X-SEL
IX Series
Teaching Pendant
Instruction Manual
IAI Corporation
Ver. 2.0
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 Pendant.............................................6
6-1. Main operation keys and their functions
.........................................................6
7. Mode Flow Chart.................................................................................................9
8. Data Storage Method........................................................................................14
8-1. Factory setting: When system memory backup battery is used............................14
8-2. When system memory backup battery is not used...............................................15
8-3. Cautions...............................................................................................................16
9. Simple Operating Procedures...........................................................................17
9-1. Creation of position data.......................................................................................18
9-2. Creation of program..............................................................................................25
9-3. Change of application program ............................................................................35
10. Program Execution............................................................................................40
10-1. Operation check ...................................................................................................40
10-2. Setting of break point............................................................................................42
10-3. Monitor while in running........................................................................................42
11. Position Editing .................................................................................................45
11-1. Mdi (numeric input)...............................................................................................45
11-2. Teac (teaching).....................................................................................................46
11-３. Jog movement direction and coordinate system ..................................................49
11-4. Actuator operation................................................................................................54
11-5. Teaching input example........................................................................................65
11-6. Copy and movement of position data...................................................................71
11-7. Deletion of position data.......................................................................................72
12. Program Editing ................................................................................................73
12-1. Program input method..........................................................................................73
12-2. Symbol input during program editing....................................................................78
12-3. One-line comment input .......................................................................................80
12-4. Copy and movement of program.......................................................................... 82
12-5. Deletion of program..............................................................................................83
12-6. Flash ROM writing................................................................................................ 85
13. Coordinate System Data Editing.......................................................................86
13-1. Editing of work coordinate system data................................................................87
13-2. Editing of tool coordinate ststem data...................................................................90
13-3. Editing of simple interference check zone............................................................93
14. Symbol Editing..................................................................................................98
14-1. Symbol editing item s ............................................................................................98
14-2. Input example: Symbolization of local integer variables.......................................99
14-3. Symbol edit screen for each item.......................................................................103
14-4. Flash ROM writing..............................................................................................107
15. Parameter Editing ...........................................................................................
15-1. Parameter editing items......................................................................................108
15-2. Input example: Editing of axis-specific parameters.............................................109
16. Monitoring .......................................................................................................
16-1. Monitor items......................................................................................................112
16-2. Input ports ..........................................................................................................113
16-3. Output ports........................................................................................................113
16-4. Global flags ........................................................................................................113
16-5. Global variables..................................................................................................114
16-6. Axis status..........................................................................................................115
16-7. System status.....................................................................................................119
16-8. Error detail information.......................................................................................122
16-9. Version information.............................................................................................123
17. Controller ........................................................................................................
17-1. Controller items ..................................................................................................124
17-2. Flash ROM writing..............................................................................................125
17-3. Software reset ....................................................................................................126
17-4. Error reset ..........................................................................................................126
17-5. Memory clear......................................................................................................127
17-6. Reconnection .....................................................................................................127
17-7. Baud rate change ...............................................................................................128
17-8. Safety velocity ....................................................................................................128
17-9. Driving power recovery request..........................................................................129
17-10. Action restart request .........................................................................................129
17-11. Driving power recovery request (RPwr) and action restart request (RAct).........130
17-12. Absolute reset ....................................................................................................131
108
112
124
APPENDIX ..............................................................................................................
Error Level Control............................................................................................................143
X-SEL Teaching Pendant Error List (Application Part)......................................................144
X-SEL Teaching Pendant Error List (Core Part )................................................................147
143
1. Introduction
Thank you very much for purchasing our X-SEL Controller Tea ching Pendant. Improper usage
or mishandling may result in a product not only being unable to deliver full functions but also
produce unexpected troubles or shorten the product’s life. Please read this Manual carefully, and
operate the product properly by paying attention to its handling. When operating the Teaching
Pendant, always keep this Manual 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.
▪ While the Teaching Pendant is left connected, “Effect” is valid for the safety velocity (SVel).
Therefore, the maximum velocity achieved by the program startup from the Teaching Pendant
becomes 250 mm/sec or lower for CP motion and 3% or less for PTP motion. To operate the
controller according to the program velocity command, it is required to change the condition to
“No Effect.”
For selection of the safety velocity between Effect and No Effect, refer to “17-8. Safety
velocity.”
▪ The display screens in this Manual are of the Teaching Pendant Application Part Ver. 1.13 or
later.
▪ To confirm the version, please refer to “16-9 Version information.”
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 in spection 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 du e 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 Pendant you purchased has been delivered upon completion 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.
▪ 18 months after our shipment
▪ 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:
▪ Defects resulting from changes over time such as natural color fading of paint
▪ Defects resulting from use wear of consumable parts (such as a cable)
▪ Defects resulting from sensory phenomena such as generated noise that have no
functional effects
▪ Defects resulting from mishandling or improper use
▪ Defects resulting from an inadequacy or error in maintenance and inspection
▪ Defects resulting from the use of any part other than our genuine parts
▪ Defects resulting from a modification not approved by us or our dealers
▪ 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:
▪ Maintenance and inspection
▪ Technical guidance and technical training in operating instructions
▪ Technical guidance and technical training on program-related matters such as program
creation
3
5. Connection to Controller
AC power
Class D grounding
(Protective ground)
Teaching Pendant
Tool, control unit, etc.
(Customer supplied)
M cable
Z-axis/R-axis brake release switch
PG cable
U cable
(User wiring cable)
BK power cable
Standard cable length: 5 m
Output voltage: 24V DC±10%
Capacity: 20 – 30W
24V DC power
for brake
(Customer supplied)
① Connect the actuator, I/O 24V DC power source and system I/O to the controller, in advance.
Connect the cable connector of the Teaching Pendant to the controller ’s teaching connector
when the main power supply of the controller is OFF.
② After flipping the MODE switch of the controller to MANU, turn on the power to the controller.
Teaching Pendant
LCD display
It displays the version of the Teaching Pendant and
moves to the Mode Selection screen.
4
When the MODE switch is flipped to AUTO, the
Teaching Pendant is not connected to the controller
and the screen at the left is displayed. Press the
ESC key to make it a reconnection display.
Reconnection screen
Flip the MODE switch to MANU, and press the F1
(Yes) key to reconnect the controller.
Mode Selection screen
This is the basic screen for all operations.
CAUTIONS
!
If “OPEN 1” (channel 1 shared for the Teaching Pendant) is executed within a SEL program in
the MANU mode, the serial port channel 1 will be opened as follows, 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
Error occurring after “OPEN 1” execution: Error No. A5D “SCIF open error during non-AUTO mode”
<MANU mode, servo in use>
Before execution of “OPEN 1” After execution of “OPEN 1”
Connection of channel 1
Error occurring after “OPEN 1” execution: Error No. E.89 “SCIF open error during non-AUTO mode (servo ON)
Connection to Teaching
Pendant
Connection to Teaching
Pendant
Forced movement to SEL program connection
(Message error) Program is executing
Connection to Teaching Pend ant
(Cold start error) Program is ending
The above “CAUTIONS” pertain to all others than “Manu Mode with I/O parameter No. 90 = 2 (IAI
protocol).
5
6. Functions and Specifications of Teaching Pendant
6-1. Main operation keys and their functions
① LCD display
It displays the program or operation monitor up to 4 lines of 20 characters.
② EMERGENCY STOP button
It makes an emergency stop.
③ Deadman switch (option)
Before operating keys for Servo OFF -> Servo ON, keep pressing both sides (ON) and
operating keys.
If you press only one side or do not press both sides, key operation for Servo OFF -> Servo
ON does not work.
When servo is ON, this switch is under the state of both-sides pressed. However, when you
release the switch, the operation is finished and the panel window 7 seg LED displays “dsf. ”
6
④ F1 F2 F3 and F4 keys (function keys)
These keys correspond to each item in the LCD display (function key section).
⑤ SF key (shift key)
When there are 5 or more selectable functions (“→” is displayed at the right part of the function
key section), the display items in the function key section are shifted.
⑥ WRT key (write key)
It transfers edited 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.)
⑦ 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.
⑧ BS key (backspace key)
It clears the last input character during data input.
It clears the data at the cursor position in other cases.
⑨ ← key (cursor backward key)
It moves the cursor backward. It is the reverse of the Return key function.
⑩ Ten-key numeric pad
Numeric values, alphabetic 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)
7
⑪ ↵ key (return key)
It is used to confirm the input data or move the cursor forward.
⑫ 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.).
⑬ ON/OFF key
It switches servo ON or OFF of axes. (It is valid within the Teac mode area.)
⑭ HOME key
Reserved.
⑮ MOVE key
It starts actuator movement or continuous movement. (It is valid in the Teac mode area with
the servo ON.)
⑯ STOP key
It stops actuator movement or continuous movement.
⑰ ←1 1→ ←2 2→ ←3 3→ ←4 4→ (Jog keys)
←1 Minus direction jog movement for the 1st axis
1→ Plus direction jog movement for the 1st axis
←2 Minus direction jog movement for the 2nd axis
2→ Plus direction jog movement for the 2nd axis
←3 Minus direction jog movement for the 3rd axis
(It is valid in the Teac mode area
with the servo ON.)
3→ Plus direction jog movement for the 3rd axis
←4 Minus direction jog movement for the 4th axis
4→ Plus direction jog movement for the 4th axis
Cautions
▪ 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.
▪ 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.)
8
7. Mode Flow Chart
Power ON
Communications
established
Function keyFunction key Function key
Select position No.
and press return
Function key
Mode
selection
“Yes” or “No”
(Edit)
* When escaping the mode
with [ESC], check whether to
write to Flash ROM.
(Position) (M t)anual inpu
Select position No.
and press return
(Teach)
(Write to
Flash ROM)
(Copy/movement)
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
(Velocity input)
Cursor
position No.
(Display
change)
(Data import)
(Clear)
(Jog
coordinate
system)
(Velocity data)
(Jog velocity)
Cursor
position data
(Display
change)
(Data import)
(Cancel)
(Jog
coordinate
system)
(Velocity data)
(Jog velocity)
(Clear)
(Movement
velocity)
(Arm system
change)
(Coordinate
system No.
change)
(Input
monitor)
(Output
monitor)
(User-specified
output port
monitor)
(Continuous
movement)
(Jump
movement)
(Movement
velocity)
(Arm system
change)
(Coordinate
system No.
change)
(Input
monitor)
(Output
monitor)
(User-specified
output port
monitor)
(Continuous
movement)
9
Function key
Select the
program No.
and press return
(Program) (Modify)
(Copy/movement)
(Clear)
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”
Select the symbol type with the function key
Symbol/
(Symbol)
definition
value input
* After writing data with [WRT], move to t
next edit No.
he
Select the parameter type with the function key
Parameter
(Parameter)
input
* After writing data with [WRT], move to the
next parameter No.
(Program
operation)
Function key
(Coordinate
system)
Select the program
No. and press return
(Execution)
Function key
Select the data type with the function key
Coordinate system
(Modify)
definition data input
Select the data type with the function key
Coordinate system
(Clear)
Move to the mode according to the
current condition
(Continuous
execution)
(Execution
stop)
definition data input
(Step execution)
(Suspend step)
Step
execution
completed
Function key
(Current position)
(Local flag)
(Local variable)
(Breakpoint
setting)
Function key
(Int le)
eger variab
(Real variable)
10
(Task status
display)
(Program
error display)
* Only during
program stop
(String variable)
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)
(Coordinate
system select
No.)
11
Function key
(System status) (Sy e)stem mod
(System error)
(System status 1)
(System status 2)
(System status 3)
(System status 4)
(Error list)
(Version)
Function key
(CTL main)
(Driver)
(Teaching
pendant)
12
Function key
X
(Controller)
(Flash ROM
writing)
(Software reset)
(Error reset)
Function key
(Memory clear) (Global variable)
(Reconnection)
(Baud rate
change)
(Driving power
recovery request)
(Action restart
request)
(Absolute reset)
Velocity effect
select
(PIO start
prohibit select)
▪ Flow at Error Occurrence
* 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 the Attachment of “List of Parameters” and “8. Manual Operation Types” in the I
Series Controller Instruction Manual.)
M er
ode und
o
peration
Error occurs
Message
displayed
Minor error
Major error
Reconnection
mode
13
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 Pendant, the data is only
to be written in memory as shown in the chart below and the data is erased by power-off or
controller reset.
To ensure data storage, write the data you want to store in flash memory.
8-1. Factory setting: When system memory backup battery is used
Other parameter No. 20 = 2 (Backup battery installed)
Edit data with PC or
Teaching Pendant
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
Reset reading
Transfer
Reset reading
Transfer
Reset reading
* Encoder
Flash
memory
Position
coordinate
system data
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.
14
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
Other parameter No. 20 = 0 (Backup battery not installed)
Edit data with PC or
Teaching Pendant
Program
Parameter
(content 1)
Symbol
Position
Coordinate
system data
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, position, and coordinate system data 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.
15
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.
16
9. Simple Operating Procedures
In this section, a program and position data are created.
Position Data (① to ③)
17
9-1. Creation of position data
Input the position data of 3 points as shown in the position data list below.
Connect the Teaching Pendant to the controller and flip the MODE switch to MANU.
Turn on the power to the controller.
The version of the Teaching Pendant is displayed
and the screen moves to the Mode Selection screen.
(To the following page)
When the MODE switch is flipped to AUTO, the
Teaching Pendant is not connected to the controller
and the screen at the left is displayed. Press the
ESC key to make it a reconnection display.
Flip the MODE switch to MANU, and press the F1
(Yes) key for reconnection.
18
f
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
screen and continue operation. Pressing the ESC key once or several times during any
operation can return to the basic screen shown above without fail.
Edit mode screen
Press the F1 (Posi) key.
Edit-Posi (position data edit) screen
Press the F1 (Mdi) key.
ESC key to return to the last
Position No. input mode
Position No.
X-axis data
Y-axis data
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 o
the position data for the X-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
Z-axis data R-axis data
X.XXX displayed and input data.
Pressing the F3 (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.
19
A
xis No. at the cursor location
① 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
Y-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 300 for the Y-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 F3 (Canc) key.
Enter 0 for the Z-axis position data and press the
return key.
Enter 0 for the R-axis position data and press the
return key.
20
When the data is transferred with the WRT key,
the position No. is incremented by 1 and
becomes 2.
* When the screen is changed with the PAGE UP
and PAGE DOWN keys or ESC key before data
transfer, the input data becomes invalid.
Position No. 2
② Data input for 2nd point
Enter 200 for the X-axis position data and press
the return key.
The cursor moves to the section for the Y-axis
position data. Enter 250 and press the return key.
Enter 0 for the Z-axis position data and press the
return key.
Enter 90 for the R-axis position data and press
the return key.
21
Transfer the data with the WRT key and advance
the position No. to 3.
③ Data input for 3rd point
Press the return key since the X-axis position
data is left blank.
Press the return key since the Y-axis position data
is also left blank.
Enter 90 for the Z-axis position data and press
the return key.
22
Transfer the data with the WRT key and advance
the position No. to 4.
Complete position editing and write the data in
flash ROM.
Pressing the ESC key moves the cursor to the
location of the position No.
Pressing the ESC key returns the screen to the
Edit-Posi screen.
Pressing the ESC key again moves to the Edit
mode screen.
Pressing the ESC key once more moves to the
Flsh screen.
To write the data in flash ROM, press the F1
(Yes) key.
If not, press the F2 (No) key.
23
The message “Please wait…” flashes during flash
ROM writing.
* Never turn off the power to the Controller at this
time.
The screen returns to the Mode Selection screen.
With the above, input of the basic position data is
completed.
24
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 input.
For further information on the meaning and usage of each command, refer to the Instruction
Manual attached to the controller.
Only Cmnd (command) and Operand1 (operation 1) are input here.
25
Select the F1 (Edit) key on the Mode Selection
screen.
Program No.
Step No.
Number of steps stored
in the controller
Select the F2 (Prog) key on the Edit mode screen.
Select the F1 (Mdfy) key on the Edit-Prog (program
edit and new creation) screen.
The screen changes to the program No. input mode
screen. The cursor is located at the program No.
Press the return key to move the cursor to the
location of the step No.
* 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.
26
The cursor has moved to the location of the step No.
Press the return key.
Enter commands.
Commands are displayed in the function key section.
Command search method
① When the cursor is at the location for command
input, pressing the SF key displays commands in
Command with an
initial letter of A
alphabetical order.
② Letters/alphabetic letters are located for each of
the ten keys (such as ABC allocated to the 7 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 alphabetic
letter is displayed in the function key section.
Command
with an initial
letter of B
Display the command for input in the function key
section with the steps of ① and ② above and
press the corresponding function key.
Search for command ACCS
Command
with an initial
letter of C
Pressing the 7 key displays the commands with the
initial letters of A, B, and C. (Some commands
cannot be displayed only by pressing a key of the
ten-key numeric pad. In such cases, display the
command by using both the ten-key and the SF key.
After displaying ACCS in the function key section,
press the F3 (ACCS) key. (To return the command
input field to blank, press the BS key.)
Press the return key.
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