IAI America DS-S-T1 User Manual
Teaching Pendant
(Super SEL DS Controller Type)
Operating Manual
Intelligent Actuator, Inc.
This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please contact
IA Technical Support. For Central and East Coast Time Zones, please call our Itasca, IL office at 1-800-944-0333 or FAX 630-467-9912.
For Mountain and Pacific Time Zones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday thru Friday from
8:00 AM to 5:00PM.
Intelligent Actuator
Intelligent Actuator, Inc.
U.S. Headquarters
2690 West 237th Street
Torrance, CA 90505
310-891-6015 / 310-891-0815 FAX
Intelligent Actuator, Inc.
Midwest Regional Office
1261 Hamilton Parkway
Itasca, IL 60143
630-467-9900/ 630-467-9912 FAX
© September 1998 Intelligent Actuator, Inc. All rights reserved.
No portion of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic,
mechnical, recording, or otherwise, without the prior written permission of Intelligent Actuator, Inc.
Disclaimer
The information and technical data contained herein are subject to change without notice. Intelligent Actuator, Inc. assumes no responsibility for
any errors or omissions regarding the accuracy of the information contained in this publication.
1. Foreword
Thank you very much for purchasing the T eaching Pendant for the IA Super SEL • DS Controller type. Without knowing
beforehand how to correctly use or operate the controller, not only will the user be unable to take full advantage of all the
functions built into this product but he might inadvertently cause damage to the controller or shorten its life. Please read this
manual carefully to acquire an understanding of the proper method of handling and operating the controller. Keep the manual
handy so that you can refer to the appropriate sections as the need arises.
*All precautions have been taken to ensure the accuracy of the contents of this manual. However, if you become aware of any
inaccuracies or discrepancies, please contact your IAI sales representative or technical service department.
Page 1
Table of Contents
1. Foreword.............................................................................................................................................................. 1
2. Before You Begin ............................................................................................................................................... 4
3. Safety Precautions ............................................................................................................................................. 5
4. Warranty Period and Scope .............................................................................................................................. 6
5. Teaching Pendant Function and Specification .............................................................................................7~9
5.1 Main Operation Keys and Function ................................................................................................................7
5.2 Specification ....................................................................................................................................................8
5.3 RS232C Connector (D-sub 25 DTE Special*) E · G Type............................................................................ 8
5.4 RS232C Connector (D-sub 25 DTE Special*) DS Type...............................................................................9
6. Function Keys Above the LCD Display (Outline) ....................................................................................... 10
7. Programming ........................................................................................................................................... 12
7.1 Position Program ......................................................................................................................................... 12
7.2 Commands .................................................................................................................................................. 13
7.2-1 SEL Language Structure ................................................................................................................. 13
7.2-2 Expansion Conditions ..................................................................................................................... 14
8. Examples of Simple Operational Procedure............................................................................................16~31
8.1 Creating Position Data ................................................................................................................................. 16
8.2 Creating Application Program...................................................................................................................... 23
8.2-1 Creating Application Program which moves the location of the position data composed in 8.1 . 23
8.2-2 How to continue inputting other programs .................................................................................... 31
9. Methods of Operation ................................................................................................................................32~48
9.1 Program Operation ....................................................................................................................................... 32
9.2 Changing Application Program .................................................................................................................... 34
9.2-1 How to set a repeated movement using Program ........................................................................... 34
9.2-2 How to stop during operation or by other methods excluding EXIT............................................. 39
9.2-3 Expansion Condition Input Procedure............................................................................................ 40
9.3 Positioning Ooperation (DS Type only) ...................................................................................................... 44
9.3-1 Step Operation ................................................................................................................................ 44
9.3-2 Consecutive Operation ................................................................................................................... 46
9.3-3 Consecutive Operation Sequence ................................................................................................... 48
Page 2
Table of Contents
10. Explanation of Each Function Screen ......................................................................................................49~71
10.1 Program Mode ........................................................................................................................................... 49
10.1-1 Position Edit Screen .................................................................................................................... 49
10.1-2 Program Edit Screen .................................................................................................................... 56
10.2 Play Mode .................................................................................................................................................. 57
10.2-1 Play Program Input Mode ............................................................................................................ 57
10.2-2 Play Position Input Mode (DS type only) ................................................................................... 62
10.3 Parameter Mode......................................................................................................................................... 63
10.3-1 Axis Parameters ........................................................................................................................... 63
10.3-2 System Parameters....................................................................................................................... 68
10.4 Test Mode ................................................................................................................................................... 71
11. Supplement ......................................................................................................................................77~81
11.1 Recovery From Emergency Stop ............................................................................................................... 77
11.2 Error Codes ................................................................................................................................................ 79
11.3 How to Investigate an Axis Error Using the Teaching Pendant ................................................................. 80
Page 3
2. Before Y ou begin
! A W ord of Caution
Q Please read this manual carefully to operate the controller properly.
R You are not allowed to use or reproduce this manual or any portion thereof without permission.
S We cannot accept any responsibility for possible damage resulting from the use of this manual.
T We reserve the right to change the information contained in this manual without prior notice.
! Emergency Procedures
If hazardous conditions arise while using the controller, immediately turn OFF all power switches for the controller and any
devices connected to it, or pull all the power plugs from the electric outlet. ("Hazardous condition" refers to excessive
heat,smoke or flames coming from the controller or any conditions which might lead to fire or cause damage to the
controller.)
Page 4
3. Safety Precautions
Safety Precautions
Please follow the following safety precautions when operating your IA system:
(1) Any operation not specifically addressed in this manual should not be attempted. If you have any questions, please
contact your IA sales representative or contact IA technical support at: 1-800-736-1712.
(2) Use only IA cables when connecting IA actuators and controllers. IA cables are matched for use with IA actuators and
are specially designed to withstand repeated bending.
(3) Stand clear of your IA system when operating or preparing to operate. Surround your IA system with safety partitions
if there is any possibility that someone may become injured by an operating IA system.
(4 ) Before assembling, adjusting, or performing maintenance on your IA system, please make sure that people around you
are aware that the system is not to be powered up or turned on. You may want to disconnect the power cable completely, keep the power cable close to the operator, or use a safety plug to ensure that the power cable will not be
plugged in inadvertently .
(5 ) When more than one person is working on your IA system, use signs to inform everyone of the operating status of the
equipment. Make sure that everyone stands clear prior to operation. Operate your system only after you are sure that
everyone knows that you are initiating system start-up and that everyone is clear of the system.
(6 ) In situations where the cables must be lengthened, be sure to double check all connections before powering up your IA
system.
Page 5
4. Warranty Period and Scope
Warranty Period and Scope
The Super SEL controller undergoes stringent testing before it is shipped from our factory. IAI provides the following warranty.
1. Warranty Period
The warranty period is 12 months from the date the unit is shipped to the customer.
2. Scope of Warranty
If within the period specified above, a breakdown occurs while operating the controller under normal conditions and is
clearly the responsibility of the manufacturer, IAI will repair the unit at no cost. However, the following items are not
covered by this warranty .
• Faded paint or other changes that occur naturally over time.
• Consumable components that wear out with use (battery, etc.).
• Unit seems to be noisy or similar impressions that do not affect machinery performance.
• Damage resulting from improper handling or use.
• Damage resulting from user error or failure to perform proper maintenance.
• Any alterations not authorized by IAI or its representatives.
• Damage caused by fire and other natural disasters or accidents.
The warranty pertains to the purchased product itself and does not cover any loss that might arise from a breakdown of the
product. Any repairs will be done at our factory.
3. Service
The purchase price of the product does not include programming or expenses for sending technicians to the customer's site.
Even if the product is still under the warranty period, separate charges will be assessed for the following services.
• Assistance with unit installation or trial operation.
• Inspection and maintenance.
• Technical instruction and training for controller operation and wiring.
• Writing programs or technical instruction and training for programming.
• Any other services or work for which IAI normally assesses separate charges.
Page 6
5. T eaching Pendant Function and Specification
5.1 Main Operational Keys and Functions
➀
➁
➂
➃
➇
➀ LCD Display
4 lines with a 20 character per line capacity display. Shows program and motion status.
➁ EMERGENCY STOP
Whenthe emergency stop button is pressed, servos will disengage and all programmable outputs will
be turned OFF. To release the emergency stop, press Restart (F1) on the LCD Display. When an emergency stop is
pressed from a peripheral device while using the teaching pendant, you must also press the emergency stop from the
teaching pendant. Otherwise, normal operation can not be executed (See Page 77 for reference).
➂ F1, F2, F3, F4 (Multi-function Key)
Multi-function keys that correspond with the LCD Display.
➃ ESC (Escape)
The Escape Key allows the operator to go backwards in one-step increments to previous displays
to make corrections or to switch to different modes.
➄
➅
➆
➄ DEC / - (Decrement / Minus Key)
Dual function keys for use in data input and axis Jog functions.
➅ Inc / . (Increment / Point Number Key)
This key increases the Step Number or Point Number.
➆
↵ ↵
↵ (Return Key)
↵ ↵
Return Key is used to change operations and to move the cursor position.
▲
➇ 1 , 4 (Data Key, Jog Key)
Dual function key for use in data input and axis Jog functions.
▲
Page 7
5. T eaching Pendant Function and Specification
5.2 Specification
metImetI
metImetI noitpircseDnoitpircseD
metI
ytidimuH&erutarepmeTtneibmA sselroHR%58:ytidimuHC°04~0:erutarepmeT
tnemnorivnEgnitarepOtsudevissecxeon,sagevisorrocfoeerF
thgieWtinUG005
htgneLelbaCm2
yalpsiD4X02htiwyalpsiDDCL
5.3 RS232C Connector (D-Sub 25 DTE Special*) For the E • G Type
.oNniP.oNniP
.oNniP.oNniP emaNlangiSemaNlangiS
.oNniP.oNniP
.oNniP.oNniP emaNlangiSemaNlangiS
.oNniP
1GF
2DXT
3DXR
4)STR(
5)STC(
6RSD
7GS
8CN
9CN
01CN
11CN
21CN
31CN
emaNlangiSemaNlangiS
emaNlangiS
*
*
*
* Pin numbers 18, 23, and 25 are for use with the teaching pendant signal.
Do not connect these pins.
.oNniP
41CN
51CN
61CN
71CN
81tuptuOV2.6+
91CN
02RTD
12CN
22CN
32WSpotSycnegremEWS.GME
42CN
52)2.6+(VO
noitpircseDnoitpircseD
noitpircseD
emaNlangiSemaNlangiS
emaNlangiS
■ RS232C Cable
Please use RS232 cable pin configuration (between controller and computer serial port).
SPMC-8DG
NEC PC
(25 Pin )
Drain
Shield
FG
1
Yellow
TXD
2
Orange
RXD
3
Gray
RTS
4
Red
CTS
5
Brown
DSR
6
Green
DTR
20
Blue
GND 7
Warning Please only use cables as specified in the charts above. Connection using other types of cables may cause breakdown in the PC interface area.
Black
Drain
Shield
Orange
Yellow
Red
Gray
Green
Blue
Black
Controller
(25 P)
1
2
3
4
5
6
20
7
FG
TXD
RXD
RTS
CTS
DSR
DTR
GND
IBM PC
(9S)
RXD
TXD
CTS
RTS
DTR
DSR
GND
(The Shield line is connected to the shell clamp area)
Page 8
2
3
8
7
4
6
5
SPMC-8DG
Shield
Orange
Yellow
Red
Gray
Green
Brown
Blue
Black
Controller
(25 P)
Orange
Yellow
Red
Gray
Green
Brown
Blue
Black
1
2
3
4
5
6
20
7
FG
TXD
RXD
RTS
CTS
DSR
DTR
GND
5. T eaching Pendant Function and Specification
5.4 RS232C Connector (D-Sub 25 DTE Special*) for the DS Type
.oNniP.oNniP
.oNniP.oNniP emaNlangiSemaNlangiS
.oNniP
1GF
2DXT
3DXR
4)STR(
5)STC(
6RSD
7GS
8CN
9CN
01CN
11CN
212SGME
*
)
311SGME
*
• Pin numbers 12, 13, 18, 19, 23, 25 are for use with the teaching pendant signal. Do not connect these pins for RS232C.
• Pin numbers 4 and 5 are short-circuited.
• Pin numbers 12 and 13 are connected for emergency stop (B contact).
• Pin numbers 18 and 19 are ENABLE SW connecting terminal.
emaNlangiSemaNlangiS
emaNlangiS
.oNniP.oNniP
.oNniP.oNniP emaNlangiSemaNlangiS
.oNniP
41CN
51CN
61CN
71CN
81tuptuOV2.6+
*
*
91ELBANE
02RTD
12CN
22CN
32WSpotSycnegremEWS.GME
*
42CN
52)2.6+(VO
*
emaNlangiSemaNlangiS
emaNlangiS
FG
TXD
RXD
RTS
CTS
DSR
DTR
GND
Soldering
within
the shell
■ RS232C Cable
Please use RS232 cable pin configuration (between controller and computer serial port).
PC Side
(25 Pin)
1
2
3
4
5
6
20
7
SPMC-8DG
Shield
Yellow
Orange
Brown
Green
Blue Blue
Black
Red
Gray
Black
White
Drain
Orange
ShieldDrain
Orange
Yellow
Green
Brown
Black
Red
Gray
Controller Side
(25 Pin)
1
FG
2
TXD
3
RXD
4
RTS
5
CTS
6
DSR
20
DTR
7
GND
19
ENABLE
18
6V
13
EMG S1
12
EMG S2
RXD
TXD
CTS
RTS
DTR
DSR
GND
Soldering
within
the shell
PC Side
(9S)
2
3
8
7
4
6
5
SPMC-8DG
Orange Orange
Yellow
Green
Brown
Blue
Black
Red
Gray
Black
Controller Side
(25 Pin)
Shield
Yellow
Green
Brown
Blue
Black
Red
Gray
1
2
3
4
5
6
20
7
19
18
13
12
FG
TXD
RXD
RTS
CTS
DSR
DTR
GND
ENABLE
6V
EMG S1
EMG S2
EMG S1
EMG S2
EMG SW Side
Warning Please only use cables as specified in the charts above. Connection using other types of cables may cause breakdown in the PC interface area.
White
1
2
Black
EMG S1
EMG S2
EMG SW Side
White
1
Black
2
(The shield line is connected to the
shell clamp area)
Page 9
6. Main Function Keys Above the LCD Display
rebmuNrebmuN
rebmuNrebmuN yeKyeK
rebmuN
1ccAnoitareleccAnoitareleccA
2llAllAllA
3dnAdnA)tcudorplacigoL(dnA
4grpAmargorPnoitacilppAneercstidemargorP
5sixAsixAneercsedomretemarapsixA
6+sixAsulPsixA.oNsixamorf1ddA
7-sixAsuniMsixA.oNsixamorf1tcartbuS
8SBecapSkcaBsdrawkcabrosrucehtevomdnatupniraelC
9naClecnaClecnaC
01riCelcriCneercsedomretamarapcrametsyS
11rlCraelCraelC
21?KORLC?yakOraelC?atadehtraelcotyakotisI
31ypoCypoCypoC
yeKyeK emaNdnammoCemaNdnammoC
yeK
emaNdnammoCemaNdnammoC tnetnocdnammoCtnetnocdnammoC
emaNdnammoC
tnetnocdnammoCtnetnocdnammoC
tnetnocdnammoC
*Alphabetical order
41ceDtnemerceD.oNmorf1tcartbuS
51leDeteleDeteleD
61tidEtidEneercsedomtidE
71ctEctEnoitcelesunemrehtO
81galFgalFnoitcelesyalpsidnoitairavgalF
91oGoGnoitucexeetangiseD
02emoHemoH
12TLHtlaHpotS
22cnItnemercnI.oNddA
32snItresnItresnI
42goJgoJneercsedomgoJ
52leVJyticoleVgoJneercsyticolevgoJ
62niaMniaMnoisrevMORniamedisrellortnoC
72idMtupnIataDlaunaMtupnitceridatadnoitisoP
82rtoMrotoMneercsedomretemaraprotomsixA
92emaNemaNneercsretemarapemansixA
sixaelbacilppa/edomretemarapnigirosixA
neercsedomtessixaelbacilppa-noN
03+emaNsulPemaN1(emansixAot1ddA →9, A→ )Z
13-emaNsuniMemaNZ(emansixAmorf1tcartbuS →A, 9→ )1
23toNtoN)yneD(toN
Page 10
6. Main Function Keys Above the LCD Display
rebmuNrebmuN
rebmuNrebmuN yeKyeK
rebmuN
33rOrO)noitareporO(rO
43araPretemaraPraelcretemarapmetsyS
53mraPretemaraPedomretemaraP
63yalPyalPedomnoitucexE
73soPnoitisoPraelcaeraatadnoitisop,edomretemaraptnioP
83isoPnoitisoPneercstideatadnoitisoP
93gorPmargorPraelcaeramargorp,neercsedommargorP
04LCmaRraelCmaRneercsedomraelcyromeM
14nuRnuRdetucexegniebmargorP
24tfihStfihSedoM
34wohSwohSrotinometangiseD
44oiSC232SRO/IlaireSneercsedomretemaraPO/IlaireS
54tatSsutatSnoitidnocnoitucexemargorpetangiseD
64petSpetSpetsatadnoitisoP
74potSpotSpotS
841ptS1potSrosrucehtybdetacidnimargorpehtpotS
94LAptSllApotSsmargorpgnitucexellapotS
05ovrSovreSneercsretemarapovreS
15fovSffOovreStnadnepgnihcaettcerid•launaM
25sySmetsySneercsedomretmarapmetsyS
35caeT
45tseTtseTedomtseT
55leVyticoleVyticoleVgnittesnoitarelecca•
65reVnoisreVneeercsyalpsidnoisrevtnerruC
75trWetirWnietirW
851/01ro01ro0otyalpsidehtegnahC
yeKyeK emaNdnammoCemaNdnammoC
yeK
emaNdnammoCemaNdnammoC tnetnocdnammoCtnetnocdnammoC
emaNdnammoC
,gnihcaeTataDnoitisoP
tnadnePgnihcaeT
tnetnocdnammoCtnetnocdnammoC
tnetnocdnammoC
yalpsidnoisrevtnadnepgnihcaet,gnihcaeT
Note: Depending on the operation, there are other function keys not listed in the chart above.
Page 11
7. Programming
SEL Language Structure
The SEL programming consists of a position and application program (command) section.
7.1 Position Program
In the position section, we have coordinates, velocity and acceleration.
*1, 2
1~1500 mm/sec
1
2
3
4
* 1 Varies according to the actuator model.
* 2 When velocity and acceleration are set in the position data, this has priority over the data set in the
*2
Standard
0.3G
noitisoP
.oN
yticoleVnoitareleccA1sixA2sixA3sixA4sixA5sixA6sixA7sixA8sixA
±9999.999mm
7991
8991
9991
0002
application program. To validate the application data, set x.xxx or 0 in the position data.
Note: The DS type is a single axis only. Also position numbers go up to 500.
Page 12
7. Programming
7.2 Commands
The outstanding feature of the SEL language is the simplicity of its command structure which eliminates the need for a
compiler and allows high speed operation with just an interpreter.
7. 2- 1 SEL Language Structure
One step of the command has the following structure.
Putting this in a ladder
diagram,
(1) The conditions before the commands are equivalent to "if ~ then" statements in BASIC language.
IF ~ THEN ELSE
noisnapxE
)RO·DNA(
noitidnoCtupnI
)galF·O/I(
dnammoC 1dnarepO 2dnarepO
ò
Command PostOperand 1
Command
○○○○○○○○○○○○○○○○○○○○○○○○○○○○○○
Operand 1
Operand 2
Operand 2
dnammoC
tsoP
)galF·troptuptuO(
Post
○○○○○○○○
To the next step
ò
Carry out a command when an input condition is established, and turn the output port ON, if output is
designated. When not established, go on to the next step regardless of the next command (ex. WTON,
WTOF). The designated output port remains the same , however it needs to be monitored carefully.
If there is no conditioning set up, carry out command unconditionally.
If condition is used as "negative condition", then place an "N" (NOT).
Input/output port & flag can be used for condition.
(2 ) Output is set based on the result of the command execution.
Operand 1
Operand 2Command Post
Actuators motion control commands: becomes OFF immediately after the command starts to be executed,
and becomes ON when the command is completed.
Computation commands: when the result becomes a certain value, it turns ON, and it stays OFF otherwise.
Output port and flag can be used for output section.
Page 13
7. Programming
7.2-2 Expansion Condition
It is possible to combine conditions to make more complicated conditions as follows:
AND Expansion (Ladder Diagram display) (SEL Language)
Cond 1
Cond 2
Cond 3
OR Expansion
Cond 1
Cond 2
AND
AND
OR
noitanalpxEtupnI
DNA2noitidnoC
DNA3noitidnoCdnammoC1dnarepO2dnarepO
noitanalpxEtupnI
RO2noitidnoCdnammoC1dnarepO2dnarepO
dnammoC1dnarepO2dnarepO
1noitidnoC
dnammoC1dnarepO2dnarepO
1noitidnoC
sdnammoCtuptuO
sdnammoCtuptuO
AND/OR Expansion
Cond 1
Cond 2
Cond 3
AND
OR
noitanalpxEtupnI
DNA2noitidnoC
RO3noitidnoCdnammoC1dnarepO2dnarepO
dnammoC1dnarepO2dnarepO
1noitidnoC
sdnammoCtuptuO
Note: By convention, all “AND” operations are performed before the “OR” operations when they are used in
conjunction.
Page 14
8. Examples of Simple Operation Procedure
In this chapter, we will design a program which draws a 5 sided shape. It will pass through 6 points
(➀ and ➅ share the same position), taught by a 2-axes (X,Y) actuator.
Y
100
50
➀ /
➅
➁
➂
➄
0
Origin
Position data
50
➅➀ ~
➃
100
X
* Please finish reading the rest of the operational procedure before moving ➀~ ➅.
Page 15
8. Examples of Simple Operation Procedure
8.1 Creating a Position Data
First, we will input data for 6 points to draw a 5 sided shape, similar to the position data list shown below:
Position Data • list*
No. Acc Vel Axis (1) Axis (2)
1 x.xx xxxx 0 50
2 x.xx xxxx 50 100
3 x.xx xxxx 100 50
4 x.xx xxxx 100 0
5 x.xx xxxx 0 0
6 x.xx xxxx 0 50
SEL Teaching
Teach V2.00 09/01/97
Start (Blinking)
F1 F2 F3 F4
SEL Teaching
T each V2.00 09/01/97
Main V2.50 07/14/95
Start (Blinking)
*This is a printout of the controller
position data which we will
create in this section.
LCD Display:
Once the characters appears on the LCD display, you may
advance to the next step by pressing the appropriate function
Key located on the lower part of the screen.
First, press the F1 Key (Start).
Controller ROM Version Display:
Press the F1 Key (Start).
F1 F2 F3 F4
Mode Selection Display:
Mode Select
This is the basic screen for all operation.
Prog Play Parm Test
F1 F2 F3 F4
*Note* In case of a selection or input error, press the ESC key to return to the previous screen and then resume operation.
For any operation, if you continue pressing the ESC Key, you will eventually return to the above basic screen.
Press F1 Key (Prog).
Page 16
8. Examples of Simple Operation Procedure
Program Mode Screen:
Prog
Press the F1 Key (Posi).
Posi Aprg
F1 F2 F3 F4
Posi
Mdi Teac Step Etc
F1 F2 F3 F4
Position data Axis 1
Mdi - 1 No 1 [1] - 2
XXXXX.XXX XXXXX.XXX
Inc Dec Clr Del
F1 F2 F3 F4
Screen explanation:
Mdi - 1 No 1 [1] - 2
Position # Axis Name
Axis # No. of axes connected
Position (Position Data) Edit Screen:
Press the F1 Key (Mdi - manual data input).
Axis 2
Position Number Input Mode:
The cursor is on the position number location.
XXXXX.XXX will display if there is no data.
Press the Return Key and match the cursor to
the position data for Axis 1.
Note 1: For existing data, keep pressing the F1
Key until reaching the screen which displays
the XXXXX.XX. Then, execute data input, or
do a substitution so that the previous data will
dissappear.
Page 17
Note 2: This screen can only display up to a maximum
of four axes. When the number of axes are
over five, please refer to Page 50 for
reference.
8. Examples of Simple Operation Procedure
Q Data input for point 1
Mdi - 1 No 1 [1] - 2
XXXXX.XX
X XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
* It is possible to input position data up to for integer 4 digits before the decimal point and 3 digits after. The range depends on
the type of the machine. Therefore, please verify the range according to the appropriate product catalog.
Input the number 0 and press the Return Key.
0.000 will display, and the axis number and name
will change to 2. Then, the cursor position will move
to the position data for the axis 2.
Mdi - 1 No 2 [2] - 2
0.000 XXXXX.XX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 1 No 2 [1] - 2
0.00
0 50.000
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 2 No 1 [1] - 2
XXXXX.XX
X XXXX.XXX
Input 50 into the position data for axis 2, then,
press the Return Key.
X
*Since the cursor position moves every time the
Return Key is pressed, input in sequence, first axis 1,
then, axis 2. For input error, move the cursor to that
location and do a substitution.
Using the F1 Key (Wrt) to establish, the Position No.
will advance by 1, turning into 2.
② Data input for point 2
Input 50 into the position data for axis 1, then press the
Return Key.
Wrt Can Clr Etc
F1 F2 F3 F4
Page 18
8. Examples of Simple Operation Procedure
Mdi - 2 No 2 [2] - 2
50.000 XXXXX.XX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 2 No 1 [1] - 2
50.00
0 100. 000
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 3 No 2 [2] - 2
XXXXX.XX
X XXXXX.XXX
Wrt Can Clr Etc
Since the cursor position moves to the position
data for the axis 2, input 100 and press the Return Key.
X
Using the F1 Key (Wrt) to establish, then, advance the
Position No. to 3.
③ Data input for point 3
Input 100 into the position data for axis 1, then press
the Return Key.
F1 F2 F3 F4
Mdi - 3 No 1 [1] - 2
100.00
0 XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 3 No 1 [1] - 2
100.00
0 50.000
Wrt Can Clr Etc
F1 F2 F3 F4
Input 50 into position data for axis 2, then press the
Return Key.
Press the F1 Key (Wrt), then, advance Position No.
to 4.
Page 19
8. Examples of Simple Operation Procedure
Mdi - 4 No 1 [1] - 2
XXXXX.XX
X XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 4 No 2 [2] - 2
100.000 XXXXX.XX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 4 No 1 [1] - 2
100.00
0 0.000
④ Data input for point 4
Input 100 into the position data for axis 1, then press the
Return Key.
Input 0 into the position data for the axis 2, then
press the Return Key.
X
Press the F1Key (Wrt), and advance the Position No. to 5.
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 5 No 1 [2] - 2
XXXXX.XXX XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 5 No 2 [2] - 2
0. 000 XXXXX.XX
X
Wrt Can lir Etc
F1 F2 F3 F4
⑤ Data input for point 5.
Input 0 into the position data for axis 1, then push the Return
Key.
Input 0 into the position data for axis 2, then press the
Return Key.
Page 20
8. Examples of Simple Operation Procedure
Mdi - 5 No 1 [1] - 2
0.00
0 0.000
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 6 No 1 [1] - 2
XXXXX.XX
X XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 6 No 2 [2] - 2
0.000 XXXXX.XX
Press the F1 Key (Wrt), and advance the Position No. to 6.
➅Data input for point 6
Input 0 into the position data for axis 2, and then
press the Return Key.
Input 50 into the position data for axis 2, and then press the
Return Key.
X
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 6 No 1 [1] - 2
0.00
0 50.000
Wrt Can Clr Etc
F1 F2 F3 F4
Mdi - 7 No 1 [1] - 2
XXXXX.XX
X XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
Press the F1Key (Wrt) to establish, and then the Position No.
screen will turn into 7.
Page 21
8. Examples of Simple Operation Procedure
Push the ESC key to return to the Position Edit Screen.
Mdi - 7 No 1 [1] - 2
XXXXX.XXX XXXXX.XXX
Wrt Can Clr Etc
F1 F2 F3 F4
Push the ESC key again to dsiplay the Program Mode Screen.
Posi
Mdi Teac Step Etc
F1 F2 F3 F4
Prog
Posi Aprg
F1 F2 F3 F4
Mode Select
Prog Play Parm T est
F1 F2 F3 F4
Push the ESC key again to return to the Mode Selection
Screen.
* Pressing the ESC key further will not change the screen.
This concludes the basic position data input.
Page 22
8. Examples of Simple Operation Procedure
8.2 Creating an application program
8.2-1 In this section, we will create an application program which will move the position data location that was
created in the previous section.
Application program • list *
Line A/O N (1) OP-CODE OPERAND1 OPERAND2 POST COMMENT
1 HOME 11
2 V EL 100
3 MOVL 1
4 MOVL 2
5 MOVL 3
6 MOVL 4
7 MOVL 5
8 MOVL 6
9 EXIT
* This is a printout of the application program which we will create (input) in this section.
The order of the application program input in the teaching pendant differs from the application program coding sheet (see
diagram below). The order in the teaching pendant is as follows: command (OP-CODE), operand 1, 2 (OPRND 1, 2), output
requirement (POST), expansion requirement (A/O) and continuous requirement (N).
OP-CODE
[Example]
[Example]
In the coding sheet:
petSpetS
petSpetSO/AO/A
petS
11111DNADNA
O/AO/ANNNNNEDOC-POEDOC-PO
O/A
DNADNA02N02N
02N02NEMOHEMOH
DNA
02N
EDOC-POEDOC-PO1DNRPO1DNRPO
EDOC-PO
EMOHEMOH1111111111009009
EMOH
➨
In the LCD screen:
Program No.
Edit 1 - 1 [ 50]
HOME 11
STEP No.
900 A N 20
1DNRPO1DNRPO2DNRPO2DNRPO
1DNRPO
2DNRPO2DNRPOTSOPTSOP
2DNRPO
TSOPTSOPTNEMMOCTNEMMOC
TSOP
009009
009
Step number
POST
TNEMMOCTNEMMOC
TNEMMOC
N
Inc Dec Clr Del
F1 F2 F3 F4
OPRND1 A/O
Page 23
8. Examples of Simple Operation Procedure
Mode Select
Prog Play Parm T est
F1 F2 F3 F4
Prog
Posi Aprg
F1 F2 F3 F4
Aprg
Select the F1 Key (PROG) from the Mode Selection Screen.
Select the F2 Key (Aprg) from the Program Mode Screen.
Select the F1 Key (Edit) from the Application Program Edit
Screen.
Edit Copy
F1 F2 F3 F4
Edit 1- 1 [ 0]
ABPG ACC ADD AND
F1 F2 F3 F4
Edit
1- 1 [ 0]
ABPG ACC ADD AND
F1 F2 F3 F4
After the screen changes to program No. Input Mode Screen,
move the cursor location using the Return Key. Then, press
the Return Key twice.
*For existing program data input, substitution will clear the
previous data.
Edit command input mode:
Retrieve the HOME command (Homing). Pressing the DEC /
- Key will place the alphabet of the command in a
descending order. Pressing the INC /. Key will place the
alphabet of the command in an ascending order.
Page 24
8. Examples of Simple Operation Procedure
Retrieval is performed either by the DEC / - Key or INC
Edit 1 - 1 [ 0]
_
HOME IN INB JBWF
F1 F2 F3 F4
/. Key. Continue pressing either of the Keys until the target
command displays. Since HOME is displayed in the display
window, in this example, select the F1 (HOME) Key. HOME
is displayed on the command input location.
[Note: In some cases, the displayed function key location
(F1 ~F4) of Home will differ.
Edit 1 - 1 [ 0]
Home
HOME IN INB JBWF
F1 F2 F3 F4
Edit 1 - 1 [ 0]
Home 11_
* BS Clr
F1 F2 F3 F4
Since the cursor moves to the operand 1 input position when
pressing the Return Key, input 11 so that both X and Y axes
homes at the same time. Why 11?
0 • • Not used
?1 1
1 • • Used.
Therefore, homing will be executed
Y-Axis
Press the Return Key.
X-Axis
to both axes in this example
(See Page 65 for Homing reference*1).
Edit 1 - 1 [ 0]
Home 11
_
BS Clr
F1 F2 F3 F4
Edit 1- 1 [ 0]
Home 11
And Or Clr Not
F1 F2 F3 F4
Press the Return Key.
Press the Return Key.
Page 25
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