Iai-america XSEL-KET Uživatelský manuál Strana 20
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1
INTELLIGENT ACTUATOR
Introduction
Introduction
Thank you for purchasing the X-SEL Controller.
Inappropriate use or handling will prevent this product from demonstrating its full function and may even
cause unexpected failure or result in a shortened service life. Please read this manual carefully, and
handle the product with due care and operate it correctly. Keep this manual in a safe place and reference
relevant items when needed.
The X-SEL Controller you have purchased is a new-generation controller that uses a 32-bit RISC
(Reduced Instruction Set Computer) CPU and an advanced version of the proven “SEL” language to
perform a range of high functions such as multi-tasking, sequencer-less operation, palletizing function and
pseudo-sequence function.
Refer to the table below for the details of models.
Model
(Axis 2)
Series
name
Controller
type
Number of
axes
Details of Axes 1 to 6
Motor
wattage
Encoder
type
Brake
Creep
sensor
Home
sensor
(LS)
Synchro
specification
Network
(dedicated
slot)
Standard I/O
(Slot 1)
Expansion I/O slot
Slot 2
I/O flat
cable
length
Power-
supply
voltage
KET
CE-compliant
global
specification
1
(1 axis)
20
(20 W)
30D
(DS type,
30 W)
30R
(RS type,
30 W)
60
(60 W)
100
(100 W)
150
(150 W)
200
(200 W)
300
(300 W)
400
(400 W)
600
(600 W)
750
(750 W)
I
(Incremental)
A
(Absolute)
N1
Expansion PIO
32 inputs/16
outputs
NPN board
P1
Expansion PIO
32 inputs/16
outputs
PNP board
DV
DeviceNet 256/256
board
CC
CC-Link
256/256 board
PR
ProfiBus
256/256 board)
ET
Ethernet
D
ata communicatio
n
board
E
(not used)
C
CC-Link
connection
16/16 board
N1
Expansion I/O
32 inputs/
16 outputs
NPN board
N2
Expansion I/O
16 inputs/
32 outputs
NPN board
N3
Expansion I/O
48 inputs/
48 outputs
NPN board
P1
Expansion I/O
32 inputs/
16 outputs
PNP board
P2
Expansion I/O
16 inputs/
32 outputs
PNP board
P3
Multi-point I/O
PNP 48/48
SA
Expansion SIO
Type A
SB
Expansion SIO
Type B
SC
Expansion SIO
Type C
2: 2 m
(standard)
2: Single-
phase 200 V
(Axis 1) (Axis 3)
Slot 3 Slot 4
KT
Global
specification
2
(2 axis)
3
(3 axis)
4
(4 axis)
Blank
(Without
brake)
B
(With brake)
Blank
(Without
creep
sensor)
C
(With creep
sensor)
Blank
(Without
home
sensor)
L
(With home
sensor)
Blank
(Without
synchro)
M
(Master axis
specification)
S
(Slave axis
specification)
(None)
E
(not used)
C
CC-Link
connection
16/16 board
N1
Expansion I/O
32 inputs/
16 outputs
NPN board
N2
Expansion I/O
16 inputs/
32 outputs
NPN board
N3
Expansion I/O
48 inputs/
48 outputs
NPN board
P1
Expansion I/O
32 inputs/
16 outputs
PNP board
P2
Expansion I/O
16 inputs/
32 outputs
PNP board
P3
Multi-point I/O
PNP 48/48
SA
Expansion SIO
Type A
SB
Expansion SIO
Type B
SC
Expansion SIO
Type C
E
(not used)
C
CC-Link
connection
16/16 board
N1
Expansion I/O
32 inputs/
16 outputs
NPN board
N2
Expansion I/O
16 inputs/
32 outputs
NPN board
N3
Expansion I/O
48 inputs/
48 outputs
NPN board
P1
Expansion I/O
32 inputs/
16 outputs
PNP board
P2
Expansion I/O
16 inputs/
32 outputs
PNP board
P3
Multi-point I/O
PNP 48/48
SA
Expansion SIO
Type A
SB
Expansion SIO
Ty
pe B
SC
Expansion SIO
Type C
3: 3 m
5: 5 m
0: None
XSEL
- Seventh Edition 1
- Eighth Edition 1
- Tenth Edition 1
- Please Read Before Use 3
- [Important] 3
- CAUTION 4
- CE Marking 5
- Table of Contents 7
- INTELLIGENT ACTUATOR 10
- Safety Guide 11
- Alert Indication 16
- Introduction 20
- Part 1 Installation 22
- 1. Warranty Period 23
- 2. Scope of Warranty 23
- 3. Scope of Service 23
- 1. Installation Environment 24
- 3. Power Source 25
- 1. Front View of Controller 28
- Battery Capacity: 1000 mAh 30
- Chapter 5 Specifications 38
- 1. Controller Specifications 38
- [Input circuit] 39
- Internal circuit 39
- ON duration 39
- OFF duration 39
- [Output circuit] 40
- The heat output is 63 [W] 44
- 4. External Dimensions 45
- Chapter 6 System Setup 46
- Cable color 48
- 1.3 I/O Flat Cable 50
- PSR-SCP 63
- 24UC/ESA2/4X 63
- 1/1X2/B by 63
- Phoenix 63
- Safety relay 64
- G9S-301 by 65
- Safety IN/OUT 66
- (Refer to 2.2.) 66
- 1. Preparation 71
- 2. Procedure 71
- Chapter 8 Maintenance 76
- Part 2 Operation 81
- Start signal 83
- Emergency-stop 83
- Parameters Parameters 90
- Parameters 90
- Write to flash memory 91
- Write to flash 91
- Caution 100
- 2. Position Part 107
- 3. Command Part 108
- Part 4 Commands 110
- (Count) CP Set zigzag 226 114
- 2. In Alphabetical Order 115
- 1. Commands 120
- Optional Optional MOD 124
- Variable 124
- Data ZR 124
- Optional Optional SQR 127
- Optional Optional AND 128
- Optional Optional OR 129
- Optional Optional EOR 130
- Optional Optional CPXX 131
- Optional Optional TIMC 133
- Program 133
- Prohibited CP 133
- Optional Optional GTTM 134
- (Output 135
- Optional Optional FMIO 143
- Currently paused step 153
- Optional Optional PVEL Speed 161
- Position 161
- Optional Optional PSIZ 165
- X 100 (%) 173
- Optional Optional BASE 176
- Optional Optional GRP 177
- Optional Optional SVXX 185
- Prohibited PE 185
- Optional Optional HOME 186
- Optional Optional MOVP 187
- Optional Optional MOVL 188
- Optional Optional MVPI 189
- Optional Optional MVLI 190
- Start position 191
- Position origin 191
- End position 191
- Optional Optional STOP 193
- Optional Optional PUSH 195
- Optional Optional CHVL 201
- Speed CP 201
- Center angle 202
- Center position 203
- Optional Optional PBND 204
- Distance CP 204
- Optional Optional IFXX 207
- Data CP 207
- Optional Optional DWXX 210
- Optional Optional WHXX 213
- Optional Optional SYST 218
- Optional Optional TMRD 225
- Optional Optional SCHA 227
- Character 227
- Optional Optional SPUT 231
- 1 2 3 . 0 0 0 232
- 87 . 654 232
- Optional Optional STRH 233
- Data CC 233
- Optional Optional SLEN 236
- Optional Optional BGPA 237
- Palletizing 237
- Optional Optional PAPN 238
- Pattern 238
- Optional Optional PAST 240
- (Position 240
- Optional Optional PAPS 241
- Optional Optional PSLI 245
- (Count) CP 245
- Optional Optional PCHZ 246
- Optional Optional ACHZ 249
- ARCD, ARCC, CIRS, ARCS] 263
- 2. PATH/PSPL Commands 265
- 3. CIR/ARC Commands 265
- 1. How to Use 266
- 2. Palletizing Setting 266
- PX-axis direction pitch 269
- Teach position data No. 100 269
- PY-axis direction pitch 269
- 3. Palletizing Calculation 272
- 4. Palletizing Movement 273
- 5. Program Examples 275
- 1. Basic Frame 283
- 2. Ladder Statement Field 284
- 3. Points to Note 284
- 4. Program Example 285
- 1. Operation by Jog Command 286
- [Doll-Picking Game Machine] 286
- Operation Position 287
- I/O Assignments 287
- Operation Flow Chart 287
- [Riveting System] 289
- 3. Palletizing Operation 292
- [Palletizing System] 292
- 293
- Part 5 Multi-Tasking 295
- 2. Multi-Tasking 296
- 5. Program Switching 299
- 1. Equipment 300
- 2. Operation 300
- 4. Hardware 302
- 5. Software 304
- Appendix 306
- Loading capacity 307
- Rated acceleration 307
- [Position table] 311
- 2. Program Format 312
- 6. Path Operation 316
- 8. Circular/Arc Operation 318
- 11. Travel Speed Change 321
- 15. Pause 325
- Input port 20 turns ON 326
- Movement complete signal OFF 328
- Movement complete signal ON 328
- 20. Coordinate Value Output 330
- 21. Conditional Jump 331
- 23. How to Use Offset 333
- Reference point 335
- 26. Jogging 336
- 27. Program Switching 337
- 28. Program Abort 338
- 1 m (1000 mm) 342
- Controller end 342
- Connector not 342
- RD+ 11 RD + SD + 344
- RD- 12 RD - SD 344
- SD+ 15 SD + RD + 344
- SD- 14 SD - RD 344
- 1. Synchro Axes 348
- List of Parameters 354
- 1. I/O Parameters 355
- No. Parameter name 357
- Default value 357
- (Reference) 357
- Input range Unit Remarks 357
- I/O Parameters 362
- PC: PC software 364
- TP: Teaching pendant 364
- FFFFFFFFH 368
- Axis-Specific Parameters 371
- Input range Unit Remarks 376
- (Kelvin = 378
- Input range Unit Remarks 383
- 8. Manual Operation Types 386
- 10. Servo Gain Adjustment 393
- Error Level Control 397
- Error List 399
- Trouble Report Sheet 432
- Change History 433
- 11.12.000 436
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