Cancel timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

100Part 4 Commands z GTTM (Get time) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op

101Part 4 Commands 1.7 I/O, Flag Operation zBTXX (Output port, flag operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

102Part 4 Commands z BTPN (Output ON pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

103Part 4 Commands z BTPF (Output OFF pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

104Part 4 Commands z WTXX (Wait for I/O port, flag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.[Ap

105Part 4 Commands z IN (Read I/O, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

106Part 4 Commands z INB (Read I/O, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

107Part 4 Commands z OUT (Write output, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

108Part 4 Commands z OUTB (Write output, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

109Part 4 Commands z FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

110Part 4 Commands (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eigh

111Part 4 Commands [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Variable 99 4660 (IN/OUT command) 1234 (INB/OUTB com

112Part 4 Commands 1.8 Program Control z GOTO (Jump) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

113Part 4 Commands z EXSR (Execute subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

114Part 4 Commands z EDSR (End subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

Table of ContentsTable of ContentsIntroduction ...

115Part 4 Commands 1.9 Task Management zEXIT (End program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

116Part 4 Commands z EXPG (Start other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

117Part 4 Commands z ABPG (Abort other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

118Part 4 Commands z SSPG (Pause program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

119Part 4 Commands z RSPG (Resume program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

120Part 4 Commands 1.10 Position Operation zPGET (Read position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

121Part 4 Commands z PPUT (Write position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

122Part 4 Commands z PCLR (Clear position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

123Part 4 Commands z PCPY (Copy position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

124Part 4 Commands z PRED (Read current position) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

Table of ContentsPart 4 Commands ...76Chapter 1 List of SEL Languag

125Part 4 Commands z PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

126Part 4 Commands z PTST (Check position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

127Part 4 Commands z PVEL (Assign speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

128Part 4 Commands z PACC (Assign acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

129Part 4 Commands z PDCL (Assign deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

130Part 4 Commands z PAXS (Read axis pattern) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

131Part 4 Commands z PSIZ (Check position data size) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

132Part 4 Commands z GVEL (Get speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

133Part 4 Commands z GACC (Get acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

134Part 4 Commands z GDCL (Get deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

Table of ContentsAppendix...

135Part 4 Commands 1.11 Actuator Control Declaration zVEL (Set speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

136Part 4 Commands z OVRD (Override) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Ope

137Part 4 Commands z ACC (Set acceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

138Part 4 Commands z DCL (Set deceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

139Part 4 Commands z SCRV (Set sigmoid motion ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

140Part 4 Commands z OFST (Set offset) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

141Part 4 Commands z DEG (Set arc angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

142Part 4 Commands z BASE (Specify axis base) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

143Part 4 Commands z GRP (Set group axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

144Part 4 Commands z HOLD (Hold: Declare axis port to pause) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

1IntroductionIntroductionThe controller models covered by this operation manual are as follows.Model numberX-SEL-JX-SEL-KEFor details on models, refer

145Part 4 Commands z NBND (Set near band) <Near BaND> Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

146Part 4 Commands z CANC (Cancel: Declare axis port to abort) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

147Part 4 Commands z VLMX (Specify VLMX speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

148Part 4 Commands z DIS (Set division distance at spline movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

149Part 4 Commands z POTP (Set PATH output type) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

150Part 4 Commands z PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

151Part 4 Commands Command pulsesFeedback pulsesIn the quick-return mode 1, the set positioning band is valid through this area. z QRTN (Set quick-r

152Part 4 Commands x If a MOVP, MOVL or PATH command is executed again during the quick return movement in quick return mode 2, a target position wi

153Part 4 Commands * The following tasks apply to all used axes in the case of a MOVP command operation in quick return mode 2 (they apply to all us

154Part 4 Commands * This command is ineffective other than for MOVP, MOVL and PATH commands. (If this command is used with a CIR2, ARC2, ARCC, AR

2Part 1 InstallationPart 1 Installation CautionChapter 1 Safety Precautions The X-SEL Controller can be combined with a maximum of four actuators o

155Part 4 Commands 1.12 Actuator Control Command zSVXX (Turn ON/OFF servo) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

156Part 4 Commands z HOME (Return to home) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

157Part 4 Commands z MOVP (Move PTP by specifying position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, f

158Part 4 Commands z MOVL (Move by specifying position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

159Part 4 Commands z MVPI (Move via incremental PTP) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

160Part 4 Commands z MVLI (Move via incremental interpolation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

161Part 4 Commands z PATH (Move along path) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

162Part 4 Commands z JXWX (Jog) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand

163Part 4 Commands z STOP (Stop movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

164Part 4 Commands z PSPL (Move along spline) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

3Part 1 InstallationChapter 2 Warranty1. Warranty PeriodOne of the following periods, whichever is shorter:18 months after shipment from our company12

165Part 4 Commands z PUSH (Move by push motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

166Part 4 Commands [Example] PAPR 100 20 MOVP 2 PUSH 10Set the push-motion approach distance to 100 mm and push-motion approach speed to 20 mm/sec.

167Part 4 Commands z CIR2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

168Part 4 Commands z ARC2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

169Part 4 Commands z CIRS (Move three-dimensionally along circle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

170Part 4 Commands z ARCS (Move three-dimensionally along arc) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

171Part 4 Commands z CHVL (Change speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,declaration

172Part 4 Commands z ARCD (Move along arc via specification of end position and center angle (arc interpolation)) Command, declaration Extension con

173Part 4 Commands z ARCC (Move along arc via specification of center position and center angle (arc interpolation)) Command, declaration Extension

174Part 4 Commands z PBND (Set positioning band) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

4Part 1 Installation4. Limited Liability(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss (2)

175Part 4 Commands z PEND (Wait for end of operation of axes used by current program) <Positioning END> Command, declaration Extension conditi

176Part 4 Commands z CIR (Move along circle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

177Part 4 Commands z ARC (Move along arc) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

178Part 4 Commands 1.13 Structural IF zIFXX (Structural IF) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

179Part 4 Commands z ISXX (Compare strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

180Part 4 Commands z ELSE (Else) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand

181Part 4 Commands 1.14 Structural DO z DWXX (DO WHILE) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comma

182Part 4 Commands z ITER (Repeat) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera

183Part 4 Commands 1.15 Multi-Branching zSLCT (Start selected group) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

184Part 4 Commands z WHXX (Select if true; variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

5Part 1 InstallationChapter 3 Installation Environment and Noise Measures 1. Installation Environment (1) When installing and wiring the controller

185Part 4 Commands z WSXX (Select if true; character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

186Part 4 Commands z OTHE (Select other) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

187Part 4 Commands 1.16 System Information Acquisition zAXST (Get axis status) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

188Part 4 Commands z PGST (Get program status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

189Part 4 Commands z SYST (Get system status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

190Part 4 Commands 1.17 Zone zWZNA (Wait for zone ON, with AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

191Part 4 Commands z WZNO (Wait for zone ON, with OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

192Part 4 Commands z WZFA (Wait for zone OFF, with AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

193Part 4 Commands z WZFO (Wait for zone OFF, with OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comma

194Part 4 Commands 1.18 Communication zOPEN (Open channel) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

6Part 1 InstallationIf multiple controllers are to be connected on top of one another, prevent the controller above from taking in the exhaust air fr

195Part 4 Commands z READ (Read) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand

196Part 4 Commands z TMRD (Set READ timeout value) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

197Part 4 Commands z WRIT (Write) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operan

198Part 4 Commands z SCHA (Set end character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

199Part 4 Commands 1.19 String Operation zSCPY (Copy character string) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

200Part 4 Commands z SCMP (Compare character strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

201Part 4 Commands z SGET (Get character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

202Part 4 Commands z SPUT (Set character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

203Part 4 Commands z STR (Convert character string; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

204Part 4 Commands z STRH (Convert character string; hexadecimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

7Part 1 Installation* Notes on wiring method Use twisted cables for the AC power cable and 24-VDC external power cable. Wire the controller cables s

205Part 4 Commands z VAL (Convert character string data; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

206Part 4 Commands z VALH (Convert character string data; hexadecimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

207Part 4 Commands z SLEN (Set length) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

208Part 4 Commands 1.20 Palletizing-Related zBGPA (Declare start of palletizing setting) Command, declaration Extension condition (LD, A, O, AB, OB)

209Part 4 Commands z PAPI (Set palletizing counts) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

210Part 4 Commands z PASE (Declare palletizing axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

211Part 4 Commands z PAST (Set palletizing reference point) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

212Part 4 Commands z PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

213Part 4 Commands x When setting palletizing positions by 4-point teaching, it is recommended that the non-planar type specification be used if you

214Part 4 Commands x If the valid axis pattern for 3-point or 4-point WHDFKLQJSRLQWGDWDGRHVQRWPDWFK³&%0LVPDWFKHGYDOLGD[HVDQGSDOOHW

8Part 1 Installationb. DC solenoid valve, magnet switch, relay Measure --- Install a diode in parallel with the coil. Determine the diode capacity

215Part 4 Commands x This command cannot be combined with PASE (set palletizing axes). If the two commands are combined, the command that was set la

216Part 4 Commands z PSLI (Set zigzag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

217Part 4 Commands z PCHZ (Declare palletizing Z-axis) Only when there are at least three axes. Command, declaration Extension condition (LD, A, O,

218Part 4 Commands z PTRG (Set palletizing arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

219Part 4 Commands z PEXT (Set palletizing composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

220Part 4 Commands z ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comma

221Part 4 Commands z ATRG (Set arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

222Part 4 Commands z AEXT (Set arch-motion composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

223Part 4 Commands 1.21 Palletizing Calculation Command zPTNG (Get palletizing position number) Command, declaration Extension condition (LD, A, O, A

224Part 4 Commands z PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

9Part 1 InstallationChapter 4 Name and Function of Each Part1. Front View of ControllerType K (General-purpose type) 4-axisType J (Compact type)1-axi

225Part 4 Commands z PARG (Get palletizing angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

226Part 4 Commands 1.22 Palletizing Movement Command zPMVP (Move to palletizing points via PTP) Command, declaration Extension condition (LD, A, O,

227Part 4 Commands z PMVL (Move to palletizing points via interpolation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

228Part 4 Commands z PACH (Palletizing-point arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

229Part 4 Commands x The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates of the palletizing point,

230Part 4 Commands z ARCH (Arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

231Part 4 Commands x The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the operation may follow the locu

232Part 4 Commands 1.23 Building of Pseudo-Ladder Task zCHPR (Change task level) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

233Part 4 Commands z TSLP (Task sleep) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

234Part 4 Commands

10Part 1 Installation(1) FG terminalThis terminal is used to ground FG on the enclosure. With a general-purposetype, the enclosure is connected to PE

235Part 4 Commands Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note1. Continuous Movement Commands [PATH, CIR, ARC, PS

236Part 4 Commands (POTP = 1) [Example 1] POTP 1 Output field Timing 308 Turn ON as P1 approaches. 309 Turn ON as P2 appro

237Part 4 Commands 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration

238Part 4 Commands Chapter 4 Palletizing Function The SEL language used by the X-SEL Controller provides palletizing commands that support palletizi

239Part 4 Commands (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below a

240Part 4 Commands A. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions in position data fields

241Part 4 Commands B. Method to set palletizing positions in parallel with the actuators Palletizingreference point: Store the position data of the

242Part 4 Commands (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in t

243Part 4 Commands (7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (b) Palletizing Z-axis offset ---

244Part 4 Commands 3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown below: (1)

11Part 1 Installation(2) Fuse holder(general-purpose type only)This half-cut fuse holder is used to protect overcurrent in the AC inputpart. It preve

245Part 4 Commands 4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point and one used to move to an

246Part 4 Commands (2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an end point specified by posi

247Part 4 Commands 5. Program Examples (1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching) The example below sp

248Part 4 Commands (2) Simple program example (two-axis specification) using PAPS, PAPT and PAST The example below specifies movement only and does

249Part 4 Commands (3) Simple program example using PAPS (set by 3-point teaching) The example below specifies movement only and does not cover pick

250Part 4 Commands Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 31 MOVP 8 Move to picking position. 32 33

251Part 4 Commands Schematic diagram of placement-point positions based on the above program x The number shown at the top right of each circle indic

252Part 4 Commands (4) Simple program example using PASE, PAPT and PAST The example below specifies movement only and does not cover picking operati

253Part 4 Commands Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 31 TAG 1 Beginning of loop processing 32 PACH 1 9

254Part 4 Commands Schematic diagram of placement-point positions based on the above program x The number shown at the top right of each circle indic

12Part 1 Installation(5) Motor connector This connector is used to drive the motor inside the actuator. Overview of Motor Connector Specifications

255Part 4 Commands Chapter 5 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used depending on the command and

256Part 4 Commands 2. Ladder Statement Field (1) Extension conditions LD LOAD A AND O OR AB AND BLOCK OB OR BLOCK All of the above extension conditio

257Part 4 Commands 4. Program Example Extension condition N Input condition Command Operand 1 Operand 2 OutputE N Cnd Cmnd Pst LD 7001 CHPR 1

258Part 4 Commands Axis 2 Hand control unit Axis 1 Hand LoadAxis-1 movement pushbutton switch Axis-2 movement pushbutton switch Chapter 6 Applicatio

259Part 4 Commands (2) Explanation of the operation 1. Wait for the axis-1 movement pushbutton switch to turn ON. 2. The X-axis moves while the pu

260Part 4 Commands (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1 HOME 11 Axes 1 and 2

261Part 4 Commands 2. Operation by Point Movement Command [Riveting System] (1) Overview of the system This system is a riveting system consisting

262Part 4 Commands (2) Explanation of the operation 1. The XY-table moves to the operation home position and waits. 2. The operator sets a load on

263Part 4 Commands (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1 HOME 11 XY-table ret

264Part 4 Commands 3. Palletizing Operation [Palletizing System] (1) Overview of the system This system is a palletizing system consisting of axis

13Part 1 Installation(8) Brake switch This alternate switch with lock is used to release the axis brake. To operate the switch, pull it toward you an

265Part 4 Commands (2) Explanation of the operation 1. Move to the standby point and wait for a start input. 2. Move to the load feed point after

266Part 4 Commands (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1 HOME 11 Axes 1 and

267Part 5 Multi-TaskingPart 5 Multi-Tasking Chapter 1 Real-Time Multi-Tasking 1. SEL Language The X-SEL Controller allows integrated control of act

268Part 5 Multi-Tasking2. Multi-Tasking ³0XOWLWDVNLQJ´RSHUDWLRQPD\QRWEHDIDPLOLDUWHUPEXWLWLVZLGHO\XVHGLQFRPSXWHUSURJUDPPLQJWRUHIHU

269Part 5 Multi-Tasking3. Difference from a Sequencer The parallel processing method has evolved from the traditional method of using a sequence con

270Part 5 Multi-Tasking4. Release of Emergency Stop Default factory settings of parameters ³2WKHUSDUDPHWHU1R(PHUJHQF\VWRSUHFRYHU\W\SH´ 

271Part 5 Multi-Tasking5. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The repre

272Part 5 Multi-TaskingChapter 2 Example of Building a System How to build hardware and software is explained in details by using a screw-tightening

273Part 5 Multi-Tasking3. Overview of the Screw-Tightening System This system consists of axis-1 and axis-2 actuators, Z-axis cylinder, screw-tighte

274Part 5 Multi-Tasking4. Hardware (1) I/O assignments I/O connector (50-pin) Pin No. Category Port No. Function Cable color 1  *HQHUDOSXUSR

14Part 1 Installation(12) System I/O connectorThis connector is used to connect an emergency-stop switch, ENABLEcontact, ready relay, etc.ConnectorMC

275Part 5 Multi-Tasking(2) Layout diagram Pin No. Category Port No. Function 1 - General-purpose: NC, Compact: +24-V input2 000 Program start 3 001

276Part 5 Multi-Tasking5. Software (1) Control flow chart Main program: Screw-tightening machineProgram 1 Start program 2 Align origin Start screw t

277Part 5 Multi-Tasking(2) Main program Screw-tightening program No. 1 Application program ExtensionconditionInputconditionCommandOutputconditionComm

278AppendixAppendix  Actuator Specification List Model numberStroke (mm) and maximum speed (mm/sec) (Note 1) Loading capacity (Note 2)Rated acceler

279AppendixRCS2(rotary type) RCS2CR (slider type) RCS2W (dust-proof/splash-proof type) (Note 1) The value in each band indicates the maximum speed at

280AppendixRCS (slider type) RCS (rod type) RCS (flat type) (Note 1) The value in each band indicates the maximum speed at each applicable stroke.

281Appendix(Note 1) The value in each band indicates the maximum speed at each applicable stroke. (Note 2) The loading capacity represents the val

282Appendix(Note 1) The value in each band indicates the maximum speed at each applicable stroke. (Note 2) The loading capacity represents the val

283Appendix~ Programming Method 1. Position Table Position Table The X-SEL controllers of J/K types let you register up to 3,000 positions. Register

284Appendix2. Program Format Program Edit Screen (PC Software) With the X-SEL controllers, you can create a program consisting of up to 6,000 steps.

Please Read Before UseThank you for purchasing our product.This Instruction Manual describes all necessary information items to operate this product s

15Part 1 Installation(14) Mode switch This alternate switch with lock is used to command a controller operation mode. To operate the switch, pull i

285Appendix3. Positioning to Five Positions Description After returning to home, the actuator moves to positions 1 to 5 at a speed of 100 mm/sec. Axi

286Appendix4. How to Use TAG and GOTO Description If you want to repeat the same operations in the program or jump to a given step conditionally, u

287Appendix5. Moving Back and Forth between Two Points Description The actuator moves back and forth repeatedly between two points. Flowchartx T

288Appendix6. Path Operation Description The actuator moves continuously along four arbitrary points without stopping (PATH movement). The actuator o

289Appendix7. Output Control during Path Movement Description In a coating application, etc., output control may be required while the actuator is

290Appendix8. Circle, Arc Operation Description The actuator operates two-dimensionally along a circle or arc. How to Use To specify a circle, specify

291Appendix9. Return-to-Home Completion Output Description A signal can be output to confirm completion of return-to-home operation (incremental spec

292Appendix10. Axis Movement and Completion Output by Input Waiting Description How to cause the actuator to wait for input and output a processing

293Appendix11. Change of Moving Speed Description Change the moving speed. How to Use With the X-SEL controllers, speeds can be set in one of the

294Appendix12. Speed Change during Operation Description Use a PATH command to change the speed during movement. This is effective in a dispensing

16Part 1 Installation(17) PC connector(general-purpose typeonly)This D-sub, 9-pin connector is used to perform serial communication(RS232C) with the

295Appendix13. Local/Global Variables and Flags Description Internal variables and flags used in SEL language are divided into local and global type

296Appendix14. How to Use Subroutines Description If the same processing is performed multiple times in one program, the applicable steps are groupe

297Appendix15. Pausing of Operation Description Use the declaration command HOLD to pause the moving axis via an external input. How to Use When a H

298Appendix16. Aborting of Operation 1 (CANC) Description Use the declaration command CANC to decelerate the moving axis to a stop and cancel the re

299Appendix17. Aborting of Operation 2 (STOP) Description Decelerate the moving axis to a stop and cancel the remaining operation (STOP). How to Use

300Appendix18. Movement by Position Number Specification Description Move the actuator by receiving a position number by external BCD code input. Ex

301Appendix19. Movement by External Position Data Input Description Move the actuator by receiving an absolute value of target position data from th

302Appendix20. Movement by External Position Data Input Description Read the current actuator coordinates in real time and output the corresponding

303Appendix21. Conditional Jump Description Select the destination of jump via GOTO by using the status of an external input, output or internal fla

304Appendix22. Waiting for Multiple Inputs Description The program waits for several different inputs and proceeds with an applicable processing when

17Part 1 InstallationThe functions are at the time of shipment. The functions assigned to port Nos. 000 to 015, 300 to 308 and 313 can be changed via

305Appendix23. How to Use Offset Description If you want to move (offset) all teaching points by several millimeters to absorb a position deviation re

306Appendix24. Execution of Specific Operation n Times Description Execute a specific operation n times. Example of Use The actuator moves back and

307Appendix25. Operation by Constant Pitch Feed Description Feed the actuator by a constant pitch n times from a given reference point. The pitch

308Appendix26. Jogging Description The slider moves forward or backward while the input is ON or OFF. You can also use an output or global flag in

309Appendix27. Program Switching Description Use EXPG/ABPG commands to switch programs from within a program. Example of Use 1 When the processing

310Appendix28. Aborting of Program Description Abort a program currently running. Execute an ABPG command (stop other program) from other program

311Appendix Expansion I/O Board (Optional) Only one optional board can be installed on compact 3/4-axis types. (Compact 1/2-axis types do not suppor

312Appendix Expanded SIO Specification (Optional) Type IA-105X-MW-A (for RS232 connection) IA-105X-MW-B (for RS422 connection) IA-105X-MW-C

313Appendix(2) Parameter setting The channel numbers and specifications of the expanded SIOs are set as follows prior to shipment using parameters: Sp

314Appendix(3) Joint cable 1. For RS232C connection 2. For RS422/RS485 connection * Termination: The user must terminate the RS422/RS485 transmissi

18Part 1 Installation(18) Expansion I/O connectors These connectors are used to install I/O expansion boards. I/O expansion boards are optional with

315Appendix(4) Wiring 1. RS232C wiring Flow control (software flow, hardware flow) is not provided. If the other side does not use flow control, comme

316Appendix2. RS422 wiring ControlcircuitSIO expansion board Supplied joint cable CB-ST-422J010 Provided by the user RD+ 11 RD + SD + RD- 12 RD -

317Appendix3. RS485 wiring ControlcircuitSIO expansion board Supplied joint cable CB-ST-422J010 Provided by the userTerminal blockD-sub, 15-pin 120 :R

318Appendix Number of Regenerative Resistance Units (REU-1) to Be Connected The regenerative energy produced in certain conditions such as when th

319Appendix INTELLIGENT ACTUATOR  Combination Table of X-SEL Linear/Rotary Control Parameters Permitted encoder processing method Axis-specific para

320Appendix Synchro Function 1. Common Items (Applicable to both the absolute specification and incremental specification) Synchro axes consist of a

321Appendix Absolute Reset of A Synchro Controller If you have specified the synchro specification at the time of order, the controller has been shi

322Appendix2. Position Adjustment of Synchro-Axis Sliders The positions of synchro-axis sliders are adjusted (physically adjusted for parallelism). (

323Appendix(3) Perform an absolute reset using the special procedure (forced reset by ignoring the on-screen instructions) as explained below:  3H

324Appendix(4) Enter the value of the slave axis recorded in LQ³$[LVVSHFLILFSDUDPHWHU1R$%6V\QFKURVODYHD[LVFRRUGLQDWHLQLWLDOL]DWLRQ

19Part 1 Installation2. Explanation of Codes Displayed on the Panel Window 2.1 Application Display Priority (*1) Description 1AC power is cut o

325Appendix3. Enter the calculation result obtained in step 2 above in the slave-axis fiHOGRI³$[LVVSHFLILFSDUDPHWHU1R+RPHSUHVHWYDOXH´o

326Appendix5. Notes on Use of the Synchro Function x As a rule, the synchro function must be implemented by coupling the master-axis and slave-axis

327Appendix List of Parameters If you have any question regarding changing the paraPHWHUVSOHDVHFRQWDFW,$,¶V6DOHV(QJLQHHULQJ6HFWLRQ$IWHUFKD

328Appendix1. I/O Parameters No. Parameter name Default value (Reference) InputrangeUnit Remarks 1 I/O port assignment type 1 0 ~ 20 0: Fixed ass

329AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 12 Expanded I/O2 error monitor (I/O3) 1 0 ~ 5 0:

330AppendixI/O Parameters No.ParameternameDefault value (Reference) Input range Unit Remarks 24 I/O setting bit pattern 1 00H ~ FFFFFFFFHBits 0 to 3:

331AppendixI/O Parameters No.ParameternameDefault value (Reference) InputrangeUnit Remarks 33 Input function selection 003 1 0 ~ 5 0: General-purpo

332AppendixI/O Parameters No. Parameter name Default value (Reference) InputrangeUnit Remarks 47 Output function selection 301 3 0 ~ 20 0: General-pu

333AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks58 Output function selection 3120 0 ~ 5 0: General-

334AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 76 AUTO mode physical output port number  a

20Part 1 Installation2.2 Core Display Priority (*1) Description 1AC power is cut off (including momentary power failure or drop in power-source

335AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 100 Attribute 1 of SIO channel 2 opened to user (expa

336AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks115 SIO system reserve (SP9)0 0H ~ FFFFFFFFH116~119(For

337AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks125 Network attribute 6 1E32H 0H ~ FFFFFFFFHBits 0 to

338AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks144IAI protocol B/TCP: Own port number (MANU mode)64511

339Appendix2. Parameters Common to All Axes No. Parameter name Default value (Reference)Input range Unit Remarks1 Effective axis pattern 0000B 00

340AppendixParameters Common to All Axes No. Parameter name Default value (Reference)Input range Unit Remarks 26 Acceleration/deceleration specificat

341AppendixNo. Parameter name Default value (Reference)Input range Unit Remarks command option is selected (other parameter No. 30), so that a means

342Appendix3. Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 1 Axis operation type 0 0 ~ 1 0: Li

343AppendixAxis-Specific Parameters No Parameter name Default value (Reference)Input range Unit Remarks 27 Maximum motor speed 5000 Reference only

344AppendixAxis-Specific Parameters No Parameter name Default value (Reference)Input range Unit Remarks52 (For expansion) 0 53 Setting bit patte

21Part 1 InstallationChapter 5 Specifications 1. Controller Specifications (1) Type J (Compact type) Type Type J (Compact type) Number of controlle

345AppendixAxis-Specific Parameters No Parameter name Default value (Reference)Input range Unit Remarks76 Home-adjustment parameter set selection 1 R

346AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 93 Zone 3 MIN 0 -99999999 ~ 999999990.00

347Appendix4. Driver Card Parameters No. Parameter name Default value (Reference)InputrangeUnit Remarks 1 Type (upper) (Manufacturing information) Sp

348AppendixDriver Card Parameters No. Parameter name Default value (Reference)InputrangeUnit Remarks 25 Configuration information 03: Motor/encoder co

349AppendixDriver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 50 For future expansion (Parameter list 1) 0H

350AppendixDriver Card Parameters No. Parameter name Default value (Reference)Inputrange Unit Remarks 73 Rotor inertia ratio (Parameter list 3) (Fo

351AppendixDriver Card Parameters No. Parameter name Default value (Reference)Inputrange Unit Remarks 98For future expansion (Query information) 0H Re

352Appendix5. Encoder Parameters No. Parameter name Default value (Reference)Input range Unit Remarks1 Type (upper) (Manufacturing information) Spac

353Appendix6. I/O-Slot Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (upper) (Manufacturing informati

354Appendix7. Other Parameters No. Parameter name Default value (Reference) Inputrange Unit Remarks 1 Auto-start program number  a  ,QYDOLG

22Part 1 Installation(2) Type K (General-purpose type) Type Type K (General-purpose type) Number of controlled axes 1 axis 2 axes 3 axes 4 axes T

355AppendixOther Parameters No. Parameter name Default value (Reference) Inputrange Unit Remarks 10 Emergency-stop recovery type 0 0 ~ 4 0: Abort o

356AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks21 Manual mode type 0 0 ~ 5 0: Always enable edi

357AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks38 PC/TP data protect setting (Symbol, parameter)0H

358AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks46 Other setting bit pattern 1 1 0H ~ FFFFFFFFH Bits

359Appendix8. Manual Operation Types The selectable operation types will vary dependiQJRQWKHVHWWLQJRIWKH³0DQXDORSHUDWLRQW\SH´parameter (Other

360Appendix INTELLIGENT ACTUATOR 9. Use Examples of Key Parameters You can add functions to those available under the factory settings or set dedicat

361Appendix INTELLIGENT ACTUATOR Description Action Parameter setting Manipulation/operation Want to execute home return using an external input signa

362Appendix INTELLIGENT ACTUATOR Description Action Parameter setting Manipulation/operation Want to output signal when all valid axes are at their ho

363Appendix INTELLIGENT ACTUATOR Description Action Parameter setting Manipulation/operation Want to start programs while emergency-stop signal is inp

364Appendix INTELLIGENT ACTUATOR Description Action Parameter setting Manipulation/operation Want to continue actuator operation after the emergency s

23Part 1 Installation2. External I/O Specifications 2.1 NPN Specification (1) Input partExternal Input Specifications (NPN Specification)Item Specif

365Appendix INTELLIGENT ACTUATOR Description Action Parameter setting Manipulation/operation Want to output signal when the actuator enters a specifie

366Appendix10. Servo Gain Adjustment Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator,

367Appendixە Speed Loop Integral Time Constant (Parameter List 1) Driver guard parameter No. Unit Input range Default (reference) 39 - 1~1000 30 Th

368Appendixە FSG Gain Driver guard parameter No. Unit Input range Default (reference) 61 - 0 ~500 0 Set the amount of FF (feed-forward) gain of the

369Appendix INTELLIGENT ACTUATOR  Error Level Control Program run (Application only) ErrorlevelSystem error assignmentsourceError No. (HEX)Display (

370Appendix INTELLIGENT ACTUATOR Note) Secret-level errors are not actual errors. Internal statuses are registered in an error list as secret-level e

371Appendix INTELLIGENT ACTUATOR  Panel Window Messages (Other than Errors) Error No. Error name Description, action, etc. ACE AC power cut off.

372Appendix INTELLIGENT ACTUATOR  Error List (MAIN application) (In the panel window, thHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R

373Appendix INTELLIGENT ACTUATOR  Error List (MAIN application) (In the panel window, thHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R

374Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

24Part 1 Installation(2) Output part External Output Specifications (NPN Specification)Item SpecificationLoad voltage 24 VDC Maximum load current 1

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376Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

377Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

378Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

379Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

380Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

381Appendix INTELLIGENT ACTUATOR B94 Number of palletizing placement points calculation error The calculated value of number of palletizing placem

382Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

383Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

384Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury orproperty damage beforehand. Make sure to read i

25Part 1 Installation2.2 PNP Specification (1) Input partExternal Input Specifications (PNP Specification)Item SpecificationInput voltage 24 VDC r10%

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26Part 1 Installation(2) Output part External Output Specifications (PNP Specification)Item SpecificationLoad voltage 24 VDC Maximum load current 1

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396Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

397Appendix INTELLIGENT ACTUATOR  Error List (MAIN core) (In the panel window, the WKUHHGLJLWVDIWHU³(´LQdicate an error number.) Error No. Erro

398Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

399Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

400Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

401Appendix INTELLIGENT ACTUATOR ,QWKHSDQHOZLQGRZWKHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU(UURU1R (UURUQDPH 'HVFULSWLRQ

402AppendixINTELLIGENT ACTUATOR  Troubleshooting of X-SEL Controller The X-SEL Controller has a panel window on its front face. Error numbers will b

403Appendix INTELLIGENT ACTUATOR Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure ACF AC powe

404Appendix INTELLIGENT ACTUATOR Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure CA1 Abnormal

27Part 1 Installation3. Power-Source Capacity and Heat Output of the Controller The power-source capacity and heat output of the controller can be o

405Appendix INTELLIGENT ACTUATOR Error No. Error name Cause Countermeasure d18 Speed loop underrun error The driver CPU board was damaged due to

406AppendixINTELLIGENT ACTUATOR Trouble Report Sheet Trouble Report Sheet Date:Company name Department Reported by TEL (Ext) FAXIAI agent Purchase

407AppendixINTELLIGENT ACTUATORChange History Revision Date Description of RevisionNovember 2011 Twenty Third edition• Page 1• Page 3• Page 9• Page 11

Manual No.: ME0116-23A (November 2011)The information contained in this document is subject to change without notice for purposes ofproduct improvemen

28Part 1 InstallationT Calculation example) A 3-axis controller with a brake, equipped with a 200-W actuator for axis 1, 200-W actuator for axis 2 an

29Part 1 Installation4. External Dimensions Type J (Compact type) 1-axis Type J (Compact type) 2-axis POWERMPGRBLSM2LS2 LS1PG2TPM1PG1(159.4)19.712019

30Part 1 InstallationType J (Compact type) 4-axis (The external dimensions of 3-axis type and 4-axis type are the same.) PO W ERRBM4 M3 M2 M1LS4 LS3

31Part 1 InstallationType K (General-purpose type) 2-axis (The external dimensions of 1-axis type and 2-axis type are the same.) Type K (General-purp

32Part 1 InstallationChapter 6 System Setup A connection example of a 2-axis controller is given below: 1. Connection Method of Controller and Actu

33Part 1 Installation(1) Connect to the controller the motor cable, encoder cable and LS cable (optional) from the actuator. Before turning on the

34Part 1 Installation2. I/O Connection Diagram (1) NPN specification 0Pin No. Category Port No. Function Cable color 1 - General-purpose: NC, Compa

No.OperationDescriptionDescription(1) Installation of Robot Main Body and Controller, etc.Ɣ Make sure to securely hold and fix the product (including

35Part 1 Installation(2) PNP specification Pin No. Category Port No.Function Cable color1 - General-purpose: NC, Compact: +24-V input brown-1 2 000 P

36Part 1 Installation3. I/O Flat Cable Flat cable: KFX-50 (S) (Color) (Kaneko Cord) No. Color No. Color No. Color No. Color No. Color 1 Brown-1 11

37Part 1 InstallationChapter 7 How to Perform An Absolute Encoder Reset When the absolute-encoder battery voltage of the X-SEL Controller is abnorma

38Part 1 Installation(6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error message. (7) From the [Monit

39Part 1 Installation(8) From the [Controller (C)] menu, select [Absolute Reset (A)]. (9) When a [Warning] dialog box is displayed, click the [OK]

40Part 1 Installation(12) Another [Warning] dialog box will be displayed. Click the [Yes] button.  :KHQWKHSURFHVVLQJRI³HQFRGHUURWDWLRQGDW

41Part 1 Installation(15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controller. (16) If no other erro

42Part 1 InstallationChapter 8 Maintenance x Routine maintenance and inspection are necessary so that the system will operate properly at all time.

43Part 1 Installation(3) Replacement procedure for system-memory backup battery (CR2032) (general-purpose type) Backing up the system memory ,I³2WKH

44Part 1 Installation[7] Replace the system-memory backup battery. The battery is mounted on the panel board and can be removed using two small screw

No.OperationDescriptionDescription4 Installationand Start(4) Safety MeasuresƔ When the product is under operation or in the ready mode, take thesafety

45Part 1 Installation(4) Replacement procedure for system-memory backup battery (CR2032) (compact type) [Absolute specification] In the case of a co

46Part 1 Installation[Battery replacement method] 1) Disconnect all cables from the controller. In the case of an absolute specification, remove the

47Part 1 Installation5) As shown at left, use small screwdrivers to remove the segment board. The segment board is joined to connectors at three loc

48Part 1 InstallationAs shown at left, use small screwdrivers to remove the battery from the holder and then install a new battery in the holder. To

49Part 1 Installation(5) Reset procedure following a battery-voltage low warning When a voltage low warning for absolute-encoder battery (error code

50Part 1 Installation6. The [Abs. Encoder Reset] dialog box will be displayed. 7. For Axis No., select the number of the axis for which you have ju

51INTELLIGENT ACTUATOR Part 2 Operation Part 2 Operation Chapter 1 Operation How to Start a Program With the X-SEL Controller, the stored programs

52Part 2 Operation INTELLIGENT ACTUATOR 1. Starting a Program by Auto-Start via Parameter Setting I/O parameter No. 33 (input function selection 003

53INTELLIGENT ACTUATOR Part 2 Operation 2. Starting via External Signal Selection (1) Flow chart When the READY signal turns ON, the RDY lamp (green

54Part 2 Operation INTELLIGENT ACTUATOR (2) Timing chart [1] Program start Program number inputProgram 1 Program 2 External start inputT1: Duration

No.OperationDescriptionDescription6 TrialOperationƔ After the teaching or programming operation, perform the checkoperation one step by one step and t

55INTELLIGENT ACTUATOR Part 2 Operation 3. Drive-Source Recovery Request and Operation-Pause Reset Request (1) Drive-source recovery request 1. How

56INTELLIGENT ACTUATOR Part 3 Controller Data Structure Part 3 Controller Data Structure The controller data consists of parameters as well as pos

57Part 3 Controller Data Structure INTELLIGENT ACTUATOR Chapter 1 How to Save Data Since the X-SEL Controller uses flash memory, some data are sav

58INTELLIGENT ACTUATOR Part 3 Controller Data Structure Since the programs, parameters and symbols are read from the flash memory at restart, the d

59Part 3 Controller Data Structure INTELLIGENT ACTUATOR 3. Points to Note Point to note when transferring data and writing to the flash memory Neve

60INTELLIGENT ACTUATOR Part 3 Controller Data Structure Chapter 2 X-SEL Language Data 1. Values and Symbols Used in SEL Language 1-1 List of Val

61Part 3 Controller Data Structure INTELLIGENT ACTUATOR z The variables and flags in the global range will be retained even after the controller p

62INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1.3 Virtual I/O Ports (1)Virtual input ports Port No. Function7000 Always OFF 7001 Always

63Part 3 Controller Data Structure INTELLIGENT ACTUATOR (2) Virtual output ports Port No. Function 7300Latch cancellation output for a latch sign

64INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1.4 Flags Contrary to its coPPRQPHDQLQJWKHWHUP³IODJ´DVXVHGLQSURJUDPPLQJPHDQV³PHP

No.OperationDescriptionDescription9 Modification Ɣ Do not modify, disassemble, assemble or use of maintenance parts notspecified based at your own dis

65Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1.5 Variables (1)Meaning of variable ³9DULDEOH´LVDWHFKQLFDOWHUPXVHGLQVRIWZDUHSURJUD

66INTELLIGENT ACTUATOR Part 3 Controller Data Structure (2) Types of variables Variables are classified into two types, as follows: 1. Integer vari

67Part 3 Controller Data Structure INTELLIGENT ACTUATOR 9DULDEOHVZLWK³´DVWHULVNLQGLUHFWVSHFLILFDWLRQ$Q³´DVWHULVNLVXVHGWRVSHF

68INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1.6 Tags 7KHWHUP³WDJ´PHDQV³KHDGLQJ´7DJVDUHXVHGLQWKHVDPHZD\\RXDWWDFKODEHOVWR

69Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1.7 Subroutines By taking out the parts of a program that are used UHSHDWHGO\DQGUHJLVWHUL

70INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1.8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers can b

71Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Ax

72INTELLIGENT ACTUATOR Part 3 Controller Data Structure (2) Axis pattern Whether or not each axis will be usHGLVLQGLFDWHGE\³´RU³´(Upper)

73Part 3 Controller Data Structure INTELLIGENT ACTUATOR X-SEL language consists of a position part (position data = coordinates, etc.) and a comman

74INTELLIGENT ACTUATOR Part 3 Controller Data Structure 3. Command Part The primary feature of SEL language is its very simple command structure.

Prohibited Handling of Cables CautionWhen designing an application system using actuators and controllers, incorrect wiring or connection of each cabl

75Part 3 Controller Data Structure INTELLIGENT ACTUATOR 3.2 Extension Condition Conditions can be combined in a complex manner. (SEL language) Comm

76Part 4 Commands Part 4 Commands Chapter 1 List of SEL Language Command Codes 1. By Function Variables can be specified indirectly in the operand

77Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

78Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

79Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

80Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

81Part 4 Commands 1. Alphabetical Order Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE

82Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

83Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete

84Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete