IAI America IA-101-X-USBMW User Manual

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PC Software for X-SEL

IA-101-X-MW IA-101-X-MW-J IA-101-XA-MW IA-101-X-USB IA-101-X-USBMW IA-101-TT-USB

Operation Manual 11th Edition

IAI America, Inc.

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Before Use

Thank you for purchasing our product.

This operation manual explains the handling methods, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for our products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the operation manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

• This operation manual is written specifically for the product.

• The product cannot be operated in any way unless expressly specified in this operation manual. We shall assume no responsibility for the outcome of any operation not specified herein.

• Information contained in this operation manual is subject to change without notice for the purpose of product improvement.

• If you have any question or comment regarding the content of this manual, please contact "IAI Customer Center Eight" or the IAI sales office near you.

• Unauthorized use or reproduction of this operation manual, whether in whole or in part, is strictly prohibited.

• All company names and product names mentioned are trademarks or registered trademarks of the respective companies.

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Support Models.........................................................................................................................1

Installing V6.0.0.0 Compatible with the IA Super SEL Controller E/G Types and the DS

Controller ..................................................................................................................................2

Software License Agreement ....................................................................................................5

A Word of Caution.....................................................................................................................6

Safety Guide .............................................................................................................................7

1. Before You Begin..............................................................................................................15

1.1 Items Supplied with This Software (Product Components)......................................................................15

1.2 System Requirements..............................................................................................................................16

1.3 Installing the Software..............................................................................................................................17

1.3.1 How to Install the PC Interface Software for X-SEL .........................................................................17

1.3.2 How to Install the USB Conversion Adapter Driver Software ...........................................................21

1.3.3 How to change the USB COM port...................................................................................................32

1.4 Connection to Controller ..........................................................................................................................34

1.5 Starting the Software (Online Connection)...............................................................................................45

2. How to Save Data.............................................................................................................48

2.1. Factory Setting – When a Backup Battery Is Used (When the X-SEL controller is shipped)................48

2.2 When a Backup Battery Is Not Used (Table Top Actuator [TT], SSEL, ASEL, PSEL) .............................50

2.3 XSEL-R/S/RX/SX/RXD/SXD....................................................................................................................52

2.4 Notes ........................................................................................................................................................53

3. Menu Window...................................................................................................................55

3.1 Explanation of the Menu ..........................................................................................................................55

3.1.1 Online Screen ...................................................................................................................................55

3.1.2 Offline Screen ...................................................................................................................................59

3.2 Explanation of the Commands.................................................................................................................60

3.3 Explanation of the Toolbar........................................................................................................................74

3.4 Tree View .................................................................................................................................................76

4. Program Edit Window.......................................................................................................78

4.1 Explanation of the Items Displayed in the Program Edit Window............................................................78

4.2 Saving a Program and Closing the Edit Window.....................................................................................85

4.3 Saving All Programs to a File...................................................................................................................88

4.4 Running the Program...............................................................................................................................91

5. Copying/Moving/Clearing a Program................................................................................92

5.1 Program Copy/Move Window ..................................................................................................................92

5.2 Program Clear Window............................................................................................................................94

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6. Position Data Edit Window ...............................................................................................96

6.1 Explanation of the Items Displayed in the Position Data Edit Window ....................................................96

6.2 Saving Position Data and Closing the Edit Window...............................................................................112

7. Copying/Moving/Clearing Position Data ......................................................................... 116

7.1 Copying/Moving Position Data...............................................................................................................116

7.2 Clearing Position Data ...........................................................................................................................118

8. Parameter Edit Window..................................................................................................120

8.1 Explanation of the Parameter Edit Window .......................................................................................... 120

8.2 Saving Parameter Data and Closing the Edit Window.......................................................................... 122

8.3 Transferring a Parameter File ............................................................................................................... 125

8.3.1 Selecting Categories of Parameters to Be Transferred................................................................. 126

8.3.2 Default Specifications..................................................................................................................... 129

8.4 How to Initialize XSEL-R/S, RX/SX, RXD/SXD, SSEL/ASEL/PSEL Parameters (at the time of

shipment)............................................................................................................................................... 130

9. Symbol Edit Window.......................................................................................................132

9.1 About Symbols ...................................................................................................................................... 132

9.2 Explanation of the Symbol Edit Window ............................................................................................... 133

9.3 Saving Symbol Data and Closing the Edit Window .............................................................................. 135

10. Coordinate System Definition Data Edit Window............................................................138

10.1 Explanation of Coordinate System Definition data Edit Window .......................................................... 138

10.2 Work Coordinate System ...................................................................................................................... 140

10.3 Tool Coordinate System ........................................................................................................................ 144

10.4 Simple Interference Check Zone .......................................................................................................... 148

10.5 Coordinate System Definition Data Clear Window ............................................................................... 152

10.6 Printing of Coordinate System Definition Data...................................................................................... 154

11. Monitor ...........................................................................................................................155

12. RC Gateway Function Setting ........................................................................................171

13. How to Reset an Absolute Encoder................................................................................172

13.1 Orthogonal axis ..................................................................................................................................... 172

13.2 Scara Axis ............................................................................................................................................. 174

13.2.1 Absolute Reset Preparation........................................................................................................... 174

13.2.2 Starting the Absolute Reset Menu ................................................................................................. 175

13.2.3 Absolute Reset Procedure for Arm 1 or 2 ...................................................................................... 176

13.2.4 Absolute Reset Procedure for Rotation Axis + Vertical Axis .......................................................... 183

13.3 ZR Unit (Absolute Type Only) ............................................................................................................... 193

13.3.1 Preparing for Absolute Reset......................................................................................................... 193

13.3.2 Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window).................................. 194

13.3.3 Absolute Reset (Ball-screw Spline Adjustment) Procedure ........................................................... 195

13.4 Simple absolute Unit for PSEL Controller (Option) ............................................................................... 208

13.4.1 Instructions of Absolute Reset ....................................................................................................... 208

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14. Supplemental Information on Controller Menu Items......................................................213

14.1 Software Reset...................................................................................................................................... 213

14.2 Reset Error............................................................................................................................................ 213

14.3. Drive-source Recovery Request and Operation-pause Reset Request ............................................... 214

14.3.1 In the cases of Controllers Other Than SSEL, ASEL or PSEL Controllers.................................... 214

14.3.2 In the cases of SSEL, ASEL or PSEL Controllers.......................................................................... 215

14.4 Setting Time .......................................................................................................................................... 216

14.5 SEL Global Data Backup....................................................................................................................... 216

14.6 Control Constant Table Management Information ................................................................................ 218

14.7 Execution Stop of Positioner Mode of SSEL, ASEL or PSEL Controller............................................... 219

14.8 Getting Positioner Mode Information from SSEL, ASEL and PSEL Controllers ................................... 220

14.9 Positioner Mode Management Information for SSEL, ASEL or PSEL Controller ................................. 221

15. Tool.................................................................................................................................222

16. Appendix ........................................................................................................................225

16.1 Parameter Recovery Method for X-SEL-P/Q, PX/QX, R/S, RX/SX and RXD/SXD Controllers ........... 225

16.2 Error Level Control ................................................................................................................................ 232

16.3 X-SEL PC Software Error Table............................................................................................................ 233

Change History .....................................................................................................................238

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Support Models

Various data file extensions

Model Name

X-SEL-J/K xpg xpa Xpt xpm xsm xgd V1.0.0.0

X-SEL-JX/KX spg spa spt spm ssm sgd V2.0.0.0

X-SEL-P/Q x2pg x2pa x2pt x2pm x2sm x2gd V3.0.0.0

X-SEL-P/Q (compatible with increased memory) (w/gateway function) Extended Format

TT tpg tpa tpt tpm tsm tgd V4.0.0.0

X-SEL-PX/QX s2pg s2pa s2pt s2pm s2sm s2gd V5.0.0.0

X-SEL-PX/QX (compatible with increased memory) (w/gateway function) Extended Format

X-SEL-R/S .X4pg .X4pa .X4pt .X4pm .X4sm .X4gd V9.00.00.00

Program

(Individually)

x2pg2 x2pa2 x2pt2 - x2sm2 - V7.2.0.0

s2pg2 s2pa2 s2pt2 - s2sm2 - V7.2.0.0

Program

(Batch)

Position Parameter Symbol

Global

data

Support Started

Version

X-SEL-RX/SX .s4spg .s4spa .s4spt .s4spm .s4ssm .s4sgd V9.00.00.00

X-SEL-RXD/SXD .s4dpg .s4dpa .s4dpt .s4dpm .s4dsm .s4dgd V9.00.00.00

SSEL sspg sspa sspt sspm sssm ssgd V6.0.0.0

ASEL aspg aspa aspt aspm assm asgd V7.0.0.0

PSEL pspg pspa pspt pspm pssm psgd V7.0.0.0

* Extension for RC-axis position data of X-SEL-P/Q, PX/QX with gateway function: rpt

Model name Supported version Remarks

IA Super SEL Controller E/G Types

DS Controller

V6.0.0.0

Refer to the following page for more information on how to install V6.0.0.0.

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Installing V6.0.0.0 Compatible with the IA Super SEL Controller

E/G Types and the DS Controller

V6.0.0.0 compatible with the IA Super SEL Controller E/G Types and the DS Controller is included in the CD-ROM and can be installed based on the following procedure.

(Note) V6.0.0.0 runs with the following Windows operating systems.

Windows 95, Windows 98, Windows NT, Windows Me and Windows 2000

[1] Insert the CD-ROM containing the software into the CD-ROM drive. [2] A screen to select the data to be installed will appear.

Click Browse CD.

[3] The folder containing the operation manual will open.

Click Folders.

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[4] Click TOOL.

[5] The PC SOFT V6.0.0.0 folder containing the V6.0.0.0 installer will appear.

Click PC SOFT V6.0.0.0 folder.

[6] Click the ENGLISH folder.

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[7] Double-click PC Interface Software….

The PC Interface Software for X-SEL installation screen will appear.

Install the software based on the step [3] and thereafter described in 1.3.1 How to Install the PC Interface Software for X-SEL.

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Software License Agreement

Thank you for purchasing the PC software for IAI’s X-SEL controller. This software is provided strictly with your consent to this agreement. Before opening the software package, please read the Software License Agreement (hereinafter referred to as "this Agreement"). This Agreement is applied to the PC interface software for this product (hereinafter referred to as "the Licensed Software"). Regardless of the reason, opening the Licensed Software package will be regarded as your acknowledgement of consenting to this Agreement. If you do not agree to any of the terms and conditions specified herein, please return the unopened Licensed Software to IAI, and we will refund you the purchase price.

IAI Corporation (hereinafter referred to as "IAI") shall grant to the user (hereinafter referred to as "the User"), and the User shall accept, a non-transferable, non-exclusive right to use the Licensed Software supplied with this Agreement, based on the following terms and conditions.

1. Term of the Agreement This Agreement shall take effect the moment the User opens the Licensed Software and remain effective until the User submits a termination request to IAI in writing or the Agreement is otherwise terminated pursuant to the provision of Section 3.

2. Right to Use the Licensed Software The User may use the Licensed Software for PC only if the user uses the external communication cable IAI supplies (hereinafter referred to as "the Cable"). The User or a third party may use the Licensed Software on two or more computers only if the user or a third party uses the Cable.

3. Termination of the Agreement In the event of breach by the User of any of the terms and conditions hereunder, or upon discovery of a material cause that makes continuation of this Agreement impossible, IAI may immediately terminate this Agreement without serving any prior notice to the User. If the Agreement is terminated for the above reason, the User must destroy the Licensed Software and the Cable received from IAI and all duplicates thereof within ten (10) days after the lapse of the Agreement.

4. Scope of Protection IAI reserves the right to change any and all specifications relating to the Licensed Software without prior notice. IAI shall make no warranty whatsoever with respect to the Licensed Software. The User or a third party agrees not to claim compensation for damage from IAI for any loss suffered by the User or a third party as a result of installing and using the Licensed Software.

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A Word of Caution

[1] This software is copyrighted by IAI Corporation (IAI). [2] The software and the manual can only be used under the terms and conditions of the license agreement. [3] IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the manual. [4] Please note that the version or edition number printed on the face of this manual does not correspond to the

software version number.

[5] The content of this manual is subject to change without notice. [6] The software runs with the Windows operation systems listed in the table below. Accordingly, it is a

prerequisite to have a basic Windows operating environment to use this software. (Note, however, that Windows is not included with the software.)

Port used Type Operable Windows

RS-232C

USB

IA-101-X-MW-J IA-101-X-MW IA-101-XA-MW

IA-101-X-USB IA-101-X-USBMW IA-101-TT-USB

Windows 2000 SP4 or later, Windows XP SP2 or later Windows Vista

Windows 2000 SP4 or later, Windows XP SP2 or later Windows Vista*2, or Windows 7

*1: Supported by software version V7.00.00.00 or later. *2: Supported by software version V8.01.00.00 or later.

, or Windows 7

Microsoft, MS, MS-DOS, Windows, Windows 3.1, Windows 95, Windows 98, Windows NT, Windows 2000, Windows Me, Windows XP, Windows Vista, and Windows 7 are registered trademarks of Microsoft Corporation.

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Safety Guide

Before using the product, ensure safety by following the safety precautions provided below and taking the necessary measures.

Regulations and Standards Governing Industrial Robots

Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, "Safety of machinery," as follows:

Safety measures Inherent safety design Protective guards ----------------- Safety fence, etc. Additional safety measures ---- Emergency stop device, etc. Information on use ---------------- Danger sign, warnings, operation manual

Based on this classification, various standards are established in a hierarchical manner under the International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:

Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)

JIS B 8433

(Manipulating industrial robots – Safety)

Also, Japanese laws regulate the safety of industrial robots, as follows:

Industrial Safety and Health Law Article 59

Workers engaged in dangerous or harmful operations must receive special education.

Ordinance on Industrial Safety and Health

Article 36 --- Operations requiring special education

No. 31 (Teaching, etc.) ------ Teaching and other similar work involving industrial robots

(exceptions apply)

No. 32 (Inspection, etc.) ---- Inspection, repair, adjustment and similar work involving industrial

robots (exceptions apply)

Article 150 --- Measures to be taken by the user of an industrial robot

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Requirements for Industrial Robots by Ordinance on Industrial Safety and Hygiene

Work area Work condition

Outside the movement range

Inside movement range

During automatic operation

During teaching, etc.

During an inspection, etc.

Drive-source

cutoff

Not cut off

Cut off (including stopping of operation)

Not cut off

Cut off

Not cut off (when inspection, etc., must be performed during operation)

Measure Article

Signs for starting operation Article 104

Installation of railings, enclosure, etc.

Sign, etc. saying "WORK IN PROGRESS"

Preparation of working rules Measures to enable immediate stopping of operation Sign, etc. saying "WORK IN PROGRESS" Provision of special education Checkup, etc. before commencement of work To be preformed after stopping the operation Sign, etc. saying "WORK IN PROGRESS" Preparation of working rules Measures to enable immediate stopping of operation

Sign, etc. saying "WORK IN PROGRESS"

Provision of special education

Article 150-4

Article 150-3

Article 36 No. 31

Article 151

Article 150-5

Article 36 No. 32

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Applicable Models of IAI’s Industrial Robots

According to Notice of Ministry of Labor No. 51 and Labor Standards Bureau Director notice (No. 340), machines meeting the following conditions are not classified as industrial robots:

(1) Single-axis robot with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if

any, has the maximum movement range of within 300 mm

(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm

Among the products featured in our catalogs, the following models are classified as industrial robots:

1. Single-axis ROBO Cylinders

RCS2/RCS2CR-SS8 , RCS3/RCS3CR/RCS3P/RCS3PCR whose stroke exceeds 300 mm

2. Single-axis robots The following models whose stroke exceeds 300 mm and whose motor capacity exceeds 80 W: ISA/ISPA, ISB/ISPB, SSPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS

3. Linear servo actuators All models whose stroke exceeds 300 mm

4. Cartesian robots Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3

5. IX SCARA robots All models whose arm length exceeds 300 mm (All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)

including the end of the rotating part

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Safety Pre

cautions

for

Our Products

The common safety precautions for the use of any of our robots in each operation.

NO.

Work Description

1 Model

Selection

2 Transportation z When carrying a heavy object, do the work with two or more persons or utilize equipment

3 Storage and

Preservation

z This product has not been planned and designed for the application where high level of

safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

z Do not use the product outside the specifications. Failure to do so may considerably

shorten the life of the product.

z Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

z For an actuator used in vertical orientation, select a model which is equipped with a brake.

If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

such as crane.

z 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.

z When in transportation, consider well about the positions to hold, weight and weight

balance and pay special attention to the carried object so it would not get hit or dropped.

z Transport it using an appropriate transportation measure. The actuators available for

transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the instruction manual for each model.

z Do not step or sit on the package. z Do not put any heavy thing that can deform the package, on it. z When using a crane capable of 1t or more of weight, have an operator who has

qualifications for crane operation and sling work.

z When using a crane or equivalent equipments, make sure not to hang a load that weighs

more than the equipment’s capability limit.

z Use a hook that is suitable for the load. Consider the safety factor of the hook in such

factors as shear strength. Also, check to make sure that the hook is free of damages.

z Do not get on the load that is hung on a crane. z Do not leave a load hung up with a crane. z Do not stand under the load that is hung up with a crane.

z The storage and preservation environment conforms to the installation environment.

However, especially give consideration to the prevention of condensation.

z Store the products with a consideration not to fall them over or drop due to an act of God

such as earthquake.

Precautions

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NO. Work Description

4 Installation and

Start

Precautions

(1) Installation of Robot Main Body and Controller, etc. z Make sure to securely hold and fix the product (including the work part). A fall, drop or

abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

z Do not get on or put anything on the product. Failure to do so may cause an accidental fall,

injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

z When using the product in any of the places specified below, provide a sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or chemical droplets

(2) Cable Wiring z Use our company’s genuine cables for connecting between the actuator and controller,

and for the teaching tool.

z 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.

z Perform the wiring for the product, after turning OFF the power to the unit, so that there is

no wiring error.

z When the direct current power (+24V) is connected, take the great care of the directions of

positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

z Connect the cable connector securely so that there is no disconnection or looseness.

Failure to do so may cause a fire, electric shock or malfunction of the product.

z Never cut and/or reconnect the cables supplied with the product for the purpose of

extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.

(3) Grounding z The grounding operation should be performed to prevent an electric shock or electrostatic

charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

z For the ground terminal on the AC power cable of the controller and the grounding plate in

the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

z Perform Class D Grounding (former Class 3 Grounding with ground resistance 100ȍ or

below).

(4) Safety Measures z 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.

z When the product is under operation or in the ready mode, take the safety measures (such

as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

z Make sure to install the emergency stop circuit so that the unit can be stopped immediately

in an emergency during the unit operation.

z Take the safety measure not to start up the unit only with the power turning ON. Failure to

do so may start up the machine suddenly and cause an injury or damage to the product.

z Take the safety measure not to start up the machine only with the emergency stop

cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

z When the installation or adjustment operation is to be performed, give clear warnings such

as "Under Operation; Do not turn ON the power!" etc. Sudden power input may cause an electric shock or injury

Page 20

NO. Work Description

Precautions

4 Installation and

Start

5 Teaching z When the work is carried out with 2 or more persons, make it clear who is to be the leader

6 Trial Operation z When the work is carried out with 2 or more persons, make it clear who is to be the leader

7 Automatic

Operation

z Take the measure so that the work part is not dropped in power failure or emergency stop. z Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. z Do not insert a finger or object in the openings in the product. Failure to do so may cause

an injury, electric shock, damage to the product or fire.

z When releasing the brake on a vertically oriented actuator, exercise precaution not to

pinch your hand or damage the work parts with the actuator dropped by gravity.

and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

z Perform the teaching operation from outside the safety protection fence, if possible. In the

case that the operation is to be performed unavoidably inside the safety protection fence, prepare the "Stipulations for the Operation" and make sure that all the workers acknowledge and understand them well.

z When the operation is to be performed inside the safety protection fence, the worker

should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

z When the operation is to be performed inside the safety protection fence, in addition to the

workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

z Place a sign "Under Operation" at the position easy to see. z When releasing the brake on a vertically oriented actuator, exercise precaution not to

pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection fence : In the case that there is no safety protection fence, the movable

range should be indicated.

and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

z After the teaching or programming operation, perform the check operation one step by one

step and then shift to the automatic operation.

z When the check operation is to be performed inside the safety protection fence, perform

the check operation using the previously specified work procedure like the teaching operation.

z Make sure to perform the programmed operation check at the safety speed. Failure to do

so may result in an accident due to unexpected motion caused by a program error, etc.

z Do not touch the terminal block or any of the various setting switches in the power ON

mode. Failure to do so may result in an electric shock or malfunction.

z Check before starting the automatic operation or rebooting after operation stop that there

is nobody in the safety protection fence.

z Before starting automatic operation, make sure that all peripheral equipment is in an

automatic-operation-ready state and there is no alarm indication.

z Make sure to operate automatic operation start from outside of the safety protection fence. z In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise

in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

z When a power failure occurs, turn OFF the power switch. Failure to do so may cause an

injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

Page 21

NO. Work Description

Precautions

8 Maintenance and

Inspection

9 Modification and

Dismantle

z 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.

z Perform the work out of the safety protection fence, if possible. In the case that the

operation is to be performed unavoidably inside the safety protection fence, prepare the "Stipulations for the Operation" and make sure that all the workers acknowledge and understand them well.

z When the work is to be performed inside the safety protection fence, basically turn OFF the

power switch.

z When the operation is to be performed inside the safety protection fence, the worker

should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

z When the operation is to be performed inside the safety protection fence, in addition to the

workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

z Place a sign "Under Operation" at the position easy to see. z For the grease for the guide or ball screw, use appropriate grease according to the

Instruction Manual for each model.

z Do not perform the dielectric strength test. Failure to do so may result in a damage to the

product.

z When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch

your hand or damage the work parts with the actuator dropped by gravity.

z The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be

careful not to get injured or damaged due to an unnecessary operation.

z Pay attention not to lose the cover or untightened screws, and make sure to put the

product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection fence : In the case that there is no safety protection fence, the movable

range should be indicated.

z Do not modify, disassemble, assemble or use of maintenance parts not specified based at

your own discretion.

10 Disposal z When the product becomes no longer usable or necessary, dispose of it properly as an

industrial waste.

z When removing the actuator for disposal, pay attention to drop of components when

detaching screws.

z Do not put the product in a fire when disposing of it. The product may burst or generate

toxic gases.

11 Other z Do not come close to the product or the harnesses if you are a person who requires a

support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

z See Overseas Specifications Compliance Manual to check whether complies if necessary. z For the handling of actuators and controllers, follow the dedicated instruction manual of

each unit to ensure the safety.

Page 22

Caution Indications

The safety precautions are divided into "Danger", "Warning", "Caution" and "Notice" according to the warning level, as follows, and described in the Instruction Manual for each model.

Level Degree of Risk/Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger

Warning

Caution

product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage

Danger

Warning

Caution

Notice

This indicates lower possibility for the injury, but should be kept to use this product properly.

Note

Page 23

1. Before You Begin

1.1 Items Supplied with This Software (Product Components)

Please check to make sure that the following items are included in your software package. [1] Operation manual One [2] CD-ROM containing the software One [3] Permission of use contract (manual) for the software One [4] External connection cables One set

External connection cables vary depending on the PC interface software type. The types and external connection cables are shown in the table below.

Type External Connection Cable

IA-101-X-MW-J

IA-101-X-MW RS232C cable (CB-ST-E1MW050-EB): 1 cable

Connection

Configuration

When an NEC computer is used, some models may require an adapter separately for the RS232C cable.

RS232C cable (CB-ST-E1MW050-EB): 1 cable Conversion cable (CB-SEL-SJ002): 1 cable

Compatible controller XSEL-P, PX, R, RX, RXD

PX Compatible controller SSEL

RS232C cable CB-ST-E1MW050-EB

Conversion cable: CB-SEL-SJ002

1. Before You Begin

Type External Connection Cable

IA-101-XA-MW Cable Conforming to Safety Category 4 (CB-ST-A1MW050-EB): 1 cable

Compatible controller XSEL-Q, QX, S, SX, SXD



Connection

Configuration

Type External Connection Cable

IA-101-X-USB

Connection

Configuration

Warning: The internal components of the controller may burn if the following cable is used to connect

XSEL-Q or QX to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

USB cable (CB-SEL-USB030): 1 cable Dummy plug (DP-3) 1 unit

Cable corresponding to safety category CB-ST-A1MW050-EB

Dummy plug DP-3 Compatible controller

SSEL

USB cable CB-SEL-USB030

Page 24

Type External Connection Cable

IA-101-X-USBMW

USB conversion adapter (IA-CV-USB): 1 unit USB cable (CB-SEL-USB030): 1 piece RS232C cable (CB-ST-E1MW050-EB): 1 piece

Compatible controller

USB conversion adapter XSEL-P, PX, R, RX, RXD

1. Before You Begin

Connection

Configuration

USB cable RS232C cable CB-SEL-USB030 CB-ST-E1MW050-EB

Type External Connection Cable

IA-101-TT-USB

Connection

Configuration

USB cable (CB-SEL-USB030): 1 piece Dummy Plug (DP-1): 1 unit

Dummy plug

DP-1

USB cable CB-SEL-USB030

1.2 System Requirements

The following operating environment is required to run this software. Supported OS

IA-101-X-MW-J IA-101-X-MW IA-101-XA-MW IA-101-X-USB IA-101-X-USBMW IA-101-TT-USB

*1: Supported by software version V7.00.00.00 or later. *2: Supported by software version V8.01.00.00 or later.

Computer PC compatible with supported OS (Windows)

Keyboard Keyboard compatible with a PC compatible with supported OS (Windows)

Memory Capacity of memory necessary to run a supported OS (Windows)

Display XGA and above

Pointing device Mouse or a compatible driver

Storage medium drive CD-ROM drive

Hard disk Hard disk with at least 20 MB of available space

(The software is installed on the hard disk.)

Serial port RS232C (EIA-S74 compliant)

Required for PC software of the following model number:

Model number: IA-101-X-MW-J, IA-101-X-MW, IA-101-XA-MW

USB port Required for PC software of the following model number:

Type Operable OS

Windows 2000 SP4 or later, Windows XP SP2 or later*1, Windows Vista

, or Windows 7

32-bit and 64-bit operating systems are supported.

Model number: IA-101-X-USB, IA-101-X-USBMW, IA-101-TT-USB

Page 25

1.3 Installing the Software

This software is run from the hard disk. This section explains how to install the software.

1.3.1 How to Install the PC Interface Software for X-SEL

If a version of the PC Interface Software earlier than V6.0.0.0 is already installed, first uninstall the PC Interface Software before installing V6.0.0.0.

[1] Insert the CD-ROM containing this software into your CD-ROM drive. [2] The installed data selection screen (Fig. 1.1) will be displayed.

Click the data to install.

Fig. 1.1 Installed Data Selection Screen

(The displayed screen may vary depending on the version, data in the CD or other factor.)

1. Before You Begin

* (Note) If the installed data selection screen (Fig.1.1) is not displayed:

If the Installed Date Selection Screen is not displayed after inserting the CD-ROM, please follow the next steps to display the installed data selection screen.

a. Display the folder list in CD-ROM through the explorer etc.

Fig. 1.2 will be displayed.

Fig. 1.2 CD-ROM Folder List

b. Double-click the icon

Then Installed Date Selection Screen (Fig. 1.1) will be displayed.

Page 26

1. Before You Begin

[3] The screen will change to the installation screen (Fig. 1.3) for PC interface software for X-SEL.

Click Next >.

Fig. 1.3 Installation Screen

[4] The Customer Information registration screen (Fig. 1.4) will be displayed. Enter your information and click

Next >.

Fig. 1.4 Customer Information Registration

Page 27

[5] Specify a destination folder to install the PC interface software for X-SEL. (Fig. 1.5) Normally, you can

install it to the displayed folder. After specifying it, click Next

1. Before You Begin

Fig. 1.5 Specification of Destination Folder

[6] The wizard is ready to begin installation. Clicking Install will begin actual installation.

Fig. 1.6 Installation Preparation

Page 28

1. Before You Begin

The screen shown in Fig. 1.7 will be displayed during installation.

Fig. 1.7 Installation Progress

[7] When the installation is completed, the screen shown in Fig. 1.8 will be displayed.

Fig. 1.8 Installation Completion

[8] Once the installation program is completed, the items of IAI, X_SEL, and PC Interface software will be

displayed in this order from Program (P) in the Start menu. Selecting these items will start this software.

[9] Remove the CD-ROM. [10] After starting the program, click Help in the menu to confirm that the version corresponds to the version of

the CD-ROM. If it does not, uninstall the program and install the program from the CD-ROM.

Page 29

1.3.2 How to Install the USB Conversion Adapter Driver Software

When a USB port is used, it is required to install USB conversion adapter driver software. [Compatible software]

• IA-101-X-USB (with USB cable)

• IA-101-X-USBMW (with USB conversion adapter + cable)

• IA-101-TT-USB (with USB cable) (1) Windows XP, Windows 2000

If using Windows XP or Windows 2000, install it based on the following procedure.

[Refer to (2) Windows 7 or Windows Vista for the Windows 7 or Windows Vista installation procedure.] [1] Insert the CD-ROM of this software into your CD-ROM drive. [2] The installed data selection screen (Fig. 1.9) will be displayed.

Click USB Conversion Adapter.

Fig. 1.9 Installed Data Selection Screen

(The displayed screen may vary depending on the version, data in the CD or other factor.)

[3] You are prompted to set the folder of the copy destination. If you use the displayed folder as it is, click

Copy.

To change it, enter it manually or click Browse to set the folder of the copy destination.

On the browse for folder screen (Fig. 1.11), click the folder of the copy destination to select it and then click

OK. Once you have clicked OK, the browse for folder screen (Fig. 1.11) will disappear and the selected

folder path will be displayed on the screen to specify the folder of the copy destination (Fig. 1.10).

1. Before You Begin

Fig. 1.10 Screen to Specify Folder of Copy Destination

Fig. 1.11 Browse for Folder Screen

Page 30

[4] When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to

overwrite it. Click OK to overwrite it, or click Cancel to stop copying.

Fig. 1.12 Overwrite Confirmation Screen

1. Before You Begin

[5] The complete screen (Fig. 1.13) will be displayed.

Fig. 1.13 Complete Screen

[6] Once the complete screen (Fig. 1.13) has been displayed, click OK. The complete screen (Fig. 1.13) will

disappear. Then, click Cancel on the screen to specify the folder of the copy destination (Fig. 1.10). The

screen to specify the folder of the copy destination will disappear.

Finally, click Exit on the data selection screen (Fig. 1.9). The data selection screen (Fig. 1.9) will

disappear. [7] Remove the CD-ROM.

Page 31

[8] Then, insert the USB conversion adapter (IA-CV-USB) into the USB port of your PC.

In the case of the SSEL/ASEL/PSEL controller or TT (table top actuator), connect the PC and

SSEL/ASEL/PSEL controller or TT with the attached USB cable.

(Note) If the USB ports of PC and controller are connected directly with USB cables, each controller

should be connected to each PC and use the USB Conversion Adapter Driver Software to let the hardware found. Follow the procedures from [9] to [19] for all the controllers to be connected. The COM port will be made for each controller.

[9] Windows will open the Welcome to the Found New Hardware Wizard.

Select the checkbox "Yes, now and every time I connect a device."

Click Next >

1. Before You Begin

Fig. 1.14 Welcome to Found New Hardware Wizard Screen

[10] A "Installation Method Selection Screen" will appear. Select the checkbox "Install from a list or specific

location (Advanced)."

Click Next >.

Figure 1.15 Installation Method Selection Screen

Page 32

1. Before You Begin

[11] The "Search and Installation Options Selection Screen" will appear.

Select the checkbox "Include this location in the search."

Click Browse, and find and select "C: IAI USB."

Fig. 1.16 Search and Installation Options Selection Screen

[12] The installation of the "IAI USB Composite Device" driver will begin.

The wizard will prompt you with a warning to ask if you want to continue with the installation.

Click Continue Anyway.

Fig. 1.17 Installation Continuation Confirmation Screen

Page 33

[13] When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is

completed.

Click Finish.

Fig. 1.18 IAI USB Composite Device Installation Finish Screen

[14] Subsequently, the Welcome to the Found New Hardware Wizard screen will open.

Select the checkbox "Install from a list or specific location (Advanced)."

Click Next >.

1. Before You Begin

Fig. 1.19 Installation Method Selection Screen

Page 34

1. Before You Begin

[15] The "Search and Installation Options Selection Screen" will appear.

Select the checkbox "Include this location in the search."

Click Browse, and find and select "C: IAI USB."

Click Next >.

Fig. 1.20 Search and Installation Options Selection Screen

[16] The installation of the "IAI USB to UART Bridge Controller" driver will begin.

The wizard will prompt you with a warning to ask if you want to continue with the installation.

Click Continue Anyway.

Fig. 1.21 Installation Continuation Confirmation Screen

Page 35

[17] The installation of the "IAI USB to UART Bridge Controller" driver is complete when the completion of the

installation is displayed.

Click Finish.

Fig. 1.22 IAI USB to UART Bridge Controller Installation Completion Screen

[18] The installation of all drivers is completed.

[19] Click Start on the Windows taskbar, Settings, and then Control Panel to open Control Panel.

Double-click System to open System Properties.

Click the Hardware tab in System Properties to open it.

Click Device Manager in Hardware to open it.

Double-click Ports (COM&LPT) in Device Manager to expand the folder tree.

If there is IAI USB to UART Bridge Controller (COM?) under Ports (COM&LPT) in Device Manager, the

driver has normally been installed and operated.

(Note) The number added to the end of COM? becomes the number of the inserted COM port.

1. Before You Begin

AI USB to UART, Bridge Controller (COM?)

Fig. 1.23 Device Manager Screen

Page 36

1. Before You Begin

(2) Windows 7, Windows Vista

For Windows 7, install the software based on the following procedure.

For Windows Vista, install it in the same procedure. [1] Insert the CD-ROM that contains this software into the CD-ROM drive. [2] On the screen to select the data to be installed, click "USB conversion adapter." [3] A screen to confirm whether or not an older version is installed appears.

If an older version is not installed, click "Yes (Y)." If an older version is installed, click "No (N)." When the installation stops, uninstall the older version using the [Programs and Features] icon in Control Panel.

Fig. 1.24 Screen to Confirm Whether or Not an Older Version is Installed

[4] The IAI USB to UART Bridge Driver Installer screen appears. Click "Install."

Fig. 1.25 IAI USB to UART Bridge Driver Installer Screen

Page 37

[5] If IAI USB is installed, the Notice display confirmation screen appears. Click "Yes (Y)."

Fig. 1.26 Notice Display Confirmation Screen

[6] The Restart confirmation screen appears. Click "Restart now (R)." Windows will be restarted.

1. Before You Begin

Fig. 1.27 Restart Confirmation Screen

[7] Connect the PC and the USB conversion adapter with a USB cable.

[8] The driver installation will be completed.

If the installation is not completed, repeat the steps from Step 9.

Page 38

1. Before You Begin

[9] Launch Device Manager.

Right-click "CP2102 USB to UART Bridge Controller" and click "Update Driver Software (P)."

Fig. 1.28 Device Manager Screen

[10] The Update Driver Software screen appears. On the Update Driver Software screen, click the "Browse

my computer for driver software (R)" button.

Fig. 1.29 Update Driver Software Screen

Page 39

[11] The Update Driver Software screen appears.

In the area circled on the Update Driver Software screen, enter the Save to location, "C: Program Files¥IAI¥IAI USBv3." Click "Next (N)."

C: Program Files\IAI\IAI USBv3

Fig. 1.30 Update Driver Software Screen

[12] The driver software update completion screen (IAI USB to UART Bridge Controller) appears. Click "Close

(C)" on the Update Driver Software screen.

1. Before You Begin

Fig. 1.31 Driver Software Update Completion Screen (IAI USB to UART Bridge Controller)

[13] The driver installation is now complete.

Page 40

1.3.3 How to change the USB COM port

The COM port set in the installation of USB conversion adapter driver software can be changed by the following procedures.

[1] Click Windows Start, Setting, and Control Panel to open the Control Panel screen.

Double click System to open the Property screen. Click and open Hardware above the System icon. Click and open Device Manager inside the Hardware folder. Double click and extend Port (COM and LPT) inside the Device Manager folder.

1. Before You Begin

[2] Double click IAI USB to UART Bridge Controller (COM?).

(Note) COM? is the COM port number before the port is changed.

IAI USB to UART Bridge Controller (COM?)

Fig. 1.32 Device Manager Screen

[3] Property screen of IAI USB to UART Bridge Controller (COM?) will be displayed.

Click Options (A

) on the Property screen.

Fig. 1.33 Property Screen

Page 41

[4] COM? Port Option screen will be displayed.

Change the COM port number in the COM Port Number (P) box to the number to be set. Click OK.

COM port number (P):

Fig. 1.34 COM? Port Option Screen

[5] COM? Port Option screen will be disappeared.

COM port number will be changed by clicking OK on the Property screen (Fig. 1.33)

[6] To confirm that the COM port number is changed, close the Device Manager screen and display it again.

After confirming the change, close all screens including the Device Manager screen.

1. Before You Begin

Page 42

1. Before You Begin

1.4 Connection to Controller

Fig. 1.35 X-SEL-K (J) Type Controller

Page 43

Emergency Stop Switch

Enable Switch

1. Before You Begin

Teaching Pendant Type Selector Switch

* X-SEL-P only

Mode Switch

2-axis

1-axis

Fig. 1.36 X-SEL-P (Q) Type Controller

Caution

Set the type selector switch of the X-SEL-P teaching pendant to the right.

Warning: The internal components of the controller may burn if the following cable is used to connect

XSEL-Q to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

Page 44

1. Before You Begin

Fig. 1.37 Table Top Actuator (TT)

Page 45

1. Before You Begin

Fig. 1.38 X-SEL-KX (JX) Type Controller

Page 46

1. Before You Begin

* X-SEL-PX only

Fig. 1.39 X-SEL-PX (QX) Type Controller

Caution

Set the type selector switch of the X-SEL-PX teaching pendant to the right.

Warning: The internal components of the controller may burn if the following cable is used to connect

XSEL-QX to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

Page 47

Emergenc

Stop Switch

Enable

Switch

1. Before You Begin

Panel Unit

Motor cable

Encoder cable

24-V Power

Supply

%1 0641 ..'4

Expansion I/O unit

(optional)

Fig. 1.40 X-SEL-R (S) Type Controller

Warning: The internal components of the controller may burn if the following cable is used to connect

XSEL-S to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

Page 48

1. Before You Begin

Motor cable

Encoder cable

Emergenc Stop Switch

Enable

Switch

24-V Power

m1A

Supply

Expansion I/O unit

Panel Unit

24-V Power

Supply

Fig. 1.41 X-SEL-RX (SX) Type Controller

Warning: The internal components of the controller may burn if the following cable is used to connect

XSEL-SX to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

Page 49

Emergency

Stop Switch

Enable

Switch

1. Before You Begin

24-V Powe

Supply

24-V Powe

Supply

m1A

Expansion I/O unit

24-V Powe

Supply

Panel Unit

Fig. 1.42 X-SEL-RXD (SXD) Type Controller

Warning: The internal components of the controller may burn if the following cable is used to connect

XSEL-SXD to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

Page 50

1. Before You Begin

Emergency Stop Switch

Enable Switch

Conversion Cable

USB Cable

Mode Switch

Panel Unit

1-axis

2-axis

Fig. 1.43 SSEL Type Controller

Page 51

USB Cable

1. Before You Begin

Fig. 1.44 ASEL Type Controller

Page 52

1. Before You Begin

USB Cable

Fig. 1.45 PSEL Type Controller

Page 53

1.5 Starting the Software (Online Connection)

[1] Turn off the power to the controller and PC, and connect the controller to the PC using the standard

RS232 cable or USB cable that comes with the software. Set the mode switch on the controller to the MANU side.

x When this software is started, the "safety velocity" mode is enabled (enable the safety velocity limit).

In this mode, in the case of orthogonal axis, the maximum velocity is limited to 250 mm/sec or below in programs started from the PC software. In the case of SCARA axes, the maximum velocity during CP operation is limited to 250 mm/sec or below (PTP operation: 3% or below). To operate programs according to their programmed velocity commands, the safety velocity mode must be disabled. Refer to 3.3, "Explanation of the Toolbar," for how to enable/disable the safety velocity mode.

[2] Turn on the power to the controller and PC, and start Windows. [3] Start this software. When the application is started, the Connection Confirmation window (Fig. 1.46) will

open first. In the list boxes of Port Name and Baud Rate (bps), select the communication port (*1) to which the X-SEL, TT, SSEL, ASEL, or PSEL controller is connected and an applicable baud rate (*2),and then click OK.

(*1) Only the communication ports that are

available when the application is started can be selected.

(*2) "57600" and "115200" bps are supported only

by the P/Q, PX/QX, R/S, RX/SX, RXD/SXD, SSEL, ASEL and PSEL controllers.

1. Before You Begin

Fig. 1.46 Connection Confirmation Screen

In the case of PC interface software version V7.2.0.0 or later, Connection screen in Fig. 1.47 will be displayed.

Fig. 1.47 Connection Confirmation Screen

(V7.2.0.0 or later)

(*3) For extending in the future Don’t put a check mark here. If you click OK with a check mark, you may be alerted with a 9A2: PLC Loader Command Non-Support Error message.

Page 54

1. Before You Begin

[4] If XSEL-P/Q (application version 0.36 or later), XSEL-PX/QX (application version 0.17 or later), XSEL-R/S,

XSEL-RX/SX, XSEL-RXD/SXD, SSEL, ASEL, or PSEL (application version 0.01 or later) is connected, the Two or more programs start permission/prohibition setting screen (Fig. 1.48) will be displayed. Set whether you prohibit or permit the simultaneous starting of multiple programs during the manual mode, and click the OK button. [Two or more programs start prohibition (MANU)]

It prohibits the simultaneous starting of multiple programs during the manual mode.

[Two or more programs start permission (MANU)]

It permits the simultaneous starting of multiple programs during the manual mode.

Fig. 1.48 Two or More Programs Start Permission/Prohibition Setting Screen

If Don’t Show this window from next time on is checked, connection will be established with the settings at the last connection time without displaying the screen in Fig. 1.48. To remove this check, select the checkbox In Connect, Check Setting of Two or more programs start on the Environment Setup (Online) screen (Fig. 16.2) or Environment Setup (Offline) screen (Fig. 16.1). The screen in Fig. 1.48 will be displayed at the next startup time to remove the check. For the Environment Setup (Online) screen and Environment Setup (Offline) screen, refer to "16. Tool."

If you set Two or more programs start prohibition (MANU) when multiple programs have already started, the warning message will be displayed. To prohibit the simultaneous starting of multiple programs, click the Yes button to stop all the programs.

Fig. 1.49 Warning Message

[5] Once the controller connection is confirmed, the application will start in the offline mode. If the controller

cannot be recognized or the CANCEL button is clicked in this window, the application will start in the offline mode. (Even after the application has started in the offline mode, you can use the "Reconnect" function explained later to switch the application to the online mode.)

If Don’t Show this window from next time on is selected, the software will automatically select the port name and baud rate that were in use the last time the application was closed and check the controller connection based on these settings.

Page 55

Important

With J/K type X-SEL controllers, executing the command "OPEN 1" (channel 1 is shared with the PC software) in a SEL program in the MANU (manual) mode will forcibly switch the right of control over serial port channel 1 to the SEL program and disconnect the communication link between the controller and PC software. The program will continue to run. ("Error No. A5D "SCIF open error in non-AUTO mode" will occur.) To stop actuator operation, always use the emergency-stop button. (In particular, exercise due caution when stopping a jogging actuator.)

* This error code is applicable in main controller application 0.16 or earlier.

In the case of a P/Q controller, a J/K controller running main controller application version 0.16 or later or a table top model robot, opening the TP port (teaching connector) may result in the following conditions depending on whether or not the servo is in use.

Before the OPEN command After the OPEN command

TP port connection

Connected to the PC

software

Error No. A50 "SCIF open error in non-AUTO mode" will occur following the OPEN command.

Before the OPEN command After the OPEN command

TP port connection

Connected to the PC

software

Error No. E89 "SCIF open error in non-AUTO mode" will occur following the OPEN command. (Servo in

use)

Forcibly switched to SEL program

connection (message error).

The program continues to run.

Connection to the PC software

(cold start error). The program end.

1. Before You Begin

The channel number assigned to the TP port will vary depending on the controller type. J/K type, Table top actuator (TT): Channel 1 ("OPEN 1") P/Q type, PX/QX type, R/S type, RX/SX type, RXD/SXD type, SSEL, ASEL, PSEL: Channel 0 ("OPEN 0")

The "Important" information provided in the above box applies to a condition where the controller is in the MANU mode and I/O parameter No. 90 is not set to "2" (IAI protocol).

Page 56

2. How to Save Data

The controller adopts a flash memory. Accordingly, some data is stored in the memory areas backed up by a battery, while other data is stored in the flash memory areas. Also note that transferring data from the PC software or teaching pendant to the controller will only write the data in the controller’s memory, as illustrated below, and the data will be cleared once the controller power is turned off or the controller is reset. To save important data, always write it in the flash memory.

2.1. Factory Setting – When a Backup Battery Is Used

(When the X-SEL controller is shipped)

(Other parameter No. 20 = "2" (Backup battery installed))

2. How to Save Data

* Encoder parameters are stored in the EEPROM of the actuator’s encoder, not in the controller’s EEPROM.

Therefore, encoder parameters will be loaded to the controller every time the controller power is turned on or a software reset is executed.

Page 57

Position No. 10001-20000 and user retained memory (RC-axis position in XSEL) are added to X-SEL-P/Q, PX/QX controller with gateway function.

(Other parameter No. 20 = "2" (Backup battery installed))

2. How to Save Data

* Encoder parameters are stored in the EEPROM of the actuator’s encoder, not in the controller’s EEPROM.

Therefore, encoder parameters will be loaded to the controller every time the controller power is turned on or a software reset is executed.

Page 58

Programs, parameters and symbols are loaded from the flash memory after the controller is restarted. Unless written to the flash memory, edited programs, parameters and symbols will return to the original data once the controller is restarted. The controller always operates according to the data (excluding parameters) stored in its memory (indicated by dotted lines). Content 1: All parameters other than those specified under Content 2 Content 2: Driver card, I/O slot card, (power-supply card) parameters (X-SEL-J/K, JX/KX, TT) I/O slot card,

Content 3: Flags, variables, strings and error lists

2.2 When a Backup Battery Is Not Used (Table Top Actuator [TT], SSEL, ASEL,

PSEL)

(Other parameter No. 20 = "0" (Backup battery not installed))

2. How to Save Data

(power-supply card) parameters (X-SEL-P/Q, PX-QX, SSEL, ASEL, PSEL)

Programs, parameters and symbols are loaded from the flash memory after a restart. Unless written to the flash memory, edited programs, parameters and symbols will return to the original data once the controller is restarted. The controller always operates according to the data (excluding parameters) stored in its memory (indicated by dotted lines).

Note: SEL global data cannot be retained when a backup battery is not installed.

Page 59

Position No. 10001-20000 and user retained memory (RC-axis position in XSEL) are added to X-SEL-P/Q, PX/QX controller with gateway function.

(Other parameter No. 20 = "0" (Backup battery not installed))

2. How to Save Data

Note: SEL global data cannot be retained when a backup battery is not installed.

Page 60

2.3 XSEL-R/S/RX/SX/RXD/SXD

An example of 20,000 positions is given below.

Data editing on the

2. How to Save Data

PC or teaching

endant

Transfer

Data retained while the power

is on and cleared after reset

Main CPU RAM memor

Programs

Parameters (other than slave

card parameters)

Symbols

Positions (axis positions in

X-SEL) (Nos. 10001 to 20000

(second half))

Position comment (axis

positions in X-SEL)

(Nos. 1 to 10000)

Slave card parameters

(variable portions of driver

parameters)

Write to flash

memor

Transfer after

Write to flash

memor

Transfer after

reset

Data retained after the power

is turned off

Main CPU flash memory

reset

Slave card memory

software

Transfer

Slave card parameters

(encoder parameters, etc.)

Transfer

Transfer after

reset

Transfer after

reset

Transfer

Transfer after

reset

Slave card parameters

(fixed portions of driver

parameters/power-supply

parameters) (Cannot be

changed)

Slave card memory

Retention memory

Position (axis positions in

X-SEL) (Nos. 1 to 10000

(first half))

User data retention

memory (positions

(RC-axis positions)

SEL global data (flags,

variables and strings)

Error list

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2.4 Notes

Note on transferring data and writing it to the flash memory: Never turn off the main power while data is still being transferred or written to the flash memory. The data may be lost and the controller operation may be disabled.

Note on saving parameters to a file:

Encoder parameters are saved in the EEPROM of the actuator’s encoder (unlike other parameters, they are not stored in the controller’s EEPROM). Therefore, encoder parameters are loaded from the encoder’s EEPROM to the controller after the controller power is turned on or a software reset is executed. For this reason, saving controller parameters to a file after the controller power has been turned on (or software reset has been executed) without the actuator (encoder) connected to the controller will create a file containing invalid encoder parameters.

Note on transferring a parameter file to the controller:

When a parameter file is transferred to the controller, the encoder parameters in the file will be transferred to the encoder’s EEPROM (excluding manufacture information and function information). Therefore, transferring to the controller a parameter file that has been read from the controller after the controller was started without the actuator connected will write invalid encoder parameters to the encoder’s EEPROM. (This applies when the file is transferred to the controller to which the actuator is currently selected.) Save parameters to a file in a condition where the controller is connected to the actuator.

Note on the increased number of position:

The number of position data for the X-SEL-P/Q, PX/QX controller (w/gateway function) compatible with increased memory has been increased to 20000. Please be noted as follows. * When using a memory backed up by battery (or parameter No.20=2), a memory backed up by battery

will be used when the conserved region has position No. 1-10000, and the main CPU flash ROM will be used when it has position No. 10001-20000. Therefore, the data of position No. 1001-20000 will be cleared if the power is turned off or the software is reset without writing to the flash ROM. Then next time the power is turned on, the data from the previous writing to flash ROM will be loaded. To retain the data, write it to the flash ROM. When a memory backed up by battery is not used (or parameter No. 20=0), the conserved region of all the position data No.1-20000 will be the main CPU flash ROM. Write it to the flash ROM if you wish to retain the data.

2. How to Save Data

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Note on the increased number of parameters:

The number of the parameters has been increased for the X-SEL-P/Q, PX/QX controllers (w/gateway function) compatible with increased memory.

For all axes

For each axis

2. How to Save Data

Driver

Encoder

I/O Device

Others

Please be noted as follows. * When the parameter file saved by the X-SEL-P/Q, PX/QX controller incompatible with increased memory

is transferred to the X-SEL-P/Q, PX/QX controller compatible with increased memory, or when the parameter file saved by X-SEL-P/Q, PX/QX controller compatible with increased memory is transferred to the X-SEL-P/Q, PX/QX controller incompatible with increased memory, only the parameters supported by the X-SEL-P/Q, PX/QX controller incompatible with increased memory, as shown below.

The Number of Parameters

X-SEL-P/Q incompatible

with increased memory

X-SEL-PX/QX

incompatible with

increased memory

X-SEL-P/Q, PX/QX

compatible with

increased memory

I/O 250 400 600

120 300 400

200 220 250

97 97 97

30 30 30

82 82 82

100 120 200

Parameter file saved by

controller incompatible

with increased memory

When parameter file saved by controller incompatible with increased memory is transferred to controller compatible

eased memory

with inc

Parameter saved by

controller compatible

with increased memory

Parameter file saved by

controller compatible with

increased memory

When parameter file saved by controller compatible with increased memory is transferred to controller incompatible with increased memory

Parameter saved by controller incompatible with increased memory

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3. Menu Window

3.1 Explanation of the Menu

3.1.1 Online Screen

(1) X-SEL-J/K or TT controller

When this software has been started, the main window in Fig. 3.1 will open showing the menu items with icons on the tool bar in the case of the X-SEL-J/K or TT controller. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu)

Icons

Tree View

3. Menu Window

Fig. 3.1 Online Screen (X-SEL-J/K or TT Controller)

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3. Menu Window

(2) X-SEL-P/Q and R/S controllers

When this software has been started, the main window in Fig. 3.2 will open showing the menu items with icons on the tool bar in the case of the X-SEL-P/Q and R/S controllers. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu)

Fig. 3.2 Online Screen (X-SEL-P/Q and R/S Controllers)

(3) X-SEL-JX/KX controller

When this software has been started, the main window in Fig.3.3 will open showing the menu items with icons on the tool bar in the case of the X-SEL-JX/KX controller. The tree view appearing on the left side of the window can be displayed by clicking View(V) from the menu bar and then selecting Tree View(T). (lnitial window: Main menu)

Icons

Tree View

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(4) X-SEL-PX/QX, RX/SX and RXD/SXD controllers

Fig.3.4 Online Screen (X-SEL-PX/QX, RX/SX and RXD/SXD Controllers)

(5) SSEL controller in the program mode.

When this software has been started, the main window in Fig.3.5 will open showing the menu items with icons on the tool bar in the case of the SSEL controller in the program mode. The tree view appearing on the left side of the window can be displayed by clicking View(V) from the menu bar and then selecting Tree View (T).(lnitial window: Main menu)

3. Menu Window

Fig.3.5 Online Screen (SSEL Controller in the Program Mode)

(Note) In the case of the SSEL controller, 2-type selection is possible between the program mode and

positioner mode. Set the selection to the other parameter No. 25 "Operation mode type." For details, refer to the operating manual of the SSEL controller.

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3. Menu Window

(6) SSEL controller in the positioner mode

When this software has been started, the main window in Fig. 3.6 will open showing the menu items with icons on the tool bar in the case of the SSEL controller in the positioner mode. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu)

However, "program edit" or "symbol edit" using the menu or tool bar will become unavailable. Icons will also become faint-colored. Two or more programs start prohibition will not be displayed, either.

(7) ASEL controller

When this software has been started, the main window in Fig. 3.7 will open showing the menu items with icons on the tool bar in the case of the ASEL controller. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu)

Icons

Tree View

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(8) PSEL controller

When this software has been started, the main window in Fig. 3.8 will open showing the menu items with icons on the tool bar in the case of the PSEL controller. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu)

3. Menu Window

3.1.2 Offline Screen

When this software has been started with no connection to any controller, the screen in Fig. 3.9 will be displayed. The items that cannot be operated offline will be displayed as faint-colored icons.

Fig. 3.9 Offline Screen

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3. Menu Window

3.2 Explanation of the Commands

(1) File (F)

[1] New (N) Create new SEL data.

• Program (S) Open the edit window for creating a new program.

• Position (O) Open the edit window for creating new position data. This menu item will become faint-colored and render the command inoperable in the case of the SSEL, ASEL, and PSEL controllers in the positioner mode.

• Symbol (Y) Open the edit window for creating new symbol data. This menu item will become faint-colored and render the command inoperable in the case of the SSEL, ASEL, and PSEL controllers in the positioner mode.

• Coordinate System (D) Open the edit window for the new coordinate system definition data.

• RC-axis Position Data (R) Open the edit window for creating new RC-axis position data (X-SEL-P/Q/PX/QX (PC software V7.2.0.0 or later) and R/S/RX/SX/RXD/SXD controllers with gateway function)

* In the case of the X-SEL-P/Q/PX/QX (PC software V7.2.0.0 or later) and

R/S/RX/SX/RXD/SXD controllers with gateway function, "RC-axis Position Data File (*.rpt)" can be loaded.

Fig. 3.10 Target Selection Window

In the case of the X-SEL-J/K, P/Q, TT, SSEL, ASEL, and PSEL controllers, the target selection window (Fig.

3.10) will be displayed to select the controller type and the number of axes (required to select it only when position data is created). * The created data can be saved only in the file formant according to the target selected here (refer to the list

of support models in the preliminary section of this manual).

[2] Open (O) Load data currently saved in a file.

(Note) In the case of the SSEL, ASEL, or PSEL controller in the positioner mode, the program file or symbol file cannot be open. If the file is open, the ABB File Type Error will be displayed.

Fig. 3.11 ABB File Type Error

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[3] Close (C) Close the currently active window.

[4] Save (S) Save the data in the active edit window by overwriting the corresponding

file.

[5] Save As (A) Save the data in the active edit window to a different file under a desired

name.

[6] Print Setup (P) Set the print font and printer.

Specify the top margin area for printing in [mm]

Specify the left margin area for printing in [mm].

Fig. 3.12 Print Setting Screen

(Note) If you restart the controller, settings will return to the default values shown below.

• Upper margin: 0 [mm]

• Left margin: 10 [mm]

• Font: MS Gothic

• Style: Standard

• Size: 10

3. Menu Window

Clicking this item will display the printer setup screen to set the printer.

Clicking this item will display the font setting screen to set a font for printing. It is interlocked with the font setting screen displayed by clicking View (V) from the menu and then selecting Font (F). The values set by either way will be reflected for both.

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In PC software V9.00.00.00 or later, whether or not to print the folder name can be selected.

If this check box is selected, the folder name will not be printed when the file data is printed.

3. Menu Window

If this check box is selected, the folder name will not be printed when the file data is printed.

Fig. 3.13 Print Setting Screen (V9.00.00.00 or Later)

[7] Most Recently Opened Files (D)

Selecting this menu item will display a list of files most recently loaded to the software, where you can select and load desired files.

[8] Exit (X) Close the application.

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(2) Edit (E)

This menu lets you perform operations used in editing data.

[1] Undo (U) Up to the most recent 10 operations can be canceled. However, they

cannot be canceled when you perform any of the following operations:

• Transfer of data on the editing screen such as the program edit window

to the controller

• Saving of data on the editing screen such as the program edit window

in a file

• Closing of the editing screen such as the program edit window

The following are the operations for which this function is enabled:

3. Menu Window

Input

Program Edit Window Position Edit Window Symbol Edit Window Parameter Edit Window Coordinate System Data Edit Window RC-axis Position Data Edit Window

Line

insertion

Line

Deletion

Cut Paste

{ { { { { { { {

{

- -

- - - -

- -

{ { { {

{ {

When this operation is performed, the warning screen in Fig.3.14 will be displayed. Clicking Yes will cancel the operation executed immediately before.

Fig. 3.14 Warning

[2] Cut (T) Cut the data corresponding to the cursor line in the edit window and save

the data to the clipboard.

[3] Copy (C) Copy to the clipboard the data corresponding to the cursor line in the edit

window.

[4] Paste (P) Paste the data on the clipboard to the cursor line in the edit window. [5] Find (F) Find a specified character string. [6] Find Next (S) Find the character string specified in [5] again, starting from the cursor line

position.

(3) View (V)

This menu lets you set options relating to screen views. (Refer to ‘3.4 Tree View’) [1] Tree View (T) Show/hide the tree view that appears on the left side of the main window. [2] Font (F) Set the font of text shown in the windows.

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3. Menu Window

(4) Program (S)

This menu lets you perform operations relating to programs. (Available only in the online mode.) (Refer to "4. Program Edit Window.")

[1] Edit (E) Load a selected program from the controller for editing. [2] Copy/Move (C) Copy/move (cut & paste) a program [3] Clear (L) Clear a program. [4] Save to File (S) Save a selected program or all programs to a file under a desired name. [5] End All Operations (T) End all programs and operations that are currently running/being

performed.

(5) Position (O)

This menu lets you operate position data. (Available only in the online mode.) (Refer to "6. Position Data Edit Window.")

[1] Edit (E) Load position data from the controller for editing. [2] Copy/Move (C) Copy/move (cut & paste) position data. [3] Clear (L) Clear position data.

In the case of the X-SEL-R/S, RX/SX or RXD/SXD controller, the position data items to be cleared can be selected on the Clear Position Data screen.

Fig. 3.15 Clear Position Data Screen

Clear All: Clear all position data items (Axis 1 to 8, Arm 1 to 4, Arm 5 to 8, Vel, Acc, Dcl and

Comment).

Clear All but Comment: Clear all position data items except for comment (Axis 1 to 8, Arm1 to 4, Arm 5 to 8,

Vel, Acc and Dcl).

Clear Comment Only: Clear only the comments among the position data.

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(6) Parameter (P)

This menu lets you operate parameters. (Available only in the online mode.) (Refer to "8. Parameter Edit Window.")

[1] Edit (E) Load position parameters from the controller for editing. [2] Control System Parameters Setting

x Frequency Analysis for Vibration Suppression Control

Measure the vibration frequencies of the load to be controlled and set the parameters. (Refer to "13. Frequency Analysis Function for Vibration Suppression Control.")

(7) Symbol (Y)

This menu lets you operate symbol data. (Available only in the online mode.) (Refer to "9. Symbol Edit Window.")

[1] Edit (E) Load symbol data from the controller for editing. [2] Clear All (C) Clear all symbol data.

(8) Coordinate System (D)

This item is displayed for X-SEL-JX/KX, PX/QX, RX/SX and RXD/SXD controllers. Edit the coordinate system definition data. (This is available only in the online mode.) (Refer to "10. Coordinate System Definition Data edit Window.")

[1] Edit (E) Read the coordinate system definition data from the controller and edit the

data.

[2] Clear (L) Clear the coordinate system definition data.

3. Menu Window

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3. Menu Window

(9) Monitor (M)

This menu lets you monitor various statuses, global variables, port statuses, and so on. (Available only in the online mode.) (Refer to "11. Monitor.") [1] Task Status (T)

[2] System Status (S)

[3] Axis Status (A)

[4] Input Port (I)

[5] Virtual Input Port (N)

[6] Output port (O)

[7] Virtual Output Port (U)

[8] Global Flag (F)

[9] Global Integer (L)

[10] Global Real (R)

[11] Global String (G)

[12] Local Data (B)

Open the task status monitor window.

Open the system status monitor window.

Open the axis status monitor window.

Open the input port monitor window.

Open the virtual input port monitor window.

Open the output port monitor window.

Open the virtual output port monitor window.

Open the global flag monitor window.

Open the global integer monitor window.

Open the global real variable monitor window.

Open the global string monitor window.

Local data (local integers, variables, local real variables, local string real numbers and local flags) for each program number can be shown.

[13] Detailed Error Information (E)

Open the detailed error information monitor window. If you click Monitor (M) from the main menu and then selecting Detailed Error Information (E), the Error number Select screen will be displayed. After setting the number of displayed errors, click OK. The detailed error information screen will be displayed.

Fig. 3.16 Error Number Select Screen

[14] Maintenance Information (X) Open the maintenance information monitoring window.

This item is displayed on the XSEL-R/RX/RXD/S/SX/SXD controller.

[15] Monitoring Data (M) Open the monitoring data window.

This item is displayed only when the connected controller supports the function.

(10) Controller (C)

This menu lets you perform operations relating to the controller, such as executing a software reset or resetting controller errors. (Refer to "15. Supplementary Information in Controller Menu Items.")

[1] Reconnect (C) Reestablish communication with the controller. If the software is currently

in the offline mode but is able to establish communication with the controller, selecting this menu item will switch the software to the online mode.

[2] Change Baud Rate (B) Change the baud rate used for communication between the controller and

PC.

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[3] Offline Operation (Communication port close) (O)

[4] Message Manager Communication Change (N) For future extension

[5] RC Gateway (Y)

Operational manual for gateway function is in a separate volume.

Operational manual Management number

X-EL controller P/Q/PX/QX and R/S/RX/SX/RXD/SXD

ME0188

RC gateway function

[6] SEL Global Data Backup

Save to File Can save global flags, global integer variables, global real variables, and

global strings.

Transfer to Controller Can transfer global flags, global integer variables, global real variables,

and global strings to the controller.

[7] All Data Backup (X)

ƒ Save to File (S) Save all program and position data in the controller.

[In the case of X-SEL-P/Q/PX/QX and R/S/RX/SX/RXD/SXD controllers with gateway function] After the program parameter position symbol is saved, the following confirmation screen will be displayed. However, this screen will not be displayed while the RC gateway function is not valid. (PC interface software V7.2.0.0 or later)

3. Menu Window

[When the RC-axis position data in X-SEL is used] Click OK to save the RC-axis position data in X-SEL.

Fig. 3.17 Confirmation Screen (While RC-axis position data is being saved.)

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3. Menu Window

[When the RC-axis position data in RC controller is used] RC-axis position data in RC controller can not be saved in the PC interface software for X-SEL.

Fig. 3.18 Warning

(When RC-axis position data is being saved)

 PC Interface Software of a Version Earlier than V7.2.0.0 ƒ Transfer to Controller (L) Transfer saved program and position data to the controller.

(Note) Files collected by the SSEL, ASEL, and PSEL controllers in the program mode cannot be

transferred to the controller in the positioner mode. In the same way, files collected in the positioner mode cannot be transferred to the controller in the program mode. If any different file is transferred, the following message will be displayed:

Fig. 3.19 Message

 PC Interface Software of a Version V7.2.0.0 or later Õ Online connection with the controller

Transfer to Controller/Divide File (L) Transfer to controller or dividing the file can be chosen in the

Transfer/Divide Selection Screen.

Õ Offline

• Divide File (L) The file containing the entire data can be divided on the Data Transfer/Division Selection Screen.

Fig.3.20 Transfer/Divide Selection Screen Fig.3.21 Transfer/Divide Selection Screen (X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) (X-SEL-JX/KX, PX/QX)

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The following section explains about "Transfer to Controller" and "Divide File."

ƒ Transfer to Controller On the Data Transfer/Division Selection Screen, click Transfer to

Controller. The File Setup Screen will appear. Select Backup All Saved Data (all data including programs, positions, etc.) and transfer to the controller. (If you are not selecting all data, click  to select the data to be transferred. The selected data will be marked with 3.) (Note) The parameter can not be sent if the selected parameter in

the controller is the same as the axis pattern.

(Note) Data saved in the regular format can be transferred to the

X-SEL-P/Q, PX/QX controller with the gateway function compatible with increased memory. Program of No. 65 or later will display a screen to ask if the position of No. 4001 or later should be erased. Clicking Yes will clear all the programs of No. 65 or later and positions of No. 4001 or later. Clicking No will not clear them.

Fig. 3.22 Confirmation Screen

(Note) Data saved in the extended format can be transferred to the

controller incompatible with increased memory. Programs of No. 65 or later and positions of No. 4001 or later cannot be transferred. Parameters not supported by the controller at the destination cannot be transferred. The following warning screen will be displayed. Click Yes to transfer data.

3. Menu Window

Fig. 3.23 Confirmation Screen

[In the case of X-SEL-P/Q/PX/QX and R/S/RX/SX/RXD/SXD controllers with the gateway function] The following confirmation screen will be displayed after the program, parameter, position and symbol are transferred, written to FROM and restarted.

[When RC-axis position data in X-SEL is used] Click OK to transfer the RC-axis position data in X-SEL.

Fig. 3.24 Confirmation Screen (while RC-axis position data is being transferred)

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[When RC-axis position data in RC controller is used] RC-axis position data in RC controller cannot be transferred in PC interface software for X-SEL.

Fig. 3.25 Warning Screen

(Transferring RC-axis position data when position data in RC is used.)

3. Menu Window

When a user data retained memory with a different composition is transferred, the following warning screen will be displayed. Initialize the user data retained memory and transfer it again. To initialize the user data retained memory, click Memory Initialization (I) and then User Data Retained

Memory (U).

Fig. 3.26 Warning Screen

(Transferring RC-axis position data when position data in RC is used.)

(Note) If the software is reset after changing the following parameter and writing to the flash ROM, UBM Data

Composition Change Error (6A1) will be displayed.

x I/O parameter No.502: The largest axis No. for RC gateway position data definition x No.503: The position data points for RC gateway position data definition

If an error message is displayed, user data retained memory must be initialized. However, all the RC-axis position data will be cleared if the user data retained memory is initialized as described in the note. If you need to save the RC-axis position data, please follow the procedures in the note.

(Note) All the RC-axis position data will be cleared if the user data retained memory is initialized. Please

follow the steps below to backup the RC position data.

1. Open Controller, RC-Axis Position Data Edit (R), and then Axes Position Data Save (S) in the Menu screen to save the RC-axis position data.

2. Change the I/O parameter No. 502, 503.

3. Initialize the user data retained memory.

4. Click File (F) and then Open (O) in the Menu screen to open the saved RC-axis data in step 1 and transfer it to X-SEL controller. Refer to "12. Gateway Function Setting" for transferring the RC-axis position data.

Page 79

䊶Divide Files Divide all the saved backup data (all data including program and position)

into program, position, parameter, symbol, X-SEL-JX/KX, PX/QX, and RX/SX/RXD/SXD axis data.

Click Divide Files on the Transfer/Divide data screen.

The program, position, parameter symbol and X-SEL-JX/KX, PX/QX are displayed in order on the File Save screen. Save them with a file name.

[8] Positioner Mode This mode can be used when the SSEL, ASEL, or PSEL controller is under

the manual mode and positioner mode. Start Start the positioner mode. Stop Stop the positioner mode. (Note) You can not change the parameters or write to flash ROM while the SSEL, ASEL, or PSEL

controller is under the positioner mode. Perform this operation to stop the positioner mode before changing the parameters or writing to flash ROM.

Acquire Positioner Mode Information

Acquire maintenance information (system data) in the positioner mode.

This item is displayed for SSEL, ASEL, and PSEL controllers.

[9] Write to Flash ROM (W) Clear the data areas in the flash ROM and then write the data saved in the

controller’s RAM to the flash ROM. For SSEL, ASEL, PSEL and X-SEL-P/Q, PX/QX (w/gateway function) compatible with increased memory, you can choose to write either all the data range or selected data range (PC interface software version 7.2.0.0 or later). x Writing all the data range: All data from the user data retained memory including program,

symbol, position, parameter, X-SEL-P/Q, PX/QX, R/S, RX/SX, and RXD/SXD will be written to the flash ROM.

x Writing the selected data range: Only the selected data will be written to the flash ROM.

* There is a limit in the number of writing to the flash ROM (write limit: about 100,000 times). If you

do not want to write all the data, select "Select the data range" and write to the flash ROM.

3. Menu Window

SSEL, ASEL and PSEL will not be displayed.

Fig. 3.27 Confirmation (X-SEL-P/Q, R/S,

SSEL, ASEL, PSEL)

Fig. 3.28 Confirmation (X-SEL-PX/QX,

RX/SX, RXD/SXD)

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3. Menu Window

[10] Initialize Memory (I)

ƒ Position (O) Clear all position data.

This item is displayed on the XSEL-R/S, RX/SX and RXD/SXD controllers. (Note) If 6BD, "Position data configuration change error" or

6BF, "Position data sum check error" occurs, use this command to initialize the position data.

(Note) 22B, "Position data comment loss error" will occur if

the software is reset or power is turned off after this operation, without writing the position data to the flash ROM first.

ƒ Coordinate System Definition Data (C)

Clear all coordinate system definition data. This item is displayed on the XSEL-RX/SX and RXD/SXD controller. (Note) if D40, "Coordinate system data management area

sum check error," D41, "Coordinate system data management area ID error" or D42, "Coordinate data sum check error" occurs, use this command to initialize the coordinate system definition data.

ƒ Global Variable and Flag (V) Clear all global variables and flags to zero. ƒ User Data Retained Memory (U)

In the case of X-SEL-P/Q/PX/QX and R/S/RX/SX/RXD/SXD with gateway function, clear all the contents of user data retained memory containing RC-axis position data in X-SEL controller. (PC interface software version 7.2.0.0 or later)

* If the Edit screen for RC-axis position (in

X-SEL-P/Q/PX/QX and R/S/RX/SX/RXD/SXD controllers) is opened without resetting the software or turning off the power after performing this operation and writing to the flash ROM, "RC Position NO. Error" message will be displayed.

* If the software is reset or the power is turned off without

writing to the flash ROM after performing this operation, the

last written data in the flash ROM will be retained. If the user data retained memory is initialized by a mistake, reset the software without writing to the flash ROM.

ƒ Parameter (at the time of shipment) (S)

Can return parameters to the ones at the time of shipment. This item is not displayed normally. It is a function which will become available by inputting a password. (Refer to "8.4 How to Initialize X-SEL-R/S, RX/SX, RXD/SXD and SSEL/ASEL/PSEL Parameters (at the time of shipment).") It is a function of X-SEL-R/S, RX/SX, RXD/SX, SSEL, ASEL, and PSEL controllers.

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[11] Absolute Reset (A)

Reset absolute data. This item is not displayed for XSEL-PX/QX, and RX/SX/RXD/SX controllers.

[12] Absolute Reset (Orthogonal Axis) (A)

Reset the absolute data of the orthogonal axis of the XSEL-PX/QX and RX/SX/RXD/SXD controllers. This item is displayed for XSEL-PX/QX and RX/SX controllers.

[13] Absolute Reset (SCARA Axis) (Y)

Reset the absolute data of the SCARA axis of the X-SEL-PX/QX and RX/SX/RXD/SXD controllers. This item is displayed for XSEL-PX/QX and RX/SX/RXD/SXD controllers.

[14] Software Reset (R)

Execute software reset of the controller.

[15] Reset Error (E)

Reset errors present in the controller.

[16] Drive-source Recovery Request (P)

Issue a drive-source recovery request to the controller.

[17] Operation-pause Reset Request (L)

Issue an operation-pause reset request to the controller.

[18] Set Time (T) Set time.

This function is available on the XSEL-R/RX/RXD/S/SX/SXD controller.

[19] About ROM Version (V) Show the various ROM version information regarding the

controller.

[20] Control Constant Table Management Information (Z)

Show the control constant table management information. This item is displayed for X-SEL-P/Q, PX/QX, and SSEL controllers.

[21] Positioner Mode Management information

Show the operation mode and management number with regard to the positioner mode of SSEL, ASEL, and PSEL controllers. This information is provided for the manufacturer. This item is displayed for SSEL, ASEL, and PSEL controllers.

3. Menu Window

(11) Tool (T)

This menu lets you specify settings relating to this application.

[1] Environment Setup (S) Set items that define how the application is run.

(12) Window (W)

This menu lets you change how the windows are displayed. [1] Cascade (C) Cascade all open windows diagonally from top to bottom. [2] Tile Vertically (V) Arrange all open windows vertically without overlapping. [3] Tile Horizontally (H) Arrange all open windows horizontally without overlapping. [4] Minimize All (M) Minimize all open windows (reduce them to icons). [5] Make to Window Make all minimized windows (window icons) to windows. [6] Arrange Icons (A) Arrange minimized windows (window icons).

(13) Help (H)

[1] About This Software (A) Show the version information of this software.

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3.3 Explanation of the Toolbar

This section explains the toolbar (Fig.3.27) shown at the top of the main window (below the menu bar).

Fig. 3.29 Toolbar

Open File Same as clicking File (F) and then selecting Open (O).

Save Same as clicking File (F) and then selecting Save (S).

3. Menu Window

Edit Program Same as clicking Program (S) and then selecting Edit (E).

Edit Position Same as clicking Position (O) and then selecting Edit (E).

Edit Parameter Same as clicking Parameter (P) and then selecting Edit (E)

Edit Symbol Same as clicking Symbol (Y) and then selecting Edit (E)

Edit Coordinate System Definition Data

Monitor Input Port Same as clicking Monitor (M) and then selecting Input Port (I).

Monitor Virtual Input Port Same as clicking Monitor (M) and then selecting Virtual Input Port (N).

Monitor Output Port Same as clicking Monitor (M) and then selecting Output Port (O).

Monitor Virtual Output Port Same as clicking Monitor (M) and then selecting Virtual Output Prot (U).

Same as clicking Coordinate System (D) and then selecting Edit (E). This item is displayed for X-SEL-JX/KX and PX/QX controllers.

Monitor Global Flag Same as clicking Monitor (M) and then selecting Global Flag (F).

Monitor Global Integer Variable

Monitor Global Real Variable

Monitor Global String Variable

End All Operations Same as clicking Program (S) and then selecting End All Programs (T).

Same as clicking Monitor (M) and then selecting Global Integer (L).

Same as clicking Monitor (M) and then selecting Global Real (R).

Same as clicking Monitor (M) and then selecting Global String (G).

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This list box is used to enable/disable the safety velocity limit in

the manual mode.

[Safety Vel Specified] --- Enable the safety velocity limit. (The

maximum speed during CP operation will be limited to 250

mm/sec or below [PTP operation: 3% or below] regardless of

program or parameter settings.)

[Safety Vel Not Specified] --- Disable the safety velocity limit.

This list box is used to permit/prohibit the simultaneous starting

of multiple programs in the manual mode.

[Two or more programs start prohibition (MANU)]

Prohibit the simultaneous starting of multiple programs in the

manual mode.

[Two or more programs start permission (MANU)]

Permit the simultaneous starting of multiple programs in the

manual mode. (Supported by software version 5.0.2.0 or later)

This item is displayed for X-SEL-P/Q (application version 0.36

or later), X-SEL-PX/QX (application version 0.17 or later),

XSEL-R/S/RX/SX/RXD/SXD, SSEL, ASEL and PSEL

controllers in the program mode.

3. Menu Window

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3.4 Tree View

You can display various data edit windows in the online mode by double-clicking the corresponding tems displayed in the tree view (Fig. 3.30, Fig. 3.31) that appears on the left side of the main window. You can show or hide the tree view by clicking View (V) from the menu bar and then selecting Tree View (T).

Controller model The example of Fig. 3.30 also applies to X-SEL-P/Q, R/S, TT, SSEL, ASEL, and PSEL controllers.

Remaining steps that can be stored in the controller

3. Menu Window

Currently registered programs

Number of registered steps in ( ) Program name in [ ] (if a symbol is registered)

Unregistered programs

Position data edit item

Double-click to open the position edit window.

"Drive," "Encoder" and "I/O System Device" will be displayed for X-SEL-P/Q, R/S, SSEL, ASEL and PSEL controllers.

Parameter edit items

Double-click a desired parameter category to open the corresponding edit window.

Fig. 3.30 Tree View (X-SEL-J/K)

Symbol edit items

Double-click a desired symbol category to open the corresponding edit window.

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Controller model The example of Fig. 3.31 also applies to X-SEL-PX/QX, and RX/SX/RXD/SXD controllers.

Remaining steps that can be stored in the controller

Currently registered programs

Number of registered steps in ( ) Program name in [ ] (if a symbol is registered)

Unregistered programs

Position data edit item

Double-click to open the position edit window.

"Drive," "Encoder" and "I/O System Device" will be displayed for X-SEL-P/Q and RX/SX/RXD/SXD controllers.

3. Menu Window

Parameter edit items

Double-click a desired parameter category to open the corresponding edit window.

Symbol edit items

Double-click a desired symbol category to open the corresponding edit window.

Coordinate edit items

Double-click a desired coordinate system category to open the corresponding edit window.

Fig. 3.31 Tree View (X-SEL-JX/KX)

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4. Program Edit Window

4.1 Explanation of the Items Displayed in the Program Edit Window

(1) Click Program (S) from the menu bar, and then select Edit (E). (2) When the program number selection window opens, select the program you want to edit, and then click

Load.

Program name assigned in the symbol edit window

In the case of the SSEL, ASEL, or PSEL controller, the number of remaining steps will be 2000 or less.

Fig. 4.1 Program Number Selection

(3) The program edit window will open. This window has the following controls and fields.

No. Step number. B Use this field to set a breakpoint. (Supported only in the online edit mode.)

Click the "B" field in the line you want to set a breakpoint for. Once a breakpoint is set, "B" will be shown in the field.

A breakpoint will be cancelled by executing software reset. E Enter a desired extended condition. N Specify reversing "N" of the input condition. Cnd * Enter a desired input condition. Cmnd Enter a desired SEL command.

Double-clicking this field or pressing the F1 key will open the SEL Command

Explanation window (Fig. 4.5).

This window provides an explanation of each SEL command. You can select a

desired command in this window and input it to the step data. Operand 1 * Enter desired operand 1. Operand 2 * Enter desired operand 2. Pst * Enter a desired output (operand 3). Comment Enter a command, if necessary (using up to 18 single-byte characters).

You can also double-click this field to modify a part of the comment currently entered.

* Press F11 to find a specific symbol in the input condition/operand fields.

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Fig. 4.2 Program Edit

If even one line is changed, all step numbers will be displayed in red. Right-clicking a desired input item in each line will display a pop-up menu (Fig. 4.3). The items in the pop-up menu are explained below.

Cut (T) Same as clicking Edit (E) from the menu bar and then selecting Cut

(T).

Copy (C) Same as clicking Edit (E) from the menu bar and then selecting Copy

(C).

Paste (P) Copy the entire cursor line. Same as clicking Edit (E) from the menu

bar and then selecting Paste (P). The step data saved on the clipboard

will be inserted into the cursor line. Insert 1 Line (I) Insert one line at the cursor line. Delete Selected Lines (D) Delete the lines in the selected range. Set Comment (S) Set the entire cursor line as a comment (invalid step). If a valid step

has been set as a comment by mistake, you can select Release

Comment explained below to return the line to a valid step.

Executing Release Comment on a line containing character strings will

clear all character strings in the line. Release Comment (R) Return the selected comment line to a step.

4. Program Edit Window

Fig. 4.3 Pop-up Menu

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4. Program Edit Window

In the program edit window, selecting Edit (E) from the menu and then Undo (U) can cancel up to the most recent 10 operations. Alternatively, pressing the Ctrl key and Z key simultaneously can cancel the operations. However, the cancel function will become disabled when any of the following operations is performed:

x Transfer of data on the edit screen to the controller x Saving data on the edit screen to a file x Closing of the edit screen

When this operation is performed, the warning screen in Fig. 4.4 will be displayed. Clicking Yes will cancel the operation executed immediately before.

Fig. 4.4 Warning

Double-clicking the Cmnd field or pressing the F1 key will open the SEL Command Explanation window. Use this window as a reference when editing data.

Fig. 4.5 SEL Command Explanation (Example for in the case of X-SEL-J/K)

Pressing the F2 key can change data in the cell partially. (Example: MOVP ĺ MOVL)

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Right-clicking on the SEL Command Explanation window will open a pop-up menu containing the following items.

Input (I) Input the command in the cursor line to the step data (into the cursor line in the

program edit window). Font (F) You can set a desired font for displaying the SEL command explanations. Sort (S) You can sort the command list alphabetically or by command category.

4. Program Edit Window

Fig. 4.6 Pop-up Menu

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4. Program Edit Window

(4) This window has the various buttons shown below.

(a) (b) (c)(d) (e) (f) (g) (h) (I) (j) (k)(l)

Fig. 4.7 Buttons

(a) Save to File

Click this button to save the program in a file with a name. Note: In "Program File Format 1" of the X-SEL-P/Q, PX/QX, R/S, RX/SX and RXD/SXD controllers (with gateway function) that are compatible with increased memory, steps No. 6001 and thereafter and programs No. 65 and thereafter cannot be saved. Save them in "Program File Format 2."

(b) Transfer to Controller

Clicking this button will prompt the software to check the program data for syntax errors and transfer the program data to the controller if no errors have been found.

Clicking this button will display information regarding syntax errors found in the program you have created, as well as operands used in the program.

(d) Print

Clicking this button will print the program.

(e) Run

Clicking this button will run the program. If the program has not yet been saved after editing, you must transfer

the program to the controller beforehand. Caution: Since the controller’s processing speed

is faster than the PC’s communication speed, the cursor position in the program edit window may not always correspond to the actual movement of the actuator.

(f) Run 1 Step

The program will run one step every time this button is clicked.

(g) Pause

Clicking this button will pause the program currently running.

(h) End

Clicking this button will end the program currently running.

(i) Show Local Flag

Clicking this button will show the local flag window for the program currently running.

(j) Show Local Integer Variable

Clicking this button will show the local integer variable window for the program currently running.

(k) Show Local Real Variable

Clicking this button will show the local real variable window for the program currently running.

(l) Show Local String Variable

Clicking this button will show the local string variable window for the program currently running.

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(5) Checking the program

The software will check the program you have created, for SEL syntax errors. [1] Click the Check Program button in the program edit window. [2] If any error is found, the error list will be displayed.

Check Program button

4. Program Edit Window

Fig. 4.8 Error List

The error list has the Step No., Column and Message fields. Double-clicking an error line will move the cursor to the location of the corresponding error. [3] Information regarding the operands (Cnd, Operand 1, Operand 2 and Pst) in the program you are

editing is displayed.

[a] [b] [c] [d] [e] [f] [g] [h]

Fig. 4.9 Operand Information

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[a] Syntax Error

Message (error content)

[b] Variable No. Use Condition

Variable No. Category (Integer, real number) Scope (Global, local) * If the applicable variable number is specified indirectly, the Category and Scope fields will show "Unknown."

[c] Input/Output/Flag No.

Port/Flag No. Category (Input Port No., Output Port No. or Flag No.) Scope (Global or Local) * If the applicable port/flag number is specified indirectly, the Category and Scope fields will show "Unknown."

[d] Program No. Use Condition

Program No.

4. Program Edit Window

[e] Tag No. Use Condition

Tag No. (Tag number in use) Declaration/Jump

[f] Subroutine No. Use Condition

Subroutine No. Declaration/Call

[g] Position No. Use Condition

Position No.

[h] Axis No. Use Condition

Axis No.

* If a symbol is used in any of the numbers in [b] through [h], the corresponding definition value will be

displayed in the margin.

The above information is displayed in an itemized list at the bottom of the program edit window. You can double-click a desired item to move the cursor to the corresponding program. You can also right-click the list to display a pop-up menu and hide the list or sort the records.

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4.2 Saving a Program and Closing the Edit Window

(1) Saving to a file the program data you are editing

Click the Save to File button in the program edit window. This is the same as clicking File (F) and then selecting Save As (A). After clicking the Save to File button, Save File Select screen will be displayed.

In case of the X-SEL-P/Q, PX/QX controllers compatible with increased memory (with gateway function), or R/S, RX/SX, and RXD/SXD controllers you can not select the Program File Format 1 (normal format) for Step No.6001 or later and Program No.65 or later. Select the Program File Format 2 (extended format) to save. (PC interface software version 7.2.0.0 or later)

Caution: If you click "Always save with Format 2", files will be always saved with Format 2. And this screen won’t be displayed after that. It can be displayed again by setting in the Environment Setup screen (16. Tool).

4. Program Edit Window

Fig. 4.10 Save File Select Screen

(2) Transferring to the controller the program data you are editing.

You can save the program data you are editing to the controller’s memory. Click the Transfer to Controller This button is selectable only in the online edit mode.

If the program contains any error, the error will be displayed and the program will not be transferred to the controller.

* The data saved by the Program File Format 1 (normal format) can be transferred to X-SEL-P/Q,

PX/QX controllers incompatible with increased memory (with gateway function) or R/S, and RXD/SXD controllers.

* If the data saved by the Program File Format 2 (extended format) is transferred to the controllers

incompatible with the increased memory, the extended part of data (Step No.6001 or later) will not be transferred. The following Alarm screen will be displayed. Click Yes to transfer the data.

button in the program edit window.

Fig.4.11 Alarm Screen

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4. Program Edit Window

(3) Writing to the flash ROM

Once the program has been transferred to the controller, the following confirmation dialog box with the message, "Write Flash ROM?" will be displayed.

Fig. 4.12 Confirmation Fig. 4.13 Confirmation

(X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) (X-SEL-JX/KX, PX/QX)

In case of SSEL, ASEL, PSEL, X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function), or R/S, RX/SX, and RXD/SXD controllers, the following screens will be displayed. (PC interface software version 7.2.0.0 or later)

This is not displayed for SSEL, ASEL and PSEL

Fig. 4.14 Confirmation Fig. 4.15 Confirmation

(X-SEL-P/Q, R/S, SSEL, ASEL, PSEL) (X-SEL-PX/QX, RX/SX, RXD/SXD)

Click and select a desired item (Program, etc.) to write to the flash ROM. Click Yes (Y)ĺ The memory data will be written to the flash ROM. Click No (N) ĺ The memory data will not be written to the flash ROM. If No (N) is selected, the controller

will clear all data in its memory after a reset (i.e., after the controller power is reconnected or a software reset is executed), and then load the data from the flash ROM. (The controller will operate in accordance with the transferred data until a reset is executed.)

* The number of writing to the flash ROM is limited. (can write approx. 100,000 times)

If you don’t want to write all the data to the flash ROM, select "Write selected data region."

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(4) Closing the program edit window

Attempting to close the program edit window will display the following confirmation dialog box with the message, "Save edited data in the Controller?"

Fig. 4.16 Confirmation

Yes (Y) The edited data will be transferred to the controller ĺ (3), "Writing to the flash ROM" No (N) The software will close the program edit window without saving the edited data.

Cancel The software will cancel the operation and return to the program edit window.

4. Program Edit Window

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4. Program Edit Window

4.3 Saving All Programs to a File

(1) Saving all programs to a file

You can save programs No. 1 to 64 in the controller (or programs No. 1 to 128 for the X-SEL-P/Q and PX/QX (with gateway function) compatible with increased memory, or R/S, RX/SX and RXD/SXD) to a single file.

[1] Click Program from the menu bar, and then select Save to File. [2] In the program number selection window, click Save All. Then specify a desired file name and folder.

In the case of the SSEL, ASEL, and PSEL controllers, the number of remaining steps will be 2000 or less.

Fig.4.17 Program Save

(2) Opening the all programs file

[1] Click File from the menu bar, and then select Open. [2] In the file open window, select the file you want to open and then click Open. [3] The program No. selection window will be displayed. Select a desired program No. to read and click

the Read button. If you want to transfer all programs to the controller, select Load All Program. If you want to select programs in the all programs file and transfer them individually, select desired program numbers and then click Load a Program to transfer the corresponding programs to the controller.

In the case of the SSEL, ASEL, and PSEL controllers, the number of remaining steps will be 2000 or less

Fig. 4.18 Program Transfer (Online)

Print All button: Print all programs (excluding the program with 0 steps). Print button: Print only the program selected from the list at the left of the button.

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(3) Important note on transferring an all programs file to the controller

[1] Transferring all program files to a controller at once will clear all existing programs No. 1 to 64 (or

programs No. 1 to 128 for the X-SEL-P/Q and PX/QX (with gateway function) compatible with increased memory) or R/S, RX/SX, and RXD/SXD controllers. If necessary, back up all current programs before the transfer.

[2] If the all programs file includes any program that contains symbols and the symbols are not defined

in the controller’s memory, an error will occur when the applicable program is transferred to the controller. If an error occurs, none of the programs will be transferred to the controller. Therefore, if the applicable symbol data is saved to a file, transfer the symbol definition file first. If there is no symbol definition file, define the applicable symbols in the symbol edit window and then transfer the definitions to the controller, before transferring the all programs file again.

[3] If the all programs file contains any error, the error window will be displayed and none of the

programs will be transferred to the controller. In this case, double-click the error shown in the error window to open the program file that contains the applicable error. Correct the error, and then save the file by overwriting. If multiple errors exist, correct all errors. When all errors have been corrected, transfer the programs to the controller again. The procedure in [3] provides an important recovery method for program files containing errors.

[4] The data saved by Program File Format 1 (normal format) can be transferred to the X-SEL-P/Q,

PX/QX controllers compatible with increased memory (with gateway function) or R/S, RX/SX, and RXD/SXD controllers. The following warning screen will be displayed. Clicking Yes will clear the program of No. 65 or later. Clicking No will not change the program of No. 65 which is saved in the controller to transfer. (The number of possible transferred step depends on the number of remaining step in the controller to transfer.)

4. Program Edit Window

Fig. 4.19 Warning Screen

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4. Program Edit Window

[5] If the data saved by the Program File Format 2 (extended format) is transferred to a controller

incompatible with increased memory, the programs of No.65 or later will not be transferred. The following warning screen will be displayed. Clicking Yes will transfer all programs. Clicking No will not transfer all programs. (The number of possible transferred step depends on the number of remaining step in the controller to transfer.)

Fig. 4.20 Warning Screen

If the programs are transferred separately, select a program of No.65 or later and click Controller Transfer button. Then the following warning screen will be displayed.

Fig. 4.21 Warning Screen

(4) Saving the all programs file

[1] If the program files read from the all programs file are saved as the all programs file, click Save (S).

[2] If the program files are saved individually, click Save as (A).

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4.4 Running the Program

You can run the program in the program edit window. To run the program you are editing, transfer it to the controller first.

Note) Once transferred to the controller

first. If the program is not written to the flash ROM, however, it will be lost once the controller power is reconnected or a software reset is executed.

[e]Run: Clicking this button will run the program. [f] Run 1 Step: The program will run one step every time this button is clicked. [g]Pause: Clicking this button will pause the program currently running.

Clicking it again will resume the program.

Clicking Run or Run 1 Step will resume the program. [h]End: Clicking this button will end the program currently running. Breakpoint

: You can pause the program in a desired step. "B" will appear/disappear every time the

field is clicked.

Note) A breakpoint will be cleared once the controller power is reconnected or a software

reset is executed.

[e]

[f] [g] [h]

, the program can be run without being written to the flash ROM

4. Program Edit Window

Fig. 4.22 Program Run

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5. Copying/Moving/Clearing a Program

5.1 Program Copy/Move Window

The steps to copy or move a program to other program number are explained below. (1) Click Program (S) from the menu bar, and then select Copy/Move (C). (2) The program copy/move window will open.

Program number to copy/move from

Program number to copy/move to

In the case of the SSEL, ASEL, or PSEL controller, the number of remaining steps will be 2000 or less.

Fig. 5.1 Program Copy/Move

Double-click the source program you want to copy or move.

Click the destination program you want to copy or move the source program to.

5. Copying/Moving/Clearing a Program

To copy the program, click Copy. To move the program, click Move.

Both operations are done in the memory.

Clicking Cancel will cancel the selected operation.

(3) Writing to the flash ROM

When the copy or move is completed, the following confirmation dialog box with the message, "Write

Flash ROM?" will be displayed.

Fig. 5.2 Confirmation Fig. 5.3 Confirmation

(X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) (X-SEL-JX/KX, PX/QX)

IAI America IA-101-X-USBMW User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Before Use

Table of Contents

Support Models

Software License Agreement

A Word of Caution

Safety Guide

1. Before You Begin

1.1 Items Supplied with This Software (Product Components)

1.2 System Requirements

1.3 Installing the Software

1.4 Connection to Controller

1.5 Starting the Software (Online Connection)

2. How to Save Data

2.3 XSEL-R/S/RX/SX/RXD/SXD

2.4 Notes

3. Menu Window

3.1 Explanation of the Menu

3.2 Explanation of the Commands

3.3 Explanation of the Toolbar

3.4 Tree View

4. Program Edit Window

4.1 Explanation of the Items Displayed in the Program Edit Window

4.2 Saving a Program and Closing the Edit Window

4.3 Saving All Programs to a File

4.4 Running the Program

5. Copying/Moving/Clearing a Program

5.1 Program Copy/Move Window