manuais Iai-america TT-C3

Iai america TT-C3 Manual do Utilizador (364 páginas)

Marca: Iai-america | Categoria: Hardware | Tamanho: 4.77 MB |

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Índice

Tabletop Robot

1

Please Read Before Use

3

1. Notes on operation

4

CE Marking

5

Before Use

6

Table of Contents

10

Safety Guide

11

INTELLIGENT ACTUATOR

12

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17

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17

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18

Chapter 1 Installation

19

1.2 Models

20

1.3 Safety Precautions

21

1.4 Warranty

22

Chapter 1 Installation

23

2. Specifications

24

2.2.1 Robot Body

25

Gate 2-axis type

25

Gate 3-axis type

25

Cantilever 2-axis type

26

Cantilever 3-axis type

26

2. Speci¿cations

27

[1] [2] [3] [4] [5]

28

(1) Application

31

(2) Core

32

Pin No. 1

42

External power supply

42

Input terminal

42

Port Nos. 016 to 031

42

24 VDC + 10%

42

2.5 External Dimensions

46

3.1 Installation Environment

54

3.2 Installation

55

Power Source

56

Controller

58

Surge absorber

58

Solenoid valve

58

4. System Setup

59

4.2.1 NPN specification

60

4.2.2 PNP specification

61

Chapter 2 Operation

62

1. Operation

62

Reset the controller

63

Chapter 2 Operation

64

Position

65

Parameters

65

Write to flash memory

66

Read for reset

66

Points to Note

67

Chapter 3 XSEL Lanhuage Data

68

1-3 Virtual I/O Ports

70

(1) Virtual input ports

70

Port No. Function

71

Subroutines

77

Acceleration Deceleration

81

Operand 1 Operand 2

82

Operand 1

82

Operand 2

82

3.2 Extension Condition

83

CP Set offset 138

85

Communication

87

(Count) CP Set zigzag

88

CP Set offset

91

2. Explanation of Commands

94

1-2 Arithmetic Operation

96

1-3 Function Operation

99

Chapter 4 Commands

100

2. Explanation of Commands

100

1-4 Logical Operation

102

1-5 Comparison Operation

105

1-6 Timer

106

1-7 I/O, Flag Operation

109

1-8 Program Control

120

1-9 Task Management

123

1-10 Position Operation

128

X 100 (%)

147

Command, declaration

148

1-12 Actuator Control Command

159

1-13 Structural IF

181

1-14 Structural DO

184

1-15 Multi-Branching

186

1-17 Zone

193

1-18 Communication

197

1-19 String Operation

202

123456789

206

10 11 12 13 14 15

206

1-20 Palletizing-Related

211

3.2 PATH/PSPL Commands

236

3.3 CIR/ARC Commands

236

4. Palletizing Function

237

A. 3-point teaching method

239

PX-axis direction pitch

240

Teach position data No. 100

240

PY-axis direction pitch

240

Command: OFAZ

241

Odd-numbered

241

Command: OFPZ

242

Physical-axis

243

4.4 Palletizing Movement

244

4.5 Program Examples

246

12

248

15

251

5. Pseudo-Ladder Task

254

5.2 Ladder Statement Field

255

5.3 Points to Note

255

5.4 Program Example

256

3.1 Cleaning

257

4. Greasing the Guides

258

5. Greasing the Ball Screw

259

6. Timing Belt

259

2.4 to 2.6 kgf

260

Appendix

261

~ How to Create a Program

261

1. Position Table

261

2. Program Format

262

Description

263

Only axis 1 is used

263

4. How to Use TAG and GOTO

264

Flowchart

265

6. Path Operation

266

8. Circular/Arc Operation

268

Completion Signal

270

14. How to Use Subroutines

274

15. Pausing the Operation

275

19. Conditional Jump

279

Specified count

283

24. Jogging

284

25. Switching Programs

285

26. Aborting a Program

286

~ How to Use Internal DIOs

287

~ List of Parameters

291

1. I/O Parameters

292

I/O Parameters

293

No. Parameter name

300

Default value

300

(Reference)

300

Input range Unit Remarks

300

PC: PC software

308

TP: Teaching pendant

308

3. Axis-Specific Parameters

309

Axis-Specific Parameters

310

4. Driver Card Parameters

313

Driver Card Parameters

314

5. Encoder Parameters

317

6. I/O-Slot Card Parameters

318

7. Other Parameters

319

Other Parameters

320

8. Manual Operation Types

324

~ Error Level Control

327

Trouble Report Sheet

361

Change History

362

12.08.000

364

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