Iai-america XSEL-KET Uživatelský manuál

Operation Manual Seventh EditionGlobal Specification Controller X-SEL-KTX-SEL-KTXSEL-KT/KETEighth EditionX-SEL-KTXSEL-KT/KETTenth EditionX-SEL-KTXSEL-

INTELLIGENT ACTUATOR Table of Contents10. Servo Gain Adjustment...

81Part 3 Controller Data Structure INTELLIGENT ACTUATOR (2) Types of variables Variables are classified into two types, as follows: 1. Integer

82 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 3. Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to

83Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-6 Tags The term “tag” means “heading.” Tags are used in the same way you attach label

84 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1-7 Subroutines By taking out the parts of a program that are used repeatedly and regi

85Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers c

86 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1-10 Axis Specification Axes can be specified based on axis number or axis pattern. (

87Part 3 Controller Data Structure INTELLIGENT ACTUATOR (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (U

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

89Part 3 Controller Data Structure INTELLIGENT ACTUATOR 3. Command Part The primary feature of SEL language is its very simple command structu

90 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 3-2 Extension Condition Conditions can be combined in a complex manner. (SEL languag

Pre-1INTELLIGENT ACTUATOR Safety Guide“Safety Guide” has been written to use the ma

91Part 4 Commands INTELLIGENT ACTUATOR Part 4 Commands Chapter 1 List of SEL Language Command Codes by Function Variables can be specified ind

92 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

93Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

94 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero,

95Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

96 INTELLIGENT ACTUATOR Part 4 Commands 2. In Alphabetical Order Operation type in the output field CC: Command was executed successfully, ZR:

97Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE

98 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

99Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE

100 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero,

Pre-2INTELLIGENT ACTUATOR Introduction No.Operation Description Description 2 Transportation ● When the work is carried out with 2 or more persons,

101Part 4 Commands INTELLIGENT ACTUATOR Chapter 2 Explanation of Commands 1. Commands 1-1 Variable Assignment  LET (Assign) Command, declarati

102 INTELLIGENT ACTUATOR Part 4 Commands  CLR (Clear variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

103Part 4 Commands INTELLIGENT ACTUATOR 1-2 Arithmetic Operation  ADD (Add) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

104 INTELLIGENT ACTUATOR Part 4 Commands  MULT (Multiply) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

105Part 4 Commands INTELLIGENT ACTUATOR  MOD (Remainder of division) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

106 INTELLIGENT ACTUATOR Part 4 Commands 1-3 Function Operation  SIN (Sine operation) Command, declaration Extension condition (LD, A, O, AB, O

107Part 4 Commands INTELLIGENT ACTUATOR  TAN (Tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

108 INTELLIGENT ACTUATOR Part 4 Commands  SQR (Root operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

109Part 4 Commands INTELLIGENT ACTUATOR 1-4 Logical Operation  AND (Logical AND) Command, declaration Extension condition (LD, A, O, AB, OB) In

110 INTELLIGENT ACTUATOR Part 4 Commands  OR (Logical OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

Pre-3INTELLIGENT ACTUATOR No.Operation Description Description (3) Grounding ● Make sure to perform the grounding of type D (Former Type 3) for the c

111Part 4 Commands INTELLIGENT ACTUATOR  EOR (Logical exclusive-OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

112 INTELLIGENT ACTUATOR Part 4 Commands 1-5 Comparison Operation  CPXX (Compare) Command, declaration Extension condition (LD, A, O, AB, OB) I

113Part 4 Commands INTELLIGENT ACTUATOR 1-6 Timer  TIMW (Timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

114 INTELLIGENT ACTUATOR Part 4 Commands  TIMC (Cancel timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

115Part 4 Commands INTELLIGENT ACTUATOR  GTTM (Get time) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

116 INTELLIGENT ACTUATOR Part 4 Commands 1-7 I/O, Flag Operation  BTXX (Output port, flag operation) Command, declaration Extension condition

117Part 4 Commands INTELLIGENT ACTUATOR  BTPN (Output ON pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

118 INTELLIGENT ACTUATOR Part 4 Commands  BTPF (Output OFF pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

119Part 4 Commands INTELLIGENT ACTUATOR  WTXX (Wait for I/O port, flag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

120 INTELLIGENT ACTUATOR Part 4 Commands  IN (Read I/O, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

Pre-4INTELLIGENT ACTUATOR Introduction No.Operation Description Description 5 Teaching ● When the work is carried out with 2 or more persons, make

121Part 4 Commands INTELLIGENT ACTUATOR  INB (Read I/O, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

122 INTELLIGENT ACTUATOR Part 4 Commands  OUT (Write output, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input

123Part 4 Commands INTELLIGENT ACTUATOR  OUTB (Write output, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

124 INTELLIGENT ACTUATOR Part 4 Commands  FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition (LD, A, O, AB,

125Part 4 Commands INTELLIGENT ACTUATOR (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 3

126 INTELLIGENT ACTUATOR Part 4 Commands [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Variable 99 4660 (IN/OUT

127Part 4 Commands INTELLIGENT ACTUATOR 1-8 Program Control  GOTO (Jump) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

128 INTELLIGENT ACTUATOR Part 4 Commands  EXSR (Execute subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

129Part 4 Commands INTELLIGENT ACTUATOR  EDSR (End subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

130 INTELLIGENT ACTUATOR Part 4 Commands 1-9 Task Management  EXIT (End program) Command, declaration Extension condition (LD, A, O, AB, OB) In

Pre-5INTELLIGENT ACTUATOR No.Operation Description Description 8 Maintenance and Inspection ● When the work is carried out with 2 or more persons, m

131Part 4 Commands INTELLIGENT ACTUATOR  EXPG (Start other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

132 INTELLIGENT ACTUATOR Part 4 Commands  ABPG (Abort other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

133Part 4 Commands INTELLIGENT ACTUATOR  SSPG (Pause program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

134 INTELLIGENT ACTUATOR Part 4 Commands  RSPG (Resume program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

135Part 4 Commands INTELLIGENT ACTUATOR 1-10 Position Operation  PGET (Read position data) Command, declaration Extension condition (LD, A, O,

136 INTELLIGENT ACTUATOR Part 4 Commands  PPUT (Write position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

137Part 4 Commands INTELLIGENT ACTUATOR  PCLR (Clear position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

138 INTELLIGENT ACTUATOR Part 4 Commands  PCPY (Copy position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

139Part 4 Commands INTELLIGENT ACTUATOR  PRED (Read current position) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

140 INTELLIGENT ACTUATOR Part 4 Commands  PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition (LD, A, O,

Pre-6INTELLIGENT ACTUATOR Introduction Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according

141Part 4 Commands INTELLIGENT ACTUATOR  PTST (Check position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

142 INTELLIGENT ACTUATOR Part 4 Commands  PVEL (Assign speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

143Part 4 Commands INTELLIGENT ACTUATOR  PACC (Assign acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

144 INTELLIGENT ACTUATOR Part 4 Commands  PDCL (Assign deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

145Part 4 Commands INTELLIGENT ACTUATOR  PAXS (Read axis pattern) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

146 INTELLIGENT ACTUATOR Part 4 Commands  PSIZ (Check position data size) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

147Part 4 Commands INTELLIGENT ACTUATOR  GVEL (Get speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

148 INTELLIGENT ACTUATOR Part 4 Commands  GACC (Get acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condit

149Part 4 Commands INTELLIGENT ACTUATOR  GDCL (Get deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

150 INTELLIGENT ACTUATOR Part 4 Commands 1-11 Actuator Control Declaration  VEL (Set speed) Command, declaration Extension condition (LD, A, O,

Pre-7INTELLIGENT ACTUATOR Prohibited Handling of Cables CautionWhen designing an application system using actuators and controllers, incorrect wiring

151Part 4 Commands INTELLIGENT ACTUATOR  OVRD (Override) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

152 INTELLIGENT ACTUATOR Part 4 Commands  ACC (Set acceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

153Part 4 Commands INTELLIGENT ACTUATOR  DCL (Set deceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

154 INTELLIGENT ACTUATOR Part 4 Commands  SCRV (Set sigmoid motion ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

155Part 4 Commands INTELLIGENT ACTUATOR  OFST (Set offset) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

156 Part 4 Commands INTELLIGENT ACTUATOR  DEG (Set arc angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

157Part 4 Commands INTELLIGENT ACTUATOR  BASE (Specify axis base) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

158 Part 4 Commands INTELLIGENT ACTUATOR  GRP (Set group axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

159Part 4 Commands INTELLIGENT ACTUATOR  HOLD (Hold: Declare axis port to pause) Command, declaration Extension condition (LD, A, O, AB, OB) In

160 Part 4 Commands INTELLIGENT ACTUATOR  CANC (Cancel: Declare axis port to abort) Command, declaration Extension condition (LD, A, O, AB, OB)

Pre-8INTELLIGENT ACTUATOR Introduction 7. Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable, keep

161Part 4 Commands INTELLIGENT ACTUATOR  VLMX (Specify VLMX speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

162 Part 4 Commands INTELLIGENT ACTUATOR  DIS (Set division distance at spline movement) Command, declaration Extension condition (LD, A, O, AB

163Part 4 Commands INTELLIGENT ACTUATOR  POTP (Set PATH output type) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

164 Part 4 Commands INTELLIGENT ACTUATOR  PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition (LD, A, O, A

165Part 4 Commands INTELLIGENT ACTUATOR  QRTN (Set quick-return mode) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

166 Part 4 Commands INTELLIGENT ACTUATOR 1-12 Actuator Control Command  SVXX (Turn ON/OFF servo) Command, declaration Extension condition (LD,

167Part 4 Commands INTELLIGENT ACTUATOR  HOME (Return to home) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

168 Part 4 Commands INTELLIGENT ACTUATOR  MOVP (Move PTP by specifying position data) Command, declaration Extension condition (LD, A, O, AB, O

169Part 4 Commands INTELLIGENT ACTUATOR  MOVL (Move by specifying position data) Command, declaration Extension condition (LD, A, O, AB, OB) In

170 Part 4 Commands INTELLIGENT ACTUATOR  MVPI (Move via incremental PTP) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

INTELLIGENT ACTUATOR

171Part 4 Commands INTELLIGENT ACTUATOR  MVLI (Move via incremental interpolation) Command, declaration Extension condition (LD, A, O, AB, OB)

172 Part 4 Commands INTELLIGENT ACTUATOR  PATH (Move along path) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

173Part 4 Commands INTELLIGENT ACTUATOR  JXWX (Jog) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

174 Part 4 Commands INTELLIGENT ACTUATOR  STOP (Stop movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

175Part 4 Commands INTELLIGENT ACTUATOR  PSPL (Move along spline) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

176 Part 4 Commands INTELLIGENT ACTUATOR  PUSH (Move by push motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

177Part 4 Commands INTELLIGENT ACTUATOR [Example] PAPR 100 20 MOVP 2 PUSH 10 Set the push-motion approach distance to 100 mm and push-mot

178 Part 4 Commands INTELLIGENT ACTUATOR  CIR2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB

179Part 4 Commands INTELLIGENT ACTUATOR  ARC2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB,

180 Part 4 Commands INTELLIGENT ACTUATOR  CIRS (Move three-dimensionally along circle) Command, declaration Extension condition (LD, A, O, AB,

1INTELLIGENT ACTUATOR Introduction Introduction Thank you for purchasing the X-SEL Controller. Inappropriate use or handling will prevent this p

181Part 4 Commands INTELLIGENT ACTUATOR  ARCS (Move three-dimensionally along arc) Command, declaration Extension condition (LD, A, O, AB, OB)

182 Part 4 Commands INTELLIGENT ACTUATOR  CHVL (Change speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

183Part 4 Commands INTELLIGENT ACTUATOR  ARCD (Move along arc via specification of end position and center angle (arc interpolation)) Command,

184 Part 4 Commands INTELLIGENT ACTUATOR  ARCC (Move along arc via specification of center position and center angle (arc interpolation)) Comma

185Part 4 Commands INTELLIGENT ACTUATOR  PBND (Set positioning band) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

186 Part 4 Commands INTELLIGENT ACTUATOR  CIR (Move along circle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

187Part 4 Commands INTELLIGENT ACTUATOR  ARC (Move along arc) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

188 Part 4 Commands INTELLIGENT ACTUATOR 1-13 Structural IF  IFXX (Structural IF) Command, declaration Extension condition (LD, A, O, AB, OB) I

189Part 4 Commands INTELLIGENT ACTUATOR  ISXX (Compare strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

190 Part 4 Commands INTELLIGENT ACTUATOR  ELSE (Else) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

2 INTELLIGENT ACTUATOR Introduction The X-SEL Controller is available with one to four axes. As with the conventional SEL Controller, it can be us

191Part 4 Commands INTELLIGENT ACTUATOR 1-14 Structural DO  DWXX (DO WHILE) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

192 Part 4 Commands INTELLIGENT ACTUATOR  ITER (Repeat) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

193Part 4 Commands INTELLIGENT ACTUATOR 1-15 Multi-Branching  SLCT (Start selected group) Command, declaration Extension condition (LD, A, O, A

194 Part 4 Commands INTELLIGENT ACTUATOR  WHXX (Select if true; variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

195Part 4 Commands INTELLIGENT ACTUATOR  WSXX (Select if true; character) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

196 Part 4 Commands INTELLIGENT ACTUATOR  OTHE (Select other) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

197Part 4 Commands INTELLIGENT ACTUATOR 1-16 System Information Acquisition  AXST (Get axis status) Command, declaration Extension condition (L

198 Part 4 Commands INTELLIGENT ACTUATOR  PGST (Get program status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

199Part 4 Commands INTELLIGENT ACTUATOR  SYST (Get system status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

200 Part 4 Commands INTELLIGENT ACTUATOR 1-17 Zone  WZNA (Wait for zone ON, with AND) Command, declaration Extension condition (LD, A, O, AB, O

3INTELLIGENT ACTUATOR Part 1 Installation Part 1 Installation Caution Chapter 1 Safety Precautions The X-SEL Controller can be combined wit

201Part 4 Commands INTELLIGENT ACTUATOR  WZNO (Wait for zone ON, with OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

202 Part 4 Commands INTELLIGENT ACTUATOR  WZFA (Wait for zone OFF, with AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input

203Part 4 Commands INTELLIGENT ACTUATOR  WZFO (Wait for zone OFF, with OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

204 Part 4 Commands INTELLIGENT ACTUATOR 1-18 Communication  OPEN (Open channel) Command, declaration Extension condition (LD, A, O, AB, OB) In

205Part 4 Commands INTELLIGENT ACTUATOR  READ (Read) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Com

206 Part 4 Commands INTELLIGENT ACTUATOR  TMRD (Set READ timeout value) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

207Part 4 Commands INTELLIGENT ACTUATOR  WRIT (Write) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

208 Part 4 Commands INTELLIGENT ACTUATOR  SCHA (Set end character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

209Part 4 Commands INTELLIGENT ACTUATOR 1-19 String Operation  SCPY (Copy character string) Command, declaration Extension condition (LD, A, O,

210 Part 4 Commands INTELLIGENT ACTUATOR  SCMP (Compare character strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

4 Part 1 InstallationINTELLIGENT ACTUATOR Chapter 2 Warranty Period and Scope of Warranty The X-SEL Controller you have purchased passed our s

211Part 4 Commands INTELLIGENT ACTUATOR  SGET (Get character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

212 Part 4 Commands INTELLIGENT ACTUATOR  SPUT (Set character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

213Part 4 Commands INTELLIGENT ACTUATOR  STR (Convert character string; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) In

214 Part 4 Commands INTELLIGENT ACTUATOR  STRH (Convert character string; hexadecimal) Command, declaration Extension condition (LD, A, O, AB,

215Part 4 Commands INTELLIGENT ACTUATOR  VAL (Convert character string data; decimal) Command, declaration Extension condition (LD, A, O, AB, O

216 Part 4 Commands INTELLIGENT ACTUATOR  VALH (Convert character string data; hexadecimal) Command, declaration Extension condition (LD, A, O,

217Part 4 Commands INTELLIGENT ACTUATOR  SLEN (Set length) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

218 Part 4 Commands INTELLIGENT ACTUATOR 1-20 Palletizing-Related  BGPA (Declare start of palletizing setting) Command, declaration Extension c

219Part 4 Commands INTELLIGENT ACTUATOR  PAPI (Set palletizing counts) Command, declaration Extension condition (LD, A, O, AB, OB) Input condit

220 Part 4 Commands INTELLIGENT ACTUATOR  PASE (Declare palletizing axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

5INTELLIGENT ACTUATOR Part 1 InstallationChapter 3 Installation Environment and Noise Measures 1. Installation Environment As for the use environ

221Part 4 Commands INTELLIGENT ACTUATOR  PAST (Set palletizing reference point) Command, declaration Extension condition (LD, A, O, AB, OB) Inp

222 Part 4 Commands INTELLIGENT ACTUATOR  PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition (LD, A, O

223Part 4 Commands INTELLIGENT ACTUATOR  When setting palletizing positions via 4-point teaching, it is recommended that the non-planar type be

224 Part 4 Commands INTELLIGENT ACTUATOR When the point data other than the PZ-axis component corresponds at

225Part 4 Commands INTELLIGENT ACTUATOR  This command cannot be used with PASE (set palletizing axes). If this command is used with PASE, whiche

226 Part 4 Commands INTELLIGENT ACTUATOR  PSLI (Set zigzag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, f

227Part 4 Commands INTELLIGENT ACTUATOR  PCHZ (Declare palletizing Z-axis) Only when there are at least three axes. Command, declaration Extensi

228 Part 4 Commands INTELLIGENT ACTUATOR  PTRG (Set palletizing arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Inpu

229Part 4 Commands INTELLIGENT ACTUATOR  PEXT (Set palletizing composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

230 Part 4 Commands INTELLIGENT ACTUATOR  ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

6 Part 1 InstallationINTELLIGENT ACTUATOR If multiple controllers are to be connected on top of one another, prevent the control

231Part 4 Commands INTELLIGENT ACTUATOR  ATRG (Set arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

232 Part 4 Commands INTELLIGENT ACTUATOR  AEXT (Set arch-motion composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input

233Part 4 Commands INTELLIGENT ACTUATOR 1-21 Palletizing Calculation Command  PTNG (Get palletizing position number) Command, declaration Exten

234 Part 4 Commands INTELLIGENT ACTUATOR  PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition (LD, A, O,

235Part 4 Commands INTELLIGENT ACTUATOR  PARG (Get palletizing angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

236 Part 4 Commands INTELLIGENT ACTUATOR 1-22 Palletizing Movement Command  PMVP (Move to palletizing points via PTP) Command, declaration Ext

237Part 4 Commands INTELLIGENT ACTUATOR  PMVL (Move to palletizing points via interpolation) Command, declaration Extension condition (LD, A, O

238 Part 4 Commands INTELLIGENT ACTUATOR  PACH (Palletizing-point arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Inpu

239Part 4 Commands INTELLIGENT ACTUATOR  The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates o

240 Part 4 Commands INTELLIGENT ACTUATOR  ARCH (Arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, f

7INTELLIGENT ACTUATOR Part 1 Installation * Notes on wiring method Use twisted cables for the AC power cable and 24-VDC external power cable. Wir

241Part 4 Commands INTELLIGENT ACTUATOR  The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the oper

242 Part 4 Commands INTELLIGENT ACTUATOR 1-23 Building of Pseudo-Ladder Task  CHPR (Change task level) Command, declaration Extension conditio

243Part 4 Commands INTELLIGENT ACTUATOR  TSLP (Task sleep) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

244 Part 4 Commands INTELLIGENT ACTUATOR Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement C

245Part 4 Commands INTELLIGENT ACTUATOR [Example 1] (POTP = 1) POTP 1    PATH 1 3 308 ARC2 10 11 311 PATH 21 23 312   

246 Part 4 Commands INTELLIGENT ACTUATOR 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will

247Part 4 Commands INTELLIGENT ACTUATOR Chapter 4 Palletizing Function The SEL language used by the X-SEL Controller provides palletizing comma

248 Part 4 Commands INTELLIGENT ACTUATOR (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two pa

249Part 4 Commands INTELLIGENT ACTUATOR A. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions

250 Part 4 Commands INTELLIGENT ACTUATOR B. Method to set palletizing positions in parallel with the actuators Palletizing reference point: St

8 Part 1 InstallationINTELLIGENT ACTUATOR b. DC solenoid valve, magnet switch, relay Measure --- Install a diode in parallel with the coil. De

251Part 4 Commands INTELLIGENT ACTUATOR (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag of

252 Part 4 Commands INTELLIGENT ACTUATOR (7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (b) Pall

253Part 4 Commands INTELLIGENT ACTUATOR 3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation comma

254 Part 4 Commands INTELLIGENT ACTUATOR 4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point

255Part 4 Commands INTELLIGENT ACTUATOR (2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an en

256 Part 4 Commands INTELLIGENT ACTUATOR 5. Program Examples (1) Simple program example (two-axis specification) using PAPS (set by 3-point tea

257Part 4 Commands INTELLIGENT ACTUATOR (2) Simple program example (two-axis specification) using PAPS, PAPT and PAST The example below specifie

258 Part 4 Commands INTELLIGENT ACTUATOR (3) Simple program example using PAPS (set by 3-point teaching) The example below specifies movement on

259Part 4 Commands INTELLIGENT ACTUATOR Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 31 MOVP 8 Move to picking position.

260 Part 4 Commands INTELLIGENT ACTUATOR Schematic diagram of placement-point positions based on the above program

9INTELLIGENT ACTUATOR Part 1 Installation Chapter 4 Name and Function of Each Part 1. Front View of Controller 4-axis type

261Part 4 Commands INTELLIGENT ACTUATOR (4) Simple program example using PASE, PAPT and PAST The example below specifies movement only and does

262 Part 4 Commands INTELLIGENT ACTUATOR Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 31 TAG 1 Beginning of loop processin

263Part 4 Commands INTELLIGENT ACTUATOR Schematic diagram of placement-point positions based on the above program

264 Part 4 Commands INTELLIGENT ACTUATOR Chapter 5 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used de

265Part 4 Commands INTELLIGENT ACTUATOR 2. Ladder Statement Field (1) Extension conditions LD LOAD A AND O OR AB AND BLOCK OB OR BLOCK

266 Part 4 Commands INTELLIGENT ACTUATOR 4. Program Example Extension condition N Input condition Command Operand 1 O

267Part 4 Commands INTELLIGENT ACTUATOR Chapter 6 Application Program Examples 1. Operation by Jog Command [Doll-Picking Game Machine] (1) Ov

268 Part 4 Commands INTELLIGENT ACTUATOR (2) Explanation of the operation 1. Wait for the axis-1 movement pushbutton switch to turn ON. 2. Th

269Part 4 Commands INTELLIGENT ACTUATOR (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1

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

10 Part 1 InstallationINTELLIGENT ACTUATOR (3) AC control-power input connector An input connector for 230-VAC, single-phase control power. AC

271Part 4 Commands INTELLIGENT ACTUATOR (2) Explanation of the operation 1. The XY-table moves to the operation home (P1) and waits. 2. The o

272 Part 4 Commands INTELLIGENT ACTUATOR (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1

273Part 4 Commands INTELLIGENT ACTUATOR 3. Palletizing Operation [Palletizing System] (1) Overview of the system This system is a palletizing s

274 Part 4 Commands INTELLIGENT ACTUATOR (2) Explanation of the operation 1. Move to the standby point and wait for a start input. 2. Move to

275Part 4 Commands INTELLIGENT ACTUATOR (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1

276 Part 5 Multi-TaskingINTELLIGENT ACTUATOR Part 5 Multi-Tasking Chapter 1 Real-Time Multi-Tasking 1. SEL Language The X-SEL Controller all

2775. Multi-Tasking INTELLIGENT ACTUATOR 2. Multi-Tasking “Multi-tasking” operation may not be a familiar term, but it is widely used in compute

278 Part 5 Multi-TaskingINTELLIGENT ACTUATOR 3. Difference from a Sequencer The parallel processing method has evolved from the traditional met

2795. Multi-Tasking INTELLIGENT ACTUATOR 4. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency

280 Part 5 Multi-TaskingINTELLIGENT ACTUATOR 5. Program Switching Various methods are available to switch between programs, depending on the pur

INTELLIGENT ACTUATOR Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structu

11INTELLIGENT ACTUATOR Part 1 Installation (6) Motor connector This connector is used to drive the motor inside the actuator. Overview of Motor C

2815. Multi-Tasking INTELLIGENT ACTUATOR Chapter 2 Example of Building a System How to build hardware and software is explained in details by u

282 Part 5 Multi-TaskingINTELLIGENT ACTUATOR 3. Overview of the Screw-Tightening System This system consists of axis-1 and axis-2 actuators, Z-

2835. Multi-Tasking INTELLIGENT ACTUATOR 4. Hardware (1) I/O assignments I/O connector (50-pin) Pin No. Category Port No. Function Cable

284 Part 5 Multi-TaskingINTELLIGENT ACTUATOR (2) Layout diagram Pin No. Category Port No. Function 1 - General-purpose: NC, Compact: +24-V inpu

2855. Multi-Tasking INTELLIGENT ACTUATOR 5. Software (1) Control flow chart Main program

286 Part 5 Multi-TaskingINTELLIGENT ACTUATOR (2) Main program Screw-tightening program No. 1 Application program Extension condition Input conditi

287Appendix INTELLIGENT ACTUATOR Appendix  Actuator Specification List (*1) The value in each

288 INTELLIGENT ACTUATOR Appendix (*1) The value in each band indicates the maximum speed at the applicable stroke. (*

289Appendix INTELLIGENT ACTUATOR (*1) The value in each band indicates the maximum speed at the applicable s

290 INTELLIGENT ACTUATOR Appendix (*1) The value in each band indicates the maximum speed at the a

12 Part 1 InstallationINTELLIGENT ACTUATOR (9) Brake switch This alternate switch with lock is used to release the axis brake. To operate the swi

291Appendix INTELLIGENT ACTUATOR (*1) The value in each band indicates the maximum speed at

292 INTELLIGENT ACTUATOR Appendix  Programming Method 1. Position Table [Position table] The X-SEL controller lets you register up to 3000 p

293Appendix INTELLIGENT ACTUATOR 2. Program Format [Program Edit Screen (PC Software)] You can create an X-SEL controller program consisting of

294 INTELLIGENT ACTUATOR Appendix 3. Positioning to Five Positions [Description] Move the actuator to positions 1 to 5 at a speed of 100 mm/sec

295Appendix INTELLIGENT ACTUATOR 4. How to Use TAG and GOTO [Description] Use GOTO and TAG commands to repeat the same operation or jump to a

296 INTELLIGENT ACTUATOR Appendix 5. Reciprocating Operation between Two Points [Description] The actuator repeats a reciprocating operation b

297Appendix INTELLIGENT ACTUATOR 6. Path Operation [Description] The actuator moves through four desired points continuously without stopping (

298 INTELLIGENT ACTUATOR Appendix 7. Output Control during Path Movement [Description] In a coating process, etc., output control may be requ

299Appendix INTELLIGENT ACTUATOR 8. Circular/Arc Operation [Description] The actuator operates along a two-dimensional circle or arc. [How t

300 INTELLIGENT ACTUATOR Appendix 9. Home return Complete Output [Description] Output a signal to confirm completion of home return (incremen

13INTELLIGENT ACTUATOR Part 1 Installation (12) System I/O connector This connector is used to connect an emergency-stop switch, ENABLE contact,

301Appendix INTELLIGENT ACTUATOR 10. Axis Movement with Input Waiting and Complete Output [Description] How to execute input waiting and outpu

302 INTELLIGENT ACTUATOR Appendix 11. Travel Speed Change [Description] Change the travel speed. [How to use] With the X-SEL controller,

303Appendix INTELLIGENT ACTUATOR 12. Speed Change during Operation [Description] Use the PATH command to change the speed while the actuator

304 INTELLIGENT ACTUATOR Appendix 13. Local/Global Variables and Flags [Description] Internal variables and flags used in the SEL language ar

305Appendix INTELLIGENT ACTUATOR 14. How to Use Subroutines [Description] When the same processing occurs multiple times in the same program,

306 INTELLIGENT ACTUATOR Appendix 15. Pause [Description] Use the declaration command HOLD to pause the moving axis via an external input. [

307Appendix INTELLIGENT ACTUATOR 16. Abort 1 (CANC) [Description] Use the declaration command CANC to cause the moving axis to decelerate to

308 INTELLIGENT ACTUATOR Appendix 17. Abort 2 (STOP) [Description] Cause the moving axis to decelerate to a stop and cancel the remaining opera

309Appendix INTELLIGENT ACTUATOR 18. Movement by Position Number Specification [Description] Read an external BCD code input as a position nu

310 INTELLIGENT ACTUATOR Appendix 19. Movement by External Position Data Input [Description] Receive data of the position to move to as an ab

14 Part 1 InstallationINTELLIGENT ACTUATOR (16) Teaching-pendant connector When an optional teaching pendant or PC is connected, this D-sub, 25-

311Appendix INTELLIGENT ACTUATOR 20. Coordinate Value Output [Description] Read the current coordinate of the actuator in real time and output

312 INTELLIGENT ACTUATOR Appendix 21. Conditional Jump [Description] Select the jump destination of GOTO on the condition of the status of an e

313Appendix INTELLIGENT ACTUATOR 22. Wait for Multiple Inputs [Description] Different inputs are specified and processing proceeds if one of

314 INTELLIGENT ACTUATOR Appendix 23. How to Use Offset [Description] If you want to move (offset) all teaching points by several millimeters

315Appendix INTELLIGENT ACTUATOR 24. Repetition of Operation N Times [Description] Perform a specific operation n times. [Use example]

316 INTELLIGENT ACTUATOR Appendix 25. Constant Pitch Feed Operation [Description] Feed the actuator by a specified pitch n times from a speci

317Appendix INTELLIGENT ACTUATOR 26. Jogging [Description] Move the slider forward or backward while the input is ON or OFF. Not only an inpu

318 INTELLIGENT ACTUATOR Appendix 27. Program Switching [Description] Switch the current program in the program using an EXPG or ABPG command.

319Appendix INTELLIGENT ACTUATOR 28. Program Abort [Description] Abort the program currently running. Execute an ABPG command (abort other pro

320 INTELLIGENT ACTUATOR Appendix Appendix  Expansion Board (Optional) Only one optional board can be installed on compact 3/4-axis types. (Comp

15INTELLIGENT ACTUATOR Part 1 Installation (17) PC connector This D-sub, 9-pin connector is used to perform serial communication (RS232C) with the

321Appendix INTELLIGENT ACTUATOR  Expanded SIO Specification (Optional) Type IA-105X-MW-A (for RS232 connection) IA-105X-MW-B (for RS422 co

322 INTELLIGENT ACTUATOR Appendix (2) Parameter setting The channel numbers and specifications of the expanded SIOs are set as follows prior to sh

323Appendix INTELLIGENT ACTUATOR (3) Joint cable 1. For RS232C connection 2. For RS422/RS485 connection

324 INTELLIGENT ACTUATOR Appendix (4) Wiring 1. RS232C wiring Flow control (software flow, hardware flo

325Appendix INTELLIGENT ACTUATOR 2. RS422 wiring Controlcircuit SIO expansion board Suppl

326 INTELLIGENT ACTUATOR Appendix 3. RS485 wiring Controlcircuit SIO expansion board Suppli

327Appendix INTELLIGENT ACTUATOR  Number of Regenerative Resistance Units (REU-1s) to Be Connected Regenerative energy that generates under cer

328 INTELLIGENT ACTUATOR Appendix  Synchro Function 1. Common Items (Applicable to both the absolute specification and incremental specification

329Appendix INTELLIGENT ACTUATOR  Absolute Reset of A Synchro Controller If you have specified the synchro specification at the time of order, t

330 INTELLIGENT ACTUATOR Appendix 2. Position Adjustment of Synchro-Axis Sliders The positions of synchro-axis sliders are adjusted (physically ad

16 Part 1 InstallationINTELLIGENT ACTUATOR The functions are at the time of shipment. The functions assigned to port Nos. 000 to 015, 300 to

331Appendix INTELLIGENT ACTUATOR (3) Perform an absolute reset using the special procedure (forced reset by ignoring the on-screen instructions)

332 INTELLIGENT ACTUATOR Appendix (4) Enter the value of the slave axis recorded in (1) in “Axis-specific parameter No. 83, ABS synchro slave-axi

333Appendix INTELLIGENT ACTUATOR 3. Enter the calculation result obtained in step 2 above in the slave-axis field of “Axis-specific parameter No.

334 INTELLIGENT ACTUATOR Appendix 5. Notes on Use of the Synchro Function  As a rule, the synchro function must be implemented by coupling the

335Appendix INTELLIGENT ACTUATOR  List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engi

336 INTELLIGENT ACTUATOR Appendix 1. I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 I/O port assignment ty

337Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 13 Expanded I/O3 error mon

338 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 24 I/O setting bit pattern

339Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 33 Input function selection

340 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 Output function selecti

17INTELLIGENT ACTUATOR Part 1 Installation 2. Explanation of Codes Displayed on the Panel Window 2-1. Application Display Priority (*1) Descript

341Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 54 Output function selectio

342 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 72 Unaffected general-purp

343Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 92 Baud rate type of SIO c

344 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 103 (Reservation of SIO ch

345Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 124 Network attribute 5 0

346 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 128 Network attribute 9 0

347Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 150 IAI protocol B/TCP: IP

348 INTELLIGENT ACTUATOR Appendix 2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 1 Effect

349Appendix INTELLIGENT ACTUATOR Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 27 Master ax

350 INTELLIGENT ACTUATOR Appendix 3. Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 1 Axis operati

18 Part 1 InstallationINTELLIGENT ACTUATOR 2-2. Core Display Priority (*1) Description 1 AC power is cut off (including momentary power fai

351Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 26 (Phase-Z evacuat

352 INTELLIGENT ACTUATOR Appendix Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 51 Gear ratio den

353Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 78 Maximum takeoff

354 INTELLIGENT ACTUATOR Appendix Axis-Specific Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 94 Zone 3 output

355Appendix INTELLIGENT ACTUATOR 4. Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (

356 INTELLIGENT ACTUATOR Appendix Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 26 Configuration in

357Appendix INTELLIGENT ACTUATOR Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 54 Speed-loop inte

358 INTELLIGENT ACTUATOR Appendix Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 85 Current-loop c

359Appendix INTELLIGENT ACTUATOR 5. Encoder Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (Manu

360 INTELLIGENT ACTUATOR Appendix 6. I/O-Slot Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (uppe

19INTELLIGENT ACTUATOR Part 1 Installation Chapter 5 Specifications 1. Controller Specifications Type Number of controlled axes 1 axis 2 axes

361Appendix INTELLIGENT ACTUATOR 7. Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Auto-start program nu

362 INTELLIGENT ACTUATOR Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 10 Emergency-stop recover

363Appendix INTELLIGENT ACTUATOR Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 21 Manual operation type 0

364 INTELLIGENT ACTUATOR Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 37 PC/TP data protect set

365Appendix INTELLIGENT ACTUATOR Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 45 Special start condition

366 INTELLIGENT ACTUATOR Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 Other setting bit pat

367Appendix INTELLIGENT ACTUATOR 8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operat

Appendix INTELLIGENT ACTUATOR 368 9. Use Examples of Key Parameters You can add functions to those available under the factory settings or set d

Appendix INTELLIGENT ACTUATOR 369 Description Action Parameter setting Manipulation/operation Want to execute home return using an external input

Appendix INTELLIGENT ACTUATOR 370 Description Action Parameter setting Manipulation/operation Want to output signal when all valid axes are at the

20 Part 1 InstallationINTELLIGENT ACTUATOR 2. External I/O Specifications 2-1. NPN Specification (1) Input part External Input Specifications

Appendix INTELLIGENT ACTUATOR 371 Description Action Parameter setting Manipulation/operation Want to start programs while emergency-stop signal i

Appendix INTELLIGENT ACTUATOR 372 Description Action Parameter setting Manipulation/operation Want to continue actuator operation after the emerge

Appendix INTELLIGENT ACTUATOR 373 Description Action Parameter setting Manipulation/operation Want to output signal when the actuator enters a spe

374 INTELLIGENT ACTUATOR 10. Servo Gain Adjustment Since the servo has been adjusted at the factory according to the standard actuator specificat

375 INTELLIGENT ACTUATOR  Speed-loop integral time constant Driver card parameter number Unit Input range Default value (reference) 39 - 0 to

376 INTELLIGENT ACTUATOR  FF (feed-forward) gain Axis-specific parameter number Unit Input range Default value (reference) 61 - 0 to 500 0 T

Appendix INTELLIGENT ACTUATOR 377  Combination Table of X-SEL Linear/Rotational Control Parameters Support of encoder processing method Axis-spec

Appendix INTELLIGENT ACTUATOR 378  Error Level Control Program run (Application only) Error level System error assignment source Error No. (HEX)

Appendix INTELLIGENT ACTUATOR 379 Program run (Application only) Error level System error assignment source Error No. (HEX) Display (7-segment dis

Appendix INTELLIGENT ACTUATOR 380  Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.) Er

CAUTION Operator Calls Regarding Low Battery Voltage This controller uses the following backup batteries to retain data after the power is cut of

21INTELLIGENT ACTUATOR Part 1 Installation (2) Output part External Output Specifications (NPN Specification) Item Specification Load voltage

Appendix INTELLIGENT ACTUATOR 381 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 382 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 383 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 384 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 385 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 386 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 387 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 388 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 389 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 390 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

22 Part 1 InstallationINTELLIGENT ACTUATOR 2-2. PNP Specification (1) Input part External Input Specifications (PNP Specification) Item Speci

Appendix INTELLIGENT ACTUATOR 391 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 392 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 393 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 394 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 395 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 396 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 397 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 398 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 399 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 400 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

23INTELLIGENT ACTUATOR Part 1 Installation (2) Output part External Output Specifications (PNP Specification) Item Specification Load voltage

Appendix INTELLIGENT ACTUATOR 401 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 402 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 403 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 404  Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) Error No.

Appendix INTELLIGENT ACTUATOR 405 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 406 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 407 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Appendix INTELLIGENT ACTUATOR 408 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

409 Appendix INTELLIGENT ACTUATOR  Troubleshooting of X-SEL Controller The X-SEL Controller has a panel window on its front face. Error numbers w

Appendix INTELLIGENT ACTUATOR 410 Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure ACF AC

24 Part 1 InstallationINTELLIGENT ACTUATOR 3. Power-Source Capacity and Heat Output of the Controller The power-source capacity and heat output

Appendix INTELLIGENT ACTUATOR 411 Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure CA1 Abn

Appendix INTELLIGENT ACTUATOR 412 Error No. Error name Cause Countermeasure d18 Speed loop underrun error The driver CPU board was damaged d

413 Appendix INTELLIGENT ACTUATOR Trouble Report Sheet Trouble Report Sheet Date: Company name Department Reported by TEL (Ext) FAX IAI agen

414 INTELLIGENT ACTUATOR Change History Revision Date Description of Revision June 2010 First edition Second edition Third edition Fourth edition Fif

Manual No.: ME0134-10A (December 2011)The information contained in this document is subject to change without notice for purposes of product improveme

25INTELLIGENT ACTUATOR Part 1 Installation  Calculation example) A 3-axis controller with a brake, equipped with a 200-W actuator for axis 1, 200

26 Part 1 InstallationINTELLIGENT ACTUATOR 4. External Dimensions 2-axis type (The external dimensions of 1-axis type and 2-axis type are the s

27INTELLIGENT ACTUATOR Part 1 Installation Chapter 6 System Setup A connection example of a 2-axis controller is given below: 1. Connection M

28 Part 1 InstallationINTELLIGENT ACTUATOR (1) Connect to the controller the motor cable, encoder cable and LS cable (optional) from the actuato

29INTELLIGENT ACTUATOR Part 1 Installation 1.2 I/O Connection Diagrams (1) NPN specification

30 Part 1 InstallationINTELLIGENT ACTUATOR (2) PNP specification Red-1 Orange-1 Yellow-1 G

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

31INTELLIGENT ACTUATOR Part 1 Installation 1.3 I/O Flat Cable Socket (with strain relief): XG4M-5030-T (Omron) No. Color No. Color No.

32 Part 1 InstallationINTELLIGENT ACTUATOR 2. Drive-Power Cutoff Control Circuit This controller has no built-in drive-power cutoff control circ

33INTELLIGENT ACTUATOR Part 1 Installation 2.1 System I/O Connector The table below summarizes the detailed explanations of the respective termi

34 Part 1 InstallationINTELLIGENT ACTUATOR   [4] [3] [5][1][2] 2.2 Relay Box (1) Overview of Relay Box The relay box is a unit needed to

35INTELLIGENT ACTUATOR Part 1 Installation 1) Dedicated X-SEL Teaching Pendant Connector Silkscreen printed name TP IN Connecting destination,

36 Part 1 InstallationINTELLIGENT ACTUATOR Terminal Numbers and Descriptions of Safety I/O Terminals Terminal number Description 1 (When the AN

37INTELLIGENT ACTUATOR Part 1 Installation 4) Internal Circuit Selector Terminals Silkscreen printed name TP (ANSI/IAI) SELECT Description This c

38 Part 1 InstallationINTELLIGENT ACTUATOR 5) AUTO/MANU Selector Switch Silkscreen printed name AUTO/MANU Description This switch selects the AU

39INTELLIGENT ACTUATOR Part 1 Installation (3) Teaching Pendant Operations and Safety I/O Terminal Conditions 1) Safety I/O Terminal (Pins 1 t

40 Part 1 InstallationINTELLIGENT ACTUATOR (4) Operations to Safety I/O Terminals and X-SEL Controller Conditions 1) X-SEL Controller Condit

INTELLIGENT ACTUATOR

41INTELLIGENT ACTUATOR Part 1 Installation 2.3 Drive-Power Cutoff Control Circuit (1) Connection Example of External Drive-Power Cutoff Control

42 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conforming to safety

43INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conforming to safe

44 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

45INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conformi

46 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

47INTELLIGENT ACTUATOR Part 1 Installation AC power input C_POWER Motor power inputM_POWER

48 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

49INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conformi

50 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

INTELLIGENT ACTUATOR Table of Contents Table of Contents Safety Guide...

51INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conformi

52 Part 1 InstallationINTELLIGENT ACTUATOR Chapter 7 How to Perform An Absolute Encoder Reset When the absolute-encoder battery voltage of the

53INTELLIGENT ACTUATOR Part 1 Installation (6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error mess

54 Part 1 InstallationINTELLIGENT ACTUATOR (8) From the [Controller (C)] menu, select [Absolute Reset (A)]. (9) When a [Warning] dialog box is

55INTELLIGENT ACTUATOR Part 1 Installation (12) Another [Warning] dialog box will be displayed. Click the [Yes] button. (13) When the

56 Part 1 InstallationINTELLIGENT ACTUATOR (15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controll

57INTELLIGENT ACTUATOR Part 1 Installation Chapter 8 Maintenance  Routine maintenance and inspection are necessary so that the system will ope

58 Part 1 InstallationINTELLIGENT ACTUATOR (3) Replacement procedure for system-memory backup battery (CR2032) Backing up the system memory If “

59INTELLIGENT ACTUATOR Part 1 Installation Battery Replacement Procedure 1) Remove the 7-segment LED panel from the controller. Slide the panel

60 Part 1 InstallationINTELLIGENT ACTUATOR (4) Reset procedure following a battery-voltage low warning When a voltage low warning for absolute-e

INTELLIGENT ACTUATOR Table of ContentsChapter 2 Explanation of Commands ...

61INTELLIGENT ACTUATOR Part 1 Installation 6. The [Abs. Encoder Reset] dialog box will be displayed. 7. For Axis No., select the number of t

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

63INTELLIGENT ACTUATOR Part 2 Operation 1. Starting a Program by Auto-Start via Parameter Setting I/O parameter No. 33 (input function selectio

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

65INTELLIGENT ACTUATOR Part 2 Operation (2) Timing chart T1: Duration after the ready output turns O

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

67Part 3 Controller Data Structure INTELLIGENT ACTUATOR [1] Drive-source cutoff reset after control power ON

68 INTELLIGENT ACTUATOR Part 3 Controller Data Structure [3] Power ON with drive-source cutoff input still effective

69Part 3 Controller Data Structure INTELLIGENT ACTUATOR [5] Drive-source cutoff reset after control power ON (When combined with the drive-so

70INTELLIGENT ACTUATOR Part 3 Controller Data Structure [6] Emergency stop switch/safety gate/deadman switch input and drive-source cutoff/reset

INTELLIGENT ACTUATOR Table of Contents5. Reciprocating Operation between Two Points...

71Part 3 Controller Data Structure INTELLIGENT ACTUATOR Part 3 Controller Data Structure The controller data consists of parameters as well as

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

73Part 3 Controller Data Structure INTELLIGENT ACTUATOR Since the programs, parameters and symbols are read from the flash memory at restart, th

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

75Part 3 Controller Data Structure INTELLIGENT ACTUATOR Chapter 2 X-SEL Language Data 1. Values and Symbols Used in SEL Language 1-1 List o

76 INTELLIGENT ACTUATOR Part 3 Controller Data Structure  The variables and flags in the global range will be retained even after the control

77Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-3 Virtual I/O Ports (1) Virtual input ports Port No. Function 7000 Always OFF 7001

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

79Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-4 Flags Contrary to its common meaning, the term “flag” as used in programming means

80 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1-5 Variables (1) Meaning of variable “Variable” is a technical term used in software