IAI America IA-T-XA User Manual

X-SEL ANSI-Compliant

Teaching Box

Instruction Manual

Ver. 1.0

IAI Corporation

1. Introduction ........................................................................................................ 1

2. Before Use......................................................................................................... 1

3. Safety Precautions............................................................................................. 2

4. Warranty Term and Coverage............................................................................ 3

5. Connection to Controller .................................................................................... 4

6. Functions and Specifications of Teaching Box................................................... 7

6-1. Main operation keys and their functions.................................................................7

7. Mode Flow Chart...............................................................................................11

8. Data Storage Method....................................................................................... 16

8-1. Factory setting: When system memory backup battery is used............................16

8-2. When system memory backup battery is not used...............................................17

8-3. Cautions...............................................................................................................18

9. Simple Operating Procedures.......................................................................... 19

9-1. Creation of position data.......................................................................................20

9-2. Creation of program..............................................................................................29

9-3. Change of application program ............................................................................40

10. Program Execution........................................................................................... 47

10-1. Operation check...................................................................................................47

10-2. Setting of break point............................................................................................49

10-3. Monitor while in running........................................................................................49

11. Position Editing ................................................................................................ 52

11-1. Mdi (numeric input)...............................................................................................52

11-2. Teac (teaching).....................................................................................................53

11-3. Teaching input example........................................................................................67

11-4. Copy and movement of position data...................................................................73

11-5. Deletion of position data.......................................................................................75

12. Program Editing ............................................................................................... 77

12-1. Program input method..........................................................................................77

12-2. Symbol input during program editing....................................................................84

12-3. One-line comment input .......................................................................................87

12-4. Copy and movement of program..........................................................................90

12-5. Deletion of program..............................................................................................91

12-6. Flash ROM writing................................................................................................93

13. Symbol Editing................................................................................................. 94

13-1. Symbol editing items ............................................................................................95

13-2. Input example: Symbolization of local integer variables.......................................96

13-3. Symbol edit screen for each item.......................................................................100

13-4. Flash ROM writing..............................................................................................105

14. Parameter Editing .......................................................................................... 106

14-1. Parameter editing items......................................................................................107

14-2. Editing of axis-specific parameters.....................................................................108

15. Monitoring .......................................................................................................112

15-1. Monitor items......................................................................................................112

15-2. Input ports ..........................................................................................................113

15-3. Output ports........................................................................................................113

15-4. Global flags ........................................................................................................113

15-5. Global variables..................................................................................................114

15-6. Axis status..........................................................................................................116

15-7. System status.....................................................................................................119

15-8. Error detail information .......................................................................................121

15-9. Version information............................................................................................. 122

16. Controller ....................................................................................................... 123

16-1. Controller items..................................................................................................123

16-2. Flash ROM writing..............................................................................................124

16-3. Software reset (restart).......................................................................................125

16-4. Error reset ..........................................................................................................125

16-5. Memory initialization...........................................................................................126

16-6. Reconnection .....................................................................................................126

16-7. Baud rate change...............................................................................................127

16-8. Safety velocity....................................................................................................127

16-9. Driving power recovery request ..........................................................................128

16-10. Action restart request.........................................................................................128

16-11. Driving power recovery request (RPwr) and action restart request (RAct).........129

16-12. Absolute encoder reset.......................................................................................130

16-13. Procedures for resetting absolute-battery voltage-down warning error ..............133

APPENDIX ............................................................................................................. 135

Error Level Control............................................................................................................135

X-SEL Teaching Box Error List (Application Part) .............................................................136

X-SEL Teaching box Error List (Core Part) .......................................................................139

1. Introduction

Thank you very much for purchasing our Teaching Box for the X-SEL Controller. Improper
usage or mishandling may result in a product not only being unable to deliver full functions but
also produce unexpected troubles or shorten the product’s life. Please read this Manual carefully,
and operate the product properly by paying attention to its handling. When operating the Teaching
Box, always keep this Manual on hand and read the relevant items as required.

For the actuator and controller to be used, be sure to refer to the Instruction Manuals attached
to the products.

ƒ While the Teaching Box is left connected, “Effect” is valid for the safety velocity (SVel).

Therefore, the maximum velocity achieved by the program startup from the Teaching Box

becomes 250 mm/sec. or lower. To operate the controller according to the program velocity

command, it is required to change the condition to “No Effect.”

For selection of the safety velocity between Effect and No Effect, refer to “16-8. Safety

velocity.”

Under the “Effect” condition above, Para-Othe (other parameter) No. 21 “Manual mode type” is

0 or 1. (The parameter is generally 0 before domestic shipment.)

When Para-Othe No. 21 is 2, the condition is “No Effect” for SVel.

2. Before Use

(1) Be sure to read this Instruction Manual for proper use of this product.
(2) Part or all of this Instruction Manual may not be used or reproduced without permission.
(3) For any handling and operating methods other than those described in this Instruction

Manual, interpret them as “don’t

(4) Please take note that we shall not be liable for any effects resulting from using this Instruction

Manual.

(5) Descriptions in this Instruction Manual are subject to change due to product improvements

etc., without prior notice in the future.

” or “can’t.”

1

3. Safety Precautions

(1) Use a genuine product specified by us for wiring between the actuator and X-SEL Controller.

(2) Keep out of the operating range of a machine such as an actuator while it is operating or in a

ready state (condition in which the controller’s power is ON). When using it in places where
persons may approach, fence it off.

(3) Before carrying out assembly and adjustment work or maintenance and inspection work of

the machine, be sure to disconnect the power cord. While working, display the plate specified
as such at an easy-to-read location. In addition, give special consideration to prevent third
parties from turning on the power carelessly by hauling in the power cord to the operator.
Alternatively, lock the power plug or receptacle and direct the operator to keep the key or
prepare a safety plug.

(4) When more than one operator works, advance work by determining the signal method and

checking each other’s safety. Especially, for work associated with axial movement regardless
of power ON/OFF or motor-driven/manual operation, be sure to confirm safety by calling out
to other(s) in advance.

(5) When the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this

case, inspect wiring thoroughly and check it for properness before turning on the power.

2

4. Warranty Term and Coverage

The Teaching Box you purchased has been delivered upon c ompletion of our strict shipping
test.
We shall warrantee this product as follows:

1. Warranty term

The warranty term shall be either of the following terms, whichever is reached first.

ƒ 18 months after our shipment
ƒ 12 months after delivery to the place designated by you

2. Warranty coverage

Where a defective condition occurs during proper use conditions and obviously under the
responsibility of the manufacturer, within the term above, we shall repair the product without
charge. However, any items that apply to the following are excluded from the warranty coverage:

ƒ Defects resulting from changes over time such as natural color fading of paint
ƒ Defects resulting from use wear of consumable parts (such as a cable)
ƒ Defects resulting from sensory phenomena such as generated noise that have no

functional effects

ƒ Defects resulting from mishandling or improper use
ƒ Defects resulting from an inadequacy or error in maintenance and inspection
ƒ Defects resulting from the use of any part other than our genuine parts
ƒ Defects resulting from a modification not approved by us or our dealers
ƒ Defects resulting from Acts of God, accident, fire, etc.

Only a delivered product shall be singly warranted, and no damage induced by the defect of
the delivery product can be warranted. For repair, transport the product to our factory.

3. Service coverage

The cost of a delivered product does not include expenses for program creation and engineer
dispatching. Therefore, the following are charged separately even within the warranty term:

ƒ Maintenance and inspection
ƒ Technical guidance and technical training in operating instructions
ƒ Technical guidance and technical training on program-related matters such as program

creation

3

5. Connection to Controller

MODE switch

㽲 Connect the controller to the actuator, IO 24V power, system IO, etc., in advance.

Connect the cable connector of the Teaching Box to the controller ’s teaching connector when
the main power supply of the controller is OFF.

㽳 After flipping the MODE switch of the controller to MANU, turn on the power to the controller.

Teaching Box
LCD display

It displays the version of the Teaching Box and
moves to the Mode Selection screen.

4

Cnct screen

When the Deadman switch is OFF, the screen
shown at the left is displayed. Pressing the ESC key
moves to the Mode Selection screen.
(Even when the Deadman switch is OFF, operations
in the mode not requiring servo ON are available.)

When the MODE switch is flipped to AUTO,
connection to the controller is not established and
the screen shown at the left is displayed. In this
case, press the ESC key to move to the
reconnection (Cnct) screen.

Flip the MODE switch to MANU, and press the F1
(OK) key to reconnect the controller.

Mode Selection screen

This is the basic screen for all operations.

5

CAUTIONS

!

When “OPEN 1” (channel 1 shared for the Teaching Box) is executed within the SEL program
in the MANU mode, the right of use of the serial port channel 1 is forcefully moved to the SEL
program and communication with the Teaching Box is disconnected. The program is running.
(*Error No. A5D “SCIF open error in non-AUTO mode”)
To stop operation after that, be sure to press the EMERGENCY STOP button. (Be careful
especially under jog operation.)

* The above is a case for controller main application versions earlier than 0.16.

For the controller main application Ver. 0.16 or later, the following are applied regarding the
execution of “OPEN 1” according to the servo not in use or in use:

<MANU mode, servo not in use>

Before execution of “OPEN 1” After execution of “OPEN 1”

Connection of channel 1 Connection to Teaching Box Forced movement to SEL program connection

(Message error) Program is running

Error occurring after “OPEN 1” execution: Error No. A5D “SCIF open error in non-AUTO mode”

<MANU mode, servo in use>

Before execution of “OPEN 1” After execution of “OPEN 1”

Connection of channel 1 Connection to Teaching Box Connection to Teaching Box

(Cold start error) Program is exited

Error occurring after “OPEN 1” execution: Error No. E.89 “SCIF open error in non-AUTO mode (servo in use)

Descriptions of the “CAUTIONS” inside the box above are applied to cases where the mode is
MANU and the I/O parameter is any other than No. 90 = 2 (IAI protocol).

6

6. Functions and Specifications of Teaching Box

6-1. Main operation keys and their functions

㽲 LCD display

It displays the program or operation monitor up to 8 lines of 32 characters.
㽳 EMERGENCY STOP button

It makes an emergency stop.
㽴 Deadman switch

The Deadman switch has 3-level conditions. The ON/OFF conditions at each level are as

follows:

1st level Switch OFF
2nd level Switch ON Condition in which the switch is pressed with a proper force

3rd level Switch OFF Condition in which the switch is pressed with a strong force

Under the condition of switch ON, servo ON is available.

Under switch OFF, the driving power is shut down and the servo is turned OFF.

Even under switch OFF, operations in a mode not requiring servo ON (such as program

editing) are available.

The Deadman switch is valid when the MODE switch of the controller is flipped to
MANU. When the MODE switch is flipped to AUTO, the driving power cannot be shut
down regardless of the switch condition.

Condition in which a hand is moved off t he switch or the force to
press the switch is very weak

7

㽵 F1 F2 F3 and F4 keys (function keys)

These keys correspond to each item in the LCD display (function key section).

㽶 SF key (shift key)

When there are 5 or more selectable functions (㸢 is displayed at the right part of the function

key section), the display items in the function key section are shifted.
㽷 ESC key (escape key)

It returns the current condition to the previous condition.

When this key is used during data input, the input data is canceled.
㽸 PAGE UP and PAGE DOWN keys (page-up key, page-down key)

These keys increment or decrement the editing/display item No. (position No., program No.,

step No., etc.).
㽹 BS key (backspace key)

It clears the last input character during data input.

It clears the data at the cursor position in other cases.
㽺 ŻźŸŹ (cursor keys)

These keys move the cursor.
㽻 Ten-key numeric pad

Numeric values, alphabet letters, and symbols can be input with the ten-key numeric pad.

When the cursor is at any item requiring the input of characters other than 0 to 9 (such as

hexadecimal and character strings), the input mode selection is displayed in the function key

section. (Alph: alphabet symbol input, Num: numeric value input)
㽼  key (return key)

It is used to confirm the input data or move the cursor forward.

8

㽽 Status display LED

Conditions when each LED is lit are as follows:

Condition when LED is lit
JOG
SERVO

MOVE
HOME

SVOFF It is lit when the servo is OFF for all the effective physical axes.
S-VEL It is lit when Effective is selected for the safety velocity.
ERROR It is lit when an error occurs in the controller.
EMG It is lit when the controller is in an emergency stop condition.
POWER It is lit when the power to the Teaching Box is ON.
READY It is lit when the controller is in a ready condition.

㽾 WRT key (write key)

It transfers edit data to the controller. (Stores data in the memory of the controller.)
It transfers only data that is displayed in the LCD display. (Cannot transfer data by merging
more than one position No., program step No., etc.)

Jog operation is available with the 1- to ALL- or 1+ to ALL+ keys.

The servo ON/OFF commands are available with the 1- to ALL- or 1+ to ALL+ keys.

Position movement and continuous movement are available with the 1- to ALL- or 1+

to ALL+ keys.

Home position return operation is available with the 1- to ALL- or 1+ to ALL+ keys.

㽿 STOP key

It gives an operation stop command to all the effective physical axes. This is valid in the
axis-operable mode.

㾀 MOVE key

It changes the operation mode of the axis operation keys (1- to ALL-, 1+ to ALL+) to the
POSITION MOVEMENT mode. The MOVE LED lights up. This key is valid in the
axis-operable modes.

㾁 SERVO key

It changes the operation mode of the axis operation keys (1- to ALL-, 1+ to ALL+) to the servo
ON/OFF mode. The SERVO LED lights up. This is valid in the axis-operable modes.

㾂 HOME key

It changes the operation mode of the axis operation keys (1- to ALL-, 1+ to ALL+) to the
HOME POSITION RETURN mode. The HOME LED lights up. This is valid in the
axis-operable modes.

9

㾃 Axis operation keys (1- to ALL-, 1+ to ALL+)

These keys operate each axis. The functions are as follows according to the operation mode:

Operation mode

JOG

POSITION

MOVEMENT

1- to 4-, ALL-

It jogs (inches) the axis in the
coordinate minus direction.

It moves the axis to the currently
displayed position. (In the
continuous movement mode, it
decrements the position No. after
completion of movement.)

Function

1+ to 4+, ALL+

It jogs (inches) the axis in the
coordinate plus direction.

It moves the axis to the currently
displayed position. (In the
continuous movement mode, it
increments the position No. after
completion of movement.)

SERVO ON/OFF It gives the servo OFF command. It gives the servo ON command.

HOME POSITION

RETURN

It gives the home position return command.

For axial operation, execute it for a single axis or all axes in one operation.
In any operation mode other than JOG, the mode moves to the JOG mode after one operation.

Cautions

ƒ Such jog actions with the JOG button are also valid for any not-homed axes. However,

coordinate values in this case have no meaning. Therefore, be extremely careful about
interference with the stroke end.

ƒ If jog operation is performed to the axis in action under the operation-button-acceptable

condition, the operation of the applicable axis is aborted when the JOG operation button is
turned OFF. (The next operation starts, if any.)

10

7. Mode Flow Chart

Power ON

Communications

established

Mode

selection

“Yes” or “No”

Function key Function key Function key

(Edit) (Position) (Manual input)

* When escaping the mode

with [ESC], check whether to
write in FROM.

(FR g)

OM writin

Select position No.

and press return

Select position No.

and press return

(Teach)

Position data

input

* After writing data with [WRT],

move to the next position

Function key

Position data

input

* After writing data with [WRT],

move to the next position

(Continuous

movement)

(Jog velocity

input)

(Input port

monitoring)

(Output port

monitoring)

(Copy/movement)

(Clear)

(User-specified

output port
operation)

11

Select the

Function key

program No.
and press return

(Program) (Change)

(Copy/movement)

(Clear)

Select the symbol type with the function key

Symbol/

(Symbol)

definition

value input

* After writing data with [WRT], move to the

next edit No.

Select the parameter type with the function key

Parameter

(Parameter)

input

* After writing data with [WRT], move to the

next parameter No.

Select the
step No. and
press return

Step data

input

* After writing data with [WRT], move to the

next step

* Move to the symbol edit mode with [Sym]

(Program

operation)

Select the program
No. and press return

(Execution)

(Task status

display)

(Stop)

Move to the mode according to the current condition

(Continuous

execution)

Step execution
completed

(Execution stop)

(Temporary stop

between steps)

Function keyFunction key

(Current position)(Step execution)

(Local flag)

(Local variable)

(Program

error display)
* Only during

program stop

Function key

(Int le)eger variab

(Real variable)

(String variable)

12

12

Function key

(Monitor)

(Input port)

(Output port)

(Global flag)

(Global variable)

Function key

(Integer variable)

(Real variable)

(String variable)

Function key

(Axis status)

(Current position)

(Servo status)

(Sensor input

status)

(Encoder status)

(Axis-related

error)

13

13

Function key

(System status) (Sy e)stem mod

(System error)

(System status 1)

(System status 2)

(System status 3)

(System status 4)

(Error list)

Function key

(Version) (CTL main)

(Driver)

(Teaching

pendant)

14

14

Function key

(Controller)

(FROM wring)

(Software reset)

(Error reset)

(Memory

initialization)

(Reconnection)

(Baud rate

change)

(Driving power

recovery request)

(Action restart

request)

(Absolute reset)

Velocity effect

select

(PIO start prohibit

select)

* When the manual operation type parameter equals edit and start selection (with password), it

is required to enter the password at setting change time.

* It is displayed only when the manual operation type parameter equals edit and start selection

(with password).
* It is required to enter the password at setting change time.
(Refer to “8. Manual Operation Types” in Chapter 2, Part 3 of the X-SEL Controller Instruction
Manual.)

ƒ Flow at Error Occurrence

Mode while in

action

Error occurs

Message
displayed

Minor error

Major error

Reconnection

mode

15

8. Data Storage Method

Since the X-SEL Controller adopts flash memory, there is a storage area by battery backup

and a storage area by flash memory according to the data to be stored.

In addition, even if data is transferred from the PC software or Teaching Box, the data is only
to be written in memory as shown in the chart below and the data is erased by power-off or
controller reset.

To ensure data storage, write the data you want to store in flash memory.

8-1. Factory setting: When system memory backup battery is used

(Para-Othe No. 20 = 2 (system memory backup battery installed)

Edit data with PC or

Teaching Box

Program

parameter

(content 1)

Symbol

Slave card

parameter

(content 2)

* Encoder
parameter

Data maintained during

power-on and erased

by reset

Transfer

Transfer

Transfer

Memory

Memory

Memory

Data maintained even after power-off

Flash writing

Flash

memory

Reset reading

Transfer

Reset reading

Transfer

* Encoder

Reset reading

Position

SEL global data

(content 3)

Error list

Transfer

Transfer

Battery
backup

memory

Battery
backup

memory

Flash writing

Flash

memory

* Encoder parameters are not stored within the controller but in the EEPROM of the actuator’s
encoder itself. They are read into the controller at power-on or software-reset time.

16

Since the program, parameter, and symbol are read from flash memory at restart time, the data in
memory becomes the original data before editing unless the data is written in flash memory.
The controller always operates according to the data in memory (within the dotted box) excluding
parameters.

Content 1: Parameters excluding content 2 below and encoder parameters
Content 2: Driver card and IO slot card (power-supply system card) parameters
Content 3: Flags, variables, strings

8-2. When system memory backup battery is not used

Para-Othe No. 20 = 0 (System memory backup battery not installed)

Edit data with PC or

Teaching Box

Program

parameter

(content 1)

Symbol

Position

Slave card

parameter

(content 2)

* Encoder
parameter

Data maintained during

power-on and erased by

reset

Transfer

Transfer

Transfer

Memory

Memory

Memory

Data maintained even after

power-off

Flash writing

Flash

memory

Reset reading

Transfer

Reset reading

Transfer

* Encoder

Reset reading

SEL global data

(content 3)

Error list

Transfer

Memory

Since the program, parameter, symbol, and position are read from flash memory at restart time,
the data in memory becomes the original data before editing unless the data is written in flash
memory.
The controller always operates according to the data in memory (within the dotted box) excluding
parameters.

Note: The SEL global data cannot be maintained when the backup battery is not installed.

17

8-3. Cautions

Cautions in data transfer and flash writing

Never turn off the main power during data transfer and flash writing.

Failure to do so may result in inoperability of the controller due to data loss.

Cautions in storing parameters in a file

Encoder parameters are stored in EEPROM of the actuator’s encoder itself (not in
EEPROM within the controller, which is different from the other parameter types). When
the power is turned on or software is reset, encoder parameters are read from EEPROM
into the controller.

Therefore, if you store the parameters of the controller, which has been powered on
or of which software has been reset when the actuator (encoder) is not connected, in a
file, the encoder parameters stored in this file become invalid values.

Cautions in transferring a parameter file to controller

When the parameter file is transferred to the controller, the encoder parameters are
transferred to EEPROM of the encoder (excluding manufacturing information and
function information).

Therefore, if you transfer the parameter file read from the controller, which has
started up when the actuator is not connected, to the controller (which is connected to
the actuator), the encoder parameters of invalid values are written in EEPROM of the
encoder.

When storing the parameters in a file, do so when the actuator is connected.

18

9. Simple Operating Procedures

p

In this section, the program and position data to draw a simple “pentagon” passing through the

following 6 points (㽲 and 㽷 at the same location) by the actuator of 2 axes (X, Y) are created.

Home

osition

Position Data (㽲 to 㽷)

19

9-1. Creation of position data

Input the position data of 6 points each to draw a pentagon as shown in the position data list
below.
Enter numeric values of the position data with the ten-key numeric pad.

Connect the controller to the Teaching Box and flip the MODE switch to MANU.
Turn on the power to the controller.

The version of the Teaching Box is displayed and the
screen moves to the Mode Selection screen. (To the
following page)

When the Deadman switch is OFF, the screen
shown at the left is displayed. Pressing the ESC key
moves to the Mode Selection screen.
(Even when the Deadman switch is OFF, operations
in a mode not requiring servo ON are available.)
When entering numeric values of position data with
the ten-key numeric pad, operation is available even
if the Deadman switch is OFF.

20

Mode Selection screen

This screen becomes the basic screen for all
operations.
Press the F1 (Edit) key.

* When you make a selection error or input error, press the ESC key to return to the last

screen and continue operation. Pressing the ESC key once or several times during an
operation can return to the basic screen shown above without fail.

Edit mode screen

Press the F1 (Posi) key.

Posi (position data) edit screen

Press the F1 (Mdi) key.

1st axis data 2nd axis data

3rd

axis

data

Velocity data

Acceleration data

Position No.

4th

axis

data

Deceleration data

The figure above indicates the case of a two-axis
controller. Nothing is displayed in the sections for the
3rd- and 4th-axis data.

Position No. input mode

The cursor is located at the position
No. When no data is input, X.XXX is
displayed. Press the return key to
move the cursor to the section of the
position data for the 1st axis.

* When data is already input, overwrite

it (the original data is lost) or use the
PAGE UP and PAGE DOWN keys to
move to the screen with X.XXX
displayed and input data.
Pressing the F1 (Clr) key twice clears
the input data for all axes. This key
clears the controller’s data even if the
WRT key is not pressed.

21

㽲 Data input for 1st point

Enter a numeric value of 0 and press the return
key. 0.000 is displayed, the axis No. changes to
2, and the cursor moves to the section for the
2nd-axis position data.

* The position data can be input up to a 4-di git integral number and three digits to the

right of the decimal. Since the range varies according to the actuator’s model, check it
in the catalog etc.

Enter 50 for the 2nd-axis position data and press
the return key. (* Every time the return key is
pressed, the cursor position moves. When you
make an input error, move the cursor to the
location where you have made the error and
overwrite the data.)
The input data can also be returned to X.XXX
with the F1 (Canc) key.

Position No. 2

When the data is transferred with the WRT key,
the position No. is incremented by 1 and
becomes 2.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

㽳 Data input for 2nd point

Enter 50 for the 1st-axis position data and press
the return key.

22

The cursor moves to the section for the 2nd-axis
position data. Enter 100 and press the return key.

Transfer the data with the WRT key and advance
the position No. to 3.

㽴 Data input for 3rd point

Enter 100 for the 1st-axis position data and press
the return key.

Enter 50 for the 2nd-axis position data and press
the return key.

23

Transfer the data with the WRT key and advance
the position No. to 4.

㽵 Data input for 4th point

Enter 100 for the 1st-axis position data and press
the return key.

Enter 0 for the 2nd-axis position data and press
the return key.

Transfer the data with the WRT key and advance
the position No. to 5.

24

㽶 Data input for 5th point

Enter 0 for the 1st-axis position data and press
the return key.

Enter 0 for the 2nd-axis position data and press
the return key.

Transfer the data with the WRT key and advance
the position No. to 6.

㽷 Data input for 6th point

Enter 0 for the 1st-axis position data and press
the return key.

25

Enter 50 for the 2nd-axis position data and press
the return key.

Transfer the data with the WRT key and advance
the position No. to 7.

Complete position editing and write the data in
flash ROM.
Pressing the ESC key moves the cursor to the
location of the position No.

Pressing the ESC key returns the screen to the
Posi edit screen.

26

Pressing the ESC key again moves to the Edit
mode screen.

Pressing the ESC key once more moves to the
Flsh (flash ROM writing) screen.

When writing the data in flash ROM, press the
F1 (OK) key.
When exiting the Edit mode without writing the
data, press the F2 (Canc) key.
Pressing the ESC key returns to the last screen.
However, if you attempt to exit the Edit mode, the
screen returns to the Flsh screen again.

The message “Please wait…” flashes during
flash ROM writing.

* Never turn off the power to the Controller

during this time.

27

When flash ROM writing is completed, the screen
returns to the Edit screen.

With the above, input of the basic position data is
completed.

28

9-2. Creation of program

The program to move the position data created in 9-1. is created.

Application Program List

In this section, the X-SEL program is inputted.
For further information on the meaning and usage of each command, refer to the Instruction
Manual attached to the controller.
Only Cmnd (command) and Operand1 (operation 1) are input here.

Cautions for the HOME command

For restart after home position return temporary stop, execute it from the beginning of the
home position return sequence.

The home position return operation of the ABS encoder axis becomes the movement to the
multi-rotation data reset position.

When operation is reset during its execution in a mode other than the absolute reset mode of
the PC compatible software/Teaching Box, the “actual position soft limit error” may occur
depending on the position. It is not recommended to execute home position return at times
other than during adjustment time of the absolute encoder axis.

Use the HOME command only for the increment specification.

29

Number of all program steps

stored in the controller’s RAM

Select the F1 (Edit) key on the Mode Selection
screen.

Select the F2 (Prog) key on the Edit mode screen.

Program No. Step No.

Number of program steps stored in the

controller’s RAM for the selected program No.

Select the F1 (Mdfy) key on the Prog (program edit
and new creation) screen.

The screen changes to the Mdfy (program No. input
mode) screen. The cursor is located at the program
No. Press the return key to move the cursor to the
location of the step No.
* When the program’s data is already input,
overwrite it (the original data is lost) or select the
program No. with no data input. The program No. or
step No. over which the cursor is located can be
changed with the PAGE UP and PAGE DOWN keys.
In addition, pressing the return key after inputting a
numeric value with the ten-key numeric pad can
change the program No. or step No.

30

The cursor has moved to the location of the step No.
Press the return key.

The cursor moves to the input section for Ext
(extension condition). Move the cursor to the input
section for Cmnd (command) with the return key or

ŻźŸŹ keys.

31

Enter a command.

The command is displayed in the function key
section.

Command search method

㽲 When the cursor is at the location for

command input, pressing the SF key
displays commands in alphabetical order.

Command with an
initial letter of H

Command with an
initial letter of G

㽳 Letters/alphabet letters are located for each

of the ten keys (such as GHI allocated to the
9 key). Every time a key of the ten-key
numeric pad is pressed when the cursor is
located at the command input section, the
first command of which the initial letter is the
relevant alphabet letter is displayed in the
function key section.
Display the command for input in the
function key section with the steps of 㽲

and 㽳 above and press the corresponding
function key.

Search for command HOME

Pressing the 9 key displays the commands
with the initial letters of G, H, and I. (Some
commands cannot be displayed only by
pressing a key of the ten-key numeric pad.
In such cases, display the command by
using both the ten-key and the SF key.

32

Command
with an initial
letter of I

After displaying HOME in the function key
section, press the F3 (HOME) key. (To return the
command input field to blank, press the BS key.)
Press the return key.

The cursor moves to Op-1.
Enter 11 and press the return key.

To reattempt input:
Move the cursor to the change location with the ĸ
or return key.
Overwrite the data or delete it with the BS key.
Or, reattempt from the step No. with the ESC key.

Step No. 2

Press the WRT key to transfer the data to the
controller.The step No. advances to 2.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Press 2 of the ten-key numeric pad or the SF key to
search VEL.

33

Select the F3 (VEL) key.

Press the return key.

Enter 100 for the velocity* here and press the return
key.
* For the maxi mum velocity, check it with the catalog

etc.
When the velocity is input for the position data, that
velocity is given priority.

Press the WRT key to transfer the data to the
controller.
The step No. advances to 3.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

34

Display MOVL with 5 of the ten-key numeric pad and
the SF key.

Select the F2 (MOVL) key.

Press the return key.
The cursor moves to the section for Op-1.

Enter 1 of the position No. 1 and press the return
key.

35

Press the WRT key to transfer the data to the
controller.
The step No. advances to 4.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Input the program data of MOVL 2 to MOVL 6 for the
steps No. 4 to No. 8 according to the same
procedures and transfer the data to the controller.

Display EXIT in the function key section with 8 of the

ten-key numeric pad and the SF key.

Select the F4 (EXIT) key and press the return key.

36

Press the WRT key to transfer the data to the
controller.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Complete the program editing and write the data in
flash ROM.
Press the ESC key.
(The cursor moves to the location for step No.)

(The cursor moves to the location for program No.)

Press the ESC key.
Return to the Prog screen.

37

Press the ESC key.
Return to the Edit screen.

Press the ESC key.

When writing the data in flash ROM, press the F1
(OK) key.
When not writing the data in flash ROM, press the
F2 (Canc) key.

The message “Please wait…” flashes during flash
ROM writing.

* Never turn off the power to the controller during

this time.

38

When flash ROM writing is completed, the screen
returns to the Edit screen.

39

9-3. Change of application program

The program created in the preceding section (9-2) is changed.

A program step is inserted or deleted to allow the same operation to be repeated.

Step No.

Change

(Insert “TAG 1” into step No. 3, delete “MOVL 6” and overwrite “EXIT” with “GOTO 1”)

Select the F1 (Edit) key on the Mode Selection
screen.

Press the F2 (Prog) key on the Edit screen.

40

Select the F1 (Mdfy) key on the Prog screen.

The display changes to the Mdfy screen. Press the
return key once to move the cursor to the location for
step No.

Insert one-line step between the program steps No.
2 and No. 3. Enter 3 with the ten-key numeric pad or
press the PAGE UP key twice to display 3.

Select the F1 (Ins) key.
“Ins” is displayed next to Mdfy.

41

Press the return key to confirm the step No. to insert.

Move the cursor to Cmnd (command) input section
with the return key or ŻźŸŹ keys.

Display TAG with 1 of the ten-key numeric pad or the
SF key.

Select the F4 (TAG) key and press the return key.

42

Enter a numeric value of 1 for Op-1 and press the
return key.

Press the WRT key to transfer the program data to
the controller.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Press the ESC key twice to display the screen for
step No. 4.

Then, delete MOVL 6. Enter 9 for the step No.
directly with the ten-key numeric pad while keeping
the cursor position, or press the PAGE UP key 5
times to display MOVL 6.
(Cursor located at step No. 9)

43

Press the F2 (Del) key.

Press the F2 (Del) key again.
(When canceling deletion, press the ESC key.)

Press the return key.

Move the cursor to the Cmnd (command) input
section with the return key or ŻźŸŹ keys.

44

Display GOTO with 9 of the ten-key numeric pad or
the SF key.

Select the F2 (GOTO) key and press the return key.

Enter the same numeric value as the one input for
Op-1 of TAG for Op-1. Enter 1 here and press the
return key.

Press the WRT key to transfer the program data to
the controller.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

45

Press the ESC key several times to move to the Flsh
screen.

When writing the data in flash ROM, press the F1
(OK) key.
When not writing the data in flash ROM, press the
F2 (Canc) key.

The message “Please wait…” flashes during flash
ROM writing.

* Never turn off the power to the controller during

this time.

Flash ROM writing is completed.
Return to the Edit screen with the ESC key.

46

10. Program Execution

Now, operate the program created in “9. Simple Operating Procedures.”

10-1. Operation check

Press the F2 (Play) key to move to the Play mode
screen.

Play mode screen

All programs completed

The following 3 items on the Play mode screen exist.
F1 (Run): Moves to the screen for inputting the

program No. to execute.

F2 (TSts): Moves to screen for monitoring the

status of the task in execution.
F3 (Stop): Completes all programs in execution.
(The F2 and F3 keys are function keys to be used
after program execution.)

Task status

The cursor is located at the program No.
Enter the program No. to execute with the ten-key
numeric pad or the PAGE UP and PAGE DOWN
keys, and confirm it with the return key.

47

The screen has moved to the Run mode selection screen.
Select whether to make a run by 1 step of the program or to make a continuous run.

Run mode selection

Start a continuous run
with the F1 (Cont) key.

Run [Cont] mode Run [Sus] mode

The program step currently in execution is
displayed (excluding the continuous
movement system command).
Pressing the F2 (Sus) key changes to a
step run.
Pressing the F3 (Stop) key completes
running.

After the program step currently in
execution has been displayed, the next
step is displayed.
Every time the F2 (Step) key is pressed,
the program is executed by 1 step.
Pressing the F1 (Cont) key changes to a
continuous run.
Pressing the F3 (Stop) key completes
running.

Start a step run with
the F2 (Step) key.

Monitor while in running

F1 (Posi): Current position display
F2 (LFlg): Local flags
F3 (LVar): Local variables

ƒ While the Teaching Box is left connected, “Effect” is valid for the safety velocity (SVel). Therefore,

the maximum velocity achieved by the program startup from the Teaching Box becomes 250 mm/sec
or lower. To operate the controller according to the program velocity command, it is required to
change the condition to “No Effect.”
For the selection of the safety velocity between Effect and No Effect, refer to “16-8. Safety velocity.”
Under the “Effect” condition above, Para-Othe (other parameter) No. 21 “Manual mode type” is 0 or

1. (The parameter is generally 0 before domestic shipment.)
When Para-Othe No. 21 is 2, the condition is “No Effect” for SVel.

Monitor while in running

F1 (Posi): Current position display
F2 (LFlg): Local flags
F3 (LVar): Local variables

48

10-2. Setting of break point

The break points in a continuous run can be set.
Press the F4 (Brk) key on the Run mode selection screen or Run mode screen.

Step No. Setting of break point

Select the step No. to set the break point with the
PAGE UP and PAGE DOWN keys.
Every time the F1 (Set) key is pressed, the break
point is set or cleared.
When clearing all the set break points, press the F2
(AClr) key.
When setting the break point and making a
continuous run, the program temporarily stops
before the execution of the command of the set step
No.
To restart a continuous run after the stop, press the
F1 (Cont) key. Pressing the F2 (Step) key makes a
step run.

10-3. Monitor while in running

The actuator’s current positions or data in the local area can be monitored while in a continuous
run or step run.
Press the SF key on the Run [Cont] or Run [Sus] mode screen.

Monitor items are displayed in the function key
section.

F1 (Posi): Current position display
F2 (LFlg): Local flags

F3 (LVar): Local variables

(1)Current position display

The current positions of the actuator are displayed.
Select the F1 (Posi) key on the Run mode screen.

Mode flow:

N/F at the end of the position data indicates the
servo ON/OFF condition.
N: Servo ON
F: Servo OFF

49

(2) Local flags

The ON/OFF conditions of local flags are displayed. The conditions of local flags can be
changed between ON and OFF.
Select the F2 (LFlg) key on the Run mode screen.

Mode flow:

Program No.

Every time the F1 (0/1) key is pressed, the local flag
can be changed between ON and OFF.
Move the cursor with the ŻźŸŹ keys.
Every time the PAGE UP or PAGE DOWN key is
pressed, the flag Nos. are shifted by 20 and
displayed.

(3) Local variables

The local variable/local string descriptions are displayed. In addition, a numeric value can be
assigned to the local variable while a character string can be assigned to the local string.
Select the F3 (LVar) key on the Run mode screen.

Program No.

Local variables are displayed by dividing them into
the following 3 types:

F1 (Itg): Integer
F2 (Real): Real number
F3 (Str): String

㽲 Local integer variable
Mode flow:

㽳 Local real variable
Mode flow:

The cursor is located at the data (variable description). Entering a numeric value with the ten-key
numeric pad and pressing the return key can assign a value. Move the cursor with the return key
or ŻźŸŹ keys.
The variable No. can also be changed with the PAGE UP and PAGE DOWN keys.

50

㽴 Local string
Mode flow:

The ACII codes excluding 20h to 7Eh are
displayed as “ƒ”.

The cursor is located at the data (column). Entering
an ASCII code with the ten-key numeric pad and
pressing the return key can assign characters. (A to
F of hexadecimal notation can be input by changing
Num to Alph with the F1 [Alph/Num] key.)

Move the cursor with the return key or ŻźŸŹ
keys.
The PAGE UP and PAGE DOWN keys display the
column Nos. by shifting the numbers by 50.

Pressing the F4 (Disp) key can change the display
between [CHAR] (character) and [CODE] (ASCII
code).

51

11. Position Editing

11-1. Mdi (numeric input)

Method of inputting a numeric value with the ten-key numeric pad for position data
For the data input of the coordinate position with the ten-key numeric pad, refer to “9. Simple
Operating Procedures.”

Method of inputting Vel (velocity), Acc (acceleration), and Dcl (deceleration) for each position No.
Example of Mdi (numeric input):
Mode flow to numeric input screen: Position No.

Move the coordinate value, Vel, Acc, or Dcl section
with the Ÿź keys.

Position No.

Vel,Acc, and Dcl input screen

+ return

Move the cursor with the return key, enter data in a
required section with the ten-key numeric pad, and
press the return key.

After entering data, press the WRT key to transfer
the data to the controller.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

The position No. is incremented and the next Vel,
Acc, and Dcl input screen is displayed.

52

11-2. Teac (teaching)

Teaching (method in which an actuator is moved to any given position and the current positions of
the actuator are incorporated as data) is the method for inputting position data.
As the methods of moving the actuator to any given position, jog operation, inching operation,
and manual operation in a servo OFF condition exist.

The basic flow of teaching is as follows:
㽲 Move the actuator. (Jog operation, inching operation, or manual operation in a servo OFF

condition) Select the position No. and axis No. for data input.

㽳 Incorporate the current positions of the actuator onto the Teac screen.

㽴 Transfer the data to the controller.

Repeat the steps of 㽲 through 㽴 above to input the position data by teaching.

Teaching is executed mainly on the Teac screen.
Mode flow to Teac screen:

Position No. selection screen

Enter the position No. for data input.

Position

No.

Return

Axis-specific data input screen

Move the cursor to the section for the axis to incorporate data.

53

(1) Teac screen

As the Teac screen, the position No. selection screen and the axis-specific data input screen
exist.
On the position No. selection screen, teaching (current-position incorporation/clear) is given to all
axes simultaneously. On the axis-specific data input screen, teaching is given on an axis basis.

㽲 Position No. selection screen

Enter the position No. with the ten-key numeric pad, and press the return key to move to the
axis-specific data input screen.

Function key descriptions

F1 (Clr): Pressing it twice clears the all-axis

data of the position No. selected.
The controller’s data is cleared
without pressing the WRT key.

F2 (Scan): It incorporates the current positions

of all axes onto the screen.

F3 (JVel): It sets the jog velocity.

F1 (In): It monitors input ports.
F2 (Out): It monitors output ports.
F3 (UsrO): It turns ON/OFF the output ports

(sequential 8 points at the maximum
set to parameters).
(It is required to set the I/O
parameters No. 74 and No. 75.)

F4 (Cont): It executes continuous movement.

㽳 Axis-specific data input screen

54

Function key descriptions

F1 (Canc): It clears the input data.
F2 (Scan): It incorporates the current position of

the axis over which the cursor is
located onto the screen.

F3 (JVel): It sets the jog velocity.

F1 (In): It monitors input ports.
F2 (Out): It monitors output ports.
F3 (UsrO): It turns ON/OFF the output ports

(sequential 8 points at the maximum
set to parameters).
(It is required to set the I/O
parameters No. 74 and No. 75.)

F4 (Cont): It moves to the continuous movement

mode.

㽴 Servo ON/OFF
The axial servo ON/OFF is executed on an axis basis or for all axes simultaneously on the Teac
screen.

Press the SERVO key to light up the SERVO status

Servo ON/OFF procedures

display LED.

For Servo ON

Press the plus (+) axis operation key with the axis
No. for servo ON. (When turning the servo ON for
the Axis No. 1, press the 1+ key.) W hen turning off

For Servo OFF

the servo, press the minus (-) axis operation key with
the axis No. When turning on the servo for all axes
at a time, press the ALL+ key. When turning off the
servo for all axes at a time, press the ALL- key.
When servo-ON or servo-OFF is executed once, the
SERVO status display LED goes out and the JOG
status display LED lights up.

When executing servo-ON or servo-OFF on an axis basis continuously, press the SERVO key to
light up the SERVO status display LED and press the axis operation key with the axis No. every
time.

N: Servo ON
F: Servo OFF

55

㽵 Home position return
For the increment specification, it is required to execute home position return before teaching
after turning on the power. Home position return is executed on an axis basis or for all axes at a
time on the Teac screen.

Home position return

procedures

Turn on the servo for the axis to be returned to the
home, in a Teac screen condition. (It is not required if
the axis is already in a servo ON condition.)

Press the HOME key to light up the HOME status
display LED.

Pressing the axis operation key with the axis No. for
home position return makes the axis start home
position return. (When returning the axis No. 1 to the
home position, press the 1+ or 1- key .) Pressing the

ALL+ or ALL- key makes all axes start home
position return.

When home position return starts, the HOME status
display LED goes out. When home position return is
completed, the JOG status display LED lights up.

When executing home position return on an axis basis continuously, press the HOME key to
display the HOME status display LED and press the axis operation key with the axis No. every
time.

After completing home position return, carry out
teaching.

56

(2)Movement of actuator

㽲 Jog operation

Jog operating procedures

Turn on the servo for the axis to be jogged, in a Teac
screen condition. (It is not required if the axis is
already in a servo ON condition.)

When any status display LED of SERVO, MOVE,
and HOME is lit (JOG is extinguished), press the
ESC key to light up the JOG status display LED.

Press the axis operation key ( 1+ 1- 2+ 2- 3+ 3- 4+
4-) with the axis No. for movement to move the
actuator to any given position. (1 through 4 indicate
the axis numbers, + indicates the coordinate plus

direction, and – indicates the coordinate minus
direction.)

(The figure above indicates the case of
the 2-axis specification. Therefore, the
effective axis operation keys are 1+ 1- 2+

2-.)

Jog velocity: 50 mm/sec

Change of jog velocity
The actuator movement velocity under jog operation
is changed.
Display JVel (jog velocity) in the function key section
on the Teac screen and press the corresponding
function key.
(JVel is not displayed without pressing the SF key
depending on the screen condition.)

Enter Vel (velocity), Acc (acceleration), and Dcl
(deceleration) under jog operation with the ten-key
numeric pad and press the return key. Dis (inching
distance) should be 0.000. In addition, the inching
distance can also be set from this screen.
Return to the Teac screen with the ESC key and
execute jog operation.

57

㽳 Inching operation

Inching distance: 0.1 mm

(The figure above indicates the case of
the 2-axis specification. Therefore, the
effective axis operation keys are 1+ 1- 2+
2-.)

Set the inching distance (travel made every time the
JOG key is pressed once).
Enter a numeric value for Dis (inching distance) with
the ten-key numeric pad on the JVel screen. The
numeric input range is between 0.001 and 1.000
(unit: mm). Return to the Teac screen with the ESC
key to execute inching operation.

Clicking the axis operation key once makes
1-inching distance movement.
Clicking any of +1 through +4 makes inching
movement in the coordinate plus direction, while
clicking any of -1 through -4 makes inching
movement in the coordinate minus direction.
Pressing and holding the axis operation key changes
to jog operation. In approximately 1.6 seconds after
the axis operation key is pressed, inching operation
changes to jog operation and further continuing to
press the key changes the jog velocity per second as
follows:
1ĺ10㸢30㸢50㸢100 mm/sec.

㽴 Manual movement under servo OFF

Press the EMERGENCY STOP button in a Teac
screen condition to turn off the servo.
Press the ESC key to return to the Teac screen.

Move the actuator to any given position manually.

58

(3)Incorporation of current positions as data

The confirmed positions of the actuator are incorporated as position data onto the Teac

screen.

Enter the position No. into which data is incorporated
with the ten-key numeric pad on the position No.
selection screen, and press the return key.
Or, select the position No. into which data is
incorporated with the PAGE UP and PAGE DOWN
keys on the data input screen.

On the position No. selection screen, pressing the
F2 (Scan) key incorporates the current position data
for all axes.
On the axis-specific data input screen, pressing the
F2 (Scan) key incorporates the current position data
of the axis over which the cursor is located. (The
data is incorporated on an axis basis. The left figure
indicates the case of data incorporation on the
axis-specific data input screen.)

(4)Transfer to controller

The incorporated data is transferred to the controller.

Press the WRT key in a Teac screen condition.
Store the incorporated data in the controller’s
memory.
Pressing the WRT key increments the position No.
by 1.
What can be transferred to the controller is the data
on one display screen. It is not possible to transfer
the data of more than one position No. at a time.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

59

(5)I/O monitoring and position check

Input and output ports can be monitored during teaching operation. In addition, it is also
possible to move the actuator to the location of the position data with teaching and check its
position.

㽲 I/O monitoring

Select In or Out among the function keys in a Teac screen condition.

In: Input ports Out: Output ports

The port No. display can be changed with the PAGE UP and PAGE DOWN keys.

Input ports Output ports

Pressing the F1 (0/1) key can turn OF F/ON (0/1) the
output port at the cursor location.
Every time the F1 key is pressed, the port is
changed between OFF and ON (0 and 1).
The cursor is moved with the ŻźŸŹ keys.

60

㽳 Movement

The actuator is moved to the location of the position data transferred to the controller.

Movement procedures

Position No. + return

Select the position No. you want to move in a Teac
screen condition and press the return key.
Turn on the servo for the axis to be moved. (It is not
required if the axis is already in a servo ON
condition.)

Press the MOVE key to light up the MOVE status
display LED.

Pressing the axis operation key with the axis No. for
movement begins axis movement. (When moving
the axis No. 1, press the 1+ or 1- key. )
When the servo is ON for all axes, pressing the
ALL+ or ALL- key begins axis movement.
When movement starts, the MOVE status display
LED goes out. When movement is completed, the
JOG status display LED lights up. (The mode moves
to the JOG operation mode.)

When moving on an axis basis continuously, press the MOVE key to light up the MOVE status
display LED and press the axis operation key with the axis No. every time.

61

When checking or changing the movement velocity,
press the F3 (JVel) key to move to the screen for
changing the velocity etc.

Movement velocity: 50 mm/sec.

Enter the change data with the ten-key numeric pad
and press the return key. After changing, return to
the previous screen with the ESC key.

62

㽴 Continuous movement

The actuator is continuously moved to the location of the position data transferred to the

controller.

Continuous movement

procedures

First position No.

Return

Select the position No. to which you want to move
the actuator first in a Teac screen condition, and
press the return key.
Turn on the servo for the axis to be continuously
moved. (It is not required if the axis is already in a
servo ON condition.)

Press the F4 (Cont) key among the function keys.
(Refer to the following page.)

Press the MOVE key to light up the MOVE status
display LED.
(Pressing the MOVE key first and then pressing the
F4 (Cont) key extinguishes the MOVE status display
LED. Repress the MOVE key.)
Pressing the axis operation key with the axis No. to
be moved makes the axis start to move continuously.
(When moving the axis No. 1 continuously, press the
1+ or 1- key.)
When the servo is ON for all axes, pressing the
ALL+ or ALL- key begins axis movement.
When continuous movement starts, the MOVE status
display LED goes out.

To stop continuous movement, press the STOP key. (Pressing the ESC key continuously moves
to the JOG operation mode.)
To restart continuous movement, press the MOVE key to light up the MOVE status display LED
and press the axis operation key.

63

Movement velocity: 50 mm/sec.

When checking and changing the movement
velocity, press the F3 (Jvel) key to move to the
screen for changing the velocity etc.

Enter the change data with the ten-key numeric pad
and press the return key. After changing, return to
the previous screen with the ESC key.
(In the figure at the left, the movement velocity is set
to 50 mm/sec.)

Note: Please take note that it may take a few

seconds before movement start after the
JOG key is pressed. (The time elapsed until
movement start varies according to the
number of registered position data.)

64

(6)User-specified output port operation

The output ports set for the parameter can be easily turned ON/OFF.

Select UsrO among the function keys in a Teac screen condition.

(A) User-specified output port status

The conditions of user-specified output ports are displayed as 1 (=ON) and 0 (=OFF).
(The conditions are displayed from the first specified port for the number of the specified
ports.)

(B) Current position and servo ON/OFF

The current position and servo ON/OFF condition (N=ON, F=OFF) are displayed for each
axis.

(C) Function for operation of user-specified output ports

This is the function for ON/OFF operation of user-specified output ports.
This function is allocated to Usr1, Usr2, Usr3….in this order from the first user-specified
port for the number of specified ports.
(Usr1 to Usr4 and Usr5 to Usr8 are changed with the SF key.)
ON/OFF operation can be performed for each output port by pressing the function keys
(F1 to F4) corresponding to Usr1 to Usr4 and Usr5 to Usr8.
(When the port status display is 0 [OFF], the port ON command is given. When the port
status display is 1 [ON], the port OFF command is given.)

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㽲 Setting of user-specified output port parameters

For the operation method for parameter setting, refer to “14. Parameter Editing.”

The first port No. and the number of ports are set with the following parameters:

ƒ Number of ports

I/O parameter No. 74 “Qnt Prt Usr Out” (Number of output ports used by TP user [hand

etc.])

ƒ First port No.

I/O parameter No. 75 “Top No. Use Out” (First output port No. by TP user [hand etc.])

(Setting example) When the first port No. is set to 308 and the number of ports is set to 8:

I/O parameter No. 74 = 8
I/O parameter No. 75 = 308

“Usr1” (F1 key)
“Usr2” (F2 key)
“Usr3” (F3 key)
“Usr4” (F4 key)
“Usr5” (F1 key)
“Usr6” (F2 key)
“Usr7” (F3 key)
“Usr8” (F4 key)

䍃䍃䍃䍃䍃

Output port 308

䍃䍃䍃䍃䍃

Output port 309

䍃䍃䍃䍃䍃

Output port 310

䍃䍃䍃䍃䍃

Output port 311

䍃䍃䍃䍃䍃

Output port 312

䍃䍃䍃䍃䍃

Output port 313

䍃䍃䍃䍃䍃

Output port 314

䍃䍃䍃䍃䍃

Output port 315

66

11-3. Teaching input example

Data is input for the position No. 10 by jog operation and for the position No. 11 by manual
operation under servo OFF.

Select the F1 (Edit) key on the Mode Selection
screen.

Select the F1 (Posi) key.

Select the F2 (Teac) key.

Enter 10 for the position No. with the PAGE UP and
PAGE DOWN keys or the ten-key numeric pad and
confirm it with the return key.

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Jog operating procedures

Turn on the servo for all axes and execute jog
operation.

Press the SERVO key to light up the SERVO status
display LED.

Press the ALL+ key. (Servo ON for all axes)
(When the Deadman switch is OFF, the servo is not
turned ON.)
The JOG status display LED lights up.

Press the axis operation key with the axis No. to be
moved (1+ 1- 2+ 2-) to move the actuator to any
given position. (1 and 2 indicate the axis No., +
indicates the coordinate plus direction, and –
indicates the coordinate minus direction.)

Pressing the F2 (Scan) key incorporates the current
position of the axis No. over which the cursor is
located onto the input screen.

68

Press the return key to move the cursor to the next
axis, and press the F2 (Scan) key.

Press the WRT key to transfer the position data to
the controller.
The position No. advances to 11.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Press the EMERGENCY STOP button to turn off the
servo. (Or, turn off the Deadman switch.)
Check that the EMG status display LED is lit.

69

Press the ESC key to return to the Teac screen.

To move the Z-axis manually, it is required to release
the brake. Therefore, the Z-axis may lower by the
weight of the hand attached to the end when the
brake is released. Do not carry out teaching for
manual movement to the Z-axis.

Move each axis to any given position manually.
Pressing the F2 (Scan) key incorporates the current
position of the axis No. over which the cursor is
located onto the input screen.

Press the return key to move the cursor to the next
axis, and press the F2 (Scan) key.

Press the WRT key to transfer the position data to
the controller.
The position No. advances to 12.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

70

Complete the position data input by teaching.
Press the ESC key.

Press the ESC key.

Press the ESC key.

Press the ESC key.

71

When writing the data in flash ROM, press the F1
(OK) key.
When not writing the data in flash ROM, press the
F2 (Canc) key.

The message “Please wait…” flashes during flash
ROM writing.

* Never turn off the power to the Controller during

this time.

When flash ROM writing is completed, the screen
returns to the Edit screen.

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11-4. Copy and movement of position data

The following operating instructions are to copy or move the position data to another position No.:

Select the F1 (Edit) key on the Mode Selection
screen.

Select the F1 (Posi) key.

Positions from which data is copied or moved

Last No. First No.

Positions to which data is copied or moved
First No.

Select the F3 (Copy) key.

Enter the first No. of the positions from which data is
copied or moved with the ten-key numeric pad and
press the return key.
Enter the first No. of the positions to which data is
copied or moved with the ten-key numeric pad and
press the return key.
When copying the data, press the F1 (Copy) key.
When moving the data, press the F2 (Move) key.

73

When executing copy or movement, press the F1
(OK) key.
When canceling it, press the ESC key.
The display returns to the previous screen.

When writing the data in flash ROM, press the
ESC key several times to return to the Flsh
screen.
Press the F1 (OK) key to execute flash ROM
writing.

74

11-5. Deletion of position data

The following operating instructions are to delete the position data:

Select the F1 (Edit) key on the Mode Selection
screen.

Select the F1 (Posi) key.

Position data to delete
First No. Last No.

Select the F4 (Clr) key.

Enter the first No. and the last No. of the position
data to delete with the ten-key numeric pad and
press the return key.
When deleting the selected position data, press the
F1 (Clr) key.
When deleting the data for all positions (No. 1
through No. 3000), press the F2 (AClr) key.

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When executing deletion, press the F1 (OK) key.
When canceling it, press the ESC key.
The display returns to the previous screen.

When writing the data in flash ROM, press the
ESC key several times to return to the Flsh
screen.
Press the F1 (OK) key to execute flash ROM
writing.

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12. Program Editing

12-1. Program input method

The following program is input with the Teaching Box (for explanation of input procedures):

The program step No. 1 is used to input the extension condition only, No. 2 is used to input all but
comment, and No. 3 is used to input a character string.
The screens in each step after input are as follows:

Actual input procedures are explained from the following page:

77

Select the F1 (Edit) key on the Mode Selection
screen.

Select the F2 (Prog) key on the Edit screen.

Select the F1 (Mdfy) key on the Prog screen.

Enter the program No. with the ten-key numeric pad
and press the return key.

78

The cursor has moved to the location of the step No.
Press the return key.

Input section for Ext

Press the return key.

Input section for N and Cond

Enter 601 with the ten-key numeric pad and press
the return key.

Press the WRT key to transfer the data of step No. 1
to the controller.
The step No. advances to 2.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

79

Move the cursor to the input section for Ext with the
return key or Ÿź keys.

Input section for Ext

Select the F2 (A) key and press the return key.

Even for the extension condition of the pseudo
ladder task, input it by the function key on this
display screen.

Input section for N and Cond

Select the F3 (N) key first. Enter 600 with the
ten-key numeric pad and press the return key.

Input section for Cmnd

Display CPGE in the function key section with 7 of
the ten-key numeric pad and the SF key.
For the command search method, refer to “9-2.
Creation of program.”

80

Select the F2 (CPGE) key and press the return key.

Input section for Op-1

Enter 200 with the ten-key numeric pad and press
the return key.

When specifying a variable to Operand 1
indirectly, select the F3 (*) key first.

Input section for Op-2
(variable indirect specification)

Select the F3 (*) key first, enter 201 with the ten-key
numeric pad, and press the return key.

Input section for Post

Enter 900 with the ten-key numeric pad and press
the return key.

81

Press the WRT key to transfer the data of step No. 2
to the controller.
The step No. advances to 3.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Display SCPY in the function key section with 1 of
the ten-key numeric pad or the SF key.

Select the F4 (SCPY) key and press the return key.

Input section for Op-1

Enter 1 with the ten-key numeric pad and press the
return key.

82

Input section for Op-2 (String input)
Press the F4 (’) key. Num or Alph is displayed for F1
in the function key section.

Every time the F1 key is pressed, the display is
changed between Num and Alph. Change the input
method between numeric input and alphabetical
input.
Num: Numeric input
Alph: Alphabetical input

Press the F1 (Num) key to display Alph.

Input I with 9 of the ten-key numeric pad.
Input A with 7 of the ten-key numeric pad.
Input I with 9 of the ten-key numeric pad.

Press the return key twice.
(When correcting it, use the BS key.)

Press the WRT key to transfer the data of step No. 2
to the controller.
The step No. advances to 3.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

Complete the program input. Return to the Flsh screen with the ESC key.

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12-2. Symbol input during program editing

Symbols can be input when the cursor is located at Op-1/Op-2 (operation 1/2), Post (output), or
Cond (input condition) and Sym is displayed in the function key section.

Input example)
Symbol input in the following program step:

The position No. 10 is symbolized by “TAIKIITI.”

Select the F2 (Sym) key in the function key section
when the cursor is located at Op-1. The screen
moves to the Sym-Mdfy screen.

Select the item for symbol editing with a function
key. In this case, select the F4 (Posi) key to edit the
position No.

Enter 10 for the position No. with the ten-key
numeric pad and press the return key.

84

Every time the F1 key is pressed, the display is
changed between Num and Alph. Change the input
method between numeric input and alphabetical
input.
Num: Numeric input
Alph: Alphabetical input

Press the F1 (Num) key to display Alph.

The ten-key numeric pad now functions for
alphabetical input.
Enter “TAIKIITI.”
For the input method, refer to “13. Symbol Editing.”

Press the WRT key to transfer the symbol data to
the controller. The display returns to the previous
Mdfy screen.

Selecting the F2 (Sym) key when the cursor is
located at the already-symbolized item moves
to the Mdfy screen for the symbol. The symbol
can then be changed.

85

Press the WRT key to transfer the data in this
program step to the controller.

When completing the program input, return to the Flsh screen with the ESC key.

86

12-3. One-line comment input

A comment is input for the program step (invalid step) with numeric values, alphabet letters, and
symbols (*, 䊶, and _).
Mode flow: Program No. + return

Move the cursor to the step No. for comment input.

Press the F3 (Cmnt) key.

C is displayed next to the step No.
Press the return key.

When canceling comment input, press the F3
(Cmnt) key. The display returns to the
previous screen.

Every time the F1 key is pressed, the display in the
F1 key field is changed between Alph and Num.

Alphabetical input

Display Alph in the F1 key field.
Alphabet letters are allocated for each key of the
ten-key numeric pad.
Example) Every time 6 of the ten-key numeric pad is
pressed, the display changes as follows:
PĺQĺRĺpĺqĺrĺPĺ…. Display the alphabet
letters for input and confirm it with the return key.
The left figure displays P.

87

The figure at the left is the display example when
“Palette” is input.

Numeric input

Press the F1 key to display Num.
Enter a numeric value with the ten-key numeric pad.

The figure at the left is the display example when 1
is input continuously after Palette.

After completing comment input, press the return
key again.
Press the WRT key to transfer the input data to the
controller.

* When the screen is changed with the PAGE UP

and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.

88

The screen advances to the one for the next step
No.

When completing program input, return to the Flsh screen with the ESC key.
Note: The data of double byte characters input with PC-compatible software cannot be displayed

on the Teaching Box.

89

12-4. Copy and movement of program

The following operating instructions are to copy or move a program to another program No.:

Mode flow: EditĺProg

Select the F2 (Copy) key.

Program No. from which a program is copied or moved

Enter the program No. from which a program is
copied or moved with the ten-key numeric pad and
press the return key.
Enter the program No. to which a program is copied
or moved with the ten-key numeric pad and press
the return key.
When copying the program, press the F1 (Copy)
key. When moving the program, press the F2
(Move) key.

Program No. to which a program is copied or moved

Press the F1 (OK) key again.
When canceling it, press the ESC key.

Return to the previous screen with the ESC key.
Then, press the ESC key several times to return to
the Flsh screen.

90

12-5. Deletion of program

The following operating instructions are to delete a program:

Mode flow: EditĺProg

Select the F2 (Clr) key.

Program No. to delete

Enter the program No. to delete with the ten-key
numeric pad and press the return key.
a) When deleting one program, enter the program

No. in 2 places.

The figure at the left is the case where the program
No. 12 is deleted.
Press the F1 (Clr) key.

A series of programs

First No. Last No.

b) When deleting a series of multiple programs,

enter the first No. and the last No.

The figure at the left is the case where Programs
No. 4, No. 5, and No. 6 are deleted.
Press the F1 (Clr) key.

c) When deleting all the programs (No. 1 to No. 64),

press the F2 (AClr) key.

Press the F1 (OK) key again.
When canceling it, press the ESC key.

91

Return to the previous screen with the ESC key.
Then, press the ESC key several times to return to
the Flsh screen.

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12-6. Flash ROM writing

If data is only transferred to the controller after program editing, the edited program is erased
when the power is turned on again or software is reset.
To maintain the edited data even if the power is turned on again or software is reset, the data is
written in flash ROM.
Return to the Flsh screen with the ESC key from the Edit end screen.

When writing the data in flash ROM, press the F1
(OK) key.
When not writing the data in flash ROM, press the
F2 (Canc) key.

The message “Please wait…” flashes during flash
ROM writing.

* Never turn off the power to the Controller during

this time.

When flash ROM writing is completed, the screen
returns to the Edit screen.

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13. Symbol Editing

For the X-SEL Controller, symbols (names) can be given to variables, input ports, flags, points,
etc.

Select the F1 (Edit) key.

Select the F3 (Sym) key.

Select the F1 (Mdfy) key.

94

13-1. Symbol editing items

The items to be symbolized are displayed in the
function key section. Every time the SF key is
pressed, the items are shifted and displayed.

Symbol editing items

Cnst: Constant
Var: Variable
Prog: Program No.
Posi: Position No.

In: Input port No.
Out: Output port No.
Flag: Flag No.
Axis: Axis No.

Tag: Tag No.
SubR: Subroutine No.

Display the items to be symbolized with the SF
key and select the function key.

95

13-2. Input example: Symbolization of local integer variables

The local variable No. 5 of the program No. 3 is symbolized by “Cnt5.” Press the F2 (Var) key.

Mode flow:

Select the integer or real.
Press the F1 (ltg) key.
(ltg: Integer, Real: Real number)

The cursor is located at the program No.
Enter the program No. in the local area.
(When symbolizing the global area, the number is
left 0 as it is.)
Enter 3 and press the return key.

Program No.

Variable No.

The cursor is located at the variable No.
Enter 5 and press the return key.

Enter the symbol name “Cnt5.”

ƒ Input method

Press the F1 (Num) key to display Alph in the F1 key
field. Every time 7 of the ten-key numeric pad is
pressed, the display is changed as follows:

AĺBĺCĺaĺbĺcĺAĺ….
Display C and press the return key.

96

Then, press 5 of the ten-key numeric pad several
times to display n, and press the return key.

Then, press 1 of the ten-key numeric pad several
times to display t, and press the return key.

Pressing the F1 (Alph) key changes the display in
the F1 key field to Num for numeric input.

Enter 5 with the ten-key numeric pad.

97