SEL CONTROLLER Teaching Pendant SEL-T, SEL-TD, SEL-TG Instruction Manual Seventh Edition
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.
Support Models Model Name XSEL-K XSEL-KX XSEL-P/Q TT XSEL-PX/QX SSEL ASEL PSEL XSEL-R/S XSEL-RX/SX XSEL-RXD/SXD Support Started Version V1.00 V1.00 V1.00 V1.00 V1.00 V1.00 V1.00 V1.00 V1.12 V1.12 V1.
Table of Contents Safety Guide.........................................................................................................Pre-1 1. Forward ................................................................................................................1 2. Warranty Period and Scope of Warranty ..............................................................2 3. Connection to Controller .......................................................................................3 3.1. 3.2. 3.3.
. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) ....... 98 8.2. 8.3. 9. 2SHUDWLRQ &RQ¿UPDWLRQ .............................................................................................98 Setting of Brake Point .............................................................................................100 Monitor under Operation .........................................................................................
13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) ..... 180 13.1. Symbol Edit Items......................................................................................................180 13.2. Input Example: Symbolize Local Integer Variable ....................................................181 13.3. Symbol Edit Screen of Each Items ...........................................................................185 13.4. Flash ROM Writing ..................................
16.13. Absolute Reset........................................................................................................220 16.13.1. Absolute Reset of the orthogonal axis: XSEL-K, P/Q, or 5th and 6th Axes of PX/QX Controller, R/S or 5th to 8th Axes of RX/SX Controller, or TT, SSEL, ASEL or PSEL Controller....................................................220 16.13.2.
Safety Guide ³6DIHW\ *XLGH´ KDV EHHQ ZULWWHQ WR XVH WKH PDFKLQH VDIHO\ DQG VR SUHYHQW SHUVRQDO LQMXU\ RU SURSHUW\ GDPDJH EHIRUHKDQG 0DNH VXUH WR UHDG LW EHIRUH WKH RSHUDWLRQ RI WKLV SURGXFW Safety Precautions for Our Products 7KH FRPPRQ VDIHW\ SUHFDXWLRQV IRU WKH XVH RI DQ\ RI RXU URERWV LQ HDFK RSHUDWLRQ 1R 2SHUDWLRQ 'HVFULSWLRQ 0RGHO 6HOHFWLRQ 'HVFULSWLRQ Ɣ 7KLV SURGXFW KDV QRW EHHQ SODQQHG DQG GHVLJQHG IRU WKH DSSOLFDWLRQ ZKHUH KLJK OHYHO RI VDIHW\ LV UHTXLUHG VR WKH JXDUDQWHH RI WKH
No. 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Pre-2 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 Pre-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.
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 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Pre-6 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.
Alert Indication 7KH VDIHW\ SUHFDXWLRQV DUH GLYLGHG LQWR ³'DQJHU´ ³:DUQLQJ´ ³&DXWLRQ´ DQG ³1RWLFH´ DFFRUGLQJ WR WKH ZDUQLQJ OHYHO DV IROORZV DQG GHVFULEHG LQ WKH ,QVWUXFWLRQ 0DQXDO IRU HDFK PRGHO /HYHO 'HJUHH RI 'DQJHU DQG 'DPDJH 6\PERO 7KLV LQGLFDWHV DQ LPPLQHQWO\ KD]DUGRXV VLWXDWLRQ ZKLFK LI WKH 'DQJHU SURGXFW LV QRW KDQGOHG FRUUHFWO\ ZLOO UHVXOW LQ GHDWK RU VHULRXV LQMXU\ 'DQJHU 7KLV LQGLFDWHV D SRWHQWLDOO\ KD]DUGRXV VLWXDWLRQ ZKLFK LI WKH :DUQLQJ SURGXFW LV QRW KDQGOHG FRUUHFWO\
1. Forward ƒ While the teaching pendant is left connected, “Effect” is valid for the safety velocity. Therefore, in the case of the orthogonal axis, the maximum velocity is 250 mm/sec or lower when the program is started from the teaching pendant. In the case of the SCARA axis, the maximum velocity is 250 mm/sec or lower for CP motion and 3% or less for PTP motion. To operate the controller according to the program velocity command, it is required to change the condition to “No Effect.
2. Warranty Period and Scope of Warranty 4. Warranty Period and Scope of Warranty 2. The Teaching Pendant you purchased has been delivered upon completion of our strict shipping test. We shall warrantee this product as follows. 1. Warranty Period The warranty term shall be either of the following terms, whichever is reached first. ƒ 18 months after our shipment ƒ 12 months after delivery to the place designated by you 2.
3. 3.1. Connection to Controller Connection to SEL-T, TD 3.
3.
3. Connection to Controller Emergency Stop Switch Enable Switch Teaching Pendant Type Selection Switch (P only) Mode Switch X-SEL-P (Q) Type Controller Caution ƒ Set the teaching pendant type selection switch of the X-SEL-P type to the left.
3.
3.
3. Connection to Controller Emergency Stop Switch Enable Switch Teaching Pendant Type Selection Switch (PX only) SCARA Mode Switch 2-axis 1-axis X-SEL-PX (QX) Type Controller Caution ƒ Set the teaching pendant type selection switch of the X-SEL-PX type to the left.
Emergency Stop Switch 3.
3.
3.
3.2. Connection between SEL-TG and the Controller Controller Controller Adaptor Connection Cable Adaptor for the Teaching Pendant 3. Connection to Controller Model Only when the XSEL-J controller for connecting to DC +24 V power source is connected, connect it to the DC +24V power source. Otherwise, do not connect it to the DC +24V. Controller Controller Adaptor Connection Cable Model Safety Circuit Teaching Pendant This shows an example of the ASE Controller.
When the SEL-TG teaching pendant is used as the teaching pendant with the dead-man switch, connect it to the controller as shown in the following diagram. Controller Controller Adaptor Connection Cable Adaptor for the Teaching Pendant Only when the XSEL-J controller for connecting to DC +24 V power source is connected, connect it to the DC +24V power source. Otherwise, do not connect it to the DC +24V. 3.
3.3. Teaching Pendant Connection Procedure 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. 3.
! Extra Caution *In a case prior to Ver 0.16 of controller main application. For the controller P/Q type as well as the K type with the controller main application ver. 0.
6. Teaching Pendant Function and Specifications 4. 7HDFKLQJ 3HQGDQW )XQFWLRQ DQG 6SHFL¿FDWLRQV 6.1 4.1 General Specifications Item Compliance with UL and CE Standards Working Ambient Temperature and Humidity Protection Code Working Ambient Atmosphere Weight Cable Length 16 Specification Compliant Temperature: 0 䌾 40C, Humidity: 10 䌾 90% (No condensation) IP54 (Excluding cable connectors) No corrosive gas Approx. 0.
4.2 6.2 Main Operation Keys and Functions 7HDFKLQJ 3HQGDQW )XQFWLRQ DQG 6SHFL¿FDWLRQV 1. LCD Displays the edit or teaching description of each set value up to 4 lines of 20 characters. 2. EMERGENCY STOP Push-button Switch Executes emergency stop. 3. LED x JOG When this LED is lit, jog operation is possible with 1-, 2-, 3-, 4-, ALL-, 1+, 2+, 3+, 4+ or ALL+. x MOVE When this LED is lit, position movement or continuous movement operation is possible with 1-, 2-, 3-, 4-, ALL-, 1+, 2+, 3+, 4+ or ALL+.
7HDFKLQJ 3HQGDQW )XQFWLRQ DQG 6SHFL¿FDWLRQV 4. F1 F2 F3 F4 (Function keys) Correspond to each item in the LCD display (function key section). The LED is lit when the relevant key is operable. 5. SF key (Shift key) 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.) When the key is operable, its LED is lit. 6. WRT key (Write key) Transmits edit data to the controller.
13. MOVE key Enables actuator movement or continuous operation. The LED of MOVE is lit. (It is valid in the Teac (teach) mode area.) When you press a jog key such as 1+ and 1- after enabling movement or continuous operation, movement action starts. However, it is required to switch servo ON when the servo is OFF. Jog operation is made possible after the action has been completed or stopped. The LED of JOG is lit up. 15. SERVO key Enables axis servo ON/OFF switching operation. The LED of SERVO is lit up.
Caution ƒ Such jog actions with the JOG button are also valid for any not-homed axes. However, coordinate values in this case have no meaning. Therefore, be extremely careful about interference with the stroke end. 7HDFKLQJ 3HQGDQW )XQFWLRQ DQG 6SHFL¿FDWLRQV ƒ If jog operation is performed to the axis in action under the operation-button-acceptable condition, the operation of the applicable axis is aborted when the JOG operation button is turned OFF. (The next operation starts, if any.) 18.
5. 7. How to Save Data Since the 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. 7.1. 5.
6LQFH WKH SURJUDP SDUDPHWHU DQG V\PERO ZLOO EH UHDG IURP ÀDVK PHPRU\ DW UHVWDUW WLPH WKH GDWD LQ PHPRU\ EHFRPHV WKH RULJLQDO GDWD EHIRUH HGLWLQJ XQOHVV WKH GDWD LV ZULWWHQ LQ ÀDVK PHPRU\ The controller always operates according to the data in memory (within the dotted box) excluding parameters. 5.
)RU WKH ; 6(/ 3 4 DQG 3; 4; FRQWUROOHUV ZLWK WKH JDWHZD\ IXQFWLRQ WKH SRVLWLRQ 1RV WR 20000 data memory and user hold memory (RC axis position in XSEL) have been added. 2WKHU SDUDPHWHU 1R 6\VWHP PHPRU\ EDFNXS EDWWHU\ HTXLSSHG Edit data with PC or Teaching Pendant Save data even after the power OFF Flashe write Transmit Flash memory Memory 5.
5.2. Set-up at Shipment without System Memory Backup Battery (Table Top Actuator (TT), SSEL, ASEL, PSEL) 2WKHU SDUDPHWHU 1R 6\VWHP PHPRU\ EDFNXS EDWWHU\ XQHTXLSSHG Edit data with PC or Teaching Pendant 5.
)RU WKH ; 6(/ 3 4 DQG 3; 4; FRQWUROOHUV ZLWK WKH JDWHZD\ IXQFWLRQ WKH SRVLWLRQ 1RV WR 20000 data memory and user hold memory (RC axis position in XSEL) have been added. 2WKHU SDUDPHWHU 1R 6\VWHP PHPRU\ EDFNXS EDWWHU\ XQHTXLSSHG Edit data with PC or Teaching Pendant Save data even after the power OFF Flashe write Transmit Flash memory Memory 5.
5.3. &! ! & !& & !& H ?R;GJF? I@ JIMCNCIHM CM ACP?H CNCHA IH NB? - IL N?;=BCHA J?H>;HN !;N; L?N;CH?> QBCF? NB? JIQ?L CM IH ;H> =F?;L?> ;@N?L L?M?N !;N; L?N;CH?> ;@N?L NB? JIQ?L CM NOLH?> I@@ *;CH -2 @F;MB G?GILS 5.
5.4. Caution &DXWLRQV LQ GDWD WUDQVIHU DQG ÀDVK ZULWLQJ 1HYHU VKXW 2)) WKH PDLQ SRZHU ZKLOH WKH GDWD LV WUDQVPLWWLQJ DQG ZULWLQJ LQWR ÀDVK Data may be lost and controller may be rendered inoperable. 5. How to Save Data Cautions concerning the increase in the number of positions The number of position data items has been raised to 20,000 in the X-SEL-P/Q and PX/QX controllers for the increased memory capacity (with gateway function). Take care with the following items.
6. Mode Transition Diagram 6.1 X-SEL K, P/Q, R/S, TT Controller Power ON Communications established Function key Function key Function key Select position No. and press return Function key 1-axis - 4-axis 0RGH 7UDQVLWLRQ 'LDJUDP Mode selection Edit Posi (Position) Mdi (Manual input) Vel (Velocity input) Position data 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 the Select the step No. program No. and press return and press return Function key Prog (Program) Mdfy (Modify) Copy (Copy/Move) Step data input * After writing data with [WRT], move to the next step 0RYH WR WKH V\PERO HGLW PRGH ZLWK ³6\P´ Clr (Clear) 0RGH 7UDQVLWLRQ 'LDJUDP Select the symbol type with the function key Sym (Symbol) Symbol/ Definition value input * After writing data with [WRT], move to the next edit No.
Function key Moni (Monitor) In (Input port) Out (Output port) GFlg (Global flag) 0RGH 7UDQVLWLRQ 'LDJUDP Function key Itg (Integer variable) GVar (Global variable) Real (Real variable) Str (String variable) Function key ASts (Axis status) 1-axis - 4-axis 5-axis, 6-axis Posi (Current position) Posi (Current position) Srvo (Servo status) Snsr (Sensor input status) Ecdr (Encoder status) ErrA (Axis-related error) 30
Function key [ESC] SSts (System status) Mode (System mode) Err (System error) Sts1 (System status 1) Sts2 (System status 2) 0RGH 7UDQVLWLRQ 'LDJUDP Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key [ESC] Ver (Version) Main (CTL main) Drv (Driver) Tp (Teaching pendant) SIO (for P/Q type only) (Mount SIO) FPGA (for P/Q type only) CTbl (Control constant) (for P/Q type only) Function key [ESC] Mnt I AXIS (Maintenance (for R/S type only) Information) Function key [ESC] Ct
Function key (Memory clear) (Global variable) (Re-connect) (User Data Hold Memory) *Applicable to SEL-T/TD Application Section V1.02 or later *Applicable to X-SEL-P/Q Main Application Section V0.68 or later *Applicable to X-SEL-P/Q Mount SIO Section V3.
6.2. 8.2. X-SEL KX Controller 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 Select position No. and press return (Teach) Function key Position data input 0RGH 7UDQVLWLRQ 'LDJUDP * When escaping the mode with [ESC], check whether to write to Flash ROM.
Select the program No. and press return Function key Prog (Program) Select the step No. and press return Mdfy (Modify) Step data input * After writing data with [WRT], move to the next step 0RYH WR WKH V\PERO HGLW PRGH ZLWK ³6\P´ Copy (Copy / movement) Clr (Clear) 0RGH 7UDQVLWLRQ 'LDJUDP Select the symbol type with the function key Symbol/ definition value input Sym (Symbol) * After writing data with [WRT], move to the next edit No.
Function key (Monitor) (Input port) (Output port) (Global flag) Function key 0RGH 7UDQVLWLRQ 'LDJUDP (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) 0RGH 7UDQVLWLRQ 'LDJUDP (System status 2) (System status 3) (System status 4) (Error list) Function key (Version) (CTL main) (Driver) (Teaching pendant) 36
Function key (Controller) (Flash ROM writing) (Software reset) (Error reset) Function key 0RGH 7UDQVLWLRQ 'LDJUDP (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.
6.3. X-SEL PX/QX, RX/SX, RXD/SXD Controller Power ON Communications established Function key Function key [ESC] [ESC] Mode selection Edit (Edit) Select position No. and press return Function key [ESC] 1-axis - 4-axis (SCARA axis) Mdi (Manual input) Posi (Position) [ESC] [ESC] Position data input (Orthogonal axis) [ESC] Position data input [ESC] Select position No.
Function key Select the progrum No. and press return [ESC] [ESC] Prog (Program) Select the step No. and press return [ESC] Mdfy (Modify) Step data input * After writing data with [WRT], move to the next step * Move to the symbol edit mode with “Sym” Copy (Copy / movement) Clr (Clear) Select the symbol type with the function key 0RGH 7UDQVLWLRQ 'LDJUDP [ESC] Symbol/ definition value input Sym (Symbol) * After writing data with [WRT], move to the next edit No.
Function key Moni (Monitor) In (Input port) Out (Output port) GFlg (Global flag) 0RGH 7UDQVLWLRQ 'LDJUDP Function key GVar (Global variable) Itg (Integer variable) Real (Real variable) Str (String variable) Function key 1-axis - 4-axis (SCARA axis) ASts (Axis status) Posi (Current position) Srvo (Servo status) Snsr (Sensor input status) Ecdr (Encoder status) ErrA (Axis-related error) Crd# (Coordinate system select No.
Function key [ESC] SSts (System status) Mode (System mode) Err (System error) Sts1 (System status 1) Sts2 (System status 2) 0RGH 7UDQVLWLRQ 'LDJUDP Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key [ESC] Ver (Version) Main (CTL main) Drv (Driver) Tp (Teaching pendant) SIO (Mount SIO) FPGA (FPGA) CTbl (Control constant table management information) Function key [ESC] Mnt I AXIS (Maintenance (for RX/SX, RXD/SXD type only) Information) Function key [ESC] Ctl (Controller)
Function key (Memory clear) (Global variable) (Re-connect) (User Data Hold Memory) *Applicable to SEL-T/TD Application Section V1.02 or later *Applicable to X-SEL-P/Q Main Application Section V0.34 or later *Applicable to X-SEL-P/Q Mount SIO Section V3.
6.4. SSEL, ASEL or PSEL Controller In the case of the SSEL, ASEL or PSEL controller, 2-type selection is possible between the SURJUDP PRGH DQG SRVLWLRQHU PRGH 6HW WKH VHOHFWLRQ WR WKH RWKHU SDUDPHWHU 1R ³2SHUDWLRQ mode type.” For details, refer to the operating manual of the SSEL, ASEL or PSEL controller. 6.4.1. Program mode Power ON Communications established Mode selection Function key Edit (Edit) Function key Posi (Position) Select position No.
Select the Select the step No. program No. and press return and press return Function key Prog (Program) Step data input Mdfy (Modify) Copy (Copy/Move) * After writing data with [WRT], move to the next step 0RYH WR WKH V\PERO HGLW PRGH ZLWK ³6\P´ Clr (Clear) 0RGH 7UDQVLWLRQ 'LDJUDP Select the symbol type with the function key Sym (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) 0RGH 7UDQVLWLRQ 'LDJUDP Function key (Global variable) (Integer variable) (Real variable) (String variable) Function key 1-axis, 2-axis (Axis status) (Current position) (Servo status) (Sensor input status) (Encoder status) (Axis-related error) 45
Function key SSts (System status) Mode (System mode) Err (System error) Sts1 (System status 1) 0RGH 7UDQVLWLRQ 'LDJUDP Sts2 (System status 2) Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key Ver (Version) Main (CTL main) Drv (Driver) Tp (Teaching pendant) FPGA CTbl (Control constant) 46
0RGH 7UDQVLWLRQ 'LDJUDP MtsK (Selection of two or more programs start prohibition/ permission) 47
6.4.2. Positioner Mode 1RWH ,Q WKH SRVLWLRQHU PRGH ³SURJUDP HGLW´ RU ³V\PERO HGLW´ LV XQDYDLODEOH ³7ZR RU PRUH SURJUDPV VWDUW SURKLELWLRQ´ 07VN RSHUDWLRQ FDQQRW EH SHUIRUPHG HLWKHU Power ON Communications established Function key 0RGH 7UDQVLWLRQ 'LDJUDP Mode selection Function key Edit (Edit) Function key Posi (Position) Select position No.
Select the parameter type with the function key Para (Parameter) Parameter input * After writing data with [WRT], move to the next parameter No.
Function key SSts (System status) Mode (System mode) Err (System error) Sts1 (System status 1) 0RGH 7UDQVLWLRQ 'LDJUDP Sts2 (System status 2) Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key Ver (Version) Main (CTL main) Drv (Driver) Tp (Teaching pendant) Posi (Positioner management information) FPGA CTbl (Control constant) 50 Dtl (Teaching pendant)
Function key Ctrl (Controller) Flsh (Flash ROM writing) SRst (Software reset) ERst (Error reset) Function key 0RGH 7UDQVLWLRQ 'LDJUDP MClr (Memory clear) GVar (Global variable) Cnct (Reconnection) Baud (Baud rate change) RPwr (Driving power recovery request) RAct (Action restart request) RAbs (Absolute reset) SVel Velocity effect 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.
7. 7.1. Simple Operation Procedure Orthogonal Axis: XSEL-K, P/Q, or 5th and 6th Axes of PX/QX Controller, R/S Controller, 5th to 8th Axes of RX/SX Controller, or TT, SSEL, ASEL or PSEL Controller 7. Simple Operation Procedure Here, the program and position data to draw a simple “pentagon” passing through the following 6 points ( 㽲 and ⑥ are same position) by the actuator of 2 axes (X, Y) are created.
9.1.1. Creation of Position Data 7.1.1. 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. If the MODE switch is AUTO side, the teaching pendant does not connect to the controller and display as the screen on the left. Press ESC key to make it re-connection display. Turn on MODE switch to MANU side and press F1 (Yes) key to re-connect. 53 7.
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. 7. Simple Operation Procedure Edit Mode Screen Press the F1 key (Posi).
Position (Position Data) Edit Screen Press the F1 key (Mdi). Position No. First 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. 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 Data input for the first point 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 4 digit integer having 3 decimal places. This is the maximum amount and the range is different by actuator type, so, please check the catalogs.
The cursor moves to the second axis position data. Input 100 and press return key. Transmit the data with the WRT key and move to position No. 3. 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. 57 7.
㽵 Data input for the fourth point Input 100 for the first axis position data and press the return key. 7. Simple Operation Procedure Input 0 for the second position data and press the return key. Transmit the data with the WRT key and move to position No. 5. 㽶 Data input for the fifth point 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 Data input for the sixth point Input 0 for the first 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. 59 7. Simple Operation Procedure Input 50 for the second axis position data and press the return key.
Return to the position edit screen by pressing the ESC key. 7. Simple Operation Procedure The edit mode screen will be appear by pressing the ESC key once more. 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, ³3OHDVH :DLW ´ EOLQNV * Never shut off the power to the controller during Flash ROM writing.
Return to the edit mode screen by pressing the ESC key. 7KDW¶V DOO IRU LQSXWWLng basic position data. 7.
9.1.2. 7.1.2. Programming (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 7.1.1. 9.1.1. Here, make a program by changing the position of the position data created in section 7. Simple Operation Procedure Application Program List 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. Select the F2 key (Prog) at the Edit Mode screen. Program No. Step No. The number of steps saved in the controller at the specific program. Change to the program No. input mode 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. which has no program data. The cursor location on program No. or step No.
The Cursor moves to the appropriate step No. Press the return key. Input commands. Commands are displayed in the function key area. How to search the command 7. Simple Operation Procedure The command which starts from G The command which starts from H The command which starts from I 㽲 When the cursor is located at commands input locations, commands are displayed in alphabetical order by pressing SF key. They are displayed in reverse order by pressing key. 㽳 Alphabets are allocated on 10 keys. (ex.
The cursor moves to operation 1. Input 11 and press the return key. When you redo an input Move the cursor where you want to redo an input by pressing the key and return key. Write over or delete with BS (backspace) key. Or redo from step No. by using ESC key. Transmit data key 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.
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. 7. 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. By using the 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. 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 , SF and keys. Select the F4 key (EXIT) and press the return key. 67 7.
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. 7. Simple Operation Procedure Finish editing the program and write the data to Flash ROM. Press the ESC key. (The cursor moves to the step No.) 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 mode screen.
Press the ESC key. To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. * Never shut off the power to the controller during Flash ROM writing. Flash ROM writing is complete. Return to the edit mode screen with the ESC key. 69 7.
7.1.3. Changing Application Program (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Change the program you made in the previous section (7.1.2). Insert and delete the program step to allow the same action to be repeated. Step No. 7.
Select the F1 key (Mdfy) on the program edit and new creation screen. Change to the program edit and new creation screen. Press the return key once and position the cursor at the step No. Select the F1 key (Ins). I, Insert of I will be displayed after step No. 3. 'LVSOD\ ³7$*´ E\ XVLQJ WKH key or key. in the 10 key, SF 71 7. Simple Operation Procedure Insert a 1 line step between step No. 2 and 3. Input 3 E\ SUHVVLQJ ³ ´ RU GLVSOD\ E\ SUHVVLQJ WKH 3$*( UP key twice.
Select the F1 key (TAG) and press the return key. 7. Simple Operation Procedure Input 1 into operation 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. Display the step No. 4 screen by pressing the ESC key twice. 'HOHWH WKH ³029/ ´ ,QSXW 9 for the step No.
Press the F2 key (Del). Press the F1 key (Del) one more time. (If you wish to cancel deleting, press the ESC key.) 7. Simple Operation Procedure Press the return key. 'LVSOD\ ³*272´ E\ XVLQJ WKH key or key.
Input the same value you LQSXW DW ³7$*´ RSHUDWLRQ RQ RSHUDWLRQ +HUH LQSXW DQG SUHVV WKH UHWXUQ NH\ 7UDQVPLW WKH GDWD WR WKH FRQWUROOHU E\ SUHVVLQJ WKH :57 NH\ 7.
7.2. SCARA Axis: XSEL-KX, 1st to 4th Axes of PX/QX, or 1st to 4th Axes of RX/SX Controller, or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD Controller Create a program and position data. 7.
7.2.1. Creation of position data Input the position data of 3 points as shown in the position data list below 7. Simple Operation Procedure 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.
Mode Selection screen This screen becomes the basic screen for all operations. Press the F1 (Edit) key. * 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. Edit mode screen 7. Simple Operation Procedure 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 㽲 Data input for 1st point Enter a numerical 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. 7. Simple Operation Procedure * 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 tKH DFWXDWRU¶V PRGHO FKHFN LW in the catalog etc.
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 㽳 Data input for 2nd point Enter 200 for the X-axis position data and press the return key. Enter 0 for the Z-axis position data and press the return key. Enter 90 for the R-axis position data and press the return key. 79 7.
Transfer the data with the WRT key and advance the position No. to 3. 㽴 Data input for 3rd point 7. Simple Operation Procedure 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 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. 81 7. Simple Operation Procedure Pressing the ESC key again moves to the Edit mode screen.
7KH PHVVDJH ³3OHDVH ZDLW«´ IODVKHV GXULQJ )ODVK 520 ZULWLQJ 1HYHU WXUQ RII WKH SRZHU WR WKH &RQWUROOHU DW WKLV WLPH 7.
9.2.2. Creation of program 7.2.2. The program to move the position data created in 7.2.1. 9.2.1. is created. Application Program List 83 7. Simple Operation Procedure 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. 7. Simple Operation Procedure 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. The number of steps saved in the controller at the specific program. 84 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 C Search for command ACCS Pressing the 7 key displays the commands with the initial letters of A, B, and C. (Some commands cannot be displayed only by pressing a key of the 10 key. In such cases, display the command by 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 key to the controller. The step No. advances to 2. 7.
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. Display VELS with of the 10 key twice. Select the F2 (VELS) key. Press the return key. The cursor moves to operation 1. 87 7. Simple Operation Procedure * 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 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. 7. Simple Operation Procedure * 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 key. of the 10 key, the SF key or Select the F4 (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 of the 10 key. 7. Simple Operation Procedure Select the F3 (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. 7. Simple Operation Procedure 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 key. the 10 key, the SF key or the of Select the F3 (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.) 7. Simple Operation Procedure Press the ESC key. Return to the Edit-Prog screen. Press the ESC key. Return to the Edit mode screen. Press the ESC key.
To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. 7KH PHVVDJH ³3OHDVH ZDLW«´ flashes during Flash ROM writing. 7. Simple Operation Procedure * Never turn off the power to the controller at this time. Flash ROM writing is completed. Return to the edit mode screen by pressing the ESC key.
7.2.3. Change of application program The program created in the preceding section (7.2.2) is changed. A program step is inserted or deleted to allow the same operation to be repeated. 6WHS 1R Change 6HOHFW WKH ) (GLW NH\ RQ WKH 0RGH 6HOHFWLRQ screen. 3UHVV WKH ) 3URJ NH\ RQ WKH (GLW PRGH VFUHHQ 93 7.
Select the F1 (Mdfy) key on the Edit-Prog and new creation screen. 7. Simple Operation Procedure The display changes to the Edit-Prog and new creation 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 10 key or press the PAGE UP key 4 times to display 5. Select the F1 (Ins) key. ³,´ RI ³,QVHUW´ LV GLVSlayed after step No. 5. 'LVSOD\ ³7$*´ ZLWK RI WKH NH\ 6) NH\ RU key.
Select the F4 (TAG) key and press the return key. Enter a numerical value of 1 for operation 1 and press the return key. * 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. 7KHQ GHOHWH ³0293 ´ IURP SUH PRGLILFDWLRQ VWHS No. 9. Enter 10 for the step No.
Press the F2 (Del) key. 7. Simple Operation Procedure Press the F1 (Del) key again. (When canceling deletion, press the ESC key.) Press the return key to move the cursor to the location of commands. 'LVSOD\ ³*272´ ZLWK RI WKH NH\ 6) NH\ RU key.
Enter the same numerical value as the one input for ³7$*´ RSHUDWLRQ IRU RSHUDWLRQ (QWHU KHUH DQG SUHVV WKH UHWXUQ NH\ 3UHVV WKH :57 NH\ WR WUDQVIHU WKH SURJUDP GDWD WR WKH FRQWUROOHU :KHQ WKH VFUHHQ LV FKDQJHG ZLWK WKH 3$*( 83 DQG 3$*( '2:1 NH\V RU (6& NH\ EHIRUH GDWD WUDQVIHU WKH LQSXW GDWD EHFRPHV LQYDOLG 7R ZULWH WKH GDWD LQ )ODVK 520 SUHVV WKH )
8. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Execute the program made in “7.1. Orthogonal Axis” in the previous chapter. You can execute the program made in “7.2. SCARA Axis” simultaneously. 2SHUDWLRQ &RQ¿UPDWLRQ Press the F2 (Play) key from the mode selection screen and move to the play mode screen. 8. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
Move to the operation mode selection screen. Select step by step execution or the continuance operation. Operation Mode Selection Start the continuance operation by pressing the F1 (Strt) key. Display the current executing program step. (except continuance movement commands) Switch to the step operation by pressing the F2 (Sus) key. Select the finish operation by pressing the F3 (Stop) key. Step Operation Mode After displaying the current executing program step, display the next step.
8.2. Setting of Brake Point 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 8. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Blank: Release brake point 100 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.
8.3. Monitor under Operation The current position of the actuators and data in the local area can be monitored during continuous operation or step operation. Press the SF (shift) key at the continuance operation mode screen or the step operation mode screen. Monitor items will be displayed in the function key area. F1 (Posi): Display Current Position F2 (LFlg): Local Flag F3 (LVar): Local Variable (1) Display the Current Position Display the current position of the actuators.
(3) Local Variable Displays the contents of the local variables and the local strings. Moreover, values can be substituted for a local variable and the character sequence can be substituted for a local string. Select the F3 (LVar) key on the operation mode screen. 3 kinds of local variables are displayed: 8. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
11. 9. Execute or stop the positioner mode of the SSEL, ASEL and PSEL controller. When the SSEL, ASEL or PSEL controller is in the positioner mode, execute or stop the positioner mode. Press the F2 (Play) key from the mode selection screen and move to the play mode screen. Note: When the SSEL, ASEL or PSEL controller is executing in the positioner mode, parameter changes or Flash ROM writing cannot be performed.
12. Position Edit 10. 12.1. 10.1. Mdi (Manual Direct Input) The input value of the position data can be entered with the 10 key. 7. For inputting input data for a coorGLQDWH SRVLWLRQ E\ XVLQJ WKH NH\ SOHDVH UHIHU WR ³ 6LPSOH 2SHUDWLRQ 3URFHGXUHV ´ 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. Return 10.
10.2. Teaching of the orthogonal axis: XSEL-K, P/Q, or 5th and 6th Axes of PX/QX Controller, R/S, or 5th to 8th Axes of RX/SX Controller, or TT, SSEL, ASEL or PSEL Controller 10.2.1. Teac (Teaching) 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 an arbitrary position are the jog, inching, and manual operation with a servo OFF status.
(1) Teaching Screen 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 Position No. Selection Screen Description of the function key Switch the input data screen to the current position display. F2(Scan): Take the current positions of all axes into the input screen.
㽳 Each-axis Data Input Screen 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): Input the data of velocity, etc., to each position No. Set the jog velocity, etc.
For incremental specification, it is required to execute homing after supplying power or software reset 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 condition by pressing the SERVO key and then the ALL+ 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 and the ALL+ or ALL- key.
(2) Movement of an actuator 㽲 Jog Operation N: Servo ON F: Servo OFF Current Position Display (The above diagram is 2 axes specification; valid jog keys are 1+, 2+, 1-, and 2-.) Turn the servo ON by pressing the SERVO key and then the ALL+ key in the teaching screen condition. Execute the all-axis servo OFF command when there is any axis in the servo ON status, and execute the all-axis servo OFF command when all axes are in the servo OFF status.
㽳 Inching Operation Inching distance 0.1mm (The above diagram is 2 axes specification; valid jog keys are 1+, 2+, 1-, and 2-.) 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.
(3) Take in the current position as a data 7DNH WKH VHOHFWHG DFWXDWRU¶V ORFDWLRQ DV position data into the teaching screen. Input the position No. into which data is taken with 10 keys on the position No. select screen and press the return key. Or select position No. into which data is taken with the PAGE UP · PAGE DOWN keys on the data input screen. Take in the current position data of all axes by pressing the F2 (Scan) key on the position No. selection screen.
(5) I/O Monitor · Location Confirmation During teaching operation, you can monitor the input and output ports. You can also confirm the location by moving an actuator to a to the location of the position data with teaching. 㽲 Input / Output Monitor Select In or Out from the function keys in the teaching screen condition. In: Input port Out: Output port Input Port Output Port You can switch the status of the output port OFF/ON (0/1) where the cursor is located by pressing the F1 (0/1) key.
㽴 Continuous movement Move the actuator continuously to the location of the position data transmitted to the controller. 3RVLWLRQ 1R \RX¶G like to move first Select the position No. to move first in the teaching screen condition and press return key. Turn the servo ON by pressing the SERVO key and then the ALL+ key. To confirm the servo ON/OFF status, press the F1 (Disp) key. Press the F1 (Cont) key. When you change the moving velocity, press the F2 (JVel) key to move to the velocity change screen.
(6) User-specified output port operation 10. Position Edit The output ports set for the parameter can be easily turned ON/OFF. Select UsrO among the function keys in a teaching screen condition. (A) User-specified output port status The conditions of user-specifiHG RXWSXW SRUWV DUH GLVSOD\HG DV ³ ´ 21 DQG ³ ´ 2)) (The conditions are displayed from the first specified port for the number of specified ports.
㽲 Setting of user-specified output port parameters For the operation method for parameter seWWLQJ UHIHU WR ³ 3DUDPHWHU (GLW ´ 14.
10.2.2. Example of Teaching Input 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. 10. Position Edit Select the F1 (Posi) key. Select the F2 (Teac) key. 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 SERVO key and then the ALL+ key.
Move the actuator to the designated position by pressing the jog keys, 1-, 1+, 2-, and 2+. Switch the display to the current position screen with the F1 (Disp) key. Take in the current position data of the axis No. to the input screen 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. Press the return key to move the cursor to the next axis. Then press the F2 (Scan) key. 10.
F: Servo OFF N: Servo ON Turn the servo OFF condition by pressing the SERVO key and ALL- key. Press the F1 (Disp) key to confirm the servo OFF status. Move each axes to the designate position via manual mode. Pressing the EMERGENCY STOP button switches the display to the emergency stop screen. Return to the teaching screen with the ESC key on the emergency stop input screen. DANGER Be sure to execute manual movement when the EMERGENCY STOP button is pressed. 10.
Transmit position data to the controller by pressing the WRT key. The Position No. moves to 12. * 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 the position data input by teaching. Press the ESC key. Press the ESC key. 10. 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, ³3OHDVH :DLW ´ EOLQNV * Never shut off the power to the controller during Flash ROM writing. 10. Position Edit Return to the edit mode screen with the ESC key.
10.3. Teaching for SCARA axis: X-SEL-KX, 1st and 4th Axes of PX/QX controller, or 1st to 4th Axes fo RX/SX controller, or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD controller 10.3.1. 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.
In the case of the XSEL-RX/SX, or RXD/SXD Controller, the Axis No. to be connected to the SCARA Axis is displayed. Axis No. to be connected to the SCARA Axis 䋱㪄䋴㩷 㧝㧚 㧞㧚 㧠㧚 㧟㧚 Change the SCARA Axis for the XSEL-RXD/SXD Controller using the following procedure. Ԙ Press the SF key to display the Axis No. 䋱㪄䋴㩷 㧝㧚 㧟㧚 㧞㧚 㧠㧚 10. Position Edit 㪘㫏㫀㫊㩷 ԙ 122 When the Axis key is pressed, the SCARA axis for the RXD/SXD controller is changed. The display will be changed from “1 to 4” to “5 to 8”.
(1) Teaching screen The teaching screen consists of two screens including 'position No. selection screen' and [p.120]. 'axis-specific data input scrHHQ ¶ 5HIHU WR WKH GLDJUDP RQ WKH SUHYLRXV SDJH >S @ On the position No. selection screen, WHDFKLQJ FXUUHQW SRVLWLRQ LQFRUSRUDWLRQ FOHDU LV JLYHQ WR DOO D[HV VLPXOWDQHRXVO\ 2Q WKH D[LV-specific data input screen, teacKLQJ LV JLYHQ RQ DQ D[LV EDVLV 㽲 Position No.
In the case of the XSEL-RX/SX or RXD/SXD Controller, the arm system setting is available. 䋱㪄䋴㩷 㧝㧚 㧞㧚 㧠㧚 㧟㧚 䋱㪄䋴㩷 㧝㧚 10. Position Edit 㧟㧚 㪜㪘㫉㫄㩷 124 㧞㧚 㧠㧚 ) ($UP The Arm System Data is set in this section.
㽳 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. 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): F1(Crd#): It selects the coordinate system No. F2(In): It monitors input ports.
In the case of the XSEL-RX/SX or RXD/SXD Controller, the arm system setting is available. 䋱㪄䋴㩷 㧝㧚 㧞㧚 㧠㧚 㧟㧚 䋱㪄䋴㩷 㧝㧚 10. Position Edit 㧟㧚 㪜㪘㫉㫄㩷 126 㧞㧚 㧠㧚 ) ($UP The Arm System Data is set in this section.
12.3.2. 10.3.2. 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. 12.
㽳 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. 10. Position Edit 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.
㽴 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 Left arm system The current position display on the teaching screen is the coordinate position of the tool tip of the selected tool coordinate system No. on the work coordinate system selected.
㽵 Jog movement on each axis system (jog movement on each arm) Each arm, jog keys and movement directions are as shown below. 10. Position Edit 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. 10. Position Edit 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.
10.3.3. 12.3.3. 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: X-SEL-PX/QX is Edit-Posi-TchL ,Q FDVH RI ; 6(/ 3; 4; 5; 6; 5;' 6;' (GLW 3RVL 7FK/ (1) Jog operation Turn the servo ON by pressing the SERVO key and then the ALL+ key in the teaching screen condition. To check the servo ON/OFF status, press the F1 (Disp) key to display the current position.
Change of jog velocity The actuator movement velocity under jog operation is changed.
(2) Inching operation Mode flow: Set the inching distance (travel made every time the JOG key is pressed once). ,Q FDVH RI ; 6(/ 3; 4; 5; 6; 5;' 6;' X-SEL-PX/QX is Edit-Posi-TchS-JVel Enter a numerical value for Dis (inching distance) Edit - Posi - TchS - JVel with the 10 key and press the return key on the jog Inching distance: 0.1 mm velocity change screen. The numerical input range is between 0.01 and 1.00 (unit: mm). Return to the teaching screen with the ESC key to execute inching operation.
(4) Arm system change Change the current arm system over to the opposite arm system. (Right arm 㸢 left arm, left arm 㸢 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.
(5) Incorporation of current positions as data Check the work coordinate system No., tool coordinate system No., and arm system currently selected in advance. (Mode flow: , X-SEL-PX/QX is (GLW 3RVL 7FK6±&UG ,Q FDVH RI ; 6(/ 3; 4; 5; 6; 5;' 6;' (GLW 3RVL 7FK6 &UG 10. Position Edit 7KH VHOHFWHG DFWXDWRU¶V ORFDWLRQ LV LQFRUSRUDWHG DV SRVLWLRQ GDWD onto the teaching screen. (DFK D[LV GDWD LQSXW VFUHHQ (QWHU WKH SRVLWLRQ 1R LQWR ZKLFK GDWD LV LQFRUSRUDWHG ZLWK WKH NH\ RQ WKH SRVLtion No.
(6) Transfer to controller 7KH LQFRUSRUDWHG GDWD LV WUansferred to the controller. 3UHVV WKH :57 NH\ LQ D WHDFKLQJ VFUHHQ FRQGLWLRQ 6WRUH WKH LQFRUSRUDWHG GDWD LQ WKH FRQWUROOHU¶V memory.
(7) I/O monitoring Input and output ports can be monitored during teaching operation. 㽲 I/O monitoring Select In or Out among the function keys in a teaching screen condition.
(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: In case of ; 6(/ 3; 4; 5; 6; 5;' 6;' (GLW 3RVL 7FK6 X-SEL-PX/QX is Edit-Posi-TchS Position No. to move Select the position No. you want to move in a teaching screen condition. Press the SERVO key and then the ALL+ key to turn the servo ON. To check the servo ON/OFF status, press the F1 (Disp) 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: ,Q FDVH RI ; 6(/ 3; 4; 5; 6; 5;' 6;' (GLW 3RVL 7FK6 X-SEL-PX/QX is Edit-Posi-TchS 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 SERVO key and then the ALL+ key to turn the servo ON.
(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. Z-axis offset value Target position Current position Normal movement 141 10. Position Edit Motion sequence 㽲 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: In case of ; 6(/ 3; 4; 5; 6; 5;' 6;' (GLW 3RVL 7FK6 3UHVV WKH 6) NH\ WR GLVSOD\ ³-XPS´ LQ WKH IXQFWLRQ NH\ VHFWLRQ 3UHVV WKH ) -XPS NH\ Enter 1 to make jump motion effective or 0 to make it ineffective, and press the return key. Enter the Z-axis offset value. (QWHU WKH RIIVHW YDOXH PP from the Z-axis target position coordinate and press the return key. 10.
(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: 143 10. Position Edit (A) User-specified output port status The conditions of user-specifiHG RXWSXW SRUWV DUH GLVSOD\HG DV ³ ´ 21 DQG ³ ´ 2)) (The conditions are displayed from the first specified port for the number of the specified ports from the left.
㽲 Setting of user-specified output port parameters 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.
(12) Arm System seting In the case of the XSEL-RX/SX, or RXD/SXD Controller, the arm system data can be set on the position data. 0RGH &KDQJH WR 7HDFKLQJ :LQGRZ (GLW 3RVL 7FK6 Position No. selection section Arm System Data for Axis 1 to 5 Selection Section Arm System Data for Axis 5 to 8 Selection Section Function key display section Only for XSEL-RXD/SXD, Axis 5 to 8 Arm System Scanning Selection Item is displayed. Ԙ Set the cursor on the Position No. Selection Section and select the Position No.
10.3.4. 12.3.4. 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. 10. Position Edit Select the F2 (Teac) key. Enter 10 for the position No. with the PAGE UP and PAGE DOWN keys or the 10 key and confirm it with the return key. Press the SERVO key and then ALL+ key to turn the servo ON.
Press the jog key 1- 1+ 䌾 4- 4+ to move the robot to any given position. 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 SERVO key and then ALL+ key to turn the servo ON. Pressing the EMERGENCY STOP button switches the display to the emergency stop screen. Press the ESC key to return from the Emergency Stop input screen to the teaching screen. Danger Be sure to perform manual teaching while the EMERGENCY STOP button is being pressed. 10. Position Edit To move the Z-axis or R-axis manually, the brake must be released.
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. 10. Position Edit 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. 10. Position Edit 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.
7KH PHVVDJH ³3OHDVH ZDLW«´ IODVKHV GXULQJ )ODVK 520 ZULWLQJ 1HYHU WXUQ RII WKH SRZHU WR WKH &RQWUROOHU DW WKLV WLPH )ODVK 520 ZULWLQJ LV FRPSOHWHG 5HWXUQ WR WKH HGLW PRGH VFUHHQ E\ SUHVVLQJ WKH (6& NH\ 10.
10.4. 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. 10. Position Edit Select the F3 (Copy) key. First No. of positions from which data is copied or moved Last No. Positions to which data is copied or moved First No. Enter the first No. and the last No.
10.5. 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. Last No. Enter the first No. and the last No. of the position data to delete with the 10 key 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. 3000), press the F4(AClr) key.
11. 13. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 11.1. 13.1. How to Input Program 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). 11.
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 program edit and new creation screen. The cursor moves to step No. Press the return key. 155 11. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Input the program No. by using the 10 keys and press the return key.
Input section of Cmnd Press the key. Input section of E Press the key or return key. Input section of N·Cnd ,QSXW ³ ´ E\ XVLQJ WKH NH\V DQG SUHVV WKH UHWXUQ key. 11. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
Select the F2 (CPGE) key and press return. Input section of Operand 1 Input 200 by using the10 keys and press return. When designating an indirect variable at Operand 1, select the F3(*) key first. Input section of Operand 2 (Indirect variable designation) 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. Input section of Pst Input section of E Select the F2 (A) key and press the return key.
Input section of N·Cnd Select the F3 (N) key first. Input “600” by using the 10 keys and press the return key. Transmit the data of step No. 2 to the controller by pressing the WRT key. Step No. moves to 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. Input section of Cmnd Display SCPY in the function key area by using the key, SF key and key. For searching commands, please refer to section “7.1.2. Programming.” 11.
Input section of Operand 2 (Indirect string designation) 6HOHFW WKH ) µ NH\ ILUVW 7KHQ LQSXW E\ XVLQJ WKH NH\V DQG VHOHFW WKH ) µ NH\ DQG WKHQ SUHVV WKH UHWXUQ NH\ :KHQ \RX LQSXW D VWULQJ DW 2SHUDQG SUHVV WKH ) ¶ NH\ ³ ¶ ´ ZLOO EH LQSXW DQG 1XP ZLOO EH GLVSOD\HG LQ WKH ) DUHD ,Q WKH FDVH RI 1XP \RX FDQ LQSXW D QXPHULFDO YDOXH ZLWKRXW FKDQJH 3UHVVLQJ WKH ) NH\ FKDQJHV WR ) $OSK DQG \RX FDQ LQSXW WKH DOSKDEHW 7UDQVPLW WKH GDWD RI VWH
11.2. 13.2. Symbol Input during Program Edit Symbol can be input when the cursor is located at Operand 1 · 2 (operation 1· 2), Pst (output) and &QG LQSXW FRQGLWLRQ LQ WKH ³6\P´ VWDWe displayed in the function key area. Example: Input symbol of the program step below. Program No. 3 Symbolize position No DV ³7$,.,,7, ´ 11. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
The 10 keys become alphabet inputs. Input ³7$,.,,7, ´ For the input procedure, please refer to the section 13. ³ 6\PERO (GLW ´ Transmit the symbol data to the controller by pressing the WRT key. Return to the edit screen. 7KH OHWWHU 6 LQGLFDWHV symbol is used. The teaching pendant cannot display the input symbol as it is related to the LCD display. ,Q WKLV FDVH GLVSOD\ ³6 ´ LQVWHDG RI ³7$,.
13.3. 11.3. Single Line Comment Input 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. 11. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) ³&´ ZLOO EH GLVSOD\HG DIWHU WKH VWHS 1R Press the return key.
Input numerical value 'LVSOD\ ³1XP´ LQ WKH ) NH\ DUHD ,QSXW WKH QXPHULFDO YDOXH E\ XVLQJ WKH NH\V 7KH GLDJUDP RQ WKH OHIW LV DQ H[DPSOH IRU LQSXWWLQJ ³ ´ $IWHU ILQLVKLQJ WKH FRPPHQW LQSXW SUHVV WKH UHWXUQ NH\ DJDLQ 7UDQVPLW WKH LQSXW GDWD WR WKH FRQWUROOHU E\ SUHVVLQJ WKH :57 NH\ ,I \RX FKDQJH WKH VFUHHQ ZLWK WKH 3$*( 83 Â 3$*( '2:1 RU (6& NH\V EHIRUH WUDQVPLWWLQJ WKH GDWD WKH LQSXW GDWD ZLOO EH LQYDOLG 7R ILQLVK WKH SURJUDP LQSXW UHWXUQ WR WKH )OD
13.4. 11.4. Program: Copy or Move 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. 11. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Select the F2 (Copy) key. Program No. from which a program is copied or moved Number of steps of selected program Input the program No.
13.5. 11.5. Program: Clear The following operating instructions are to clear a program. Select the F1 (Edit) key on the mode selection screen. Select the F2 (Prog) key. Select the F3 (Clr) key. 11. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
Program No. to clear 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 in the example diagram at the left. The execution confirmation screen will be displayed. To execute it, press the F1 (Yes) key. To cancel it, Press the F2 (No) key. Clear program No. 3 First No. of a series of programs Last No. Clear program Nos.
13.6. 11.6. Flash ROM Writing 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.
12. Coordinate System Data Editing of the SCARA Axis : XSEL-KX and 1st to 4th Axse of PX/QX, 1st to 4th Axes of RX/SX controller, 1st to 4th Axes or 5th to 8th Axes of RXD /SXD controller 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. 12.
12.1. 14.1. 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. 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. 12. Coordinate System Data Editing of the SCARA Axis : 1 axis – 4 axis of the X-SEL-KX and PX/QX controller 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.
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 Flash ROM writing screen. (Return by 3 screens) To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. 7KH PHVVDJH ³3OHDVH ZDLW«´ flashes during Flash ROM writing. Flash ROM writing is completed. Return to the edit mode screen with the ESC key. 171 12.
14.2. 12.2. 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 12. Coordinate System Data Editing of the SCARA Axis : 1 axis – 4 axis of the X-SEL-KX and PX/QX controller Tool mounting surface center The offset values from the tool coordinate system No. 1 become Xoft1 = 45, Yoft1 = 35, Zoft1 = -10 and Roft1 = 45.
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. Complete editing of the tool coordinate system data and write data in Flash ROM. Pressing the ESC key moves the cursor to the location of the tool coordinate system No. 173 12.
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 Flash ROM writing screen. (Return by 3 screens) To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. 12. Coordinate System Data Editing of the SCARA Axis : 1 axis – 4 axis of the X-SEL-KX and PX/QX controller 7KH PHVVDJH ³3OHDVH ZDLW«´ flashes during Flash ROM writing.
14.3. 12.3. Editing of simple interference check zone It is required to input the following 3 items to set the simple interference check zone: ƒ 2-point position data to define the zone. (Input the values of the base coordinate system.) ƒ Output port No. or global flag No. for output during zone invasion. ƒ 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 㿈 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. 12. Coordinate System Data Editing of the SCARA Axis : 1 axis – 4 axis of the X-SEL-KX and PX/QX controller 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.
Input of base coordinate values of 㿎 Enter the base coordinate values of 㿎㩷 㫀㫅㩷 㫋㪿㪼㩷 㫊㪸㫄㪼㩷 㫎㪸㫐㩷㪸㫊㩷㪘㪅 Set the output port/global flag and error type during zone invasion 㪧㫉㪼㫊㫊㩷㫋㪿㪼㩷F4 (P/E) key. Output port/global flag No. and error type input screen Press the return key. Enter the error type 1 and press the return key. 177 12. Coordinate System Data Editing of the SCARA Axis : 1 axis – 4 axis of the X-SEL-KX and PX/QX controller Enter the output port No. 311 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 㿈 does not agree with that of 㿎 WKH ³ )2´ HUURU RFFXUV When the axial pattern of 㿈 and 㿎 LV WKH ³ ) ´ HUURU RFFXUV LI WKH RXWSXW SRUW RU HUURU W\SH LV specified.
To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. 7KH PHVVDJH ³3OHDVH ZDLW«´ flashes during Flash ROM writing. * Never turn off the power to the Controller at this time. Flash ROM writing is completed. Return to the edit mode screen with the ESC key. 12.
15. 13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Symbol (Names) can be applied to variables, input ports, flags, position, etc., in SEL controller. Select the F1 (Edit) key. Select the F3 (Sym) key. 13.1. 15-1. Symbol Edit Items Symbolized items will be displayed in the function key area. Each time by pressing SF key, items are shifted and displayed. 13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
13.2. 15.2. Input Example: Symbolize Local Integer Variable Symbolize Variable No. 5 of program No. WR ³&QW ´ 3UHVV WKH ) 9DU NH\ 0RGH 7UDQVLWLRQ 6HOHFW DQ LQWHJHU RU UHDO QXPEHU 3UHVV WKH ) ,WJ NH\ ,WJ ,QWHJHU 5HDO 5HDO QXPEHU 7KH FXUVRU LV ORFDWHG DW SURJUDP 1R ,QSXW WKH ORFDO DUHD SURJUDP 1R 7R V\PEROL]H JOREDO DUHD OHDYH ,QSXW DQG SUHVV WKH UHWXUQ NH\ 1XPEHU RI GHILQHG V\PEROV Variable No. Local area program No.
VHYHUDO WLPHV WR GLVSOD\ ³Q ´ Press 3UHVV WKH UHWXUQ NH\ Press the NH\V VHYHUDO WLPHV WR GLVSOD\ ³W ´ 7KHQ SUHVV WKH UHWXUQ NH\ 7KH ) NH\ DUHD GLVSOD\ FKDQJHV WR 1XP E\ SUHVVLQJ WKH ) $OSK NH\ ,W EHFRPHV D QXPHULFDO LQSXW ,QSXW E\ XVLQJ WKH NH\V 1XPHULFDO LQSXW 13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
After determining symbol name, the cursor moves to the top letter. ,I LW¶V EHIRUH GHWHUPLQDWLRQ \RX FDQ FRUUHFW WKH 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 Flash ROM writing screen with the ESC key.
13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Return to the edit mode screen with the ESC key.
13.3. 15.3. Symbol Edit Screen of Each Items (1) Constant Number Select the F1 (Cnst) key on the constant number symbol edit item screen. Mode Transition: Selection of Integer Type · Real Number Type Constant Number Select an integer or real number.
(3) Program Select the F3 (Prog) key on the symbol edit item screen. Mode Transition: Program No. Symbol Edit Screen Input alphabet and number. Input program No. by the PAGE UP · PAGE DOWN keys or 10 keys. (4) Position Select the F4 (Posi) key on the symbol edit item screen. Mode Transition: Position No. Symbol Edit Screen Input alphabet and number. 13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Input position No. by the PAGE UP · PAGE DOWN keys or 10 keys.
(6) Output Port Select the F2 (Out) key on the symbol edit item screen. Mode Transition: Output Port No. Symbol Edit Screen Input alphabet and number. Input output port No. by the PAGE UP · PAGE DOWN keys or 10 keys. (7) Flag Select the F3 (Flag) key on the symbol edit item screen. Mode Transition: Flag No. Symbol Edit Screen Input program No. at local area. Input 0 at global area. Input alphabet and number. Input flag No. by the PAGE UP · PAGE DOWN keys or 10 keys. 13.
(9) Tag Select the F1 (Tag) key on the symbol edit item screen. Mode Transition: Tag No. Symbol Edit Screen 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. (10) Subroutine Select the F2 (SubR) key on the symbol edit item screen. Mode flow: Subroutine No. Symbol Edit Screen Input program No. since subroutine No. is in the local area. Input alphabet and number. 13.
(11) All Clear Select the F4 (Aclr) key on the symbol edit item screen. 0RGH 7UDQVLWLRQ (GLW±6\P $FOU All Clear Screen To clear all symbols, select the Yes key. To cancel them, select the No key. If the Yes key is selected, all the symbol data will be FOHDUHG DQG ³&RPSOHWH ´ ZLOO EH GLVSOD\HG 13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.
13.4. Flash ROM Writing The edit data will be cleared 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. )URP WKH ¿QDO HGLWLQJ VFUHHQ UHWXUQ WR WKH )ODVK 520 ZULWLQJ VFUHHQ ZLWK WKH (6& NH\ To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
16. Parameter Edit 14. You can change the parameters corresponding to your system. When you change the parameters by yourself, please note the parameter contents. Note: In the case of SSEL, ASEL or PSEL in the positioner mode, parameter transfer cannot be performed when the controller is executing. Stop the controller before changing or transferring parameters.
14.2. 16.2. Input Example: Edit Each-Axis Parameter 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 parameter edit screen. 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. The cursor is located at the parameter data. Input data of axis No.
Input data of axis No. 2 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. To continue editing each-axis parameter, move the cursor to the parameter No. and input the parameter No. to edit.
To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, ³3OHDVH :DLW ´ EOLQNV * Never shut off the power to the controller during Flash ROM writing. After writing the data to Flash ROM, the screen changes to the software reset screen. To have a valid changed parameter, execute a VRIWZDUH UHVHW 3UHVV WKH )
15. 17. Monitor Monitor each status, global variable, port status, etc. Select the F3 (Moni) key from The mode selection screen. 15.1. 17.1. Monitor Items Monitor items will be displayed in the function key area. Each time by pressing the SF key, items will be shifted and displayed.
17.2. 15.2. Input Port 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. 15.3. 17.3. Output Port Displays the ON/OFF status of the output port. Also, it can switch the ON/OFF status of the output port. Select the F2 (Out) key on the monitor items screen. Mode Transition: The diagram above is the screen showing output port Nos. 300~302 ON. 15.
17.5. 15.5. Global Variable Displays the contents of global variable and global string. Also, a numerical 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.
15.6. 17.6. Axis Status Displays the current position of each axis, servo status, sensor status, etc. The status items may vary depending on the model. Select the F1 (ASts) key from the monitor items screen. Mode Transition: Posi: Srvo: Snsr: Ecdr: Current Position Servo Status Sensor Input Status Encoder Status ErrA: Axis Related Error (1) Current position Mode Transition: Orthogonal axis SCARA axis N: Servo ON 15.
(2) Servo status Mode Transition: Axis No. Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Servo ON axis in use Homing Servo Moving Command Normal End Over Push Limit Error (System Reservation) (System Reservation) 15.
(3) Sensor Input Status Mode Transition: Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Axis No. Creep Sensor Overrun Sensor Home Sensor (System Reservation) Orthogonal axis Axis No. (System Reservation) (System Reservation) (System Reservation) (System Reservation) 15.
(4) Encoder Status Mode Transition: Axis No. Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Over Speed Full Absolute Status Count Error Multi-rotation Error Battery Error Battery Alarm 15.
(5) Axis Related Error 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. Information 1 15.
17.7. 15.7. System Status Display system status. The status items may vary depending on the model. 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 (1) System Mode Mode Transition: System Mode (2) System Error 15. Monitor Mode Transition: Serious Level System Error No. Latest System Error No.
(3) System Status 1 (4) System Status 2 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 Program Execution Status 15.
(5) System Status 3 Mode Transition: Power Down Status System Drive Status System Ready Status Function select flag request status (System Reservation) (System Reservation) (System Reservation) (System Reservation) 15. Monitor (6) System Status 4 Mode Transition: System status 4 is all reserved.
15.8. 17.8. Error Detail Information Displays the error detail information. Select the F3 (ErrL) key on the monitor items screen. Mode Transition: List No. can be switched with the PAGE UP · PAGE DOWN keys. List No. Error Code Error Message Program No. Step No. Axis No. Position No. 15. Monitor The contents of Info. 1 to Info. 4 vary depending on the error codes. (Such information is intended for us to identify the cause of the error.
15.9. 17.9. Version Information Displays version information. Select the F4 (Ver) key on the monitor items screen. Mode Transition: Main: Main Drv: Driver TP: Teaching Pendant SIO: Mount SIO FPGA: FPGA CTbl: Control Constant Table Management Information Posi: Positioner Mode Management Information Selectable items vary depending on the model. (1) Main Mode Transition: Controller Main Application Version Controller Main Core Version (2) Driver Mode Transition: Driver CPU Version (3) Teaching Pendant 15.
(4) Mount Mount SIO SIO (Controller (ControllerP/Q, P/Qand andPX/QX, PX/QX R/S, type RX/SX, only) RXD/SXD type only) Mode Transition: Channel 1 Version Channel 2 Version ³1RQXVH´ LV GLVSOD\HG IRU WKH FKDQQHO ZLWK WKH , 2 SDUDPHWHUV 1R DQG 1R VHW WR ³1RQXVH ´ (5) FPGA (Controller (Controller P/Q, RX/SX, ASEL, and PSEL type only) (5) FPGA P/Q,PX/QX, PX/QX,R/S, SSEL, ASELRXD/SXD, and PSELSSEL, type only) Mode Transition: FPGA Version (HEX) Board ID (HEX) (6) Control Constant Constant Ta
(7) Positioner Mode Management Information for SSEL, ASEL or PSEL Controller in Positioner Mode Mode Transition: Moni-Ver-Posi *Only for the SSEL, ASEL and PSEL controllers in the positioner mode ID Displays the positioner mode ID specified by the current parameter ID. Info 1, Info 2 Displays the system data management information in the positioner mode. ID Displays the positioner mode ID currently displayed. The ID number is incremented with the Page Up key and decremented with the Page Down key.
15.10. Maintenance Information Window This mode displays the number of actuator movement and distance. It displays as XSEL-R/S, RX/SX, RXD/SXD controller. 3UHVV ) NH\ 0QW, LQ WKH PRQLWRU ZLQGRZ 7KHQ 3UHVV ) NH\ $[LV Mode Transfer: Moni - MntI - Axis Axis No. Display Section Data Title Display Section Data Display/Edit Section Function Key Display Section Ԙ 6HOHFW WKH $[LV 1R XVLQJ WKH 3$*( 83 3$*( '2:1 NH\ The selected Axis No. will be displayed in the Axis No. Display Section.
16. 18. Controller Select the F4 (Ctl) key on the mode selection screen. Controller operation items are displayed in the function key area. 16.1. 18.1. Controller Items Each time by pressing the SF key, operation items will be shifted and displayed. Selectable items may vary depending on the model.
16. Controller 16.2. 18.2. Flash ROM Writing 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, ³3OHDVH :DLW ´ EOLQNV * Never shut off the power to the controller during Flash ROM writing.
18.3. 16.3. Software Reset 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. 18.4. 16.4. Error Reset Executes error reset of the controller. Reset the message-level and action-release-level errors. If the cause of the error is not solved, the error will reoccur again. Select the F3 (ERst) key on the controller item screen. Mode Transition: To execute an error reset, press the F1 (Yes) key. If not, press the F2 (No) key.
16.5. Memory Clear 16. Controller 16.5.1. Groval Variable Zero clears the global variable. Select the F4 (MClr) key on the controller item screen. Mode Transition: Press the F2 (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. 16.5.2. User Data Hold Memory Refer to "19.4. User Data Hold Memory Initialization" 16.6. Re-Connection Re-connect to the controller.
18.7. 16.7. Baud Rate Change Input values corresponding to the baud rate by using the 10 keys and press the return key. 0: 9.6 2: 38.4 5: 115.2 [kbps] To change the baud rate, press the F1 (OK) key. To cancel, press F2 (Canc) key. It returns to the previous screen. 'XULQJ EDXG UDWH FKDQJH ³3OHDVH ZDLW ³ EOLQNV Return to the baud rate change screen. 16.8. 18.8. Safety Velocity Switches the safety velocity limit status at manual mode. Select the F2 (SVel) key on the controller item screen.
16. Controller 16.9. 18.9. Driver Power Recovery Request 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. 16.10. 18.10. Action Pause Release Request Request to release action pause to the controller. Select the F4 (RAct) key on the controller item screen.
16.11. 18.11. Driver Power Recovery Request (RPwr) and Action Pause Release Request (RAct) 㽲 Case which requires executing Driver Power Recovery Request Only the following case requires executing Driver Power Recovery Request: ƒ When you set 1 in I/O parameter No. 44, Driver Power Cut-off cause occurs 㸢 Recovery after the main cause of cut-off is solved. 㽳 How to execute Driver Power Recovery Request Execute Driver Power Recovery Request by either of the following: ƒ Set 1 in I/O parameter No.
16. Controller 18.11.2. 16.11.2. In the case of SSEL, ASEL or PSEL Controller (1) Driver Power Recovery Request 㽲 Case which requires executing Driver Power Recovery Request Only the following case requires executing Driver Power Recovery Request: ƒ When you specify any input port for the driver power cut-off release input signal (dedicated function), driver power cut-off occurs 㸢 recovery after the main cause of cut-off is solved.
* If case (1) 㽲 and (2) 㽲 occur at the same time, you need to first execute Driver Power Recovery Request. After completing it, execute the Action Pause Release Request. Sets whether to permit or prohibit the simultaneous starting of multiple programs in the manual mode. If prohibition is set, multiple programs will not be able to be started simultaneously. (Error no. 913 ³&DQ¶W VWDUW WZR RU PRUH SURJUDPV´ ZLOO RFFXU Select the F1 (MTsk) key on the controller screen.
16. Controller 16.13. 18.13. Absolute Reset 16.13.1. of the orthogonal axis: XSEL-K, P/Q, or 5th and56th Axes of 6PX/QX 18.13.1. Absolute AbsoluteReset Reset of the orthogonal axis: X-SEL-K, P/Q, axis and axis Controller, of PX/QX, R/S 5th toASEL 8th Axes ofPSEL RX/SXcontroller Controller, or TT, SSEL, ASEL or PSEL Controller TT, or SSEL, and 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.
㽴 Servo ON 16. Controller F1 (OK) key. 㽵 Homing F1 (OK) key. 㽶 Servo OFF After executing absolute reset, be sure to reset software or reconnect the power. Do not press the F1 (OK) key but press the PAGE UP key. Then PRYH WR ³㽷 (QFRGHU PXOWL URWDWLRQ GDWD UHVHW ´ 㽷 Encoder multi-rotation data reset 2 Press the F1 (OK) key.
16. Controller 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. 7KDW¶V DOO IRU WKH DEVolute reset operation. After executing absolute reset, be sure to reset software or reconnect the power.
- Absolute Reset Adjustment jigs Type Remarks JG-1 Arm length 500/600 JG-2 Arm length 250/300/350 JG-3 Arm length 700/800 JG-4 Arm length 500/600 high-speed type JG-5 Arm length 120/150/180 Connect the robot, controller and teaching pendant to make an operable status from the teaching pendant. Always check operation of the EMG switch before performing work.
16. Controller 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 controller item 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 10 key and press the return key.
㽴 Servo ON Press the F1 (OK) key. 16. Controller 㽵 Jog movement Jog the arm to the vicinity of the basic position VHH WKH ³6WDQGDUG 3RVWXUH 'UDZLQJ´ RQ WKH IROORZLQJ SDJH DQG SUHVV WKH ) 2. NH\ 㽶 Servo OFF Press the F1 (OK) key. 㽷 Emergency stop input and adjusting jig set 3UHVV WKH (0(5*(1&< 6723 EXWWRQ DQG VHW DQ DGMXVWLQJ MLJ $IWHU IL[LQJ WKH VWDQGDUG SRVWXUH DV VKRZQ RQ WKH next page, press the F1 (OK) key. ,QSXWWLQJ HPHUJHQF\ VWRS GLVSOD\V WKH VFUHHQ DW the left.
16. Controller Check that the EMERGENCY STOP button has been pressed. When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at the reference position. In that case, arm 2 may be moved. When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at the reference position. In that case, arm 1 may be moved. ƒ After checking that the EMERGENCY STOP button has been pressed, set the jig.
! WARNING Positioning mark label for arm 2 Arm 2 (Arm length 250/300/350) Insertion depth: Approx. 20 mm Positioning mark label for arm 1 Insertion depth: Approx. 60 mm Arm 1 (Arm length 250/300/350) Arm length 250/300/350 Reference Position (Note) When performing an absolute reset for arm 1 of IX-NNN2515, rotate arm 2 slightly then set with an adjustment jig (pin) to set it. Warning ƒ Always press the EMERGENCY STOP switch before setting an adjustment jig.
16. Controller Absolute reset jig (Pin) Positioning mark label for arm 1 Positioning mark label for arm 2 Absolute reset jig (Pin) Arm 1 (Arm length 120/150/180) Arm Length 120*1/150/180 Reference Position *1: When an absolute reset is performed for arm 1 (arm length: 120) Arm 2 (Arm length 150/180) Arm 2 (Arm length 120) Adjust both arm 1 and 2 to a position within ±1 graduation of the center.
㽸 Encoder multi-rotation data reset Press the F1 (OK) key. 16. Controller 㽹 Home preset value auto refresh Press the PAGE UP key and do not press the F1 (OK) key.
16. Controller Press the ESC key. Restart the controller. Press the F1 (Yes) key. The screen returns to the Mode Selection screen. NOTE: 230 Be careful not to perform reset using an incorrect sequence, since it may cause the arm position to become offset. ([HFXWH ³KRPH SUHVHW YDOXH DXWR UHIUHVK´ RQO\ ZKHQ DQ\ PHFKDQLFDO FKDQJH VXFK DV arm change has been made.
(2) Absolute reset on Z-axis + R-axis 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 10 key 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.
㽴 Servo ON 16. Controller Press the F1 (OK) key. 㽵 Temporary standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home position. 㽶 Jog movement Move the R-axis to the vicinity of the basic position with jog keys VHH WKH ³6WDQGDUG 3RVWXUH 'UDZLQJ´ RQ WKH QH[W SDJH Press the F1 (OK) key. 㽷 Servo OFF Press the F1 (OK) key.
㽸 Emergency stop input and adjusting jig set 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. ƒ After checking that the EMERGENCY STOP switch has been pressed, set the jig. ƒ Set the jig by referring to the positioning mark. ƒ Adjust the level so that the top surface of the stopper approximately agrees with the under surface of the arm 2.
16. Controller The top face of the stopper should align with the bottom face of arm 2 so that clearance will be approx. 4 mm. D-cut surface Contact the jig with the pin lightly. Positioning mark label for rotation axis D-cut surface (Bottom view) Arm Length 250/300/350 Reference Position Warning ƒ Always press the EMERGENCY STOP switch before setting an adjustment jig. Failure to do so may cause the actuator to malfunction and result in a serious accident.
16. Controller Absolute reset jig (Plate) Absolute reset jig (Pin) Set the plate so that a hole of 㱢 3 will be placed on the opposite side of the D-cut surface. Turn and press the rotation axis so that no clearance will be made.
16. Controller Absolute reset jig (Plate) Absolute reset jig (Pin) Set the plate so that a hole of 㱢 3 will be placed on the opposite side of the D-cut surface. Turn and press the rotation axis so that no clearance will be made. (Bottom view) Arm Length 150/180 Reference Position Warning ƒ Always press the EMERGENCY STOP switch before setting an adjustment jig. Failure to do so may cause the actuator to malfunction and result in a serious accident.
㽹 Encoder multi-rotation data reset (2) Press the F1 (OK) key. 16. Controller 㽺 Home preset value auto refresh Press the F1 (OK) key. 㽻 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. 㽼 Servo ON Press the F1 (OK) key. 㽽 Standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home position.
㽾 Servo OFF 16. Controller Press the F1 (OK) key. 㽿 Encoder multi-rotation data reset (3) Press the F1 (OK) key. 㾀 Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. 1RWH ,I ³:ULWH )ODVK 520"´ LV GLVSOD\HG H[LW WKH VFUHHQ ZLWK ³1R ´ 5HVWDUW WKH FRQWUROOHU Press the F1 (Yes) key.
16.13.3 Perform Absolute Reset on ZR Unit (Absolute Type) [1] Preparing for Absolute Reset You also need a special jig to perform an absolute reset. • Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS) : JG-ZRM (for ZRM) Plate Pin Connect the cables for the robot, controller and teaching pendant to enable operation from the teaching pendant. Before proceeding, be sure to confirm that the EMG switch operates properly.
16. Controller [2] Absolute Reset Procedures For absolute reset for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc. for the actuator. Select the F1 (RAbs) key on the controller item screen.
Servo ON Press the F1 (OK) key. 16. Controller Temporary standard posture standby Press the F1 (OK) key. Note: The vertical axis returns to the home position. Jog movement Move the rotation 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. Servo OFF Press the F1 (OK) key.
Emergency stop input and adjusting jig set 16. Controller Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the adjusting jig as shown in the standard position figure, 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.
Jig Attachment Procedure 16. Controller D-shaped surface d Shaft c a b c a b d Insert the ball screw spline shaft into the jig hole from the lower side. Put the D-cut surface of the ball screw spline shaft onto the surface “a”. Put the ball screw spline shaft side surface onto the surface “b”. Fasten the screw “c” and fix the jig onto the ball screw spline shaft.
Encoder multi-rotation data reset (2) 16. Controller Press the F1 (OK) key. Home preset value auto refresh Press the F1 (OK) key. 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. Servo ON Press the F1 (OK) key. Standard posture standby Press the F1 (OK) key. Note: The vertical axis returns to the home position.
Servo OFF Press the F1 (OK) key. 16. Controller Encoder multi-rotation data reset (3) Press the F1 (OK) key. Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. If “Write Flash ROM?” is displayed, exit the screen with “Yes.” Restart the controller. Press the F1 (Yes) key. Writing Flash ROM.
16. Controller 16.13.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) Normally, adjustment of the ball screw spline shaft adjusting is not required. Perform it only when the combination of the main unit and the controller is changed because the . ZR unit or controller is changed. [1] Ball Screw Spline Shaft Adjusting Preparation The absolute rest jig is required for the adjustment of the ball screw spline shaft adjusting for the ZR unit.
[2] Ball Screw Spline Shaft Adjusting Procedure Select the F1 (RAbs) key on the controller item screen. Mode flow: Ctl - RAbs When performing an ball screw spline shaft adjusting, press the F1 (Yes) key. When not performing an ball screw spline shaft adjusting, press the F2 (No) key. The display returns to the previous screen. Axis No. input Input the vertical axis No. for the ZR unit using the ten-key pad and press the return key.
Temporary standard posture standby 16. Controller Press the F1 (OK) key. Note: The vertical axis returns to the home position. Move to home position Press the F1 (OK) key. Note: The rotation axis returns to the home position. Jog movement Move the rotation 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. Servo OFF Press the F1 (OK) key.
Emergency stop input and adjusting jig set Inputting emergency stop displays the screen at the left. Pressing the ESC key returns the display to the previous screen. 249 16. Controller Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the adjusting jig as shown in the standard position figure, press the F1 (OK) key.
16. Controller Jig Attachment Procedure D-shaped surface d Shaft c a b c a b d Insert the ball screw spline shaft into the jig hole from the lower side. Put the D-cut surface of the ball screw spline shaft onto the surface “a”. Put the ball screw spline shaft side surface onto the surface “b”. Fasten the screw “c” and fix the jig onto the ball screw spline shaft.
Home preset value auto refresh Press the F1 (OK) key. 16. Controller 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. Return to the previous screen with the ESC key. If “Write Flash ROM?” is displayed, exit the screen with “Yes.” Restart the controller. Press the F1 (Yes) key. Writing Flash ROM.
16. Controller 18.14. Procedures for Resetting Absolute-Battery Voltage-Down Warning Error Error 16.14. for orthogonal axis X-SEL-K, P/Q, P/Q,5th 5 axis 6axisofofPX/QX, PX/QX,R/S, TT,5th SSEL, ASEL PSEL : X-SEL-K, and and 6ht Axes to 8th Axesand of RX/SX, controller TT, SSEL, ASEL and PSEL controller 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.
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.) Even if the F1 (OK) key is pressed, the screen will not change. 㽺 When also resetting the encoder error reset for another axis, press the F2 (Canc) key. Return to the screen of 㽷. Input the axis No. with the 10 keys and press the return key. To complete the encoder error reset, press the ESC key.
16. Controller 16.15. Time setting In the case of the XSEL-R/S, RX/SX or RXD/SXD Controller, set the clock. 7KH WLPH GLVSOD\HG LQ WKH (UURU 'HWDLOHG 'DWD ZLQGRZ LV WKH HUURU RFFXUUHQFH WLPH Press F2 key (Time) in the controller window.
17. Gateway Function Associated 7KH *DWHZD\ )XQFWLRQ $VVRFLDWHG LV DSSOLHG WR WKH 6(/ 7 7' YHUVLRQ 9 DQG ODWHU 17.1. Editing of the RC Position Data in X-SEL 17.1.1. RC Position Data Creation The RC position data to be set in the X-SEL controller is edited. Press the key. Press the key (RC). Press the key (Edit). Press the key (Posi).
*DWHZD\ )XQFWLRQ $VVRFLDWHG Press the key (Teac). Axis No. Position No. (A) Position Data Input (B) Axis Status Display RC Position Data Editing The cursor is on the position of the “Axis No.” When there is no data, the position (Pos) is displayed as “X. XX”. * The “Axis No.” and “Position No.” are both started from “0” unlike the Position Data in X-SEL. (A) Position Data Input Input the following items.
Axis No. Select the Axis No. and press the key. the ten-key or key. Position No. Select the Position No. and press the key. * The selection of the Position No. is performed using the ten-key or key. Input the Target Position (mm) and press the key. (The left figure shows the example where “100.00mm” has been input). * When the home return operation has been completed, the current position can be taken in the target position data using the key (Scan).
*DWHZD\ )XQFWLRQ $VVRFLDWHG In the case of the pressing operation, input the Pressing Current Limit Value (%) and press the key. (The left figure shows the example where “0” has been input). * When the Pressing Current Limit Value is set to “0”, the normal positioning operation is performed, and it is set to “1” or more, the pressing operation is performed. Input the Positioning Completion Width (mm) and press the key. (The left figure shows the example where “0.10mm” has been input).
17.1.2.
7KH WHDFKLQJ RSHUDWLRQ IRU WKH 5& DFWXDWRU LV SHUIRUPHG PDLQO\ LQ WKH 5& WHDFKLQJ VFUHHQ The mode change to the RC teaching window: RC - Edit - Posi - Teac *DWHZD\ )XQFWLRQ $VVRFLDWHG Function Key Description Axis No. Transfers to the inching distance setting mode. Transfers to the RC-axis alarm reset mode. Position No. Clears the displayed position data. * “Clr” is shown when the cursor is on the “Position No.” display section.
(1) Servo ON/OFF Operation 8VLQJ WKLV RSHUDWLRQ WKH 5& DFWXDWRU VHUYR PRWRU LV WXUQHG 21 2)) 7KH DFWXDWRU DSSOLFDEOH WR WKLV RSHUDWLRQ LV RQH ZLWK D VLQJOH D[LV 3ODFH WKH FXUVRU RQ WKH $[LV 1R DQG VHOHFW WKH 5& DFWXDWRU XVLQJ WKH WHQ NH\ RU Press the key. Presses the key after the SERVO LED is turned ON to turn ON the servo-motor. (When the servo-motor is to be turned OFF, press the key and after the SERVO LED is turned ON, press the key).
*DWHZD\ )XQFWLRQ $VVRFLDWHG (3) Actuator Movement Ԙ -RJJLQJ 2SHUDWLRQ 3HUIRUP WKH MRJJLQJ RSHUDWLRQ RI WKH 5& DFWXDWRU 7KH DFWXDWRU DSSOLFDEOH WR WKLV RSHUDWLRQ LV RQH ZLWK D VLQJOH D[LV 3ODFH WKH FXUVRU RQ WKH $[LV 1R DQG VHOHFW WKH 5& DFWXDWRU XVLQJ WKH WHQ NH\ RU . Turn the servo-motor ON. Current Position 262 Press the or key to move the actuator to any position.
ԙ ,QFKLQJ 2SHUDWLRQ 3HUIRUP WKH 5& DFWXDWRU LQFKLQJ RSHUDWLRQ 7KH DFWXDWRU DSSOLFDEOH WR WKLV RSHUDWLRQ LV RQH ZLWK D VLQJOH D[LV 3ODFH WKH FXUVRU RQ WKH $[LV 1R DQG VHOHFW WKH 5& DFWXDWRU XVLQJ WKH WHQ NH\ RU Press the key (Inc). Set the inching distance (travel distance for each pressing of the JOG key). Input the value in the “Dis” (inching distance) data box. The numerical value input range is from 0.00 to 1.00 (Unit: mm). * When “0.00” is input, the jogging operation is performed. When “0.
Ԛ 0DQXDO 0RYHPHQW ZLWK WKH VHUYR PRWRU WXUQHG 2)) *DWHZD\ )XQFWLRQ $VVRFLDWHG Perform the emergency stop operation of the RC actuator. Move the actuator to any position manually. Servo ON Current Position The status of servo-motor ON/OFF is confirmed in the Axis Status Display Section (When “S” is displayed, the servo-motor is turned ON and it is not displayed, the servo-motor is turned OFF).
(4) Current Position captured as the Data 7KH FKRVHQ 5& DFWXDWRU SRVLWLRQ LV WDNHQ LQ WKH WHDFKLQJ ZLQGRZ DV WKH SRVLWLRQ GDWD CAUTION : In order to capture the current position data in the target position data section, the home return operation has to be completed. After confirming that “H” is displayed in the Axis Status Display Section, execute it. If it is executed before the home return operation, the [(9E2) Not yet Homed TEACH] message is displayed and the current position cannot be captured.
(5) Data Transfer to the Controller 7KH FDSWXUHG GDWD LV WUDQVIHUUHG WR WKH FRQWUROOHU *DWHZD\ )XQFWLRQ $VVRFLDWHG Press the key and write the input position data in the controller. CAUTION : Unless the key is pressed, the input data writing in the controller is not performed. When the writing is completed, the screen is switched to the display for the next Position No.
(6) Position Check :KHQ WKH 5& DFWXDWRU LV PRYHG WR WKH SODFH FRUUHVSRQGLQJ WR WKH WDXJKW SRVLWLRQ GDWD WKH position check can be performed. Axis No. Select the Axis No. to be moved and press the key. * The selection of the Axis No. is performed using the ten-key or key. Position No. Select the Position No. to which the actuator is moved and the press the key. * The selection of the Position No. is performed using the ten-key or key. Turn the servo-motor ON. Perform the home return operation.
ԙ &RQWLQXRXV 0RYHPHQW 7KH 5& DFWXDWRU DXWRPDWLFDOO\ IROORZV WKH SRVLWLRQ FRUUHVSRQGLQJ WR WKH SRVLWLRQ GDWD transferred to the controller. *DWHZD\ )XQFWLRQ $VVRFLDWHG Axis No. Select the Axis No. to be moved and press the key. * The selection of the Axis No. is performed using the ten-key or key. Press the key. Press the key (Cont). Position No. Select the movement starting Position No. and press the key. * The selection of the Position No. is performed using the ten-key or key.
Turn the servo-motor ON. Perform the home return operation. * When the key is pressed, the “processing for the stop operation” is performed for all the effective axes. CAUTION : Sometimes it takes some time before movement commences after the key or key is pressed. Be careful. (The time interval for movement start varies depending on the number of registered position data items). 269 *DWHZD\ )XQFWLRQ $VVRFLDWHG Press the key.
*DWHZD\ )XQFWLRQ $VVRFLDWHG 17.1.3. RC Position Data Deletion 3RVLWLRQ 'DWD ZLWK WKH VHOHFWHG $[LV 1R DQG 3RVLWLRQ 1R LV GHOHWHG 7KH IROORZLQJ LV DQ H[DPSOH ZKHUH WKH SRVLWLRQ GDWD ZLWK WKH 3RVLWLRQ 1R WKURXJK 1R LQ HDFK 1R WKURXJK 1R D[HV LV DOO GHOHWHG 270 Press the key. Press the key (RC). Press the key (Edit). Press the key (Posi). Press the key (Clr).
Head Axis No. for the Position Data to be deleted Last Axis No. for the Position Data to be deleted Input the Head Axis No. and press the key. Input the Last Axis No. and press the Head Position No. for the Position Data to be deleted key. Last Position No. for the Position Data to be deleted Input the Head Position No. and press the Input the Last Position No. and press the key. key. Press the (Clr) key. The execution confirmation screen is displayed.
*DWHZD\ )XQFWLRQ $VVRFLDWHG When the data is to be cleared, press the (Yes) key. When the data clearing operation is completed, the completion message is displayed. 272 Press the key. Press the key. Press the key. Press the key.
When the data is to be written in the flash ROM, press the (Yes) key and when it is not to be written, press the (No) key. CAUTION : Never turn OFF the power to the controller when the data is written into the flash ROM. When the data writing in the flash ROM is completed, the completion message is displayed as shown in the left figure. When the returned.
17.2. RC Actuator Monitoring *DWHZD\ )XQFWLRQ $VVRFLDWHG 7KH 5& DFWXDWRU¶V VWDWXV FXUUHQW SRVLWLRQ DQG DODUP FRGH DUH GLVSOD\HG 5& $FWXDWRU 0RQLWRU 0RGH &KDQJH RC - Moni - Stat 6HOHFW WKH 5& DFWXDWRU XVLQJ WKH WHQ NH\ RU key. Axis No. Status display Current Position/Alarm Code Display When the (AClr) key is pressed, the mode is transferred to the RC alarm reset mode. (1) Status display 7KH IROORZLQJ VWDWXV LWHPV DUH GLVSOD\HG No.
(System Reservation) 20 System Rsv 19 (System Reservation) 21 System Rsv 20 (System Reservation) 22 System Rsv 21 (System Reservation) 23 System Rsv 22 (System Reservation) 24 System Rsv 23 (System Reservation) 25 5& D[LV OQN VWDW 5& D[LV /LQNLQJ 6WDWXV 26 5& D[LV EXV\ 5& D[LV %XV\ 27 5& D[LV DOP 5& D[LV $ODUP 28 System Rsv 27 (System Reservation) 29 System Rsv 28 (System Reservation) 30 System Rsv 29 (System Reservation) 31 System Rsv 30 (System Reservation) 332 System Rsv 31 (Sys
*DWHZD\ )XQFWLRQ $VVRFLDWHG 17.4. User Data Hold Memory Initialization 17.4.1.
17.4.2. Operation Procedure key (Clr). Press the key (MClr). Press the key. Press the key (UBM). Press the key (Yes).
*DWHZD\ )XQFWLRQ $VVRFLDWHG When data clearing is completed, the completion message is displayed. Press the key. Press the key. When the data is to be written in the flash ROM, press the (Yes) key and when it is not to be written, press the (No) key. When the data is being written in the flash ROM, the message in the left figure is displayed. CAUTION : Never turn OFF the power to the controller when the data is written into the flash ROM.
*DWHZD\ )XQFWLRQ $VVRFLDWHG 279
* Supplement * Supplement Orthogonal Axis Synchro Specification Absolute Reset : 5th X-SEL-K, P/Q, 5 axis and 6 axis SSEL, ASEL and and 6th Axes of XSEL-K, P/Q,oforPX/QX, PX/QXTT, Controller, 5th to 8thPSEL Axes controller of R/S or RX/SX Controller, or TT, SSEL, ASEL or PSEL Controller 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.
2. Location Adjustment of Synchro Axes Sliders 3. Special Procedure Absolute Reset ,Q WKH FDVH RI ³HDFK D[LV SDUDPHWHU 1R HQFRGHU $%6 ,1& W\SH´ PDVWHU D[LV DQG VODYH D[LV (1) Record the current value RI WKH ³HDFK D[LV SDUDPHWHU 1R $%6 V\QFKUR VODYH D[LV FRRUGLQDWH LQLWLDOL]DWLRQ FDQFHO´ IRU the slave axis. (Record it to return to the original value in a later process.
Press the ESC key several times to move to the Flash ROM writing screen. * Supplement 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 ([HFXWH WKH ³HQFRGHU PXOWL URWDWLRQ GDWD UHVHW ³ IRU WKH VODYH D[LV Input the axis No. of the slave axis and press the return key. Press the F1 (OK) key.
Press the F1 (RAbs) key to return to the absolute reset mode. 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. 283 * Supplement 㽳 Execute an absolute reset for the master axis according to the screen steps.
Press the PAGE UP key to advance the screen, without pressing the F1 (OK) key. * Supplement Press the F1 (OK) key. 㽴 ([HFXWH WKH ³HQFRGHU PXOWL URWDWLRQ GDWD UHVHW ´ IRU WKH VODYH D[LV DJDLQ ,QSXW WKH D[LV 1R RI WKH VODYH D[LV DJDLQ DQG SUHVV the return key. Press the F1 (OK) key. Press the F1 (OK) key. ([LW IURP WKH DEVROXWH UHVHW PRGH ZLWK WKH (6& NH\ without pressing the F1 (OK) key. 5HVWDUW WKH FRQWUROOHU Press the F1 (Yes) key.
5HWXUQ WKH VODYH D[LV YDOXH IRU WKH ³HDFK D[LV SDUDPHWHU 1R $%6 V\QFKUR VODYH D[LV FRRUGLQDWH LQLWLDOL]DWLRQ FDQFHO´ WR WKH RULJLQDO YDOXH 0RGH 7UDQVLWLRQ Slave axis 3UHVV WKH :57 NH\ WR WUDQVIHU WKH GDWD :ULWH WKH GDWD WR )ODVK 520 3UHVV WKH )
(5) Set the preset home value to uniform the coordinate values of the master and slave axes. * Supplement 㽲 If the controller 7 segment diVSOD\ LV ³UG\´ ZKLOH WKH VHUYR LV 2)) UHDG WKH GLVSOD\HG current positions of the master and slave axes. (If the error No. C74 real position soft limit ovHU HUURU RFFXUV UHVHW WKH HUURU :KHQ ³UG\´ LV GLVSOD\HG WKH GLVSOD\HG FXrrent positions can be read.
Write the data to Flash ROM. Press the F1 (Yes) key. * Supplement 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 SERVO, 1-, 1+, 2-, 2+, 3-, 3+, 4- and 4+ keys. If the error No. D0A driver overload error, error No.
288 AD0 - AFF TP FF0 - FBF FC0 - FCF FD0 - FDF FE0 - FEF PC TP EE0 - EFF TP MAIN Core EC0 - EDF PC MAIN Application E00 - E8F E90 - EBF 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
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 Operand3 is invalid Inputted Operand is out of ran
290 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
RC Gateway Mode Mismatching Error Link Axis Absent Error Mismatch Md RC Gateway Error Non Lnk Axis Error 9F6 9F7 * Supplement 291
292 CTL Not Connected Emergency Stop Non-supported CTL is connected DEE DEF DF0 Non-supported controller is connected. The EMERGENCY STOP button of the teaching pendant is pressed. Controller no connection error. Communications cannot be established or an unsupported controller is connected. The probable causes are as follows: 㽲 It is a communication failure due to a break in or noise from the communication line.
Change History Revision Date Revision Description First Edition Second Edition • Added “19. Gateway Function Associated” 2008.11 Third Edition • Added “5.2. Connection between SEL-TG and the Controller” 2010.06 Fourth Edition • “Before Use” newly added to the first page after cover page is opened • “2. Before Use” in Pg. 1 deleted • “3. Safety Precautions” in Pg.
Manual No.: ME0183-7A (December 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.
