X-SEL Teaching Pendant Operating Manual Ver. 9.
Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information to operate this product safely such as the operation procedure, structure and maintenance procedure. Before operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD or DVD in this product package includes the Instruction Manual for this product.
List of Support Models Model Name XSEL-J/K SEL-E/G (Note 1) DS-S-C1 (Note 1) XSEL-P/Q TT SSEL ASEL PSEL Support Started Version V0.01 V1.02 V1.02 V1.13 V1.14 V1.30 V1.40 V1.40 Note 1 When the year of manufacture is too old, the emergency stop switch is not effective. Be careful.
Table of Contents Safety Guide................................................................................................................ 1 1. 2. 3. 4. Forward............................................................................................................... 8 Before Use .......................................................................................................... 8 Safety Precautions .............................................................................................
12-4. 12-5. 12-6. Program: Copy or Move .......................................................................................83 Program: Clear .....................................................................................................84 Flash ROM Writing ...............................................................................................86 13. Symbol Edit ....................................................................................................... 87 13-1. 13-2. 13-3.
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No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ 8VH RXU FRPSDQ\¶V JHQXLQH FDEOHV for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the DUHD ZLWKLQ WKH URERW¶V PRYDEOH range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
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# Forward 1. Forward 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 at hand and read the relevant items as required.
% < F @ B (1) Use a genuine product specified by us for wiring between the actuator and X-SEL Controller. 3. Safety Precautions (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.
4. Warranty 4.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location 4. Warranty 4.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
4.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
' .@ @ @ .@ @ 5.
Emergency Stop Switch 5. Connection to Controller Enable Switch Teaching Pendant Type Selection Switch Mode Switch P Type Controller . @ ƒ Set the teaching pendant type selection switch to the right.
1. Connect actuators, I/O 24VDC power source, and system I/O to the controller first. Then connect the cable connector of the teaching pendant to the controller’s teaching connector when the main power supply of the controller is OFF. 2. After you flip the mode switch to MANU side, supply power to the controller. 5. Connection to Controller ./ / B F Displays the version of the teaching pendant and moves to the following page, the mode selection screen.
E . @ When the X-SEL controller J/K type executes “OPEN 1” (channel 1 shared for the teaching pendant) within the SEL program in the MANU (manual) mode, the right of use of the serial port channel 1 is forcefully moved to the SEL program and communication with the teaching pendant is disconnected. The program in the controller is running. (*Error No.
( @ 5 FB 0 @ B 6. Teaching Pendant Function and Specifications ( # 0 @ < @ B # ./ / B F 4 lines with 20 characters per line capacity display. Shows programs and motion status. $ ? F @ - @ Executes emergency stop. % / ? D @ Before operating keys for Servo OFF o Servo ON, keep pressing both sides (ON) and operating keys.
& 0# 0$ 0% 0& 0 @ > FB Correspond to each item in the LCD display (function key section). 6. Teaching Pendant Function and Specifications ' 0 > F < > F If there are more than 5 selectable functions (“o“ will be displayed at right side of the function key area), it will change the display items in the function key area.) ( :8 > F : > F Transmits edit data to the controller. (Data will be saved in the memory of the controller.
## > F 8 > F Confirms the input data and moves the cursor position forward . #$ ,1 9 H ,1 / :6 > F Increment or decrement edit and display item No. (Position No., Program No., Step No., etc.) #% 6" 00 > F Switches servo ON or OFF of axes. (It is valid within Teac (teach) mode area) #& 2 > F Executes homing. (It is valid in the Teac (teach) mode area with the servo ON ) 6.
) @ B @ / ? Power ON Communications established Function key Function key Mode selection Function key (Position) Select position No. and press return (Manual input) Function key Position data input (Velocity input) 7. Mode Transition Diagram * 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.
Select the Select the step No. program No. and press return and press return Function key (Program) Step data input (Modify) (Copy/Move) * After writing data with [WRT], move to the next step * Move to the symbol edit mode with “Sym” (Clear) 7. Mode Transition Diagram Select the symbol type with the function key (Symbol) Symbol/ Definition value input * After writing data with [WRT], move to the next edit No.
Function key (Monitor) (Input port) (Output port) (Global flag) Function key 7.
Function key (System status) (System mode) (System error) (System status 1) (System status 2) 7.
Function key (Controller) (Flash ROM writing) (Software reset) (Error reset) Function key (Memory clear) (Global variable) 7. Mode Transition Diagram (Re-connect) (Baud rate change) (Driver power recovery request) (Action pause release request) (Absolute reset) (Velocity effect select) * You need to input the password to change setting, when manual operation classification parameter=edit/start up selection (with password).
2@D @ C / 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.
Since the program, parameter, and symbol will be 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.
% . @ . @ B B< < B D 6 C B 00 ? @D D B B? D @ < B / ? F ; @B @ @ ? F ; @ ; .
* ? @ @ Here, the program and position data to draw a simple “pentagon” passing through the following 6 points (㽲 and 㽷 are same position) by the actuator of 2 axes (X, Y) are created. 9.
* # . @ @< @B @ / Input 6 points position data which can draw pentagon as the following position data list. Connect the teaching pendant to the controller and turn on MODE switch to MANU side. Supply the power to the controller. 9. Simple Operation Procedure Display the version of the teaching pendant and move to the mode selection screen.
@ @ This is the basic screen for all operations. Press the F1 key (Edit). * If you make a wrong selection or input, press the ESC key and return to the previous screen. Then, you can continue operation. You can return to the basic screen by pressing the ESC key several times from any screen. @ Press the F1 key (Posi). 9.
@B @ @B @ / Press the F1 key (Mdi). @B @ 6@ 3 @ Position No. 9. Simple Operation Procedure First axis data Third axis data Axis No. displayed Second axis data Fourth axis data The above is the display of a 2 axis controller. Nothing displays in the 3rd and 4th axes data location. 30 The cursor is placed at position No. If there is no data, x.xxx will be displayed. Press the return key and place the cursor at first axis position data.
Axis No. on the cursor location 㽲 / <@ < B @ Input 0 (number) and press the return key, 0.000 will be displayed and then the axis No. changes to 2 and the cursor position moves to the second axis position data. * Position data can be input as 7 digit real having 3 decimal places. This is the maximum amount and range is different by actuator type, so, please check the catalogs. 9. Simple Operation Procedure Input 50 at the second axis position data and press return key.
The cursor moves to the second axis position data. Input 100 and press return key. 9. Simple Operation Procedure Transmit the data with the WRT key and move to position No. 3. 㽴 / <@ @ Input 100 for the first axis position data and press the return key. Input 50 for the second axis position data and press return key. Transmit the data with the WRT key and move to position No. 4.
㽵 / <@ <@ @ Input 100 for the first axis position data and press the return key. Input 0 for the second position data and press the return key. 9. Simple Operation Procedure Transmit the data with the WRT key and move to position No. 5. 㽶 / <@ < < @ Input 0 for the first axis position data and press the return key. Input 0 for the second axis position data and press the return key.
Transmit the data with the WRT key and move to position No. 6. 㽷 / <@ B E @ 9. Simple Operation Procedure Input 0 for the first axis position data and press the return key. Input 50 for the second axis position data and press the return key. Transmit the data with the WRT key and move to position No.7. Finish editing, then write the data to Flash ROM. The cursor moves to the position No. by pressing ESC key.
Return to the position edit screen by pressing the ESC key. The edit mode screen will be appear by pressing the ESC key once more. 9. Simple Operation Procedure The Flash ROM writing screen will be appear by pressing the ESC key again. To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait....” blinks.
Go back to the edit screen by pressing the ESC key. 9. Simple Operation Procedure That’s all for inputting basic position data.
* $ @ ?? Here, make a program by changing the data of the position data created in section 9-1. Application Program List 9. Simple Operation Procedure This is the X-SEL program that was created in this chapter. For the details of each command, please refer to the operating manual that comes with the controller. Here, only input Cmnd (command) and Operand1 (operation 1) columns are used. .
Select the F1 key (Edit) at the mode selection screen. 9. Simple Operation Procedure Select the F2 key (Prog) at the Edit Mode screen. Select the F1 key (Mdfy) on the program edit and new creation screen. Program No. Step No. The number of step saved at the controller 38 Change to the program No. input screen. The cursor is located at the program No. Move the cursor to the step No. with return key. * If the program data is already input, write over (the data will be gone) or select the program No.
The Cursor moves to the appropriate step No. Press the return key. 3 @?? B Commands are displayed in the function key area. 2@D @ B @?? The command which starts from G 9. Simple Operation Procedure The command which starts from H 㽲 When the cursor is located at commands input locations, commands are displayed in alphabetical order by pressing SF key. 㽳 Alphabets are allocated on 10 keys. (ex. GHI are allocated to 9.
The cursor moves to operation 1. Input 11 and press the return key. : F@ @ Move the cursor where you want to redo an input by pressing the m key and return key. Write over or delete with BS (backspace) key. Or redo from step No. by using ESC key. Transmit data to the controller by pressing the WRT key. Step No. moves to 2. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. 9.
Here, input the velocity* as 100, and press the return key. * Check the maximum velocity listed in the catalogs. When velocity is input into position data, priority is given there. Transmit the data to the controller by pressing the WRT key. The cursor moves to step No. 3. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. 9. Simple Operation Procedure By using the 5 and SF(shift) keys, this will display the MOVL.
Input 1 on position No. and press the return key. Transmit the data to the controller by pressing the WRT key. The cursor moves to step No.4. 9. Simple Operation Procedure * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. Input MOVL 2 ~ MOVL 6 program data into steps No. 4~8 by the same procedure and transmit the data to the controller. Display EXIT in the function key area by using the 8 and SF keys.
Transmit the data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. Finish editing the program and write the data to Flash ROM. Press the ESC key. (The cursor moves to the step No.) 9. Simple Operation Procedure Press the ESC key. (The cursor moves to the program No.) Press the ESC key. Return to the program edit screen. Press the ESC key. Return to the edit screen.
Press the ESC key. 9. Simple Operation Procedure To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait....” blinks. 6 C B @<< @D @ @ @ 0 B 8 D Flash ROM writing is complete. Return to the edit screen with the ESC key.
* % . , @ @ ? Change the program you made in the previous section (9-2). Insert and delete the program step to allow the same action to be repeated. Change 9. Simple Operation Procedure Insert “TAG 1” into step No.3, delete the line which displays “MOVL 6,” and write over “GOTO 1” replacing it with “EXIT.” Select the F1 key (Edit) on the mode selection screen. Press the F2 key (Prog) on the program mode screen.
Select the F1 key (Mdfy) on the program edit and new creation screen. 9. Simple Operation Procedure Change to the program edit mode screen. Press the return key once and position the cursor at the step No. Insert a 1 line step between step No. 2 and 3. Input 3 by pressing “3” or display 3 by pressing the PAGE UP key twice. Select the F1 key (Ins). I, Insert of I will be displayed after step No. 3. Display “TAG” by using the 1 key or the SF (shift) key.
Select the F4 key (TAG) and press the return key. Input 1 into operation 1 and press the return key. 9. Simple Operation Procedure Transmit the data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. Display the step No. 4 screen by pressing the ESC key twice. Delete the “MOVL 6.” Input 9 for the step No.
Press the F2 key (Del). 9. Simple Operation Procedure Press the F2 key (Del) one more time. (If you wish to cancel deleting, press the ESC key.) Press the return key. Display “GOTO” by using the 9 key or SF (shift) key. Select the F3 key (GOTO) and press the return key.
Input the same value you input at “TAG” operation 1 on operation 1. Here, input 1 and press the return key. Transmit the data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. Press the ESC key several times and move to the Flash ROM writing screen. 9. Simple Operation Procedure To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
# @ ? E @ Execute the program made at the previous chapter. # # @ .@ < ? @ Press the F2 (Play) key from the mode selection screen and move to the play mode screen. F @ 10. Program Execution There are 3 kinds of items at the play mode screen: F1 (Run): Move to the program No. input screen to execute. F2 (TSts): Move to the task status screen which is already executing. F3 (AStop): Finish all programs which are executing.
Move to the operation mode selection screen. Select step by step execution or the continuance operation. @ @ @ Start the continuance operation by pressing the F1 (Strt) key. .@ @ @ Switch to the step operation by pressing the F2 (Sus) key. Select the finish operation by pressing the F3 (Stop) key. @ @ 10. Program Execution Display the current executing program step.
# $ @< - > @ Brake point can be set with the continuance operation. Press the F4 (Brk) key in the operation mode selection screen or the operation mode screen. Program No. Step No. B: Set brake point Blank: Release brake point Select the step No. to set brake point by pressing the PAGE UP · PAGE DOWN keys. Execute setting and releasing the brake point each time you press the F1 (Set) key. When you release all the set brake points, press F2 (Aclr) key.
$ @ 0 This is the local flag On/OFF display. It can be switched ON/OFF. Press the F2 (LFlg) key on the operation mode screen. Mode Transition: The local flag where the cursor is located can be switched ON/OFF each time by pressing the F1 (0/1) key. The cursor location can be moved with the return key and m key. The screen displays 20 Flag Nos. at a time by pressing the PAGE UP · PAGE DOWN keys. % @ ; Displays the contents of the local variables and the local strings.
㽴 @ Mode Transition: 10. Program Execution The cursor is located in the data area (column). Input the ASCII code by pressing one of 10 keys and press return key to substitute letters. (Convert hexadecimal A~F to alphabet with the F1 (Alph/Num) key and then input substitution.) Move the cursor location with the return key and m key. The PAGE UP · PAGE DOWN keys scrolls the cursor every 20 columns each time they are pressed .
## @B @ ## # / 3 The input value of the position data can be entered with the 10 numeric keys. For inputting input data for a coordinate by using the 10 numeric keys, please refer to “9. Simple Operation Procedures.” How to input Vel (Velocity), Acc (Acceleration), and Dcl (Deceleration) on each position No. Mdi (Manual Direct Input) Transit to the Manual Direct Input screen: Position No.
## $ Teaching is one way to input position data moving the actuator to an arbitrary position and getting that actuator’s current position as data. Methods for moving the actuators to a designated position are the jog, inching, and manual operation with a servo OFF status. The fundamental flow of teaching is as follows: 㽲 Move the actuator. (Jog operation · inching operation · manual movement with a servo OFF status) Select position No. and axis No. for data input.
# There is the position No. selection screen and each-axis data input screen for the teaching screen. Execute teaching of all axes simultaneously (take in current position · clear) on the position No. selection screen. Execute teaching of each axis at each-axis data input screen.) 㽲 @B @ 6@ @ Description of the function key F1(Disp): F2(Scan): F3(Clr): F4(Axis): 11.
㽳 E B / 3 Description of the function key F1(Disp): Switch the input data screen to the current position display. F2(Scan): Take the current position of the axis at which the cursor is located into the input screen. F3(Canc): Clear the input data. F4(Axis): Switch the 1st to 4th axes display screen to the 5th and 6th axes display screen. (Effective for 5 axes or more) F1(Vel): F2(JVel): F3(In): F4(Out): Move to the continuance transition mode.
For incremental specification, it is required to execute homing after supplying power before you start teaching. For Spurious Absolute Type, it is necessary to conduct a home-return operation before the teaching after the power is turned ON. Turn the servo On by pressing the ON/OFF key in the teaching screen condition. To confirm servo ON/OFF status, press the F1 (Disp) key. All axes start homing by pressing the HOME key. After homing is complete, execute teaching. 11.
$ @C ? @< @ 㽲 4@ @ Turn the servo ON status by pressing the ON/OFF key in the teaching screen condition. To confirm the servo ON/OFF status, press the F1 (Disp) key to display the current position. N: Servo ON F: Servo OFF . @B @ / B F Press the 1o, 2o, 3o, 4o, m1, m2, m3, and m4 keys to move the actuator to a designated position. (1~4 indicate axis No.
㽳 3 @ Inching distance 0.1mm Set the inching distance. (the moving distance each time pressing jog key.) Input the value on Dis (inching distance) at the jog velocity change screen and press the return key. Value input range is 0.001~1.000 (unit: mm). Return to the teaching screen with the ESC key and execute the inching operation. Clicking jog key once moves one inching distance.
& B? @ .@ @ Transmit the taken-in data to the controller. Press the WRT key in the teaching screen condition. Save the taken-in data to the controller memory. Position No. will be increased 1 by pressing the WRT key. You can only transmit 1 screen of data to the controller. You can’t transmit plural position No. data at one time. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. ' 3" @ @ H @ @ .
㽳 @C Move the actuator to the location of the position data transmitted to the controller. Position No. to move Select position No. to move in the teaching screen condition. Press the ON/OFF key to turn the servo ON. To confirm the servo ON/OFF status, press the F1 (Disp) key. It starts moving by pressing the MOVE key. To the Stop, press STOP key. When you confirm or change the moving velocity, press F2 (JVel) key to move to the velocity changing screen. 11.
㽴 .@ @ B ?@C ? Move the actuator continuously to the location of the position data transmitted to the controller. Position No. you’d like to move first Select the position No. to move first in the teaching screen condition and press return key. Press the ON/OFF key to turn the servo ON. To confirm the servo ON/OFF status, press the F1 (Disp) key. 11. Position Edit Press the F1 (Cont) key. When you change the moving velocity, press the F2 (Jvel) key to move to the velocity change screen.
( 9B B < @ @ @ @ The output ports set for the parameter can be easily turned ON/OFF. Select UsrO among the function keys in a teaching screen condition. 11. Position Edit (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 specified ports.
㽲 @< B B < @ @ ? B For the operation method for parameter setting, refer to “14. Parameter Edit.” The first port No. and the number of ports are set with the following parameters: ƒ Number of ports I/O parameter No. 74 “Qnt Prt Usr Out” (Number of output ports used by TP user [hand, etc.]) ƒ 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.
## % E ? @< 3 Entering the data into position No.10 using the jog and into position No.11 by manual operation with Servo OFF status. Select the F1 (Edit) key on the mode selection screen. Select the F1 (Posi) key. Select the F2 (Teac) key. 11. Position Edit Input 10 to Position No. by using the PAGE UP · PAGE DOWN keys or the 10 keys and then the return key. Turn the servo ON by pressing the ON/OFF key.
Move the actuator to the designated position by pressing the jog keys, m1, 1o, m2, and 2o. Take in the current position data of the axis No. where the cursor is located by pressing the F2 (Scan ) key. Switch the display to the data input screen with the F1 (Disp) key. Confirm that the data has been taken in. 11. Position Edit Press the return key to move the cursor to the next axis. Then press the F2 (Scan) key. Transmit position data to the controller by pressing the WRT key. The Position No.
F: Servo OFF N: Servo ON Turn the servo OFF by pressing the ON/OFF key. Press the F1 (Disp) key to confirm the servo OFF status. Move each axes to the designate position via manual mode. Note: Be sure to confirm the status is servo OFF and then execute operation. You have to release the brake for the Z axis to be moved by manual mode. When the brake is released for that reason, there is a possibility that the Z axis may fall by weight, such as a hand attached at the tip.
Finish the position data input by teaching. Press the ESC key. Press the ESC key. 11. Position Edit Press the ESC key. Press the ESC key. To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
During Flash ROM writing, “Please Wait....” blinks. 6 C B @<< @D @ @ @ 0 B 8 D Return to the edit screen with the ESC key. 11.
## & @B @ / + .@ F @ @C The following operating instructions are to copy or move the position data to another position No. Select F1 (Edit) key on the mode selection screen. Select the F1 (Posi) key. 11. Position Edit Select the F3 (Copy) key. Positions from which data is copied or moved First No. Last No. Input the first No. and the last No. of the positions from which data is copied or moved by using the 10 keys and press the return key. Input the first No.
## ' @B @ / + . The following operating instructions are to clear the position data. Select the F1 (Edit) key on the mode selection screen. Select the F1 (Posi) key. Select the F4 (Clr) key. 11. Position Edit Position data to clear First No. Last No. Input the first No. and the last No. of the position data to clear by using the 10 keys and press the return key. To clear the selected position data, press the F3 (Clr) key. To clear the data for all positions (No. 1 through No.
#$ @ ? #$ # 2@D @ 3 @ ? How to input Expansion Condition (E), Input Condition (N·Cnd), and Output (Pst) The sequence of program inputs for the teaching pendant is different from the program edit screen of the PC software. The sequence is as 㽲 Command (Cmnd), 㽳 Operation 1 (Operand 1), 㽴 Operation 2 (Operand 2), 㽵 Output (Pst), 㽶 Expansion Condition (E) and 㽷 Input Condition (N·Cnd). PC Software Program Edit Screen ./ / B F 12.
Select the F1 (Edit) key on the mode selection screen. Select the F2 (Prog) key on the edit mode screen. Select the F1 key (Mdfy) on the program edit and new creation screen. 12. Program Edit Input the program No. by using the 10 keys and press the return key. The cursor moves to step No. Press the return key.
3 B @ @< .? Press the return key. 3 B @ @< # Press the return key. 3 B @ @< $ 12. Program Edit Press the return key. 3 B @ @< B Press the return key. 3 B @ @< Press the return key.
3 B @ @< 6H. Input “601” by using the 10 keys and press the return key. Transmit the data of step No.1 to the controller by pressing the WRT key. Step No. moves to 2. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. 3 B @ @< .? Display CPGE in the function key area by using the 7 key and SF key. For searching commands, please refer to section “9-2. Programming.” 12.
3 B @ @< B @ $ 3 C ; Select the F3 (*) key first. Then input 201 by using the 10 keys and press the return key. (When you input a string at Operand 2, use the same format as Operand1.) 3 B @ @< B Input 900 by using the 10 keys and press the return key. (When designating an indirect variable at Operand 1, select the 3 (*) key first.) 3 B @ @< 12. Program Edit Select the F2 (A) key and press the return key.
#$ $ F?;@ 3 @ ? Symbol can be input when the cursor is located at Operand 1 · 2 (operation 1· 2), Pst (output) and Cnd (input condition) in the “Sym” state displayed in the function key area. Example: Input symbol of the program step below. Symbolize position No. 10 as “TAIKIITI.” Select the F2 (Sym) key in the function key area within the state of the cursor that has been located in the Operand 1 section. Move to the symbol edit screen. 12.
The 10 keys become alphabet inputs. Input “TAIKIITI.” For the input procedure, please refer to the section “13. Symbol Edit.” Transmit the symbol data to the controller by pressing the WRT key. Return to the edit screen. The letter, S indicates symbol is used. The teaching pendant can’t display symbols as inputs. In this case, display “S10” instead of “TAIKIITI.” In the state where the cursor is located in the symbolized section, if F2 (Sym) key is chosen, it will move to the symbol edit screen.
#$ % .@?? 3 Turns a step from a program into a comment (invalid step) and you can input numbers, alphabets and signs (* · _). Mode Transition: Program No. return Move the cursor to the step No. for comment input. Press the F3 (Cmnt) key. “C” will be displayed after the step No. Press the return key. Each time you press the F1 key, the display of the F1 key area switches from “Alph” to ‘Num’. 12. Program Edit , ; Display “Alph” in the F1 key area.
3 ? C Display “Num” in the F1 key area. Input the numerical value by using the 10 keys. The diagram on the left is an example for inputting “1.” After finishing the comment input, press the return key again. Transmit the input data to the controller by pressing the WRT key. 12. Program Edit * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. The screen moves to the next step No.
#$ & @ ?+ .@ F @ @C 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. 12. Program Edit Program No. from which a program is copied or moved Input the program No. from which a program is copied or moved by using the 10 keys and press the return key. Input the program No.
#$ ' @ ?+ . The following operating instructions are to clear a program. Select the F1 (Edit) key on the mode selection screen. Select the F2 (Prog) key. 12. Program Edit Select the F3 (Clr) key. Program No. to clear Input “0.” Input the program No. to clear by using the 10 keys and press the return key. 㽲 To clear a single program, press the F2 (Clr) key. The program No. 3 will be cleared in the example diagram on the left. A series of programs First No. Last No.
Return to the previous screen with the ESC key. Furthermore, press the ESC key several times and return to the Flash ROM screen. 12.
#$ ( 0 B 8 : The edit data will be cleared by restoring the power and executing software reset, only if the program edit data was transmitted to the controller. To save the data after restoring the power and executing software reset, write the data to Flash ROM. From the final editing screen, return to the Flash ROM writing screen with the ESC key. To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait....” blinks. 12.
#% F?;@ Symbol (Names) can be applied to variables, input ports, flags, points, etc., in X-SEL controller. Select the F1 (Edit) key. Select the F3 (Sym) key. #% # F?;@ 3 ?B Symbolized items will be displayed in the function key area. Each time by pressing SF key, items are shifted and displayed. F?;@ 3 ?B Constant number Variable Program No. Position No. In: Out: Flag: Axis: Input port No. Output port No. Flag No. Axis No. 13.
#% $ 3 E ? + F?;@ G @ 3 ; Symbolize Variable No. 5 of program No. 3 to “Cnt5.” Press the F2 (Var) key. Mode Transition: Select an integer or real number. Press the F1 (Itg) key. (Int: Integer, Real: Real number) The cursor is located at program No. Input the local area program No. (To symbolize global area, leave 0.) Input 3 and press the return key. Variable No. Local area program No. 13. Symbol Edit The cursor is located at variable No. Input 5 and press the return key.
Press 5 several times to display “n.” Press the return key. Press the 1 (10 keys) several times to display “t.” Then press the return key. The F1 key area display changes to Num by pressing the F1 (Alph) key. It becomes a numerical input. 13. Symbol Edit Input 5 by using the 10 keys. Numerical input Press the return key to determine the symbol name.
After determining symbol name, the cursor moves to the top letter. If it’s before determination, you can fix the letters one by one with the BS key. After determination, the name is corrected by overwriting all the characters. Transmit the symbol data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. To finish edit, return to the edit screen with the ESC key. 13.
Return to the edit screen with the ESC key. 13.
#% % F?;@ @< 3 ?B # .@ B 6 ?; Select the F1 (Cnst) key on the constant number symbol edit screen. Mode Transition: @ @< 3 F H 8 6 ?; F .@ B 6 ?; Select an integer or real number. F1 (ltg): Integer F2 (Real): Real Number 㽲 3 F .@ B 6 ?; 㽳 8 6 ?; F .@ B 6 ?; Mode Transition: Mode Transition: 3 F .@ B 6 ?; F?;@ 8 F .
% @ ? Select F3 (Prog) key on the symbol edit item screen. Mode Transition: @ ? 6@ F?;@ Input alphabet and number. Input program No. by the PAGE UP · PAGE DOWN keys or 10 keys. & @B @ Select F4 (Posi) key on the symbol edit item screen. Mode Transition: @B @ 6@ F?;@ Input alphabet and number. 13. Symbol Edit Input position No. by the PAGE UP · PAGE DOWN keys or 10 keys. ' 3 @ Select F1 (In) key on the symbol edit item screen.
( @ Select F2 (Out) key on the symbol edit item screen. Mode Transition: @ 6@ F?;@ Input alphabet and number. Input output port No. by the PAGE UP · PAGE DOWN keys or 10 keys. ) 0 Select F3 (Flag) key on the symbol edit item screen. Mode Transition: 0 6@ F?;@ Input program No. at local area. Input 0 at global area. 13. Symbol Edit Input alphabet and number. Input flag No. by the PAGE UP · PAGE DOWN keys or 10 keys.
* Select F1 (Tag) key on the symbol edit item screen. Mode Transition: 6@ F?;@ Input program No. since tag No. is in the local area. Input alphabet and number. Input tag No. by the PAGE UP · PAGE DOWN keys or 10 keys. # ; @ Select F2 (SubR) key on the symbol edit item screen. Mode flow: ; @ 6@ F?;@ Input program No. since subroutine No. is in the local area. Input alphabet and number. 13. Symbol Edit Input subroutine No.
#% & 0 B 8 : The edit data will be the by restoring power and executing software reset, only if the symbol edit data was transmitted to the controller. To save the data after restoring the power and executing software reset, write the data to Flash ROM. From the final editing screen, return to the Flash ROM writing screen with the ESC key. To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait....” blinks.
#& ? You can change the parameters corresponding to your system. When you change the parameters by yourself, please note the parameter contents. Parameters will be valid by restoring the power or executing software reset after Flash ROM writing. Select the F1 (Edit) key on the mode selection screen. Select the F4 (Para) key on the edit screen. #& # ? 3 ?B Parameter items will be displayed in the function key area.
#& $ 3 E ? + ,E B ? Set the soft limit + for the first and second axis of each-axis parameter No.7, 300mm and 200mm. Select the F3 (Axis) key on the screen of previous page, A. Mode Transition: The cursor is located at the parameter No. Input 7 by using the10 keys and press the return key. Connecting Axis number Editing Axis No. It becomes the soft limit + of each-axis parameter No.7 edit screen. 3 @< E B 6@ # Use F3 (Dev-) key and F4 (Dev+) key to change axis No.
3 @< E B 6@ $ The display screen moves to parameter No. 8. Axis No. 2 of parameter No. 7 is not edited yet, so, return to the parameter No. 7 edit screen with the PAGE DOWN key. Change the axis No. to 2 by using the F4 (Dev+) key. Axis No. 2 Input 200000 by using the 10 keys and press the return key. 14. Parameter Edit Transmit the parameter data to the controller by pressing the WRT key. To continue editing each-axis parameter, move the cursor to the parameter No.
To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait....” blinks. 6 C B @<< @D @ @ @ 0 B 8 D After writing the data to Flash ROM, the screen changes to the software reset screen. To have a valid changed parameter, execute a software reset. Press the F1 (Yes) key. 14. Parameter Edit During software reset, “Please wait...” blinks.
#' @ @ Monitor each status, global variable, port status, etc. Select the F3 (Moni) key from The mode selection screen. #' # @ @ 3 ?B Monitor items will be displayed in the function key area. Each time by pressing the SF key, items will be shifted and displayed. @ @ 3 ?B In: Out: GFlg: GVar: Input port Output port Global flag Global variable Asts: SSts: ErrL: Ver: Axis status System status Error detail information Version information 15.
#' $ 3 @ Display the ON/OFF status of input port. Select the F1 (In) key on the monitor items screen. Mode Transition: 1: ON, 0: OFF Each time the PAGE UP · PAGE DOWN keys are pressed, the 20 port numbers are scrolled. #' % @ Displays the ON/OFF status of the output port. Also, it can switch the ON/OFF status of the output port. Select F2 (Out) key on the monitor items screen. Mode Transition: The diagram above is the screen showing output port Nos. 300~302 ON.
#' ' 1 @; ; Displays the contents of global variable and global string. Also, a numeric value can be substituted for a global variable and letter string can be substituted for a global string. Select the F4 (GVar) key on the monitor items screen. Mode Transition: 3 kinds of global variables are displayed: Itg: Integer Type (No. 200~299, No.1200~1299) Real: Real Number Type (No. 300~399, No. 1300~1399) Str: String (No.
#' ( ,E B B Displays the current position of each axis, servo status, sensor status, etc. Select the F1 (ASts) key from the monitor items screen. Mode Transition: # . @B @ Mode Transition: Posi: Srvo: Snsr: Ecdr: Current Position Servo Status Sensor Input Status Encoder Status ErrA: Axis Related Error N: Servo ON F: Servo OFF 15. Monitor $ C@ B B Mode Transition: Axis No. Axis No. can be switched with the PAGE UP · PAGE DOWN keys.
Over Push Limit Error (System Reservation) (System Reservation) % B@ 3 B Mode Transition: Axis No. Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Creep Sensor Overrun Sensor 15.
& @ B Mode Transition: Axis No. Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Over Speed Full Absolute Status Count Error Counter Over Flow System Reservation 15.
' ,E B 8 @ Mode Transition: Error Code Axis No. Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Program No. Step No. Axis No. Position No. 15.
#' ) FB ? B Display system status. Select the F2 (SSts) key on the monitor items screen. Mode Transition: Mode: Err: Sts1: Sts2: System Mode System Error System Status 1 System Status 2 Sts3: Sts4: System Status 3 System Status 4 # FB ? @ Mode Transition: 15. Monitor System Mode $ FB ? @ Mode Transition: Serious Level System Error No. Latest System Error No.
% FB ? B # & FB ? B $ Mode Transition: Mode Transition: Operation Mode SW Status Application Data Flash ROM Write Status TP Enable SW Status Slave Parameter Write Status Safety Gate Status Servo Interlock Status Emergency Stop SW Status I/O Interlock Status Power Abnormality Status Wait for Reset Status Battery Voltage Down Warning Status Program Execution Status Driver Monitor Status 109 15.
' FB ? B % ( FB ? B & Mode Transition: Mode Transition: Power Down Status System status 4 is all reserved. (System Reservation) System Drive Status System Ready Status Function select flag request status (System Reservation) 15.
#' @ / 3 <@ ? @ Displays the error detail information. Select the F3 (ErrL) key on the monitor items screen. Mode Transition: List No. Error Code Error Message Program No. Step No. Axis No. Position No. 15.
#' * B @ 3 <@ ? @ Displays version information. Select the F4 (Ver) key on the monitor items screen. Mode Transition: Main: Main Drv: Driver TP: Teaching Pendant # Mode Transition: Controller Main Application Version Controller Main Core Version $ / C Mode Transition: 15.
& @ 3 .@ @ "7 F @ F Mode Transition: Channel 1 Version Channel 2 Version * “Nonuse” is displayed for the channel with the I/O parameters No. 201 and No. 213 set to “Nonuse.” ' 0 1, Mode Transition: FPGA Version (HEX) Board ID (HEX) ( .@ @ .@ B ; ? 3 <@ ? @ Mode Transition: Currently Displayed Table ID/Largest Table ID Data Version Format Version 15. Monitor * Change the table ID to display with the PAGE UP · PAGE DOWN keys.
#( .@ @ How to execute operation related to the controller such as a software reset and an error reset. Select the F4 (Ctl) key on the mode selection screen. Controller operation items are displayed in the function key area. #( # .@ @ 3 ?B Each time by pressing the SF key, operation items will be shifted and displayed. Flsh: SRst: ERst: MClr: Flash ROM Writing Software Reset Error Reset Memory Clear 16.
#( $ 0 B 8 : After clearing the data from Flash ROM, write data which is saved in controller memory to Flash ROM. Select the F1(Flsh) key on the controller item screen. Mode Transition: To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The screen returns to the controller item screen. During Flash ROM writing, “Please Wait....” blinks.
#( % @< D 8 B Executes software reset of the controller. The data which is not written to Flash ROM will be cleared. Select the F2 (SRst) key on the controller item screen. Mode Transition: To execute a software reset, press the F1 (Yes) key. If not, press the F2 (No) key. The screen returns to the mode selection screen. #( & @ 8 B Executes error reset of the controller. Reset the message-level and action-release-level errors.
#( ' ?@ F . Zero clears the global variable. Select the F4(MClr) key on the controller item screen. Mode Transition: Press the F1 (Gvar) key. To clear memory, press the F1 (Yes) key. If not, press the F2 (No) key. The screen returns to the previous screen. Returns to the previous screen with the ESC key. #( ( 8 .@ @ Re-connect to the controller. In a communicable state, the off-line mode can be moved to the on-line mode. Select the F1(Cnct) key on the controller item screen.
#( ) - 8 . Changes the communication baud rate between the controller and the teaching pendant. Select the F2 (Baud) key on the controller item screen. Mode Transition: Input values corresponding to the baud rate by using the 10 keys and press the return key. 0: 9.6 1: 19.2 2: 38.4 [bps] To change the baud rate, press the F1 (OK) key. To cancel, press F2 (Canc) key. It returns to the previous screen. During baud rate change, “Please wait.... “ blinks. Return to the baud rate change screen.
#( * / C @D 8 @C F 8 A B Requests to recover driver power to the controller. Select the F3 (RPwrl) key on the controller item screen. Mode Transition: To execute driver power recovery request, press the F1 (Yes) key. Return to the previous screen. If not, press the F2 (No) key. Return to the previous screen. #( # , @ B 8 B 8 A B Request to release action pause to the controller. Select the F4 (RAct) key on the controller item screen.
#( ## / C @D 8 @C F 8 A B 8 D , @ 8 A B 8 B 8 B # / C @D 8 @C F 8 A B 㽲 How to execute Driver Power Recovery Request Execute Driver Power Recovery Request by any of the following: ƒ Set 1 in I/O parameter No.44 (Input Select Function 014 = Driver Power Cut-off Release Input) and ON edge input on Input port No.14. ƒ From the software menu, execute Controller o Driver Power Recovery Request.
#( #$ ,;B@ 8 B Executes absolute data reset. Select the F1 (RAbs) key on the controller item screen. Mode Transition: To execute absolute reset, press the F1 (Yes) key. If not, press the F2 (No) key. Return to the previous screen. ,E B 6@ 3 Input the axis No. for executing absolute reset by using the 10 keys and press the return key. To continue absolute reset, press the F1 (OK) key. To cancel, press the F2 (Canc) key. To cancel on screens 㽲~㽷 (see below), press the F2 (Canc) key.
㽴 C@ 6 F1 (OK) key. 㽵 2@? F1 (OK) key. 㽶 C@ 00 You can execute absolute reset with the teaching pendant application version 1.02 or later and driver CPU ver 0.23 or later with servo ON status. Do not press the F1 (OK) key but press the PAGE UP key. Then move to “㽷 Encoder multi-rotation data reset 2.” 㽷 @ ? @ @ B $ 16. Controller Press the F1 (OK) key.
Return to the axis No. input screen. To execute absolute reset on other axes, input axis No. here and press the F1 (OK) key. Repeat 㽲~㽷. To finish absolute reset, press the ESC key. Move to the software reset screen. Press F1 (Yes) key to execute software reset. After the software reset, return to the mode selection screen. That’s all for the absolute reset operation. 16.
#( #% @ B <@ 8 B ,;B@ - F @ /@D : @ When the absolute-encoder-battery voltage-down warning error (error code A03) occurs or a battery with no error occurring is replaced, the encoder error and software are reset. Homing in the absolute reset procedures does not have to be attempted again. Keep the controller’s main power ON until the following procedures have been completed: 㽲 Turn the servo OFF for all the axes for error resetting.
㽷 To continue the encoder error reset, press the F1 (OK) key. To cancel the encoder error reset, press the F2 (Canc) key. 㽸 Press the PAGE UP/PAGE DOWN key several times to display “7. Encoder Err Reset” screen. 㽹 To reset the encoder error, press the F1 (OK) key. (To cancel the encoder error reset, press the F2 (Canc) key.) 㽺 When also resetting the encoder error reset for another axis, press the F2 (Canc) key. Return to the screen of 㽷 above and press the return key.
Supplement ? + F @ < @ ,;B@ 8 B *Supplement The following are descriptions about the absolute reset methods for synchro specification axes. The products ordered as the synchro specification are shipped after setting parameters to the synchro specification. However, change the parameters when executing an absolute reset. # F @ ,E B Synchro axes are comprised of the master axis (main axis) and the slave axis (sub-axis).
Supplement $ @ @ , = B ? @< F @ ,E B B *Supplement Align the synchro axes sliders. (Physical parallel adjustment) (1) Adjust the relative locations between the sliders of the master and slave axes and connect them while the axes are not connected to the controller via cables (controller main power OFF). (2) If location adjustment cannot be made while the axes are not connected to the controller via cables (such as with the brake), follow the steps below.
Supplement *Supplement Input 0 with the 10 keys and press the return key. Press the ESC key several times to move to the Flash ROM writing screen. Write the data to Flash ROM. Press the F1 (Yes) key. Execute restart (software reset). Press the F1 (Yes) key. (3) Execute an absolute reset according to the following special procedure (forced operation by ignoring the screen steps): Mode Transition: 㽲 Execute the “encoder multi-rotation data reset 1“ for the slave axis. Input the axis No.
Supplement Exit from the absolute reset mode temporarily with the ESC key, without pressing the F1 (OK) key.
Supplement *Supplement Press the F1 (RAbs) key to return to the absolute reset mode. 㽳 Execute an absolute reset for the master axis according to the screen steps. Input the axis No. of the mater axis and press the return key. Press the F1 (OK) key. Press the F1 (OK) key. Press the F1 (OK) key. Press the F1 (OK) key. Execute homing. Press the F1 (OK) key.
Supplement Press the PAGE UP key to advance the screen, without pressing the F1 (OK) key. *Supplement Press the F1 (OK) key. 㽴 Execute the “encoder multi-rotation data reset 1” for the slave axis again. Input the axis No. of the slave axis again and press the return key. Press the F1 (OK) key. Press the F1 (OK) key. Exit from the absolute reset mode with the ESC key, without pressing the F1 (OK) key. Restart the controller. Press the F1 (Yes) key.
Supplement Return the slave-axis value for the “each-axis parameter No. 83 synchro slave axis coordinate initialization cancel” to the original value. *Supplement Mode Transition: Slave axis Press the WRT key to transfer the data. Advance to the next parameter screen. Move to the Flash ROM writing screen with the ESC key. Write the data to Flash ROM. Press the F1 (Yes) key. Restart the controller. Press the F1 (Yes) key.
Supplement (5) Set the preset home value to uniform the coordinate values of the master and slave axes. *Supplement 㽲 If the controller 7 segment display is “rdy” while the servo is OFF, read the displayed current positions of the master and slave axes. (If the error No. C74 real position soft limit over error occurs, reset the error. When “rdy” is displayed, the current positions can be read.) Mode Transition: * If the servo is turned ON at this stage, error No. D0A driver overload error, error No.
Supplement *Supplement Write the data to Flash ROM. Press the F1 (Yes) key. Restart the controller. Press the F1 (Yes) key. (7) Display the current positions on the teaching screen. After turning the servo ON, execute action check by jogging. (Master axis operation) Mode Transition: To switch the current position screen to the input data screen, press the F3 (Disp) key. To turn the servo ON/OFF, use the ON/OFF key. If the error No. D0A driver overload error, error No.
135 AD0 - AFF TP FD0 - FDF FE0 - FEF EE0 - EFF TP TP EC0 - EDF PC PC E90 - EBF MAIN Core FF0 - FBF E00 - E8F MAIN Application FC0 - FCF DE0 - DFF TP MAIN Core DD0 - DDF PC (Update tool) MAIN Application DB0 - DCF PC TP D00 - D8F CF0 - CFF PC D90 - DAF CE0 - CEF MAIN Core MAIN Core CD0 - CDF MAIN Application MAIN Application BE0 - BFF C00 - CCF TP BC0 - BDF AA0 - ACF PC PC A70 - A9F MAIN Core B00 - B9F A00 - A6F Flash ACK Time Out BA0 - BBF 9C0 - 9FF TP MAIN
136 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
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) Password
138 Can not edit while running program (TP) Too many Symbol Definitions Can not reset M-Dat when servo is ON.
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 AE0 AE1 AE2 AE3 AE4 AE5 AE6 AE7 AE8 AE9 AEA AE
Change History Revision Date 2012.
Manual No.: ME0118-9A (November 2012) 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.
