Iai-america XSEL-S Uživatelský manuál

X-SEL ControllerRC Gateway FunctionOperation Manual Fifth EditionSIO Type XSEL- P/Q/PX/QX R/S/RX/SXRXD/SXDFieldbus Type

4No.OperationDescription Description 4 Installation and Start(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clea

5. Program Creating943) The RC PC software is started. Click Position, click Edit/Teaching, and then select the axis number of the axis whose data

5. Program Creating95(4) Editing a program Follow the procedure below to edit a program: 1) Click Controller, point to Reconnect, and then select OK

5. Program Creating965) Next, enter the program. Since the actuator is operated continuously between position Nos. 0 and 1 in this example, the progr

5. Program Creating975.3 Program Language Used by the RC Gateway 5.3.1 List of Program Language Commands A list of program language (SEL language) c

5. Program Creating98Ɣ Reference: Relationships between Existing SEL Commands and RC Gateway FunctionThe relationships between the RC gateway functi

5. Program Creating99Command category Commands How each command is affected by RC gateway function String operation SCPY, SCMP, SGET, SPUT, STR, STRH

5. Program Creating100 5.3.2 Explanation of Commands (1) Position data operation commands X-SEL ż: Valid z RPGT (Read RC axis position data)

5. Program Creating101 X-SEL ż: Valid z RPPT (Write RC axis position data) RC position data mode RC ×: Invalid(Note 1)Command, declaration Exte

5. Program Creating102 X-SEL ż: Valid z RPCR (Clear RC axis position data) RC position data mode RC ×: Invalid(Note 1)Command, declaration Ext

5. Program Creating103 X-SEL ż: Valid z RPCP (Copy RC position data) RC position data mode RC ×: Invalid(Note 1)Command, declaration Extension

5No.OperationDescription Description 6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader

5. Program Creating104 X-SEL ż: Valid z RPRD (Read current RC axis position) RC position data mode RC ×: Invalid(Note 1)Command, declaration E

5. Program Creating105X-SEL ż: Valid z RPRQ (Read current RC axis position [direct reading of 1 axis]) RC position data mode RC ż: Valid Command, decl

5. Program Creating106 X-SEL ż: Valid z RPVL (Write RC axis speed data) RC position data mode RC ×: Invalid(Note 1)Command, declaration Extens

5. Program Creating107X-SEL ż: Valid z RPAD (Write RC axis acceleration/deceleration data) RC position data mode RC ×: Invalid(Note 1)Command, decla

5. Program Creating108 X-SEL ż: Valid z RPIP (Write RC axis positioning band data) RC position data mode RC ×: Invalid(Note 1)Command, declaration

5. Program Creating109X-SEL ż: Valid z RPTQ (Write RC axis current-limiting value data during push-motion operation) RC position data mode RC ×: Inv

5. Program Creating110 X-SEL ż: Valid z RGVL (Read RC axis speed data) RC position data mode RC ×: Invalid(Note 1)Command, declaration Extension c

5. Program Creating111 X-SEL ż: Valid z RGIP (Read RC axis positioning band data) RC position data mode RC ×: Invalid(Note 1)Command, declaration E

5. Program Creating112 (2) Operation commands X-SEL ż: Valid z RAXS (Set RC axis pattern) RC position data mode RC ż: Valid Command, declaration E

5. Program Creating113 X-SEL ż: Valid z RSON (Turn ON RC axis servo) RC position data mode RC ż: Valid Command, declaration Extension condition (LD,

6No.OperationDescription Description 8 Maintenance and Inspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

5. Program Creating114 X-SEL ż: Valid z RHOM (Return RC axis to home) RC position data mode RC ż: Valid Command, declaration Extension condition (L

5. Program Creating115 X-SEL ż: Valid z RMVP (Move RC axis via position specification) RC position data mode RC ż: Valid Command, declaration Extens

5. Program Creating116 X-SEL ż: Valid (Note 2)z RMPI (Move RC axis incrementally) RC position data mode RC ×: Invalid(Note 1)Command, declaration

5. Program Creating117X-SEL ż: Valid z RMVD (Move RC axis via absolute direct-value position specification) RC position data mode RC ×: Invalid(Not

5. Program Creating118 X-SEL ż: Valid (Note 2)z RMDI (Move RC axis via incremental direct-value position specification) RC position data mode RC ×:

5. Program Creating119 X-SEL ż: Valid z RPUS (Move RC axis via push-motion operation) RC position data mode RC ×: Invalid(Note 1)Command, declarati

5. Program Creating120 X-SEL ż: Valid z RSTP (Stop RC axis movement) RC position data mode RC ż: Valid Command, declaration Extension condition (LD

5. Program Creating121(3) Information read commands X-SEL ż: Valid z RCST (Read RC axis status) RC position data mode RC ż: Valid Command, declara

5. Program Creating122 5.4 Notes on Resuming Interrupted Operation If any RC axis movement specified in a SEL program was interrupted and then the op

5. Program Creating1235.5 Checking the Completed Position (Positioning Band) In the “Method to use position data in X-SEL”, whether or not the positi

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

5. Program Creating124 Program examples x Main program Step E N Cnd Cmnd Operand1 Operand2 Pst Comment 1 RAXS 0 10000 2 TAG

5. Program Creating125x Subroutine 1 Step E N Cnd Cmnd Operand1 Operand2 Pst Comment 34 //-------------------------------------------- 35 // Ob

6. Appendix126 6. Appendix 6.1 List of Additional I/O Parameters The shaded parameters in bold are new parameters. For the parameters in the X-SEL

6. Appendix127I/O parameters (The shaded parameters in bold are new parameters: Continued) No. Parameter name Defaultvalue(reference)Input range Unit

6. Appendix128 I/O parameters (The shaded parameters in bold are new parameters: Continued) No. Parameter name Defaultvalue(reference)Input range Uni

6. Appendix129I/O parameters (The shaded parameters in bold are new parameters: Continued) No. Parameter name Defaultvalue(reference)Input range Unit

6. Appendix130 I/O parameters (The shaded parameters in bold are new parameters: Continued) No. Parameter name Defaultvalue(reference)Input range Uni

6. Appendix131I/O parameters (The shaded parameters in bold are new parameters: Continued) No. Parameter name Defaultvalue(reference)Input range Unit

6. Appendix132 6.2 Troubleshooting for Communication 6.2.1 Error Code List Level No. Error name Description/action 220 RC axis multiple-use erro

6. Appendix133Level No. Error name Description/action 405 RC Gateway Communication Classification Error (SEL) An operation cannot be made with the

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6. Appendix134 Level No. Error name Description/action 438 RC position number error (SEL) The RC position number is not specified correctly. o Che

6. Appendix135Level No. Error name Description/action 6A0 UBM flash ROM status error The data in the user-data backup memory is not correctly w

6. Appendix136 Level No. Error name Description/action 6AC RC axis control JOB logic error A logic error occurred in the RC axis control JOB. o Co

6. Appendix137Level No. Error name Description/action 6CC RC Gateway simultaneous use errorBoth SIO Type and Fieldbus Type turned effective. oThey

6. Appendix138 6.2.2 Troubleshooting x Condition: Communication cannot be performed properly! Follow the flowchart to identify the applicable cause

6. Appendix139New system started? (Here, a new system includes a system that has been assembled anew based on an existing design.) [1] Invalid axis

6. Appendix140 Communication is disabled with a certain controllero[1]Terminal resistor not connected o[2] Wrong setting in the slave input

6. Appendix141Communication occasionally disabled? o [[1] Check if the wiring route of the communication cable has been changed] *5 [[2] Check if e

6. Appendix142 *1 Disconnect the X-SEL communication cable from J3 (D-sub, 9-pin connector) on the SIO converter and connect the RC PC software (RCM-

6. Appendix143[3] Click Position, and then select Edit/Teaching.The position data edit axis select window appears and the connected axes are listed a

9Precautions in Handling 1. Sending an address or a function that is not mentioned in this manual may disable the ROBO Cylinder from operating normal

6. Appendix144 *2 Check the wiring again by referring chapter of this manual. *3 Check the axis No. setting again by referring chapter of this manua

6. Appendix1456.3 Adding the Gateway Function to Existing XSEL-P/Q/PX/QX ControllersIf the gateway function is to be added to an existing XSEL contro

Change History146 Change History Revision date Revision description 2007.11 Released the first edition Second edition x Page 2 : Added note stati

Manual No.: ME0188-5A (September 2012)The information contained in this document is subject to change without notice for purposes of product improveme

10Starting procedures YesYesInstallation and Wiring (Chapter 3)Have the actuators and controllers installed and connected following the instructions i

1. Outline of Control Method111. Control Method Overview RC Gateway Function (SIO Type and Fieldbus Type) enables an operation in the network with th

1.Outline of Control Method121.1 Communication system RC Gateway Function can be selected from two types of communication systems and two types of op

1. Outline of Control Method13[2] For Fieldbus type (DeviceNet Communication system) Connect an X-SEL controller and slaves (RC controllers) with Dev

1.Outline of Control Method141.2 Operation system [1] To use position data in X-SEL It is the method to perform operation using the RC position data

1. Outline of Control Method151.3 Name and Function of Each Part Relating to RC Gateway Function 1.3.1 For SIO type (1) XSEL-P/Q/PX/QX [1] +5V sup

1.Outline of Control Method16(2) XSEL-R/S/RX/SX/RXD/SXD [1] System Operation Setting Switches These are switches to set the operation mode of the sy

1. Outline of Control Method171.3.2 For Fieldbus type (option) (1) XSEL-P/Q/PX/QX In the case of XSE-P/Q/PX/QX, the fieldbus board for the Gateway i

1.Outline of Control Method18[1] Monitor LEDs NS MSScannerModeThe conditions of the slaves (each controller) and the network can be checked with the

1. Outline of Control Method19[3] Fieldbus connector Connect the slaves (IAI controllers applicable for RC Gateway Fieldbus Type) to X-SEL. (Note) RC

2. Specication202. Specification 2.1 SIO type 2.1.1 Communication type Item Specification Transmission path structure IAI’s dedicated multi-drop

2. Specication212.1.2 Teaching Tool For XSEL-P/Q/PX/QX (Note 1)Teaching tool name Model Applicable versions RC PC Software Parameter Configuration

2. Specication222.1.4 Input and Output Timing (SIO Type) The response time (Time it takes RC controller to respond back to XSEL controller's qu

2. Specication232.2 Fieldbus type 2.2.1 Communication type Item SpecificationTransmission path structure IAI’s dedicated differential communicatio

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this pr

2. Specication242.2.3 Operation Manuals Related to This Product No. Name Manual No. 1 Operation Manual for XSEL-P/Q controller ME0148 2 Opera

2. Specication252.2.4 Input and Output Timing (Fieldbus Type) The response time (Time it takes RC controller to respond back to XSEL controller&apos

2. Specication26MSEP, MSCON Xt YtFtFtMtMtX-SEL Controller MSEPMSCON Controller Command processing time (Operating time, etc.) MSEPControl Signal(MSCO

3. Wiring273. Wiring 3.1 Notes on Wiring [1] Provide noise elimination measures for the electrical devices located along the same power-supply path

3. Wiring283.2 Wiring method RC gateway function has SIO type and Fieldbus type. Wiring method and necessary equipment differ between each type. Refe

3. Wiring293.2.1 Wiring Method of SIO type [1]-1 Wiring diagram (Example 1: When SIO converter is used for XSEL-P/Q/PX/QX) RUN/ALMEMGTC10ERRORSTATUS

3. Wiring30SIO communication components required by the configuration shown in Example 1 Name Model QuantitySIO converter RCB-TU-SIO-A or B 1 Po

3. Wiring31[1]-2 Connection diagram (Example 1: When SIO converter is used for XSEL-P/Q/PX/QX) RS232C cable (cross) XSELCDRDSDERSGDRRSCS+5V1234567891

3. Wiring32SGA SASBSGSGBGNDHK-SB/20276×2P×AWG222P×AWG22HK-SB/20276×LROBONET_GatewayR_SIOSCON-CMC1.5/4-ST-3.5121234123123127Recommended cable 1 Recomme

3. Wiring33[2]-1 Wiring diagram (Example 2: When RS232 conversion unit is used for XSEL-P/Q/PX/QX) Caution: Use a common 0V line for the 24V power s

3. Wiring34Components required by the configuration shown in Example 2 Name Model QuantityRS232 conversion unit RCB-CV-GW 1 Communication cable

3. Wiring35[2]-2 Circuit diagram (Example 2: When RS232 conversion unit is used for XSEL-P/Q/PX/QX) CB-RCB-SIO[1] A (4-1473562-4 by AMP)CB-ERC2-CTL00

3. Wiring36[3]-1 Wiring drawing (Example 3: When RS232 conversion unit is used to connect only 1 axis for XSEL-P/Q/PX/QX)SV/ALMSIOPCMOTBKMPO24VEMG-MP

3. Wiring37[4]-1 Wiring diagram (Example 4: When connecting to XSEL-R/S/RX/SX/RXD/SXD) Caution: Use a common 0V line for the 24V power supply for ea

3. Wiring38Components required by the configuration shown in Example 4 Name Model QuantityPower I/O Cable for SIO type CB-ERC2-PWBIO-ƑƑƑ 1 Netwo

3. Wiring39[4]-2 Circuit diagram (Example 4: When connecting to XSEL-R/S/RX/SX/RXD/SXD) [1] A (4-1473562-4 by AMP)CB-ERC2-CTL001CB-RCB-CTL002ERC2-SES

3. Wiring40[5] SIO converter for X-SEL and RC controller connection (RCB-TU-SIO) This is a RS232C  RS485 converter. 1) D-sub, 9-pin connector This

3. Wiring41[6] Emergency stop system configuration example 24V0VTeaching pendantEMG2MCEmergency stop release switchPORTswitchEMG1Emergency stop switc

3. Wiring423.2.2 Wiring Method of Fieldbus type [1]-1 Wiring Caution Prepare the peripheral devices for DeviceNet (T-junction tap, cable, etc.) sepa

3. Wiring43 Components Necessary to Construct Layout in Example The following is just an example. Prepare the wiring components dedicated for DeviceN

Table of Contents Safety Guide...1Pre

3. Wiring44[1]-2 Connection diagram Caution: Use a common 0V line for the 24V power supply for each controller. (Except for SCON-CA) [1] ADC-N1-4R12

3. Wiring45[2] Emergency stop system configuration example x To comply with the safety categories, make sure to follow the instructions in the instr

4. RC Gateway Function setting464. RC Gateway Function setting 4.1 Setting Procedure Conduct the settings for the master (X-SEL) and the slaves (axi

4. RC Gateway Function setting474.1.1 Before Starting Setup (Regarding Binary and Hexadecimal Numbers) Inputting parameters of RC Gateway setting are

4. RC Gateway Function setting484.1.2 Master (X-SEL) Settings 1 (In common for Fieldbus type and SIO type) The setting should be conducted following

4. RC Gateway Function setting49[Procedure 1] Operation method setting Select using position data in from the master (X-SEL) controller memory or sla

4. RC Gateway Function setting50[Procedure 3] Setting of number of used positions (Set this only in method to use position data in X-SEL) Set the num

4. RC Gateway Function setting514.2 Settings for SIO type 4.2.1 Master (X-SEL) Setting 2 Continued from the previous page, X-SEL PC software is used

4. RC Gateway Function setting52[Procedure 2] Reflection of changed parameters Click the parameter send button to send the changed parameters to X-SE

4. RC Gateway Function setting534.2.2 Slave (axis to be controlled) Setting (SCON-C, PCON-SE, ACON-SE, ERC2-SE, ROBONET) (1) SCON-C, PCON-SE, ACON

5.3Program Language Used by the RC Gateway ... 975.3.1 List of Program Language Co

4. RC Gateway Function setting54[Procedure 1] Axis No. Setting The setting of the axis numbers differ for each SCON-C, PCON-SE, ACON-SE and ERC2-SE.I

4. RC Gateway Function setting55[Procedure 2] Display of Parameter Setting Window Start the RC PC software, click Parameter, and then click Edit.[Pro

4. RC Gateway Function setting56[Procedures 5] Reflection of Changed Parameters After writing the parameter by clicking the parameter writing button,

4. RC Gateway Function setting57(2) For ROBONET * Refer to (1) in this section for SCON-C, PCON-SE, ACON-SE and ERC2-SE. The setting of ROBONET is to

4. RC Gateway Function setting58[Procedures 2] Writing the Set Baud Rate Click Write button and then Yes.[Procedures 3] Setting of User Setting Swit

4. RC Gateway Function setting59[Procedures 5] Rebooting Set the MODE switch on the front panel of GateWayR Unit to AUTO side. Re-input the power to

4. RC Gateway Function setting604.3 Settings for Fieldbus type 4.3.1 Master (X-SEL) Setting 2 X-SEL PC software is used in the setting process. [Pro

4. RC Gateway Function setting61[Procedure 3] Setting for controller definition on slave (axis to be controlled)Have the settings for the constructio

4. RC Gateway Function setting62No. I/O Parameter Unit Set Value Defaultfactory setting432Fieldbus Slave 0 Construction Definition (Registration of

4. RC Gateway Function setting63No. I/O Parameter Unit Set Value Defaultfactory setting443Fieldbus Slave 11 Construction Definition (Registration of

1Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to rea

4. RC Gateway Function setting64[Procedure 4] Writing Process of Changed Parameters to Memory Click the parameter send button to send the changed par

4. RC Gateway Function setting654.3.2 Slave (axis to be controlled) Setting (1) In the case of PCON, ACON, SCON-CAThe setting of the slave axis cont

4. RC Gateway Function setting66[Procedure 2] Display of Parameter Setting Window Start the RC PC software, click Parameter, and then click Edit.[Pro

4. RC Gateway Function setting67[Procedure 5] Axis number and Node address setting Set the node address set in Section 4.3.1 [Procedure 3] to Paramet

4. RC Gateway Function setting68(2) MSEP The setting of MSEP is to be carried out with being connected to PC with the enclosed cable, and with using

4. RC Gateway Function setting693) Once the main window is open, click on Read button and then click Yes.[Procedure 2] Setting for Address Set th

4. RC Gateway Function setting70Example 2) When connecting PCON, MSEP, SCON-CA to a slave controller Model Code of Slave ControllerAddress setting va

4. RC Gateway Function setting71[Procedure 4] Setting for Number of Axes and Map Setting 1) Set the number of axes to be used. 2) For the map setting

4. RC Gateway Function setting72[Procedure 5] Swap setting 1) Click on Setting button and then click Specialty Parameter.2) Make BYTE swap “valid”

4. RC Gateway Function setting73[Procedure 6] Parameter Writing Write the edited operation mode setting parameters to MSEP. Click on the Write button

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

4. RC Gateway Function setting74[Procedure 9] RC PC Software Startup Start up RC PC Software. [Refer to the operation manual of the PC software for t

4. RC Gateway Function setting754) The confirmation window for controller reboot opens. Click Yes.5) The operation pattern setting is required on

4. RC Gateway Function setting76(3) In case of MSCON The setting of MSCON is to be carried out with being connected to PC with the enclosed cable, an

4. RC Gateway Function setting773) The main screen will be displayed. When the Read button is pressed, the confirmation window opens. Click Yes.Once t

4. RC Gateway Function setting78Example 1) Two MSCONs are connected to the Slave ControllerSlave Controller Model No.Value set for Address(Node addre

4. RC Gateway Function setting79[Procedure 3] Setting of Top Axis Number Click “Setting (S)” ĺ “Unit Number” in the main window, and set the same num

4. RC Gateway Function setting80[Procedure 4] Operation Mode Setting and Occupation Information Confirmation 1) Select “Direct Value, Positioner Mode

4. RC Gateway Function setting81[Procedure 5] Set the byte 1) Setting ψ Click Special Parameters.2) Make Byte Swap effective.Make Byte Swap ineffe

4. RC Gateway Function setting82[Procedure 6] Parameter Writing Write the edited operation mode setting parameters to MSCON. Click on the Writebutton

4. RC Gateway Function setting83[Procedure 9] PIO Pattern Confirmation Confirm that the MSCON parameter No. 25 “PIO Pattern Selection” has been set t

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for

5. Program Creating845. Program Creating Operations are performed using a program that sets positioning data and determines the operation sequence an

5. Program Creating85Comparison table of two operation modes Key function Method to use RC position data in X-SELMethod to use RC position data in RCN

5. Program Creating86Comparison of Functions between Fieldbus type and SIO type (Different part limitation) Function Fieldbus type SIO type Safety

5. Program Creating875.1 Operation Using the X-SEL Position Data Mode An example of operation in which one RC controller is used to move an actuator

5. Program Creating882) Enter the following data, starting from position No. 0. z Pos (target position) [mm] Input the target position that the actu

5. Program Creating89(3) Editing a program Follow the procedure below to edit a program: 1) Click Program and then select Edit to open the program e

5. Program Creating903) Next, enter the program. Since it is a back and forth operation between Position No. 0 and No. 1, the detail of the program w

5. Program Creating915.2 Operation with Method to Use Position Data in RC For Fieldbus Type, edit the position data of the RC controllers on each RC

5. Program Creating923) In the Baud Rate (bps) field, set the same value specified in the connection confirmation screen of the X-SEL PC software (re

5. Program Creating932) When the following screen appears, select both Start “PC Interface Software for RC” and Off-line Work (Port Close), and then