Iai-america XSEL-KET Uživatelský manuál Strana 396
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Hodnocené. / 5. Na základě hodnocení zákazníků
Appendix
INTELLIGENT ACTUATOR
377
Combination Table of X-SEL Linear/Rotational Control Parameters
Support of encoder
processing method
Axis-
specific
parameter
No. 1: Axis
operation
type
Axis-
specific
parameter
No. 68:
Mode
selection
for linear
movement
axis
Axis-
specific
parameter
No. 66:
Mode
selection
for
rotational
movement
axis
Axis-
specific
parameter
No. 67:
Short-cut
control
selection
for
rotational
movement
axis
ABS INC
Expression
of current
position
(approx.)
Axis-
specific
parameter
No. 7: Soft
limit+
Axis-
specific
parameter
No. 7: Soft
limit-
Axis-specific
parameter
No. 44:
Length
measurement
correction
Axis-
specific
parameter
No. 47:
Screw lead
Axis-
specific
parameter
No. 50:
Gear
numerator
Axis-specific
parameter
No. 51: Gear
denominator
Input unit
0
(Normal
mode)
Counter
range
Valid Valid
0
(Linear
movement
axis)
1
(Infinite
stroke
mode)
* Duty
cycle
timeout
check must
be
examined.
Invalid Invalid
x
-10000
9999.999
(Rotary)
Invalid
(Note)
Invalid
(Note)
Valid Valid Valid Valid
Distance
mm
Speed
mm/sec
Acceleration
/
deceleration
G
0
(Normal
mode)
0 (Short-
cut control
not
selected)
*
Specificatio
n of any
value other
than 0 is
prohibited
in the
normal
mode.
Counter
range
Valid Valid
0 (Short-
cut control
not
selected)
Counter
range
(Rotational
movement
axis)
Invalid
1
(Index
mode)
1 (Short-
cut control
selected)
x
0 359.999
(Rotary)
Invalid
(Fixed to
359.999
internally)
Invalid
(Fixed to 0
internally)
Invalid Invalid Valid Valid
Angle
mm deg
Angular
velocity
mm/sec
deg/sec
Angular
acceleratio
n/decelerat
ion G
= 9807
mm/sec2
9807
deg/sec2 =
9807 x
2/360
rad/sec2
* Deg
values
indicate
angles of
the rotating
body at the
end.
(Note): A positioning command other than “JXWX,” which exceeds the coordinate range of approx. -9990 to 9990, will generate “Error No. CBC, Target data boundary pull-out error.”
(Note): Executing a positioning command other than “JXWX” outside the coordinate range of approx. -9990 to 9990 will generate “Error No. CC5, Positioning boundary pull-out error.”
- 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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