X-SEL IX Series Teaching Pendant Instruction Manual Ver. 2.
1. Introduction ......................................................................................................... 1 2. Before Use .......................................................................................................... 1 3. Safety Precautions .............................................................................................. 2 4. Warranty Term and Coverage ............................................................................. 3 5.
13. Coordinate System Data Editing ....................................................................... 86 13-1. 13-2. 13-3. Editing of work coordinate system data ................................................................87 Editing of tool coordinate ststem data...................................................................90 Editing of simple interference check zone ............................................................93 14. Symbol Editing ............................................
1. Introduction Thank you very much for purchasing our X-SEL Controller Teaching Pendant. Improper usage or mishandling may result in a product not only being unable to deliver full functions but also produce unexpected troubles or shorten the product’s life. Please read this Manual carefully, and operate the product properly by paying attention to its handling. When operating the Teaching Pendant, always keep this Manual on hand and read the relevant items as required.
3. Safety Precautions (1) Use a genuine product specified by us for wiring between the actuator and X-SEL Controller. (2) Keep out of the operating range of a machine such as an actuator while it is operating or in a ready state (condition in which the controller’s power is ON). When using it in places where persons may approach, fence it off. (3) Before carrying out assembly and adjustment work or maintenance and inspection work of the machine, be sure to disconnect the power cord.
4. Warranty Term and Coverage The Teaching Pendant you purchased has been delivered upon completion of our strict shipping test. We shall warrantee this product as follows: 1. Warranty term The warranty term shall be either of the following terms, whichever is reached first. ▪ 18 months after our shipment ▪ 12 months after delivery to the place designated by you 2.
5. Connection to Controller Teaching Pendant AC power Class D grounding (Protective ground) Output voltage: 24V DC±10% Capacity: 20 – 30W 24V DC power for brake (Customer supplied) M cable Tool, control unit, etc. (Customer supplied) Z-axis/R-axis brake release switch PG cable U cable (User wiring cable) BK power cable Standard cable length: 5 m ① Connect the actuator, I/O 24V DC power source and system I/O to the controller, in advance.
Reconnection screen Flip the MODE switch to MANU, and press the F1 (Yes) key to reconnect the controller. Mode Selection screen This is the basic screen for all operations.
6. Functions and Specifications of Teaching Pendant 6-1. Main operation keys and their functions ① LCD display It displays the program or operation monitor up to 4 lines of 20 characters. ② EMERGENCY STOP button It makes an emergency stop. ③ Deadman switch (option) Before operating keys for Servo OFF -> Servo ON, keep pressing both sides (ON) and operating keys. If you press only one side or do not press both sides, key operation for Servo OFF -> Servo ON does not work.
④ F1 F2 F3 and F4 keys (function keys) These keys correspond to each item in the LCD display (function key section). ⑤ SF key (shift key) When there are 5 or more selectable functions (“→” is displayed at the right part of the function key section), the display items in the function key section are shifted. ⑥ WRT key (write key) It transfers edited data to the controller. (Stores data in the memory of the controller.) It transfers only data that is displayed in the LCD display.
⑪ ↵ key (return key) It is used to confirm the input data or move the cursor forward. ⑫ PAGE UP and PAGE DOWN keys (page-up key, page-down key) These keys increment or decrement the editing/display item No. (position No., program No., step No., etc.). ⑬ ON/OFF key It switches servo ON or OFF of axes. (It is valid within the Teac mode area.) ⑭ HOME key Reserved. ⑮ MOVE key It starts actuator movement or continuous movement. (It is valid in the Teac mode area with the servo ON.
7. Mode Flow Chart Power ON Communications established Function key Mode selection Function key (Edit) Select position No. and press return Function key (Position) (Manual input) Function key Position data input (Velocity input) * After writing data with [WRT], move to the next position * When escaping the mode with [ESC], check whether to write to Flash ROM. Select position No. and press return (Teach) Function key Position data input Cursor Cursor position No.
Select the program No. and press return Function key (Program) Select the step No. and press return Step data input (Modify) * After writing data with [WRT], move to the next step * Move to the symbol edit mode with “Sym” (Copy/movement) (Clear) Select the symbol type with the function key Symbol/ definition value input (Symbol) * After writing data with [WRT], move to the next edit No.
Function key (Monitor) (Input port) (Output port) (Global flag) Function key (Global variable) (Integer variable) (Real variable) (String variable) Function key (Axis status) (Current position) (Servo status) (Sensor input status) (Encoder status) (Axis-related error) (Coordinate system select No.
Function key (System status) (System mode) (System error) (System status 1) (System status 2) (System status 3) (System status 4) (Error list) Function key (Version) (CTL main) (Driver) (Teaching pendant) 12
Function key (Controller) (Flash ROM writing) (Software reset) (Error reset) Function key (Memory clear) (Global variable) (Reconnection) (Baud rate change) (Driving power recovery request) (Action restart request) (Absolute reset) Velocity effect select (PIO start prohibit select) * When the manual operation type parameter equals edit and start selection (with password), it is required to enter the password at setting change time.
8. Data Storage Method Since the X-SEL Controller adopts flash memory, there is a storage area by battery backup and a storage area by flash memory according to the data to be stored. In addition, even if data is transferred from the PC software or Teaching Pendant, the data is only to be written in memory as shown in the chart below and the data is erased by power-off or controller reset. To ensure data storage, write the data you want to store in flash memory. 8-1.
Since the program, parameter, and symbol are read from flash memory at restart time, the data in memory becomes the original data before editing unless the data is written in flash memory. The controller always operates according to the data in memory (within the dotted box) excluding parameters. Content 1: Parameters excluding content 2 below and encoder parameters Content 2: Driver card and IO slot card (power-supply system card) parameters Content 3: Flags, variables, strings 8-2.
8-3. Cautions Cautions in data transfer and flash writing Never turn off the main power during data transfer and flash writing. Failure to do so may result in inoperability of the controller due to data loss. Cautions in storing parameters in a file Encoder parameters are stored in EEPROM of the actuator’s encoder itself (not in EEPROM within the controller, which is different from the other parameter types).
9. Simple Operating Procedures In this section, a program and position data are created.
9-1. Creation of position data Input the position data of 3 points as shown in the position data list below. Connect the Teaching Pendant to the controller and flip the MODE switch to MANU. Turn on the power to the controller. The version of the Teaching Pendant is displayed and the screen moves to the Mode Selection screen. (To the following page) When the MODE switch is flipped to AUTO, the Teaching Pendant is not connected to the controller and the screen at the left is displayed.
Mode Selection screen This screen becomes the basic screen for all operations. Press the F1 (Edit) key. * When you make a selection error or input error, press the ESC key to return to the last screen and continue operation. Pressing the ESC key once or several times during any operation can return to the basic screen shown above without fail. Edit mode screen Press the F1 (Posi) key. Edit-Posi (position data edit) screen Press the F1 (Mdi) key. Position No. input mode Position No.
Axis No. at the cursor location ① Data input for 1st point Enter a numeric value of 0 and press the return key. 0.000 is displayed, the axis No. changes to 2, and the cursor moves to the section for the Y-axis position data. * The position data can be input up to a 4-digit integral number and three digits to the right of the decimal. Since the range varies according to the actuator’s model, check it in the catalog etc. Enter 300 for the Y-axis position data and press the return key.
When the data is transferred with the WRT key, the position No. is incremented by 1 and becomes 2. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Position No. 2 ② Data input for 2nd point Enter 200 for the X-axis position data and press the return key. The cursor moves to the section for the Y-axis position data. Enter 250 and press the return key. Enter 0 for the Z-axis position data and press the return key.
Transfer the data with the WRT key and advance the position No. to 3. ③ Data input for 3rd point Press the return key since the X-axis position data is left blank. Press the return key since the Y-axis position data is also left blank. Enter 90 for the Z-axis position data and press the return key. Transfer the data with the WRT key and advance the position No. to 4.
Complete position editing and write the data in flash ROM. Pressing the ESC key moves the cursor to the location of the position No. Pressing the ESC key returns the screen to the Edit-Posi screen. Pressing the ESC key again moves to the Edit mode screen. Pressing the ESC key once more moves to the Flsh screen. To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns to the Mode Selection screen. With the above, input of the basic position data is completed.
9-2. Creation of program The program to move the position data created in 9-1. is created. Application Program List In this section, the X-SEL program is input. For further information on the meaning and usage of each command, refer to the Instruction Manual attached to the controller. Only Cmnd (command) and Operand1 (operation 1) are input here.
Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key on the Edit mode screen. Select the F1 (Mdfy) key on the Edit-Prog (program edit and new creation) screen. Program No. Step No. Number of steps stored in the controller 26 The screen changes to the program No. input mode screen. The cursor is located at the program No. Press the return key to move the cursor to the location of the step No.
The cursor has moved to the location of the step No. Press the return key. Enter commands. Commands are displayed in the function key section. Command search method Command with an initial letter of A Command with an initial letter of B ① When the cursor is at the location for command input, pressing the SF key displays commands in alphabetical order. ② Letters/alphabetic letters are located for each of the ten keys (such as ABC allocated to the 7 key).
The cursor moves to operation 1. Set 50% of the maximum PTP acceleration. Enter 50 and press the return key. To reattempt input: Move the cursor to the change location with the ← or return key. Overwrite the data or delete it with the BS key. Or, reattempt from the step No. with the ESC key. Press the WRT key to transfer the data to the controller. The step No. advances to 2. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid.
Set 50% of the maximum PTP deceleration. Enter 50 and press the return key. Press the WRT key to transfer the data to the controller. The step No. advances to 3. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Display VELS with 2 of the ten-key numeric pad. Select the F4 (VELS) key. Press the return key. The cursor moves to operation 1.
Set 100% of the maximum PTP velocity. Enter 100 and press the return key. Press the WRT key to transfer the data to the controller. The step No. advances to 4. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Display PTPL with and the SF key. 6 of the ten-key numeric pad Select the F3 (PTPL) key. Press the return key.
Press the WRT key to transfer the data to the controller. The step No. advances to 5. Display MOVP with and the SF key. 5 of the ten-key numeric pad Select the F2 (MOVP) key. Press the return key. The cursor moves to operation 1. Enter 1 of the position No. 1 and press the return key.
Press the WRT key to transfer the data to the controller. The step No. advances to 6. Input the program data of MOVP 2, MOVP 3, MOVP 2 and MOVP 1 for the steps No. 6 to No. 9 according to the same procedures and transfer the data to the controller. Display EXIT in the function key section with the ten-key numeric pad and the SF key. 8 of Select the F4 (EXIT) key and press the return key. Press the WRT key to transfer the data to the controller.
Complete the program editing and write the data in flash ROM. Press the ESC key. (The cursor moves to the location for step No.) Press the ESC key. (The cursor moves to the location for program No.) Press the ESC key. Return to the Edit-Prog screen. Press the ESC key. Return to the Edit screen. Press the ESC key.
To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the controller at this time. When flash ROM writing is completed, the screen returns to the Mode Selection screen.
9-3. Change of application program The program created in the preceding section (9-2) is changed. A program step is inserted or deleted to allow the same operation to be repeated. Step No. Change (Insert “TAG 1” into step No. 5, delete “MOVP 1” from step No. 9 and overwrite “EXIT” with “GOGO 1.”) Select the F1 (Edit) key on the Mode Selection screen. Press the F2 (Prog) key on the Edit mode screen.
Select the F1 (Mdfy) key on the Edit-Prog screen. The display changes to the program edit mode screen. Press the return key once to move the cursor to the location for step No. Insert one-line step between the program steps No. 4 and No. 5. Enter 5 with the ten-key numeric pad or press the PAGE UP key 4 times to display 5. Select the F1 (Ins) key. “I” of “Insert” is displayed after step No. 5. Display “TAG” with or the SF key.
Select the F2 (TAG) key and press the return key. Enter a numeric value of 1 for operation 1 and press the return key. Press the WRT key to transfer the program data to the controller. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Press the ESC key twice to display the screen for step No. 6. Then, delete “MOVP 1” from pre-modification step No. 9. Enter 10 for the step No.
Press the F2 (Del) key. Press the F2 (Del) key again. (When canceling deletion, press the ESC key.) Press the return key to move the cursor to the location of commands. Display “GOTO” with pad or the SF key. 9 of the ten-key numeric Select the F2 (GOTO) key and press the return key.
Enter the same numeric value as the one input for “TAG” operation 1 for operation 1. Enter 1 here and press the return key. Press the WRT key to transfer the program data to the controller. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Press the ESC key several times to move to the Flsh screen. To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
10. Program Execution Now, operate the program created in “9. Simple Operating Procedures.” 10-1. Operation check Press the F2 (Play) key to move to the Play mode screen. Play mode screen The following 3 items on the Play mode screen exist. F1 (Run): Moves to the screen for inputting the program No. to execute. F2 (TSts): Moves to screen for monitoring the status of the task in execution. F3 (AStop): Completes all programs in execution.
The screen has moved to the Run mode selection screen. Select whether to make a run by 1 step of the program or to make a continuous run. Run mode selection Start a continuous run with the F1 (Strt) key. Continuous run mode The program step currently in execution is displayed (excluding the continuous movement system command). Pressing the F2 (Sus) key changes to a step run. Pressing the F3 (Stop) key completes running.
10-2. Setting of break point The break points in a continuous run can be set. Press the F4 (Brk) key on the Run mode selection screen or Run mode screen. Program no. Step No. B: Set brake point Blank: Release brake point 10-3. Select the step No. to set the break point with the PAGE UP and PAGE DOWN keys. Every time the F1 (Set) key is pressed, the break point is set or cleared. When clearing all the set break points, press the F2 (AClr) key.
(2) Local flags The ON/OFF conditions of local flags are displayed. The conditions of local flags can be changed between ON and OFF. Select the F2 (LFlg) key on the Run mode screen. Mode flow: Every time the F1 (0/1) key is pressed, the local flag where the cursor is located can be changed between ON and OFF. Move the cursor with the return key or ← key. Every time the PAGE UP or PAGE DOWN key is pressed, the flag Nos. are shifted by 20 and displayed.
③ Local string Mode flow: 44 The cursor is located at the data (column). Entering an ASCII code with the ten-key numeric pad and pressing the return key can assign characters. (A to F of hexadecimal notation can be input by changing Num to Alph with the F1 [Alph/Num] key.) Move the cursor with the return key or ← key. The PAGE UP and PAGE DOWN keys display the column Nos. by shifting the numbers by 20.
11. Position Editing 11-1. Mdi (numeric input) Method of inputting a numeric value with the ten-key numeric pad for position data For the data input of the coordinate position with the ten-key numeric pad, refer to “9. Simple Operating Procedures.” Method of inputting Vel (velocity), Acc (acceleration), and Dcl (deceleration) for each position No. Example of Mdi (numeric input): Mode flow to numeric input screen: Position No.
11-2. Teac (teaching) Teaching (method in which an actuator is moved to any given position and the current positions of the actuator are incorporated as data) is the method for inputting position data. As the methods of moving the actuator to any given position, jog operation, inching operation, and manual operation in an emergency stop condition exist. The basic flow of teaching is as follows: ① Move the actuator.
(1) Teaching screen The teaching screen consists of two screens including 'position No. selection screen' and 'axis-specific data input screen. On the position No. selection screen, teaching (current-position incorporation/clear) is given to all axes simultaneously. On the axis-specific data input screen, teaching is given on an axis basis. ① Position No.
② Axis-specific data input screen Function key descriptions F1(Disp): It switches the display between the input data screen and the current position display. F2(Scan): It incorporates the current positions of all axes onto the screen. (Teaching Pendant Ver. 1.02 or later) F3(Canc): It clears the all-axis data of the position No. selected. F4(JCrd): It changes the coordinate system for jog operation. F1(Vel): F2(JVel): F3(MVel): F4(Arm): It inputs data of velocity, etc., for each position No.
11-3. Jog movement direction and coordinate system (1) Jog keys and movement directions The movement direction during jog operation changes according to the coordinate system No. selected. The status before shipment is the base coordinate system (work coordinate system No. 0) and tool coordinate system No. 0. For the setting of coordinate system data, refer to “13. Coordinate System Data Editing.
② Jog movement on work coordinate system Example) The jog keys and movement directions on the work coordinate system No. 1 are as shown below. The offset values from the work coordinate system No. 1 become Xofw1 = 150, Yofw1 = 200, Zofw1 = 0, and Rofw1 = 30. Origin of work coordinate system No. 1 Jog movement on work coordinate system No. 1 Left arm system The current position display on the teaching screen is the position on the work coordinate system selected. When the tool coordinate system No.
③ Jog movement on tool coordinate system Example) The jog keys and movement directions on the tool coordinate system No. 1 are as shown below. The offset values from the tool coordinate system No. 1 become Xoft1 = 45, Yoft1 = 35, Zoft1 = -10, and Roft1 = 45. D-cut surface Tool tip Jog movement on tool coordinate system No. 1 Left arm system The current position display on the teaching screen is the coordinate position of the tool tip of the tool coordinate system No.
④ Jog movement on each axis system (jog movement on each arm) Each arm, jog keys and movement directions are as shown below. In the case of each axis system, the position display on the teaching screen cannot be incorporated. Jog movement on each axis system To change the coordinate system for jog operation, press the F4 (JCrd) key. To switch between the input data screen and the current position display, press the F1 (Disp) key.
(2) Selection of coordinate system No. Use the SF key to display Crd# on the teaching screen. Press the F1 (Crd#) key. Enter the work coordinate system No. Enter the tool coordinate system No. This is a screen displayed when the work coordinate system No. 1 and the tool coordinate system No. 1 are selected. Press the ESC key to return to the teaching screen. The coordinate values displayed indicate the tool tip position of the tool coordinate system No. 1 on the work coordinate system No. 1.
11-4. Actuator operation Jog the actuator or move it to the input (transferred) position data by using the Teaching Pendant. Operate the actuator on the teaching screen. Mode flow to teaching screen: (1) Jog operation Press the ON/OFF key in a teaching screen condition to turn the servo ON. To check the servo ON/OFF status, press the F1 (Disp) key to display the current position. N: Servo ON F: Servo OFF Current position display Before operation, check the jog operation coordinate system selected.
(2) Inching operation Mode flow: Inching distance: 0.1 mm Set the inching distance (travel made every time the JOG key is pressed once). Enter a numeric value for Dis (inching distance) with the ten-key numeric pad on the jog velocity change screen. The numeric input range is between 0.001 and 1.000 (unit: mm). Return to the teaching screen with the ESC key to execute inching operation. Clicking the jog key once makes 1-inching distance movement.
(4) Arm system change Change the current arm system over to the opposite arm system. (Right arm → left arm, left arm → right arm) The 1st arm does not move and the 2nd arm moves in such a way that it becomes straightened with the 1st arm. Change the arm system on the teaching screen. Mode flow to teaching screen: Press the SF key to display “Arm” in the function key section. Press the F4 (Arm) key. Note: When the version of the Teaching Pendant Application Part is earlier than 1.
(5) Incorporation of current positions as data Check the work coordinate system No., tool coordinate system No., and arm system currently selected. (Mode flow: ) The selected actuator’s location is incorporated as position data onto the teaching screen. Enter the position No. into which data is incorporated with the ten-key numeric pad on the position No. selection screen, and press the return key. Or, select the position No.
(7) I/O monitoring Input and output ports can be monitored during teaching operation. ① I/O monitoring Select In or Out among the function keys in a teaching screen condition. In: Input ports Out: Output ports Mode flow: Mode flow: Input ports Output ports Pressing the F1 (0/1) key can turn OFF/ON (0/1) the output port at the cursor location. Every time the F1 key is pressed, the port is changed between OFF and ON (0 and 1).
(8) Movement The actuator is moved to the location of the position data transferred to the controller. (Check the location of the teaching position data.) Mode flow to teaching screen: Position No. to move Select the position No. you want to move in a teaching screen condition. Press the ON/OFF key to turn the servo ON. To check the servo ON/OFF status, press the F1 (Disp) key. Pressing the MOVE key starts movement. To stop movement halfway, press the STOP key.
(9) Continuous movement The actuator is continuously moved to the location of the position data transferred to the controller. Mode flow to teaching screen: Position No. to move first Select the position No. to which you want to move the actuator first in a teaching screen condition, and press the return key. Press the ON/OFF key to turn the servo ON. To check the servo ON/OFF status, press the F1 (Disp) key. Press the F1 (Cont) key.
(10) Jump movement The actuator is moved to the location of the position data transferred to the controller by jump motion (arch motion). Before/after normal movement or continuous movement, the Z-axis is moved up and down. (Supported by Teaching Pendant Application Part Ver. 1.13 or later) Z-axis offset value Target position Current position Normal movement Motion sequence ① Raise the Z-axis from the current position to the top position (Z = 0).
Setting of jump movement is performed on the teaching screen. Mode flow to teaching screen: Press the SF key to display “Jump” in the function key section. Press the F2 (Jump) key. Enter 1 to make jump motion effective or 0 to make it ineffective, and press the return key. Enter the Z-axis offset value. Enter the offset value (mm) from the Z-axis target position coordinate and press the return key. The set value is effective until the Teaching Pendant is reset or reconnected.
(11) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Select UsrO among the function keys in a teaching screen condition. Mode flow: (A) User-specified output port status The conditions of user-specified output ports are displayed as “1” (=ON) and “0” (=OFF). (The conditions are displayed from the first specified port for the number of the specified ports.
① Setting of user-specified output port parameters For the operation method for parameter setting, refer to “14. Parameter Editing.” The first port No. and the number of ports are set with the following parameters: ▪ Number of ports I/O parameter No. 74 “Qnt Prt Usr Out” (Number of output ports used by TP user [hand, etc.]) ▪ First port No. I/O parameter No. 75 “Top No. Use Out” (First output port No. by TP user [hand, etc.]) (Setting example) When the first port No.
11-5. Teaching input example Data is input for the position No. 10 by jog operation and for the position No. 11 by manual operation under servo OFF. Select the F1 (Edit) key on the Mode Selection screen. Select the F1 (Posi) key. Select the F2 (Teac) key. Enter 10 for the position No. with the PAGE UP and PAGE DOWN keys or the ten-key numeric pad and confirm it with the return key. Press the ON/OFF key to turn the servo ON.
Press the jog key ←1 1→ the robot to any given position. ←2 2→ to move Pressing the F2 (Scan) key incorporates the current position of the axis No. over which the cursor is located onto the input screen. Change the screen over to the data input screen with the F1 (Disp) key. Confirm that the data has been incorporated. Press the return key to move the cursor to the next axis, and press the F2 (Scan) key. Incorporate the data of the Z-axis and R-axis in the same way.
Press the EMERGENCY STOP button to turn the servo OFF. Press the ESC key to return from the Emergency Stop input screen to the previous screen. F: Servo OFF N: Servo ON Confirm the servo OFF with the F1 (Disp) key. Move each axis to any given position manually. Danger Be sure to perform manual teaching while the EMERGENCY STOP button is being pressed. To move the Z-axis or R-axis manually, the brake must be released.
Axis No. at cursor location Pressing the F2 (Scan) key incorporates the current position of the axis No. over which the cursor is located onto the input screen. Press the return key to move the cursor to the next axis, and press the F2 (Scan) key. Incorporate the data of the Z-axis and R-axis in the same way. Press the WRT key to transfer the position data to the controller. The position No. advances to 12.
Complete the position data input by teaching. Press the ESC key. Press the ESC key. Press the ESC key. Press the ESC key. To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns to the Mode Selection screen.
11-6. Copy and movement of position data The following operating instructions are to copy or move the position data to another position No. Select the F1 (Edit) key on the Mode Selection screen. Select the F1 (Posi) key. Select the F3 (Copy) key. Positions from which data is copied or moved First No. Enter the first No. and the last No. of the positions Last No. from which data is copied or moved with the ten-key numeric pad and press the return key. Enter the first No.
11-7. Deletion of position data The following operating instructions are to delete the position data. Select the F1 (Edit) key on the Mode Selection screen. Select the F1 (Posi) key. Select the F4 (Clr) key. Position data to delete First No. Last No. Enter the first No. and the last No. of the position data to delete with the ten-key numeric pad and press the return key. When deleting the selected position data, press the F3 (Clr) key. When deleting the data for all positions (No. 1 through No.
12. Program Editing 12-1. Program input method Procedures for input of extension condition (E), input condition (N・Cnd) and output (Pst) The program input sequence with the Teaching Pendant is different from that on the program edit screen of the PC-compatible software. The sequence is as follows: ① command (Cmnd), ② operation 1 (Operand 1), ③ operation 2 (Operand 2), ④ output (Pst), ⑤ extension condition (E) and ⑥ input condition (N・Cnd).
Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key on the Edit mode screen. Select the F1 (Mdfy) key on the Edit-Prog screen. Enter the program No. with the ten-key numeric pad and press the return key. The cursor has moved to the location of the step No. Press the return key.
Input section for Cmnd Press the return key. Input section for Operand 1 Press the return key. Input section for Operand 2 Press the return key. Input section for Pst Press the return key. Input section for E Press the return key.
Input section for N·Cnd Enter 601 with the ten-key numeric pad and press the return key. Press the WRT key to transfer the data of step No. 1 to the controller. The step No. advances to 2. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Input section for Cmnd Display CPGE in the function key section with 7 of the ten-key numeric pad and the SF key. For the command search method, refer to “9-2. Creation of program.
Input section for Operand 2 (variable indirect specification) Select the F3 (*) key first, enter 201 with the ten-key numeric pad, and press the return key. When inputting a string to Operand 2, follow the procedure of Operand 1. Input section for Pst Enter 900 with the ten-key numeric pad and press the return key. When specifying a variable to Operand 1 indirectly, select the F3 (*) key first. Input section for E Select the F2 (A) key and press the return key.
12-2. Symbol input during program editing Symbols can be input when the cursor is located at Operand 1/Operand 2 (operation 1/2), Pst (output), or Cnd (input condition) and “Sym” is displayed in the function key section. Input example) Symbol input in the following program step: The position No. 10 is symbolized by “TAIKIITI.” Select the F2 (Sym) key in the function key section when the cursor is located at Operand 1. The screen moves to the Edit-Sym screen.
The ten-key numeric pad now functions for alphabetic input. Enter “TAIKIITI.” For the input method, refer to “13. Symbol Editing.” Press the WRT key to transfer the symbol data to the controller. The display returns to the previous edit screen. The letter “S” indicates that the symbol is used. The Teaching Pendant cannot display the input symbol as it is in relation to the LCD display. In this case, “S10” is displayed instead of “TAIKIITI.
12-3. One-line comment input A comment is input for the program step (invalid step) with numeric values, alphabetic letters, and symbols (*, ・, and _). Mode flow: Program No. + return Move the cursor to the step No. for comment input. Press the F3 (Cmnt) key. “C” is displayed next to the step No. Press the return key. Every time the F1 key is pressed, the display in the F1 key field is changed between “Alph” and “Num.” Alphabetic input Display “Alph” in the F1 key field.
Numeric input Press the F1 key to display “Num.” Enter a numeric value with the ten-key numeric pad. The figure at the left is the display example when “1” is input continuously after “Palette.” After completing comment input, press the return key again. Press the WRT key to transfer the input data to the controller. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. The screen advances to the next step No.
12-4. Copy and movement of program The following operating instructions are to copy or move a program to another program No.: Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key. Select the F2 (Copy) key. Program No. from which a program is copied or moved Number of steps of the specified program Enter the program No. from which a program is copied or moved with the ten-key numeric pad and press the return key. Enter the program No.
12-5. Deletion of program The following operating instructions are to delete a program: Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key. Select the F2 (Clr) key. Program No. to delete Enter “0.” Enter the program No. to delete with the ten-key numeric pad and press the return key. ① When deleting one program, pressing the F2 (Clr) key in the example on the left deletes the program No. 3. Total number of steps A series of programs First No. Last No.
Press the ESC key to return to the previous screen. Then, press the ESC key several times to return to the Flsh screen.
12-6. Flash ROM writing If data is only transferred to the controller after program editing, the edited program is erased when the power is turned on again or software is reset. To maintain the edited data even if the power is turned on again or software is reset, the data is written in flash ROM. Return to the Flsh screen with the ESC key from the edit completion screen. To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
13. Coordinate System Data Editing As the coordinate system data of the IX series, there are the work coordinate system data, tool coordinate system data and simple interference check zone. Select the F1 (Edit) key on the Mode Selection screen. Press the SF key on the Edit mode screen to display Crd. Press the F1 (Crd) key. Select the F1 (Mdfy) key. Coordinate system data selection screen Select the coordinate system to be edited from this screen.
13-1. Editing of work coordinate system data As an input example of the work coordinate system data, a coordinate system as shown below is set for the work coordinate system No. 1. (Motion range at the arm length 500-type stroke) Origin of work coordinate system No. 1 The offset values from the work coordinate system No. 1 are Xofw1 = 150, Yofw1 = 200, Zofw1 = 0 and Rofw1 = 30. Mode flow: This is the work coordinate system No. selection screen. The cursor is located at the work coordinate system No.
The cursor is located at the Y-axis offset value data. Enter 200 and press the return key. The cursor is located at the Z-axis offset value data. Enter 0 and press the return key. The cursor is located at the R-axis offset value data. Enter 30 and press the return key. Transfer the data with the WRT key. The screen advances to the edit screen for the work coordinate system No. 2. Complete editing of the work coordinate system data and write data in flash ROM.
Pressing the ESC key returns the cursor to the coordinate system data selection screen. Coordinate system data selection screen Pressing the ESC key again returns to the Flsh screen. (Return by 3 screens) To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns to the Mode Selection screen.
13-2. Editing of tool coordinate system data As an input example of the tool coordinate system data, a tool as shown below is set for the tool coordinate system No. 1. R-axis Tool Tool tip Tool tip D-cut surface Tool mounting surface center The offset values from the tool coordinate system No. 1 become Xoft1 = 45, Yoft1 = 35, Zoft1 = -10 and Roft1 = 45. Mode flow: This is the tool coordinate system No. selection screen. The cursor is located at the tool coordinate system No.
The cursor is located at the Y-axis offset value data. Enter 35 and press the return key. The cursor is located at the Z-axis offset value data. Enter -10 and press the return key. The cursor is located at the R-axis offset value data. Enter 45 and press the return key. Transfer the data with the WRT key. The screen advances to the edit screen for the tool coordinate system No. 2. Complete editing of the tool coordinate system data and write data in flash ROM.
Pressing the ESC key returns the cursor to the coordinate system data selection screen. Coordinate system data selection screen Pressing the ESC key again returns to the Flsh screen. (Return by 3 screens) To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns to the Mode Selection screen.
13-3. Editing of simple interference check zone It is required to input the following 3 items to set the simple interference check zone: ▪ 2-point position data to define the zone. (Input the values of the base coordinate system.) ▪ Output port No. or global flag No. for output during zone invasion. ▪ Error type at zone invasion time. (0: No error-handling, 1: Message level error, 2: Motion reset level error.
Input of base coordinate values of Ⓐ The cursor is located at the X-axis data. Enter 475 and press the return key. The cursor is located at the Y-axis data. Enter -50 and press the return key. The cursor is located at the Z-axis offset value data. Enter 150 and press the return key. The cursor is located at the R-axis offset value data. Enter 0 and press the return key. Press the F3 (Crd#) key to input the other position data.
Input of base coordinate values of Ⓖ Enter the base coordinate values of Ⓖ in the same way as A. Set the output port/global flag and error type Press the F4 (P/E) key. Output port/global flag No. and error type input screen Press the return key. Enter the output port No. 311 and press the return key. Enter the error type 1 and press the return key.
Transfer the data with the WRT key. The screen advances to the edit screen for the simple interference check zone No. 2. When the axial pattern of Ⓐ does not agree with that of Ⓖ, the “9FO” error occurs. When the axial pattern of Ⓐ and Ⓖ is 0, the “9F1” error occurs if the output port or error type is specified. Complete editing of the tool coordinate system data and write the data in flash ROM. Pressing the ESC key moves the cursor to the location of the simple interference check zone No.
To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns to the Mode Selection screen.
14. Symbol Editing For the X-SEL Controller, symbols (names) can be given to variables, input ports, flags, points, etc. Select the F1 (Edit) key. Select the F3 (Sym) key. 14-1. Symbol editing items The items to be symbolized are displayed in the function key section. Every time the SF key is pressed, the items are shifted and displayed. Symbol editing items Cnst: Var: Prog: Posi: Constant Variable Program No. Position No. In: Out: Flag: Axis: Input port No. Output port No. Flag No. Axis No.
14-2. Input example: Symbolization of local integer variables The local variable No. 5 of the program No. 3 is symbolized by “Cnt5.” Press the F2 (Var) key. Mode flow: Select the integer or real number. Press the F1 (ltg) key. (ltg: Integer, Real: Real number) The cursor is located at the program No. Enter the program No. in the local area. (When symbolizing the global area, the number is left 0 as it is.) Enter 3 and press the return key. Variable No. Program No.
Then, press 5 of the ten-key numeric pad several times to display “n,” and press the return key. Then, press 1 of the ten-key numeric pad several times to display “t,” and press the return key. Pressing the F1 (Alph) key changes the display in the F1 key field to Num for numeric input. Enter 5 with the ten-key numeric pad. Numeric input Press the return key to confirm the symbol name.
When the name is confirmed, the cursor moves to the first character. Before confirmation, the name can be corrected by one character with the BS key. After confirmation, the name is corrected by overwriting all the characters. Press the WRT key to transfer the symbol data to the controller. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. When completing editing, return to the Edit screen with the ESC key. Press the ESC key.
Return to the Edit screen with the ESC key.
14-3. Symbol edit screen for each item (1) Constant Select the F1 (Cnst) key on the constant symbol edit screen. Mode flow: Selection between integer constant and real constant Select the integer or real number. F1 (ltg): Integer F2 (Real): Real number ① Integer constant ② Real constant Mode flow: Mode flow: Integer constant symbol edit screen Real constant symbol edit screen Enter a symbol with alphabetic/numeric values. Enter a constant.
(3) Program Select the F3 (Prog) key on the symbol edit screen. Mode flow: Program No. symbol edit screen Enter a symbol with alphabetic/numeric values. Enter the program No. with the PAGE UP and PAGE DOWN keys or the ten-key numeric pad. (4) Position Select the F4 (Posi) key on the symbol edit screen. Mode flow: Position No. symbol edit screen Enter a symbol with alphabetic/numeric values. Enter the positon No. with the PAGE UP and PAGE DOWN keys or the ten-key numeric pad.
(6) Output port Select the F2 (Out) key on the symbol edit screen. Mode flow: Output port No. symbol edit screen Enter a symbol with alphabetic/numeric values. Enter the output port No. with the PAGE UP and PAGE DOWN keys or the ten-key numeric pad. (7) Flag Select the F3 (Flag) key on the symbol edit screen. Mode flow: Flag No. symbol edit screen Enter the program No. for the local area and 0 for the global area. Enter a symbol with alphabetic/numeric values. Enter the flag No.
(9) Tag Select the F1 (Tag) key on the symbol edit screen. Mode flow: Tag No. symbol edit screen Since the tag No. is in the local area, enter the program No. Enter a symbol with alphabetic/numeric values. Enter the tag No. with the PAGE UP and PAGE DOWN keys or the ten-key numeric pad. (10) Subroutine Select the F2 (SubR) key on the symbol edit screen. Mode flow: Subroutine No. symbol edit screen Since the subroutine No. is in the local area, enter the program No.
14-4. Flash ROM writing If data is only transferred to the controller after symbol editing, the edited program is erased when the power is turned on again or software is reset. To maintain the edited data even if the power is turned on again or software is reset, the data is written in flash ROM. Return to the Flsh screen with the ESC key from the edit completion screen. To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
15. Parameter Editing Parameters can be changed according to the customer’s system. When you change parameters, record the parameter descriptions. Parameters after being written in flash ROM become valid when software is reset or the power is turned on again. Select the F1 (Edit) key on the Mode Selection screen. Select the F4 (Para) key on the Edit screen. 15-1. Parameter editing items The parameter items are displayed in the function key section.
15-2. Input example: Editing of axis-specific parameters The axis-specific parameter No.58 positioning width is set as axis No. 1 = 0.1 mm and axis No. 2 = 0.1 mm. Select the F3 (Axis) key on Edit-Para screen. Mode flow: The cursor is located at the parameter No. Enter 58 with the ten-key numeric pad and press the return key. Number of axis in connection Axis No. in editing The screen for editing the axis-specific parameter No. 7 soft limit + is displayed. The cursor is located at the parameter data.
Data input for axis No. 2 The display screen advances to the screen for parameter No. 59. Since the axis No. 2 for the parameter No. 58 is unedited, return to the edit screen for the parameter No. 58 with the PAGE DOWN key Change the axis No. to 2 with the F4 (Dev+) key. Axis No. 2 Enter 100 with the ten-key numeric pad and press the return key. Press the WRT key to transfer the parameter data to the controller. When continuing to edit the axis-specific parameters, move the cursor to the parameter No.
To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. After flash ROM writing, the screen changes to the one for software reset. To make the changed parameter valid, reset software. Press the F1 (Yes) key. The message software reset. “Please wait…” flashes during When software reset is completed, the screen returns to the Mode Selection screen.
16. Monitoring Various statuses, global variables, port conditions, etc., are monitored. Select the F3 (Moni) key on the Mode Selection screen. 16-1. Monitor items Monitor items are displayed in the function key section. Every time the SF key is pressed, the items are shifted and displayed.
16-2. Input ports The ON/OFF conditions of input ports are displayed. Select the F1 (In) key on the Moni screen. Mode flow: 1: ON, 0: OFF Every time the PAGE UP or PAGE DOWN key is pressed, the port Nos. are shifted by 20 and displayed. 16-3. Output ports The ON/OFF conditions of output ports are displayed. In addition, the ON/OFF conditions of output ports can be changed. Select the F2 (Out) key on the Moni screen. Mode flow: The figure above is the screen on which the output ports No. 300 to No.
16-5. Global variables The descriptions of global variables and global strings are displayed. In addition, numeric values can be assigned to global variables while character strings can be assigned to global strings. Select the F4 (GVar) key on the Moni screen. Mode flow: Global variables are displayed with the following 3 types: Itg: Integer (No. 200 - 299, No. 1200 - 1299) Real: Real number (No. 300 - 399, No. 1300 - 1399) Str: String (No.
16-6. Axis status The current position, servo status, sensor status, etc., are displayed. Select the F1 (ASts) key on the Moni screen. Mode flow: Posi: Srvo: Snsr: Ecdr: Current position Servo status Sensor input status Encoder status ErrA: Axis-related error (1) Current position Mode flow: N: Servo ON condition F: Servo OFF condition (2) Servo status Mode flow: The axis No. can be changed with the PAGE UP and PAGE DOWN keys.
Over push limit error (System reservation) (System reservation) (3) Sensor input status Mode flow: Axis No. The axis No. can be changed with the PAGE UP and PAGE DOWN keys.
(4) Encoder status Mode flow: Axis No. The axis No. can be changed with the PAGE UP and PAGE DOWN keys.
(5) Axis-related errors Mode flow: Error No. Axis No. The axis No. can be changed with the PAGE UP and PAGE DOWN keys. Program No. Step No. Axis No. Position No.
16-7. System status The system status is displayed. Select the F2 (SSts) key on the Moni screen. Mode flow: Mode: Err: Sts1: Sts2: System mode System error System status 1 System status 2 Sts3: Sts4: System status 3 System status 4 (1) System mode Mode flow: System mode (2) System error Mode flow: Serious level system error No. Latest system error No.
(3) System status 1 (4) System status 2 Mode flow: Mode flow: Run mode SW status Application data flash ROM write status TP enable SW status Slave parameter write status Safety gate status Emergency stop SW status I/O interlock status Power abnormality status Wait for reset status Battery voltage down warning status Program execution status Battery voltage error status system reservation 120 Servo interlock status Velocity command/ position pulse monitor (main) status Driver monitor status
(5) System status 3 (6) System status 4 Mode flow: Mode flow: Power down status The system status 4 is all “Reserved” (system reservation).
16-8. Error detail information Error detail information is displayed. Select the F3 (ErrL) key on the Moni screen. Mode flow: List No. The list No. can be changed with the PAGE UP and PAGE DOWN keys. Error code Error message Program No. Step No. Axis No. Position No.
16-9. Version information A variety of version information is displayed. Select the F4 (Ver) key on the Moni screen.
17. Controller Operations such as software reset and error reset are performed for the controller. Select the F4 (Ctl) key on the Mode Selection screen. The controller’s operation items are displayed in the function key section. 17-1. Controller items Every time the SF key is pressed, operation items are shifted and displayed.
17-2. Flash ROM writing After the data in flash ROM has been erased, the data stored in the controller’s memory is written in flash ROM. Select the F1 (Flsh) key on the Ctl (controller item) screen. Mode flow: To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The screen returns to the Ctl screen. The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. Return to the Clt screen with the ESC key.
17-3. Software reset The controller’s software is reset. The data in memory that has not been written in flash ROM is abandoned. Select the F2 (SRst) key on the Ctl screen. Mode flow: When resetting the software, press the F1 (Yes) key. When not resetting the software, press the F2 (No) key. The screen returns to the Mode Selection screen. 17-4. Error reset The controller’s errors are reset. The message-level and action-reset-level errors are reset.
17-5. Memory clear Global variables are cleared to zero. Select the F4 (MClr) key on the Ctl screen. Mode flow: Press the F2 (Gvar) key. When clearing memory, press the F1 (Yes) key. When not clearing memory, press the F2 (No) key. The display returns to the previous screen. Return to the previous screen with the ESC key. 17-6. Reconnection The Teaching Pendant is reconnected to the controller. In a communicable state, the off-line mode can be moved to the on-line mode.
17-7. Baud rate change The communication baud rate between the controller and the Teaching Pendant is changed. Select the F2 (Baud) key on the Ctl screen. Mode flow: Enter the numeric value corresponding to the baud rate with the ten-key numeric pad and press the return key. 0: 9.6, 1: 19.2, 2: 38.4 (kbps) When changing the baud rate, press the F1 (OK) key. When canceling it, press the F2 (Canc) key. The display returns to the previous screen. The message “Please wait…” flashes during a baud rate change.
17-9. Driving power recovery request The driving power recovery request is given to the controller. Select the F3 (RPwr) key on the Ctl screen. Mode flow: When requesting the driving power recovery, press the F1 (Yes) key. The display returns to the previous screen. When not requesting the driving power recovery, press the F2 (No) key. The display returns to the previous screen. 17-10. Action restart request The action restart request is given to the controller.
17-11. Driving power recovery request (RPwr) and action restart request (RAct) (1) Driving power recovery request ① How to request driving power recovery The driving power recovery can be requested with any of the following methods: ▪ Set the I/O parameter No. 44 (input selection function 014 = driving power restart input) to 1, and input ON edge for the input port No. 14. ▪ Select Controller (C) from the PC software menu and execute Driving Power Recovery Request (P).
17-12. Absolute encoder reset Preparation for absolute reset The following jigs are required for an absolute reset: ▪ Absolute reset adjusting jigs Type Remarks JG-1 Arm length 500/600 JG-2 Arm length 250/300/350 JG-3 Arm length 700/800 Connect the robot, controller and Teaching Pendant to make an operable state from the Teaching Pendant. Be sure to check the functioning of the EMERGENCY STOP button before starting operation.
An absolute reset is performed on the following 3 types: arm 1, arm 2 and Z-axis + R-axis. (1) Absolute reset on arm 1 and arm 2 Select the F1 (RAbs) key on the Ctl screen. Mode flow: When performing an absolute reset, press the F1 (Yes) key. When not performing an absolute reset, press the F2 (No) key. The display returns to the previous screen. Axis No. input Enter the axis No. for an absolute reset with the ten-key numeric pad and press the return key.
③ Servo ON Press the F1 (OK) key. ④ Jog movement Jog the arm to the vicinity of the basic position (see the “Standard Posture Drawing” on the next page) and press the F1 (OK) key. ⑤ Servo OFF Press the F1 (OK) key. ⑥ Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig. After fixing the standard posture as shown on the next page, press the F1 (OK) key. Inputting emergency stop displays the screen at the left.
Check that the EMERGENCY STOP button has been pressed. Set an adjusting jig (pin) to the arm 1 or arm 2 and fix the standard posture. ▪ After checking that the EMERGENCY STOP button has been pressed, set the jig. ▪ Decide the basic position referring to the positioning mark seal and set the jig. ▪ Only the arm 1 is covered with a lid with setscrews. Remove them and set the jig. ▪ An absolute reset on the arm with the adjusting jig is recommended.
⑦ Encoder multi-rotation data reset (2) Press the F1 (OK) key. ⑧ Home preset value auto refresh Press the PAGE UP key and do not press the F1 (OK) key. ▪ Do not execute the item of “home preset value auto refresh.” (Be careful especially when performing an absolute reset without a jig.) ▪ If “home preset value auto refresh” is executed without using an adjusting jig, the home position becomes misaligned.
Press the ESC key. Restart the controller. Press the F1 (Yes) key. NOTE: When executing “home preset value auto refresh” using an adjusting jig, be sure to perform flash ROM writing before restarting the controller. The screen returns to the Mode Selection screen.
(2) Absolute reset on Z-axis + R-axis Select the F1 (RAbs) key on the Ctl screen. Mode flow: When performing an absolute reset, press the F1 (Yes) key. When not performing an absolute reset, press the F2 (No) key. The display returns to the previous screen. Axis No. input Enter the axis No. for an absolute reset with the ten-key numeric pad and press the return key. Enter 3. When continuing an absolute reset, press the F1 (OK) key. When canceling an absolute reset, press the F2 (Canc) key.
③ Servo ON Press the F1 (OK) key. ④ Temporary standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home position. ⑤ Jog movement Jog the R-axis to the vicinity of the basic position with jog keys (see the “Standard Posture Drawing” on the next page). Press the F1 (OK) key. ⑥ Servo OFF Press the F1 (OK) key.
⑦ Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the standard posture as shown below, press the F1 (OK) key. Inputting emergency stop displays the screen at the left. Pressing the ESC key returns the display to the previous screen. Place the adjusting jig plate and pin as shown below and fix the standard posture. ▪ After checking that the EMERGENCY STOP switch has been pressed, set the jig.
⑧ Encoder multi-rotation data reset (2) Press the F1 (OK) key. ⑨ Home preset value auto refresh Press the F1 (OK) key. ⑩ Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP button. Press the F1 (OK) key. ⑪ Servo ON Press the F1 (OK) key. ⑫ Standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home position.
⑬ Servo OFF Press the F1 (OK) key. ⑭ Encoder multi-rotation data reset (3) Press the F1 (OK) key. ⑮ Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. Write in flash ROM Press the F1 (Yes) key.
Restart the controller. Press the F1 (Yes) key. The screen returns to the Mode Selection screen.
143 BE0 - BFF E90 - EBF EC0 - EDF EE0 - EFF FF0 - FBF FC0 - FCF Main core part PC TP Main application part Main core part FE0 - FEF E00 - E8F Main application part TP DE0 - DFF TP FD0 - FDF DD0 - DDF PC (Update tool) PC DB0 - DCF PC TP: Teaching Pendant, PC: PC-compatible software System down level Cold start level D00 - D8F D90 - DAF CF0 - CFF TP Main core part CE0 - CEF PC Main application part CD0 - CDF Main core part C00 - CCF BC0 - BDF AD0 - AFF TP TP AA0 - ACF
144 Input data error Input data too small Input data too large SEL Cmnd Input Error Inputting Conditions are not allowed Input Condition Data Error Input Condition is out of range No Input Condition yet Undefined Symbol (Input Condition) Operand not inputted (Oprnd1) Operand not inputted (Oprnd2) Operand not inputted (Oprnd3) Inputting Oprnd is not allowed (Oprnd1) Inputting Oprnd is not allowed (Oprnd2) Inputting Oprnd is not allowed (Oprnd3) Operand1 is invalid Operand2 is invalid Operan
145 Undefined symbol (Oprnd2) Undefined symbol (Oprnd3) Symbol type error (Oprnd1) Symbol type error (Oprnd2) Symbol type error (Oprnd3) Symbol type error (Input Condition) Invalid Symbol String Multiple declaration of a Symbol Symbol value not inputted Servo OFF while in Action Not yet Homed MOVE Not yet Homed TEACH Function not Supported Encoder type error Axis number error No effective axis EEPROM write error (1) EEPROM write error (3) EEPROM read error (4) EEPROM read error (5) Pass
146 Can not edit while running program (TP) Too many Symbol Definitions Can not reset M-Dat when servo is ON.
147 Overrun error Framing error SCI break detection error Parity error Motorola S checksum error Motorola S record format error Motorola S load address error Motorola S write address over error Flash ROM timing limit excess error (write) Flash ROM timing limit excess error (erase) Flash ROM verify error Flash ROM ACK time-out IAI protocol header error IAI protocol checksum error IAI protocol terminal ID error IAI protocol command ID error AE1 AE2 AE3 AE4 AE5 AE6 AE7 AE8 AE9 AEA AE
Manual No.: ME0121-2B (December 2011) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
