IAI America TT-C3 User Manual

Tabletop Robot

TT

Operation Manual 6th Edition

10th Edition

INTELLIGENT ACTUATOR

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.

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

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

[Important]

This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI sales
office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.

1. Notes on operation

m

To prevent pinching of fingers, do not bring your fingers near the following areas where a warning label is
attached while the actuator is moving.

[Gate type] [Cantilever type]

Warning label

2. Installation of safety cage

It is strongly recommended that the robot be enclosed by a safety cage to ensure safety of the operator. When
the robot is enclosed by a safety cage, the robot will satisfy the Machine Directives regardless of how it is used
by the operator.

Enclose by a safety cage.

3. The maximum sound pressure level of this robot is 76.4 dB.

4. After grease has been applied to the guide and ball screw during maintenance and
inspection, be sure to install the covers.

INTELLIGENT ACTUATOR

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.

INTELLIGENT ACTUATOR

Before Use

Caution

 Caution

[1] Be sure to read this operation manual to ensure the proper use of this product.
[2] Unauthorized use or reproduction of a part or all of this operation manual is prohibited.
[3] Always handle or operate the product in manners specified in this operation manual, by assuming that

whatever is not specified herein is not feasible. The warranty does not cover any defect arising from a
handling or operation not specified in this operation manual.

[4] The information contained in this operation manual is subject to change without notice for the purpose of

modification and improvement.
* If you have purchased PC software:

Always back up the parameters after installing the product or changing the parameter settings.

[5] The specifications in this manual may not apply to a custom product.

Caution

 Action to Be Taken in Case of Emergency

If this product is found to be in a dangerous condition, immediately turn off all power switches of the main unit
and connected equipment or immediately disconnect all power cables from the outlets. (“Dangerous
condition” refers to a situation where the product is generating abnormal heat or smoke or has ignited and a
fire or danger to human health is anticipated.)

 Contact Us

This robot has been designed and manufactured with the utmost attention and care. Should you find any
defect, however, or have any question regarding the handling of the robot, please contact IAI at the address
and numbers specified at the end of this manual.

Table of Contents

INTELLIGENT ACTUATOR

Table of Contents

Safety Guide .................................................................................................................... 1

Chapter 1 Installation..................................................................................................... 9

1.1 Introduction ................................................................................................................... 9

1.2 Models .........................................................................................................................10

1.3 Safety Precautions.......................................................................................................11

1.4 Warranty........................................................................................................................12

1.4.1 Warranty Period....................................................................................................................12

1.4.2 Scope of Warranty................................................................................................................12

1.4.3 Honoring the Warranty......................................................................................................... 12

1.4.4 Limited Liability..................................................................................................................... 12

1.4.5

Conditions of Conformance with A pplicable Standards/Regulations, Etc., and Applications

1.4.6 Other Items Excluded from Warranty.................................................................................................. 13

2. Specifications ...........................................................................................................14

2.1 Basic Specifications.....................................................................................................14

2.2 Name and Function of Each Part.................................................................................15

2.2.1 Robot Body .......................................................................................................................... 15

2.2.2 Front Panel........................................................................................................................... 18

2.2.3 Codes Displayed on the Panel Window............................................................................... 21

2.2.4 Rear Panel ........................................................................................................................... 23

2.2.5 I/O Connector Pin Assignments ........................................................................................... 25

2.3 Interfaces of the Tabletop Robot................................................................................. 26

2.3.1 Standard Interface (Main Application Version 0.18 or Earlier)............................................. 26

2.3.2 Standard Interface (Main Application Version 0.19 or Later) ............................................... 28

2.4 External I/O Specifications...........................................................................................32

2.4.1 NPN Specification ................................................................................................................ 32

2.4.2 PNP Specification................................................................................................................. 34

2.5 External Dimensions....................................................................................................36

3. Installation Environment, Noise Measures and Other.............................................. 44

3.1 Installation Environment ..............................................................................................44

3.2 Installation....................................................................................................................45

3.2.1 Brackets (Optional) .............................................................................................................. 45

3.2.2 Installing the Load, Etc......................................................................................................... 45

3.2.3 Using the T-grooves ............................................................................................................. 46

3.3 Power Source ..............................................................................................................46

3.4 Noise Measures and Grounding ..................................................................................47

3.4.1 Grounding ............................................................................................................................ 47

3.4.2 Noise sources and noise elimination ................................................................................... 47

4. System Setup .......................................................................................................... 49

4.1 Connecting the Tabletop Robot with Peripheral Equipment.........................................49

4.2 I/O Connection Diagram (External DIOs) ....................................................................50

4.2.1 NPN specification................................................................................................................. 50

4.2.2 PNP specification ................................................................................................................. 51

............................................................. 13

Table of Contents

INTELLIGENT ACTUATOR

Chapter 2 Operation.................................................................................................... 52

1. Operation................................................................................................................. 52

1.1 How to Start a Program ...............................................................................................52

1.2 Starting a Program by Auto-Start via Parameter Setting..............................................53

1.3 Starting via the Digital Program Selector Switch and Function Switch ........................54

2. Controller Data ........................................................................................................ 55

2.1 Data Structure..............................................................................................................55

2.2 Saving Data .................................................................................................................56

Chapter 3 X-SEL Language Data................................................................................ 58

1. Values and Symbols Used in SEL Language .......................................................... 58

2. Position Part ............................................................................................................ 71

3. Command Part ........................................................................................................ 72

Chapter 4 Commands ................................................................................................. 74

1. List of SEL Language Command Codes by Function.............................................. 74

1.1 List of Commands by Function ....................................................................................74

1.2 List of Commands in Alphabetical Order .....................................................................79

2. Explanation of Commands ...................................................................................... 84

3. Key Characteristics of Actuator Control Commands and Points to Note ............... 224

3.1 Continuous Movement Commands ...........................................................................224

3.2 PATH/PSPL Commands ............................................................................................226

3.3 CIR/ARC Commands................................................................................................. 226

3.4 CIR2/ARC2/ARCD/ARCC Commands ......................................................................226

4. Palletizing Function ............................................................................................... 227

4.1 How to Use ................................................................................................................227

4.2 Palletizing Setting ......................................................................................................227

4.3 Palletizing Calculation................................................................................................233

4.4 Palletizing Movement................................................................................................. 234

4.5 Program Examples ....................................................................................................236

5. Pseudo-Ladder Task.............................................................................................. 244

5.1 Basic Frame...............................................................................................................244

5.2 Ladder Statement Field..............................................................................................245

5.3 Points to Note ............................................................................................................245

5.4 Program Example ......................................................................................................246

Table of Contents

INTELLIGENT ACTUATOR

Chapter 5 Maintenance and Inspection..................................................................... 247

1. Inspection Items and Inspection Intervals.............................................................. 247

2. Visual Inspection of the Exterior ............................................................................ 247

3. Visual Inspection and Cleaning ............................................................................. 247

3.1 Cleaning.....................................................................................................................247

3.2 Interior Inspection ......................................................................................................248

3.3 Internal Cleaning........................................................................................................248

4. Greasing the Guides.............................................................................................. 248

4.1 Applicable Grease .....................................................................................................248

4.2 How to Apply Grease.................................................................................................248

5. Greasing the Ball Screw ........................................................................................ 249

5.1 Applicable Grease .....................................................................................................249

5.2 How to Apply Grease.................................................................................................249

6. Timing Belt............................................................................................................. 249

6.1 Inspecting the Belt .....................................................................................................249

6.2 Applicable Belt ...........................................................................................................249

6.3 Belt Replacement Procedure.....................................................................................250

Appendix .................................................................................................................. 251

~ How to Create a Program ........................................................................................ 251

1. Position Table ........................................................................................................ 251

2. Program Format .................................................................................................... 252

3. Positioning to Five Positions.................................................................................. 253

4. How to Use TAG and GOTO ................................................................................. 254

5. Moving Back and Forth between Two Points......................................................... 255

6. Path Operation ...................................................................................................... 256

7. Output Control during Path Movement .................................................................. 257

8. Circular/Arc Operation ........................................................................................... 258

9. Home-return Completion Output ........................................................................... 259

10. Moving an Axis Selectively based on Input and Outputting a Completion Signal .. 260

11. Changing the Moving Speed ................................................................................. 261

12. Changing the Speed during Movement ................................................................. 262

13. Local/Global Classification of Variables and Flags ................................................ 263

14. How to Use Subroutines........................................................................................ 264

15. Pausing the Operation........................................................................................... 265

16. Aborting the Operation 1 (CANC).......................................................................... 266

Table of Contents

INTELLIGENT ACTUATOR

17. Aborting the Operation 2 (STOP) .......................................................................... 267

18. Moving to a Specified Position Number ................................................................. 268

19. Conditional Jump................................................................................................... 269

20. Waiting for Multiple Inputs ..................................................................................... 270

21. How to Use Offset ................................................................................................. 271

22. Executing an Operation n Times ........................................................................... 272

23. Constant-pitch Feed Operation.............................................................................. 273

24. Jogging.................................................................................................................. 274

25. Switching Programs............................................................................................... 275

26. Aborting a Program ............................................................................................... 276

~ How to Use Internal DIOs ...................................................................................... 277

1. Internal DIs and Dedicated Functions.................................................................... 277

2. Showing User SEL Program Data on the 7-segment LED Display........................ 278

~ List of Parameters ................................................................................................. 281

1. I/O Parameters ...................................................................................................... 282

2. Parameters Common to All Axes........................................................................... 296

3. Axis-Specific Parameters....................................................................................... 299

4. Driver Card Parameters......................................................................................... 303

5. Encoder Parameters.............................................................................................. 307

6. I/O-Slot Card Parameters ...................................................................................... 308

7. Other Parameters.................................................................................................. 309

8. Manual Operation Types ....................................................................................... 314

9. Use Examples of Key Parameters......................................................................... 315

~ Error Level Control..................................................................................................... 317

~ Error List (Main application).......................................................................................319

~ Error List (Main core) .................................................................................................343

~ Troubleshooting of X-SEL Controller .........................................................................348

Trouble Report Sheet.........................................................................................................351

Change History ............................................................................................................ 352

INTELLIGENT ACTUATOR

Safety Guide

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Safety Precautions for Our Products

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1

INTELLIGENT ACTUATOR

No.

Operation

Description

Description

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

utilize equipment such as crane.

Ɣ When the work is carried out with 2 or more persons, make it clear who is

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

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

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

Ɣ Transport it using an appropriate transportation measure.

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

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

who has qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a

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Ɣ Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.

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

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of
condensation.

Ɣ Store the products with a consideration not to fall them over or drop due to

an act of God such as earthquake.

4 Installation

and Start

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

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

Ɣ Do not get on or put anything on the product. Failure to do so may cause

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

Ɣ When using the product in any of the places specified below, provide a

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

chemical droplets

2

INTELLIGENT ACTUATOR

3

No.

Operation

Description

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and Start

Description

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INTELLIGENT ACTUATOR

No.

4 Installation

Operation

Description

and Start

Description

(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who is

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

Ɣ When the product is under operation or in the ready mode, take the safety

measures (such as the installation of safety and protection fence) so that

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robot under operation is touched, it may result in death or serious injury.

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VWRSSHGLPPHGLDWHO\LQDQHPHUJHQF\GXULQJWKHXQLWRSHUDWLRQ

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ON. Failure to do so may start up the machine suddenly and cause an

LQMXU\RUGDPDJHWRWKHSURGXFW

Ɣ Take the safety measure not to start up the machine only with the

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do so may result in an electric shock or injury due to unexpected power
input.

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Sudden power input may cause an electric shock or injury.

Ɣ Take the measure so that the work part is not dropped in power failure or

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safety.

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DFWXDWRUGURSSHGE\JUDYLW\

 7HDFKLQJ Ɣ When the work is carried out with 2 or more persons, make it clear who is

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

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understand them well.

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

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

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so that any third person can not operate the switches carelessly.

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* Safety protection Fence : In the case that there is no safety protection

IHQFHWKHPRYDEOHUDQJHVKRXOGEHLQGLFDWHG

4

INTELLIGENT ACTUATOR

5

No.

Operation

Description

Description

6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is

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

Ɣ After the teaching or programming operation, perform the check operation

one step by one step and then shift to the automatic operation.

Ɣ When the check operation is to be performed inside the safety protection

fence, perform the check operation using the previously specified work
procedure like the teaching operation.

Ɣ Make sure to perform the programmed operation check at the safety

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

Ɣ Do not touch the terminal block or any of the various setting switches in

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

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral

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

Ɣ Make sure to operate automatic operation start from outside of the safety

protection fence.

Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or

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

Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so

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

INTELLIGENT ACTUATOR

No.

Operation

Description

8 Maintenance

and Inspection

Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with

Description

each other to ensure the safety of the workers.

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

that the operation is to be performed unavoidably inside the safety

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sure that all the workers acknowledge and understand them well.

Ɣ When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

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

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

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

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

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Ɣ For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

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

damage to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.

Ɣ The slider or rod may get misaligned OFF the stop position if the servo is

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

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

to put the product back to the original condition after maintenance and
inspection works.

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fence, the movable range should be indicated.

9 Modification

and Dismantle

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

Ɣ When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

Ɣ Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

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

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

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complies if necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

6

INTELLIGENT ACTUATOR

7

Alert Indication

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INTELLIGENT ACTUATOR

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8

INTELLIGENT ACTUATOR

Chapter 1 Installation

Chapter 1 Installation

1.1 Introduction

Thank you for purchasing the Tabletop Robot.

Inappropriate use or handling will prevent this product from demonstrating its full function and may
even cause unexpected failure or result in a shortened service life. Please read this manual carefully,
and handle the product with due care and operate it correctly. Keep this manual in a safe place and
reference relevant items when needed.

The Tabletop Robot is an all-in-one actuator that can be used as an independent standalone robot.
The robot can also be used to control various peripheral equipment by utilizing the robot’s built-in
controller and supplied input/output (general-purpose input/output) connector. In general, connecting
additional equipment will make the system larger and more complex, which often increases the
probability of accident due to malfunction, carelessness, etc. If you are configuring the Tabletop Robot
to operate with other equipment, please take sufficient safety measures.

x Actuator duty

Based on the relationship of service life and precision, keep the duty to 50% or less for all actuators
of IAI as a guideline.
The duty is calculated by the formula below:

Chapter 1 Installation

Duty (%) =

hours Operating



hours Stopped hours Operating

X 100

x After turning off the main power, be sure to wait for at least 5 seconds before turning it on.

Any shorter interval may generate “E88: Power system error (Other).”

x Do not plug in/out the connectors while the power is still supplied to the controller. Doing so may

result in malfunction.

If you have purchased our optional PC software and/or teaching pendant, read the respective
operation manuals, as well.

* Utmost effort has been made to ensure that the information contained in this manual is true and

correct. However, should you find any error or if you have any comment regarding the content,
please contact IAI.

9

INTELLIGENT ACTUATOR

1.2 Models

Example of Model Code

Chapter 1 Installation

[1] [2] [3] [4] [5] [6]

Chapter 1 Installation

Model table

[1] Series [2] Type

TT

A2

(Gate 2-axis type)

C2

(Cantilever 2-axis

type)

A3

(Gate 3-axis type)

C3

(Cantilever 3-axis

type)

[3] Encoder

type

I

(Incremental)

[4] XY stroke

(mm)

2020

(200 mm)

4040

(400 mm)

[5] Z stroke [6] Options

DV

(DeviceNet)

CC

(CC-Link)

PR

(ProfiBus)

ET

05B

(50 mm)

10B

(100 mm)

(Ethernet)

FT

(Mounting bracket)

P

(External I/O: PNP

specification)

10

11

Chapter 1 Installation

Chapter 1 Installation

INTELLIGENT ACTUATOR

Caution

1.3 Safety Precautions

This system product was developed as a drive unit for an automated machine, etc., and as such the
maximum torque and speed are limited to levels acceptable for an automatically driven machine.
However, strict observance of the following items is requested to prevent unforeseen danger.

1. Do not handle this product in manners not specified in this manual. If you have any question
regarding the content of this manual, please contact IAI.

2. Do not enter the operation area of the machine while the machine is operating or ready to operate
(the controller power is on). If the machine is used in a place accessible to other people, provide an
appropriate safety measure such as enclosing the machine with a cage.

3. When assembling/adjusting or maintaining/inspecting the machine, always turn off the controller
power at the source beforehand. The operator should display in a conspicuous place a plate or
other sign saying that operation is in progress and that the power should not be turned on. The
operator should keep the entire power cable beside him or her to prevent another person from
inadvertently plugging in the cable.

4. When two or more operators are to work together, set call-out signals to ensure safety of all
personnel during the work. In particular, a person turning on/off the power or moving an axiseither
via a motor or manuallymust always say what he or she is going to do out loud and confirm the
responses from the others first before actually performing the operation.

1.4 Warranty

1.4.1 Warranty Period

One of the following periods, whichever is shorter:

1.4.2 Scope of Warranty

Our products are covered by warranty when all of the following conditions are met. Faulty products

Chapter 1 Installation

covered by warranty will be replaced or repaired free of charge:

(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized

(2) The breakdown or problem in question occurred during the warranty period.

(3) The breakdown or problem in question occurred while the product was in use for an appropriate

(4) The breakdown of problem in question was caused by a specification defect or problem, or by a

Chapter 1 Installation

INTELLIGENT ACTUATOR

18 months after shipment from our company
12 months after delivery to the specified location

dealer.

purpose under the conditions and environment of use specified in the operation manual and catalog.

quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:

[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such

modification or repair)

[3] Anything that could not be easily predicted with the level of science and technology available at

the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.

1.4.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

1.4.4 Limited Liability

(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a

loss of expected profit arising from or in connection with our product.

(2) We shall not be liable for any program or control method created by the customer to operate our

product or for the result of such program or control method.

12

13

Chapter 1 Installation

Chapter 1 Installation

INTELLIGENT ACTUATOR

1.4.5 Conditions of Conformance with A pplicable Standards/Regulations, Etc., and Applications

(1) If our product is combined with another product or any system, device, etc., used by the customer,

the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications specified

below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:

[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a

vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that

differs from what is specified in the catalog or operation manual.

1.4.6 Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:

[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

2. Specifications

2.1 Basic Specifications

Item Description

Number of controlled axes Maximum 3 axes (Factory setting)

Power-source voltage

Power-source frequency 50 Hz/60 Hz

Withstand voltage 2000 V 1 minute

Rush current 15 A (100 VAC), 30 A (200 VAC)

Leak current 0.75 mA (60 Hz)

Resistance to momentary power failure

Electric-shock protection mechanism Class 1 basic isolation

Surrounding air temperature range

Surrounding humidity range 20% to 90% (Non-condensing)

Storage temperature range

Maximum speed 300 mm/sec

Rated acceleration Gate type: 0.3G, Cantilever type: 0.2G

Programming language Super SEL language

Program steps 6000 steps (total)

Number of positions 3000 positions

Number of programs 64 programs

Multi-tasking 16 programs

Standard inputs 16 points (General-purpose inputs, port Nos. 016 to 031)

Standard outputs 16 points (General-purpose outputs, port Nos. 316 to 331)

Dedicated inputs

Dedicated outputs

Serial communication For teaching pendant/PC connection

Supported Fieldbus standards

Single-phase, 100 to 230 VAC

Max 500

5

Cto40C

-10

Digital switch for program number input
Function switch, etc.

Alarm status indicator LED
Ready status indicator LED
Emergency-stop status indicator LED
Home-return completion status indicator LED, etc.

CC-LINK DeviceNet Profibus
ModBus/TCP Ethernet

s

Cto65C

10%

Note: The parameters are normally set to the above general-purpose input and general-purpose output

port numbers before shipment.

14

15

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

2.2 Name and Function of Each Part

2.2.1 Robot Body

Gate 2-axis type

Y-axis (axis 2) actuator

Y slider

T-groove (4 locations)

Gate 3-axis type

Y-slider position
adjustment volume

X slider

Front panel

Rear panel

Y-axis (axis 2) actuator

T-groove (4 locations)

Z-slider position
adjustment volume

Z-axis (axis 3) actuator

Z slider

Y-slider position
adjustment volume

X slider

Front panel

INTELLIGENT ACTUATOR

Cantilever 2-axis type

Y-axis (axis 2) actuator Y slider

Chapter 1 Installation

X-axis (axis 1) actuator

Y-slider position
adjustment volume

X-slider position
adjustment volume

2. Speci¿cations

Front panel

Cantilever 3-axis type

T-groove

(4 locations)

Rear panel

Z-slider position
adjustment volume

16

Y-axis (axis 2) actuator

Front panel

Z-axis (axis 3) actuator

X-slider position
adjustment
volume

X-axis (axis 1) actuator

Y-slider position
adjustment
volume

T-groove (4 locations)

17

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

x X-axis actuator

Various loads can be attached to the X-axis actuator of the gate-type robot.

x Y-axis actuator

Various tools can be attached to the Y-axis actuator of the 2-axis robot.

x Z-axis actuator

Various tools can be attached to the Z-axis actuator of the 3-axis robot.

x T-groove

Auxiliary tools can be attached by utilizing the T-grooves/T-slots and nuts.

x Position adjustment volume

You can fine-tune the slider position easily by turning this volume with a flathead screwdriver, etc.
This function is useful when manually adjusting the slider position to read position data.
This adjustment volume is provided on various actuators.

(Note) Before fine-tuning the slider position using this volume, be sure to actuate an emergency

stop.
Do not insert an adjustment tool, finger or other object into the operating range of the robot
while the servo is ON or slider is operating.

INTELLIGENT ACTUATOR

2.2.2 Front Panel

Chapter 1 Installation

2. Speci¿cations

[1] [2] [3] [4] [5]

[1]

Emergency button (emergency-stop button)

[6]

[7]

[8]

[9]

This switch is used to cut off the drive power when the robot must be stopped in case of
emergency.

[2] Digital program selector switch

This switch provides a 2-digit decimal digital switch input for selecting the program you want to
start from among the group of programs stored in the Tabletop Robot. Pressing the start switch [3]
will start the selected program.

[3] Start switch (function switch)

This switch issues a trigger to start the program set by the digital program selector switch [2].
(Factory setting)
This switch is enabled in the AUTO mode.
In the MANU mode, this switch is enabled after the teaching pendant or PC software has been
connected online. (Once the teaching pendant or PC software is connected online, the switch will
remain enabled until the robot is restarted (via software reset), even after the connection is
switched offline.)
(This switch turns ON/OFF input port No. 000. Since I/O parameter No. 30 is set to “1” at the
factory, input port No. 000 is used as the program start signal (dedicated input). You can use input
port No. 000 as a general-purpose input by setting I/O parameter No. 30 to “0.”)

Note: The parameters are normally set to the above input port numbers before shipment.

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Chapter 1 Installation

2. Speci¿cations

INTELLIGENT ACTUATOR

[4] Panel window

The panel window consists of a 4-digit, 7-segment LED display and four LED lamps indicating the
status of the robot.
The status indicated by each LED lamp when the lamp is lit is explained below:
RDY: The robot is ready to perform PIO program operation.

(This lamp is connected to dedicated output No. 301.)

ALM: An error of operation-cancellation level or higher has occurred.

(This lamp is connected to dedicated output No. 300.)

EMG: An emergency stop has been actuated.

(This lamp is connected to dedicated output No. 302.)

HPS: All axes have completed their home return.

(This lamp is connected to dedicated output No. 304.)
For the specific codes shown on the 4-digit, 7-segment LED display, refer to 2.2.3, “Codes
Displayed on the Panel Window” or the “Error Code Table.”

Note: The parameters are normally set to the above output port numbers before shipment.

[5] LED indicator lamps

The status indicated by each LED lamp when the lamp is lit is explained below:
CKE: System clock error
ALM: CPU alarm (system-down level error)
PWR: Power ON

[6] Brake switch

This switch is used to release the axis brake.
Tilt the switch upward (BKRLS side) to forcibly release the brake, or tilt it downward (BKNOM
side) to allow the brake to be controlled automatically by the controller. Set this switch to the
BKNOM side in normal conditions of use.

[7] USB connector

This connector is used for USB connection. Use it to connect the PC software to the controller via
USB cable.
Applicable connector: USB connector B: XM7B-0442
Mating connector: USB cable

Notes
x If the USB port is used, all TT robots comprising the system must be connected one by

one to install the USB driver included in the CD-ROM “X-SEL PC Software IA-101-TT­USB.” For details on how to install the driver, refer to the operation manual for X-SEL PC
software.

x If the USB port is used, a dummy plug must be connected to the teaching connector [9].

Dummy plug model: DP-1

[8] Mode switch

This switch is used to specify the operation mode of the Tabletop Robot.
Tilt the switch upward to select the MANU mode (manual mode), or tilt it downward to select the
AUTO mode (automatic mode).
Operations from the teaching pendant or PC software (such as teaching) must be performed in
the MANU mode. (They cannot be performed in the AUTO mode.)
Auto program start is enabled in the AUTO mode. (The function cannot be used in the MANU
mode.)

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

[9] Teaching connector When an optional teaching pendant or PC is connected, this D-sub, 25-

pin connector will be used to input program and position data in the
MANU mode.

Interface Specifications of Teaching Serial Interface

Item Description
Connector name TP
Connector DSUB-25 XM3B-2542-502L (Omron)

Communication
method

RS232C-compliant, start-stop synchronous

method
Baud rate 38.4 kbps max.; half-duplex communication
Maximum

connection distance

10 m (38.4 kbps)

Interface standard RS232C
Connected to X-SEL teaching pendant

Interface Specifications of Teaching Serial Interface

Item No. Direction Signal name Description

Terminal

assignments

1 FG Frame ground
2 Out TXD Transmitted data
3 In RXD Received data
4 Out RTS Request to send
5 In CTS Clear to send
6 Out DSR Equipment ready
7 SG Signal ground
8

9 In Connection prohibited
10 In Connection prohibited
11
12 Out EMGOUT Emergency stop
13 In EMGIN
14
15 Out Connection prohibited
16 Out Connection prohibited
17 Out Connection prohibited

Power output

18 Out VCC

(5-V power source for
teaching pendant)

19 In ENBTBX Enable input
20 In DTR Terminal ready
21
22
23 Out EMGS Emergency-stop status
24
25 SG Signal ground

20

21

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

2.2.3 Codes Displayed on the Panel Window

(1) Application

Display Priority (*1) Description

AC power is cut off (including momentary power failure or drop in
power-source voltage).

System-down level error

Writing data to the flash ROM.

Emergency stop is being actuated (except during the update

Safety gate is open (except during the update mode).

Cold-start level error

Cold-start level error

Operation-cancellation level error

Operation-cancellation level error

Waiting for a drive-source cutoff reset input (except during the
update mode).

Operation is in pause (waiting for restart) (except during the
update mode).

All servo axes are interlocked (except during the update mode).

Message level error

Message level error

Core update mode

Core update is in progress.

Core update has completed.

Slave update mode

Slave update is in progress.

Slave update has completed.

Running a program (last started program); “No.” indicates program
number.

Initialization sequence number

Debug mode

Ready status (auto mode)

Ready status (manual mode)

Deadman switch OFF (manual mode)

(*1) The priority increases as the number decreases.

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

(2) Core

Display Priority (*1) Description

AC power is cut off (including momentary power failure or drop in
power-source voltage).

Cold-start level error

Cold-start level error

Operation-cancellation level error

Operation-cancellation level error

Message level error

Message level error

Application update mode

Application update is in progress.

Application update has completed.

Hardware test mode process

Clearing the application flash ROM.

Application flash ROM has been cleared.

Jump to the application

Core flash-ROM check process

Application flash-ROM check process

SDRAM check process

(*1) The priority increases as the number decreases.

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23

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

2.2.4 Rear Panel

[12]

[11]

[9] Power

[13]

connector
Connect the power cable to this connector.
Use the supplied socket for cable connection with the power connector.
(Note) The allowable range of power-source voltage is 100 to 230 VAC (r10%).

Providing a power cable and attaching it to the supplied socket is the user’s responsibility.
Use a cable appropriate for the power-source voltage used.

How to attach a cable to the supplied socket

[9]

[10]

M3X16

Tightening torque:
6 kgcmf or less

M3X5

Tightening torque: 4 kgcmf or less

White

Sheath

Black

M3X10

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

[10] Ground terminal

This terminal is used to connect FG of the enclosure to ground.

[11] Power switch

[12] Gate X-axis actuator position adjustment volume (This volume is not available on the cantilever

type.)
You can fine-tune the X-axis slider position easily by turning this volume with a flathead
screwdriver, etc. This function is useful when manually adjusting the slider position to read
position data.
(Note) Before fine-tuning the slider position using this volume, be sure to actuate an emergency

stop. Do not insert an adjustment tool, finger or other object into the operating range of the
robot while the servo is ON or slider is operating.

[13] I/O connector (general-purpose I/Os)

This general-purpose I/O connector is used to connect peripheral equipment, etc.
It is a 34-pin flat connector that comprises 16 general-purpose input/16 general-purpose output
DIOs.

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Chapter 1 Installation

2. Speci¿cations

INTELLIGENT ACTUATOR

2.2.5 I/O Connector Pin Assignments

Pin No. Category Port No. Function Cable color

1 +24 V I/O power supply + 24 V Brown-1
2 016 General-purpose input Red-1
3 017 General-purpose input Orange-1
4 018 General-purpose input Yellow-1
5 019 General-purpose input Green-1
6 020 General-purpose input Blue-1
7 021 General-purpose input Purple-1
8 022 General-purpose input Gray-1

9 023 General-purpose input White-1
10 024 General-purpose input Black-1
11 025 General-purpose input Brown-2
12 026 General-purpose input Red-2
13 027 General-purpose input Orange-2
14 028 General-purpose input Yellow-2
15 029 General-purpose input Green-2
16 030 General-purpose input Blue-2
17
18 316 General-purpose output Gray-2
19 317 General-purpose output White-2
20 318 General-purpose output Black-2
21 319 General-purpose output Brown-3
22 320 General-purpose output Red-3
23 321 General-purpose output Orange-3
24 322 General-purpose output Yellow-3
25 323 General-purpose output Green-3
26 324 General-purpose output Blue-3
27 325 General-purpose output Purple-3
28 326 General-purpose output Gray-3
29 327 General-purpose output White-3
30 328 General-purpose output Black-3
31 329 General-purpose output Brown-4
32 330 General-purpose output Red-4
33
34 0 V I/O power supply 0 V Yellow-4

Input

031 General-purpose input Purple-2

Output

331 General-purpose output Orange-4

Note: The parameters are normally set to the above port numbers before shipment.

I/O flat cable (supplied) Model: CB-DS-PIO020

No. Color Wiring No. Color Wiring

1 Brown1 18 Gray2
2 Red1 19 White2
3 Orange1 20 Black2
4 Yellow1 21 Brown-3
5 Green1 22 Red3
6 Blue1 23 Orange3

No connector
attached

Flat cable (34-core)

7 Purple1 24 Yellow3
8 Gray1 25 Green3

9 White1 26 Blue3
10 Black1 27 Purple3
11 Brown-2 28 Gray3
12 Red2 29 White3
13 Orange2 30 Black3
14 Yellow2 31 Brown-4
15 Green2 32 Red4
16 Blue2 33 Orange4
17 Purple2

Flat

cable,

pressure

welded

Flat

cable,

pressure

welded

34 Yellow4

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

2.3 Interfaces of the Tabletop Robot

2.3.1 Standard Interface (Main Application Version 0.18 or Earlier)

The standard interface of the Tabletop Robot uses input port Nos. 000 to 047 and output port Nos.
300 to 347.
The standard interface is subject to limitations on use.
Only input port Nos. 016 to 031 and output port Nos. 316 to 331 can send/receive signals to/from
peripheral equipment via the I/O connector on the rear panel as external DIOs.
Other ports are used as internal DIOs, dedicated ports for switches/LEDs on the front panel or ports
used by SEL programs, or reserved for future expansion.

[Internal DI, Internal D0]

x Internal DI No. 000 is an input port connected from the start switch on the front panel.
x Internal DI Nos. 007 to 010 and Nos. 011 to 013 are input ports connected from the digital switch on

the front panel.

x Although dedicated functions can be assigned to internal DI Nos. 001 to 006, 014 and 015, these

ports cannot be controlled directly. To control internal DI Nos. 001 to 006, 014 and 015, turn
ON/OFF internal DO Nos. 308 to 315 in a SEL program. For details, refer to ~ Appendix, “How to
Use Internal DIOs.”

x Internal DI No. 300 to 304 is an output port to the panel window LED and start switch LED from the

front panel.

x Internal DO Nos. 332 to 346 are used to control the 7-segment LED display in the panel window on

the front panel.
System information and user program data can be shown alternately on the 7-segment LED display
by using a SEL program. For details, refer to ~ Appendix, “How to Use Internal DIOs.”

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Chapter 1 Installation

2. Speci¿cations

Port No. Function Port No. Function

000 Start 300 ALM (LED on the front panel)
001 (Software reset) 301 RDY (LED on the front panel)
002 (Servo ON) 302 EMG (LED on the front panel)

003 (Auto program start) 303

004 (Software interlock) 304 HPS (LED on the front panel)
005 (Pause reset) 305 For future expansion
006 (Pause) 306 For future expansion

Internal DI

External DI 016 to 031

Internal DI

007 307 For future expansion
008 308 Internal DI No. 001 ON/OFF
009 309 Internal DI No. 002 ON/OFF
010
011 311 Internal DI No. 004 ON/OFF
012 312 Internal DI No. 005 ON/OFF
013
014 (Drive-source cutoff input) 314 Internal DI No. 014 ON/OFF
015 (Home return, etc.)

032 332

033 333

034 334 For future expansion
035 335 For future expansion
036 336 For future expansion
037 337 7-segment display refresh

038 338

039 339

040 340

041 341

042 342

043 343

044 344

045 345

046 346

047

Internal DIO Table

Program number specification
Ones place of the digital switch

Program number specification
Tens place of the digital switch

General-purpose input

(I/O connector on the rear

panel)

For future expansion Internal DO

Internal DO

External

DO

Automatic operation mode
(start switch LED)

310 Internal DI No. 003 ON/OFF

313 Internal DI No. 006 ON/OFF

315 Internal DI No. 015 ON/OFF

General-purpose output

316 to 331

347 For future expansion

(I/O connector on the rear

panel)
7-segment user display digit
specification
7-segment user display digit
specification

7-segment user/system
alternate display
7-segment user display
specification
DT0 (7-segment user display
bit)
DT1 (7-segment user display
bit)
DT2 (7-segment user display
bit)
DT3 (7-segment user display
bit)
DT4 (7-segment user display
bit)
DT5 (7-segment user display
bit)
DT6 (7-segment user display
bit)

External DI 048 to 299

Used for field network

(Optional)

External

DO

348 to 599

Used for field network

(Optional)

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

2.3.2 Standard Interface (Main Application Version 0.19 or Later)

The input port to which to assign the input function selection from 000 to 015 currently set by “Input
function selection ***” can be set (changed) using the I/O parameter “Physical input port number for
input function selection ***.”
The output port to which to assign the output function selection from 300 to 315 currently set by
“Output function selection ***” can be set (changed) using the I/O parameter “Physical output port
number for output function selection ***.”
In addition to output function selections 300 to 315 described above, you can also use the I/O
parameter “Physical output port number for output function selection *** (area 2)” to set (assign) an
output port for the output function selection from 300 (area 2) to 315 (area 2) currently set by “Output
function selection *** (area 2),” and output the applicable signal from the specified port.

Note: The above functions are supported by the X SEL PC software of version 7.0.2.0 or later.

(1) Assignment example of input function selection

The following is an example of assigning input function selection 000 (start), currently set by
“Input function selection 000,” to a different input port.

Set the function of input function selection 000 (start) using I/O parameter No. 30, “Input function
selection 000.” For details, refer to Appendix, “Parameter List.”
The physical input port number for input function selection 000 (start) is set by I/O parameter No.
283, “Physical input port number for input function selection 000.”
If “016” is set in this parameter, for example, the function of input function selection 000 (start) is
assigned to “input port No. 016.”
Accordingly, input port 016 becomes the signal input port for input function selection 000 (start).
After the assignment has been changed, “input port No. 000” returns to a general-purpose input
port.
Note, however, that the above parameter will become invalid when “-1 (default value: normally the
parameter is set to this value before shipment)” is set, in which case the function of input function
selection 000 (start) will be assigned to “input port No. 000” as shown in the internal DIO table.

[Notes]

x If input function selection 000 (start) is assigned to a different input port, the start switch on the

front panel will no longer function as the “program start signal.”

x If any of input function selections 007 to 013 is assigned to a different input port, the digital

program selector switch on the front panel will no longer function as the “start program number.”

x If a network is available, input function selections 000 to 015 can also be assigned to port Nos.

048 to 299 assigned to the network.

Note: Although ports of desired output numbers can be set separately, error No. 685, “I/O function

selection physical port number error” will generate if duplicate port numbers are set or the “start
program number” is set to an non-continuous port.

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Chapter 1 Installation

2. Speci¿cations

INTELLIGENT ACTUATOR

(2) Assignment example of output function selection

The following is an example of assigning output function selection 300 (ALM), currently set by
“Output function selection 300,” to a different output port.

Set the function of output function selection 300 using I/O parameter No. 46, “Output function
selection 300.” For details, refer to Appendix, “Parameter List.”
The physical output port number for output function selection 300 (ALM) is set by I/O parameter
No. 299, “Physical output port number for output function selection 300.”
If “316” is set in this parameter, for example, the function of output function selection 300 (ALM) is
assigned to “output port No. 316.”
Accordingly, the signal of output function selection 300 (ALM) is output to output port 316.
Note, however, that the above parameter will become invalid when “0 (default value: normally the
parameter is set to this value before shipment)” is set, in which case the function of output
function selection 300 (ALM) will be assigned to “output port No. 300” as shown in the internal
DIO table.
After the assignment has been changed, “output port No. 300” returns to a general-purpose
output port.

* To output system outputs to an external device, it is recommended that the signals be output

separately using “Output function selection *** (area 2)” and “Physical output port number for
output function selection *** (area 2)” explained later.

[Notes]

x If output function selection 300 (ALM) is assigned to a different output port, the panel window

LED “ALM” on the front panel will no longer function. As a result, this LED will not illuminate
even when the ALM signal is output.

x If output function selection 301 (RDY) is assigned to a different output port, the panel window LED

“RDY” on the front panel will no longer function. As a result, this LED will not illuminate even after
the controller becomes ready (ready to perform PIO program operation).

x If output function selection 302 (EMG) is assigned to a different output port, the panel window

LED “EMG” on the front panel will no longer function. As a result, this LED will not illuminate
even when the EMG signal is output (emergency stop is actuated).

x If output function selection 303 (start switch) is assigned to a different output port, the start

switch LED on the front panel will no longer function. As a result, this LED will not illuminate
even during continuous operation.

x If output function selection 304 (HSP) is assigned to a different output port, the panel window

LED “HSP” on the front panel will no longer function. As a result, this LED will not illuminate
even when the HSP signal is output (all valid axes completed home return).

x Even when the input port number assigned to a given input function selection *** is changed by

setting “Physical input port number for input function selection ***” accordingly, the functions
where the ON/OFF statuses of output port Nos. 308 to 315 are reflected in input port Nos. 1 to
6, 14 and 15 will be maintained, as shown in the internal DIO table. For example, setting “Input
function selection 001” and “Physical input port number for input function selection 001” to “1”
(soft reset) and “16,” respectively, and then turning output port No. 308 ON will turn input port
No. 1 ON, but soft reset will not be executed.

Note: Although ports of desired output numbers can be set separately, error No. 685, “I/O function

selection physical port number error” will generate if duplicate port numbers are set.

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

(3) Assignment example of output function selection (area 2)

Output function selection 300 (area 2) (ALM), currently set by “Output function selection 300 (area

2),” can be assigned to the output port set by “Physical output port number for output function
selection 300 (area 2)” to output the applicable signal from this port. An example is given below.

Set the function of output function selection 300 (area 2) using I/O parameter No. 331, “Output
function selection 300 (area 2).” For details, refer to Appendix, “Parameter List.”
The physical output port number for output function selection 300 (area 2) (ALM) is set by I/O
parameter No. 315, “Physical output port number for output function selection 300 (area 2).”
If “316” is set in this parameter, for example, the function of output function selection 300 (area 2)
(ALM) is assigned to “output port No. 316.”
Accordingly, the signal of output function selection 300 (area 2) (ALM) is output to output port 316.
Note, however, that the above parameter will become invalid when “0 (default value: normally the
parameter is set to this value before shipment)” is set, in which case the signal will not be output.

Based on the above setting, the ALM signal can now be output to a different port (output port set
for area 2) without disabling the ALM LED on the front panel (without changing the setting of
“Physical input port number for output function selection 300” for output signal selection 300).

Note: Although ports of desired output numbers can be set separately, error No. 685, “I/O function

selection physical port number error” will generate if duplicate port numbers are set.

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Chapter 1 Installation

2. Speci¿cations

INTELLIGENT ACTUATOR

(4) Use example

The following is a setting example of assigning the system IOs to external DIOs as shown below
when the external DIOs are assigned to input port Nos. 16 to 31 and output port Nos. 316 to 331
(default settings: the external DIOs are normally assigned to these ports before shipment).
Settings that allow the panel window LEDs (RDY, ALM, EMG, HPS) to continue functioning
normally are explained.

Input port No. 16 = Program start number (ON edge) (specified by BCD)
Input port No. 17 = Servo ON signal
Input port Nos. 18 to 23 = Start program number
Input port No. 24 = Error reset (ON edge)
Input port No. 25 = Home return of all valid axes (ON edge)
Output port No. 316 = Error of operation-cancellation level or higher (ON)
Output port No. 317 = READY output (PIO trigger program operation permitted)
Output port No. 318 = Emergency stop output (ON)
Output port No. 319 = Output during automatic operation
Output port No. 320 = Output if all valid axes completed home return (coordinates have been
confirmed)
Output port Nos. 321 to 323 = Output when axis 1 to 3 servos are ON

I/O Parameter Settings

No. Parameter name Settings Remarks

30 Input function selection 000 1 1 (default value) = Program start signal (ON edge)

32 Input function selection 002 1 1 = Servo ON
37

Input function selection 007 to 012 1 1 (default value) = Start program number

to 42

43 Input function selection 013 2 2 = Error reset (ON edge)

45 Input function selection 015 1 1 = Home return of all valid axes (ON edge)
283 Physical input port number for input function selection 000 16 Input port number = 16
285 Physical input port number for input function selection 002 17 Input port number = 17
290

Physical input port number for input function selection 007 to

to 295

physical input port number for input function selection 012 18to 23
296 Physical input port number for input function selection 013 24 Input port number = 24
298 Physical input port number for input function selection 015 25 Input port number = 25
315

Physical input port number for output function selection 300

to 330

(area 2) to physical input port number for output function

selection 307 (area 2)
331 Output function selection 300 (area 2) 1 1 = Error of operation-cancellation level or higher

332 Output function selection 301 (area 2) 1 1 = READY output

333 Output function selection 302 (area 2) 1 1 = Emergency stop output (ON)
334 Output function selection 303 (area 2) 2 2 = Output during automatic operation

335 Output function selection 304 (area 2) 2 2 = Output if all valid axes completed home return

336

Output function selection 305 (area 2) to output function

to 338

selection 307 (area 2)

to 323

(specified by BCD)

Input port number = 18 to 23

316

Output port numbers = 316 to 323

(ON)

(PIO trigger program operation permitted)

(Other parameter No. 12)

(coordinates have been confirmed)

2 2 = Output when axis 1 to 3 servos are ON

(system monitor task output)

[Notes]

x If input function selection 000 (start) is assigned to a different input port, the start switch on the

front panel will no longer function as the “program start signal.”

x If any of input function selections 007 to 013 (digital switches) is assigned to a different input

port, the digital program selector switch on the front panel will no longer function as the “start
program number.”

2. Speci¿cations

INTELLIGENT ACTUATOR

2.4 External I/O Specifications

2.4.1 NPN Specification

(1) Input part

External Input Specifications (NPN Specification)

Item Specification

Input voltage

Input current 7 mA per circuit

ON/OFF voltage

Isolation method Photocoupler isolation

External devices

24 VDC r10%

ON voltage --- 16.0 VDC min.
OFF voltage --- 5.0 VDC max.

[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA)
[2] Photoelectric/proximity sensor (NPN type)
[3] Sequencer transistor output (open-collector type)
[4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

Chapter 1 Installation

[Input circuit]

Pin No. 1

External power supply

24 VDC + 10%

Internal circuit

Input terminal

Port Nos. 016 to 031

Note: The parameters are normally set to the

above port numbers before shipment.

Caution

If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a
circuit in which leakage current in a switch-off state does not exceed 1 mA.

~ Input signals to the Tabletop Robot

ON duration

OFF duration

32

At the default settings, the system recognizes the ON/OFF durations of input signals if they
are approx. 4 msec or longer. The ON/OFF duration settings can also be changed using
I/O parameter No. 20 (input filtering frequency).

33

Chapter 1 Installation

2. Speci¿cations

(2) Output part

INTELLIGENT ACTUATOR

External Output Specifications (NPN Specification)

Item Specification

Load voltage 24 VDC

Maximum load current 100 mA per point, 400 mA per 8 ports Note)

TD62084 (or equivalent)
Leakage current 0.1 mA max. per point
Isolation method Photocoupler isolation

External devices

[1] Miniature relay
[2] Sequencer input unit

Note) 400 mA is the maximum total load current of every eight ports from output port No. 316.

[Output circuit]

Pin No. 1

Surge absorber

Internal circuit

Output

terminal

Port Nos. 316 to
331

Load

External power supply
24 VDC r 10%

Pin No. 34

Note: The parameters are normally set to the

above port numbers before shipment.

Caution

In the event that the load is short-circuited or current exceeding the maximum load current is input, the
overcurrent protection circuit will be actuated to cut off the circuit. However, give due consideration to
the circuit connection layout to prevent short-circuit or overcurrent.

2. Speci¿cations

INTELLIGENT ACTUATOR

2.4.2 PNP Specification
(1) Input part

External Input Specifications (PNP Specification)

Item Specification

Input voltage

24 VDC r10%

Input current 7 mA per circuit

ON/OFF voltage

ON voltage --- 8 VDC max.
OFF voltage --- 19 VDC min.

Isolation method Photocoupler isolation

[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA)

External devices

[2] Photoelectric/proximity sensor (PNP type)
[3] Sequencer transistor output (open-collector type)
[4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

Chapter 1 Installation

[Input circuit]

Input terminal

Port Nos. 016 to 031

+

External power supply
24 VDC 10%

Internal circuit

Pin No. 34

Note: The parameters are normally set to the

above port numbers before shipment.

Caution

If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a
circuit in which leakage current in a switch-off state does not exceed 1 mA.

~ Input signals to the Tabletop Robot

ON duration

OFF duration

34

At the default settings, the system recognizes the ON/OFF durations of input signals if they
are approx. 4 msec or longer. The ON/OFF duration settings can also be changed using
I/O parameter No. 20 (input filtering frequency).

35

Chapter 1 Installation

2. Speci¿cations

(2) Output part

INTELLIGENT ACTUATOR

External Output Specifications

Item Specification

Load voltage 24 VDC

Maximum load current 100 mA per point, 400 mA per 8 ports Note)

TD62784 (or equivalent)
Leakage current 0.1 mA max. per point
Isolation method Photocoupler isolation

External devices

[1] Miniature relay
[2] Sequencer input unit

Note) 400 mA is the maximum total load current of every eight ports from output port No. 300.

[Output circuit]

Internal circuit

Pin No. 1

Surge absorber

Output terminal

Port Nos. 316
to 331

Load

External power supply
24 VDC 10%

Pin No. 34

Note: The parameters are normally set to the

above port numbers before shipment.

Caution

In the event that the load is short-circuited or a current exceeding the maximum load current is input,
the overcurrent protection circuit will be actuated to cut off the circuit. However, give due consideration
to the circuit connection layout to prevent short-circuit or overcurrent.

2. Speci¿cations

INTELLIGENT ACTUATOR

2.5 External Dimensions

Compact, cantilever 2-axis type with 200-mm XY-axis stroke

30 63.6 Xst: 200

2.5 2.5

ME

SE

ME

26

SE

2.5

Yst: 200

2.5

84

Home

ME

120

2-I4H7, depth 5

4-M5, depth 10

50

40

40

4-M4, depth 8

60

20.5

58

30

4-M4, depth 10

7.5

2-I4H7, depth 5

Y-slider mounting hole

73

23428
293014

4429

4-M5, depth 10

Home

Chapter 1 Installation

ME

58

10

1568 85

317

10.6 320

7342

58

50

1.5

6.2

310 10

49

60

X-slider position
adjustment volume

49

28

41.8

30 4513545148.8

405

T-groove

Y-slider position
adjustment volume

T-groove ( locations)

1.2

Weight [kg] 16.3

4.3

7.3

T-groove

1.8

4.3

36

37

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

Compact, cantilever 3-axis type with 200-mm XY-axis stroke

13.6

30

2.5

ME

SE Home ME

4-M4 , depth 8

50

40

120

2-I4H7, depth 5

4-M , depth 10

2-I4H7, depth 5

4-M4 , depth 8

Z-slider mounting hole

99.8 (Zst: 100 --- 149. 8)
5810

37.4

ME

26

SE

30

50

42

30

71

37.4

50

Home

ME

2.5 2.5

84 Yst:200

X-slider position
adjustment volume

Xst:200

60
40

4-M , depth 10

ME

2.52.5

Home

50

Zst: 50

(or 100)

SE

197.8 (Zst: 100 --- 247. 8)
46 51.8

ME

2.5

Z-slider position
adjustment volume

Y-slider position
adjustment volume

4.3

1.8

317

8 85 156

(34)

10.6

4.3

124.51.5
50

330.6 42

605

10310

49

41.8

405

T-groove

T-groove (4 locations)

1.24513545148.830

7.3

T-groove

Weight [kg] 18

2. Speci¿cations

INTELLIGENT ACTUATOR

Large, cantilever 2-axis type with 400-mm XY-axis stroke

30

63.6 Xst:400

ME SE

ME

26

SE

Home

Chapter 1 Installation

2.52.5

ME

73

8 42 23

20.5

58

30

7.5

2-M4, depth 5

2914 30

4429

2-M5, depth 5

2-I4H7, depth 5

Y-slider mounting hole

5810156

317

22

8 85

10.6 520 28

50

1.5

510

4973142

60

10

Yst:400

Home

ME

2.5 2.5

84

X-slider position
adjustment volume

49

2-I4H7, depth 5

213.6

50

41.8

30 148.8 45 335 45

4-M5, depth10

40

40

4-M5, depth8

60

605

T-groove

Y-slider position
adjustment volume

T-groove
(locations)

4.3

1.8

7.3

T-groove

Weight [kg] 35

4.3

38

39

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

Large, cantilever 3-axis type with 400-mm XY-axis stroke

13.6

30

SEME

ME

26

SE

Xst:400

Home

2.52.5
ME

4-M5 , depth 10

2-I4H7, depth 5

4-M4 , depth 8

Z-slider mounting hole

Zst + 49.8317

10

156

85 58

8

10.6 10510

(Cable projection)

22

124.51.5

37.4
30

50

42

30

171

37.4

50

50

530.6(44)

605

Yst:400

84

X-slider position
adjustment volume

49

42

Home

ME

2.5 2.5

41.8

213.6

60

4-M4 , depth 8

40

50

40

4-M5 , depth 10

2-I4H7, depth 5

ME

2.5

Home

Zst : 5

(or 100)

SE

Zst+147.8

2.5

ME

46 50 51.8

605

T-groove ( locations)

Z-slider position
adjustment volume

Y-slider position
adjustment volume

T-groove ( locations)

1.24533545148.830

4.3

7.3

T-groove

1.8

4.3

Weight [kg] 37

2. Speci¿cations

INTELLIGENT ACTUATOR

Compact, gate 2-axis type with 200-mm XY-axis stroke

ME

18.2
SE

2.5

Yst: 200

50
42

30

37.4

4-M5, depth 10

2-F4H7, depth 5

Y-slider mounting hole

30

4-M4, depth 8

50

41.8

2.5

Home

ME

70

133.3

Chapter 1 Installation

70

60

40

80

80

72

369.7

4-M5, depth 10

1.230 338.5

2-F4H7, depth 5

Z-slider mounting hole

4-M4, depth 8

T-groove
(4 locations)

240

330

88.2

37.4

338.5

50

126

179

14

301

85

8

10353510

Home

ME

Xst: 200

T-groove

107185

15

Y-slider position adjustment
volume

51.816.7 70

2.52.5
ME

SE

4.3

1.8

4.3

7.3

T-groove

Weight [kg] 14.8

40

41

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

Compact, gate 3-axis type with 200-mm XY-axis stroke

14.2

ME

SE

2.5

Yst: 200

37.4
30

4-M5, depth 10

197.8(Zst: 100 --- 247.8)

16.7 70

2.5
Home

ME

70

135

Zst: 50

(or 100)

83.3

51.846

50

2.5 2.5

ME

Home

ME

SE

T-groove
(4 locations)

(20)

(Cable projection)

30

50

42

Z-slider mounting hole

37.4

102.5

14

240
330

2-F4H7, depth 5

4-M4, depth 8

76.8

50

179

85

8

103510 35

58

Home

ME

2.5

37.8

407.3 (Zst: 100 --- 457.3)

80

338.5

369.7

Xst: 200

T-groove

338.5
107

Z-slider position adjustment
volume

1.230

Y-slider position adjustment
volume

51.8

2.5
ME

SE

70

60

40

80

72

4-M5, depth 10

2-F4H7, depth 5

X-slider mounting hole

4.3

7.3

T-groove

Weight [kg] 16.5

4-M4, depth 8

1.8

4.3

2. Speci¿cations

INTELLIGENT ACTUATOR

Large, gate 2-axis type with 400-mm XY-axis stroke

ME

2.5

18.2Yst:400

SE

30

37.4

4-M5, depth 10

2-F4H7, depth 5

Y-slider mounting hole

50
42
30

4-M4, depth 8

50

41.8

2.5

Home

ME

30

80

70

333.3

569.7

Chapter 1 Installation

80

72

4-M5, depth 10

2-F4H7, depth 5

1.2538.5

X-slider mounting hole

70
60
40

4-M4, depth 8

T-groove
(4 locations)

530

188.2

126

37.4

14

Y-slider position adjustment

538.5

50

58

16.7 70 Xst: 400 51.8

301

8 85 179

10354403510

2.5
Home

ME

T-groove

15

volume

107385

4.3

1.8

2.5
ME

SE

4.3

7.3

T-groove

Weight [kg] 33

42

43

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

Large, gate 3-axis type with 400-mm XY-axis stroke

ME

2.5
SE

70
60
40

T-groove
(4 locations)

35

10

(20) 530

(Cable projection)

37.4
30

4-M5, depth 10

2-F4H7, depth 5

504230

4-M4, depth 8

Z-slider mounting hole

37.4

102.5

14

440

80

70

58 Yst: 400 14.2

Home

ME

2.5

37.8

30

76.8

58

50

58

16.7 70 Xst: 400

Zst + 357.3

85 179

8

35

10

2.5

ME

Home

283.3

538.5

569.7

538.5

335 107

50 51.8

Zst: 50

(or 100)

Zst + 147.8

46

T-groove

Z-slider position adjustment volume

ME

Home

2.5

SE

ME

2.5

SE

1.2

Y-slider position adjustment
volume

51.8

2.5
ME

80

72

4-M5, depth 10

2-F4H7, depth 5

X-slider mounting hole

4.3

7.3

T-groove

4-M4, depth 8

1.8

4.3

Weight [kg] 35

Chapter 1 Installation

INTELLIGENT ACTUATOR

3. Installation Environment, Noise Measures and Other

As for the use environment, the products explained in this manual can be used in an environment of
pollution degree 2

*1

or equivalent.

*1 Pollution degree 2: An environment normally subject to non-conductive contaminants only, but

conductive contaminants may generate temporarily due to bedewing.
(EN60947-5-1)

3.1 Installation Environment

(1) When installing and wiring the Tabletop Robot, do not block the ventilation holes provided for

cooling. (Insufficient ventilation will not only prevent the robot from functioning fully, but it may also
result in failure.)

(2) Prevent foreign matter from entering the Tabletop Robot through the ventilation holes. Since the

controller inside the robot is not designed as dustproof or waterproof (oilproof), avoid using the
robot in a dusty place or place subject to oil mist or splashed cutting fluid.

(3) Do not expose the Tabletop Robot to direct sunlight or radiant heat from a high heat source such

as a heat-treating furnace.

(4) Use the Tabletop Robot in a non-condensing environment free from corrosive or inflammable

gases.
(5) Use the Tabletop Robot in an environment where it will not receive external vibration or impact.
(6) Prevent electrical noise from entering the Tabletop Robot or its cables.

3. Installation Environment, Noise Measures and Other

44

45

Chapter 1 Installation

3. Installation Environment, Noise Measures and Other

INTELLIGENT ACTUATOR

3.2 Installation

3.2.1 Brackets (Optional)

The Tabletop Robot is fitted with rubber feet to prevent movement on the installed surface. However,
the robot may still move depending on the conditions of use (load, acceleration/deceleration).
Optional brackets securely affix the robot and prevent it from moving.
Install the brackets to the robot using the dedicated T-slots and hexagon socket head bolts (M6x12).

Robot brackets (optional)

8-I7 hole

3.2.2 Installing the Load, Etc.

Tapped hole

s and positioning holes are provided on the X-axis slider (gate type only), Y-axis slider
and Z-axis slider. Use these holes to install a load, tool, etc., to each slider.
For details, refer to the external dimension view of the robot.

Chapter 1 Installation

INTELLIGENT ACTUATOR

3.2.3 Using the T-grooves

T-grooves of M4 size are provided on the frame that supports the actuator.
Auxiliary tools and other items can be installed in these T-grooves using nuts.
Use of square nuts is recommended for affixing items using T-grooves, but general hexagonal nuts
can also be used.
As for the bolts used for installation, pay attention to their length to ensure that the tip of the bolt will
not contact the bottom of the T-groove.

T-groove

3. Installation Environment, Noise Measures and Other

3.3

Power Source

The Tabletop Robot takes power from a single-phase power source of 100 to 230 VAC r 10%.

The voltage-source capacity varies depending on the power-source voltage and number of axes, as
follows.

Power-source voltage

100 V 200 V

Number of axes

2 axes
3 axes

150 VA 155 VA
210 VA 215 VA

46

47

Chapter 1 Installation

3. Installation Environment, Noise Measures and Other

INTELLIGENT ACTUATOR

3.4 Noise Measures and Grounding

3.4.1 Grounding

Power terminal E is used for protective grounding. Provide Class D grounding from this terminal.

Single-phase 200 to 230 VAC

Grounding for noise elimination
Connect the grounding terminal
with the metal enclosure using a

Class D grounding

(protective grounding)

cable of the largest possible size
over the minimum distance.

Metal enclosure

Provide dedicated grounding from the Tabletop Robot.

Tabletop

Robot

Other

equipment

Tabletop

Robot

Other

equipment

Do not ground the robot as shown above.

3.4.2 Noise sources and noise elimination

There are many noise sources, but

solenoid valves, magnet switches and relays are of particular
concern when building a system. Noise from these parts can be eliminated using the measures
specified below:

[1] AC solenoid valve, magnet switch, relay

Measure --- Install a surge killer in parallel with the coil.

Surge killer

Point

Wire from each coil over the shortest distance.
Installing a surge killer on the terminal block,
etc., will be less effective because of a longer
distance from the coil.

Chapter 1 Installation

INTELLIGENT ACTUATOR

[2] DC solenoid valve, magnet switch, relay

Measure --- Install a diode in parallel with the coil. Determine the diode capacity in accordance with

the load capacity.

In a DC circuit, connecting a diode in reversed polarity will
damage the diode, internal parts of the controller and DC
power supply. Exercise due caution.

Diode

The above noise elimination measures are particularly important when a 24-VDC relay is driven
directly by a controller output and there is also a 100-VAC solenoid valve, etc.

3. Installation Environment, Noise Measures and Other

Reference Circuit Diagram

Controller

100 VAC

Surge absorber

Solenoid valve

48

INTELLIGENT ACTUATOR

4. System Setup

4.1 Connecting the Tabletop Robot with Peripheral Equipment

Mode switch

Chapter 1 Installation

4. System Setup

Teaching pendant

PC

Power switch

Host equipment (PLC, etc.)

AC power

49

4. System Setup

INTELLIGENT ACTUATOR

4.2 I/O Connection Diagram (External DIOs)

4.2.1 NPN specification

Pin No. Category Port No. Function Cable color

I/O power supply + 24 V

General-purpose input

General-purpose input Orange-1

General-purpose input Yellow-1

General-purpose input Green-1

General-purpose input Blue-1

General-purpose input Purple-1

General-purpose input Gray-1

Input

Output

General-purpose input White-1

General-purpose input Black-1

General-purpose input Blown-2

General-purpose input Red-2

General-purpose input Orange-2

General-purpose input Yellow-2

General-purpose input Green-2

General-purpose input Blue-2

General-purpose input Purple-2

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output Orange-4

I/O power supply 0 V

Chapter 1 Installation

Brown-1

Red-1

Gray-2

White-2

Black-2

Blown-3

Red-3

Orange-3

Yellow-3

Green-3

Blue-3

Purple-3

Gray-3

White-3

Black-3

Blown-4

Red-4

Yellow-4

Note: The parameters are normally set to the above port numbers before shipment.

50

51

INTELLIGENT ACTUATOR

Chapter 1 Installation

4. System Setup

4.2.2 PNP specification

Pin No

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

Category Port No

016

017

018

019

020

021

022

Input

023

024

025

026

027

028

029

030

031

316

317

318

319

320

321

322

Output

323

324

325

326

327

328

329

330

331

Function Cable color

I/O power supply + 24 V

General-purpose input

General-purpose input Orange-1

General-purpose input Yellow-1

General-purpose input Green-1

General-purpose input Blue-1

General-purpose input Purple-1

General-purpose input Gray-1

General-purpose input White-1

General-purpose input Black-1

General-purpose input Blown-2

General-purpose input Red-2

General-purpose input Orange-2

General-purpose input Yellow-2

General-purpose input Green-2

General-purpose input Blue-2

General-purpose input Purple-2

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

General-purpose output

I/O power supply 0 V

Brown-1

Red-1

Gray-2

White-2

Black-2

Blown-3

Red-3

Orange-3

Yellow-3

Green-3

Blue-3

Purple-3

Gray-3

White-3

Black-3

Blown-4

Red-4

Orange-4

Yellow-4

+ 24V 0V

Note: The parameters are normally set to the above port numbers before shipment.

Chapter 2 Operation

Chapter 2 Operation

INTELLIGENT ACTUATOR

Chapter 2 Operation

1. Operation

1.1 How to Start a Program

With the Tabletop Robot, the stored programs can be started (run) using the four methods specified
below:

x Starting from the PC software
x Starting from the teaching pendant
x Starting automatically by a parameter setting (auto start)
x Starting via the digital program selector switch and function switch

The starting methods using the PC software and teaching pendant are used for simple operation
checks as part of debugging process. For the specific operating procedures to start Tabletop Robot
programs from the PC software or teaching pendant, refer to the operation manual for the PC software
or teaching pendant.

Teaching pendant

PC software

Start

Start

Tabletop Robot

Starting

automatically via

parameter setting

Starting via digital

switch and

function switch

Start

52

INTELLIGENT ACTUATOR

1.2 Starting a Program by Auto-Start via Parameter Setting

Chapter 2 Operation

I/O paramet

This parameter is set using the teaching pendant or PC software.

Set an auto-start program number

Automatically starting the program

er No. 33 (input function selection 003) = 1 (default factory setting)

Set the number of the program you wish to start
automatically in other parameter No. 1 (auto-start
program number).
Set the controller mode to AUTO.

Reset the controller

Reconnect the power, and the controller will be reset.

Once the controller is reset in the above step, the
program of the set number will start automatically.

Caution

1. Operation

[Note on starting a program by auto-start]
The automatic operation will begin immediately after the controller is reset, so the user may be
surprised by unexpected movements of the equipment, particularly those caused by a sudden
activation of the servo actuator. To ensure safety, always provide an interlocking function, such as
allowing the program execution to proceed only after receiving a confirmation signal at the beginning
of the program.

If you wish to start multiple programs at the same time, write multiple “EXPG” commands at the
beginning of the main program to start the remaining programs. Provide safety measures for each
program to be started.

53

1. Operation

Chapter 2 Operation

INTELLIGENT ACTUATOR

1.3 Starting via the Digital Program Selector Switch and Function Switch

Set a desired program number using the digital program selector switch.
Pressing the function switch will start the specified program.

To use this starting method, one of the following conditions must be satisfied:

x The robot is in the AUTO mode.
x The robot is in the MANU mode, where the teaching pendant or PC software has been connected

to the robot online and the robot is not yet restarted. (Once the teaching pendant or PC software is
connected online and the digital switch is set, the specified program can be started using the
function switch even after the connection is switched offline.)

54

Chapter 2 Operation

INTELLIGENT ACTUATOR

2. Controller Data

2.1 Data Structure

The controller unit of the Tabletop Robot stores parameters as well as position data and application
programs needed to execute SEL commands.

Structure of data stored in the controller unit

Main

Driver 1 Driver 2 Driver 3

Communication

SEL language

Parameters

Position

data

Parameters Parameters Parameters

Application

programs

The user must create position data and application programs. The parameters are predefined, but
their settings can be changed in accordance with the user’s system.
Refer to Appendix, “List of Parameters,” for details on the parameters.

2. Controller Data

55

Chapter 2 Operation

INTELLIGENT ACTUATOR

2.2 Saving Data

When data is created/edited using the PC software or teaching pendant is sent to the controller (or when the
[WRT] key is pressed on the teaching pendant), the data is stored in the controller’s temporary memory. The
data stored in the controller’s temporary memory will be erased once the controller is powered off or restarted
(via software reset). For important data, always write to the flash memory so that they will not be lost.

Note: Global data (variables, flags and strings) and error lists will be erased once the controller is powered off

or restarted (via software reset). (These data cannot be retained after the power is turned off.)
The error list is retained after a software reset, but will be cleared once the power is turned off.

2. Controller Data

Data edited on the PC or

teaching pendant

Programs,
parameters
(content 1),

Transfer

symbols,
positions

Slave cards,

parameters

Transfer

(content 2)

Encoder

parameters

Transfer

Data will be retained while

the power is on and cleared

upon reset

Write to flash memory

Temporary

memory

Read for reset

Transfer

Temporary

memory

Read for reset

Transfer

Temporary

memory

Read for reset

Data will be retained even after the

power is turned off

Flash

memory

Encoder

EEPROM

SEL global data

(content 3), error

Transfer

Temporary

memory

lists

Content 1: Parameters other than content 2 and encoder parameters
Content 2: Parameters of driver card, I/O slot card (power system card)
Content 3: Flags, variables, strings

Since the programs, parameters, symbols and positions are read from the flash memory at restart, the
data in the temporary memory will return to the original data before editing unless the edited data are
written to the flash memory. The controller always operates in accordance with the data in the temporary
memory (inside the dotted line) (excluding the parameters).

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Chapter 2 Operation

2. Controller Data

INTELLIGENT ACTUATOR

Points to Note

Point to note when transferring data and writing to the flash memory

Never turn off the main power while data is being transferred or written to the flash memory.
The data will be lost and the controller operation may be disabled.

Chapter 3 XSEL Lanhuage Data

Chapter 3 XSEL Lanhuage Data

INTELLIGENT ACTUATOR

Chapter 3 X-SEL Language Data

1. Values and Symbols Used in SEL Language

1.1 List of Values and Symbols Used

The various functions required in a program are represented by values and symbols.

Function Global range Local range Remarks

Input port 000 to 299 (300) Varies depending on the

Output port 300 to 599 (300) Varies depending on the

Flag 600 to 899 (300) 900 to 999 (100)

Variable (integer) 200 to 299 (100)

1200 to 1299 (100)

Variable (real) 300 to 399 (100)

1300 to 1399 (100)

String 300 to 999 (700) 1 to 299 (299)

Tag number 1 to 99 (99)

Subroutine number 1 to 99 (99)

Zone number 1 to 4 (4)

Pallet number 1 to 10 (10)

Axis number 1 to 3 (3) Varies depending on the

Axis pattern 0 to 111

Position number 1 to 3000 (3000)

Program number 1 to 64 (64)

Step number 1 to 6000 (6000)

Task level NORMAL/HIGH (2)

SIO channel number 1 to 1 (1) (Also used for

TP/PC)

Wait timer 1

1-shot pulse timer

Ladder timer Local flag (100)

Virtual input port (SEL

system o SEL user

program)

Virtual output port (SEL user

program o SEL system)

Number of symbol definitions 1000

Number of times symbol can

be used in commands

7000 to 7299 (300)

7300 to 7599 (300)

5000 (including literals)

Used in common from any
program.

16 (Number of timers that can

Referenced separately in
each program.
Cleared when the program is
started.

1 to 99 (99)

1001 to 1099 (99)

100 to 199 (100)

1100 to 1199 (100)

be operated simultaneously)

function.

function.

99 is used for IN, INB, OUT,
OUTB, etc.
199 is used for PPUT,
PGET, PARG, etc.

function.

58

Caution

x Variables 99 and 199 are special variables this system uses in

operations. Avoid using these two variables for general purposes.

x The values in the table represent ranges that can be processed by

software. Items that require physical devices, such as I/O ports and
functions relating to axis number and SIO, will be determined by possible
combinations and models of commercial boards, etc., available for each
device application.

Chapter 3 XSEL Lanhuage Data

INTELLIGENT ACTUATOR

z The variables and flags in the global range are retained until the controller is powered off.

z The variables and flags in the local range are cleared when the program is started (the data are

also cleared when the controller is powered off).

z Ranges of values that can be used in SEL language

Integers and real numbers can be used. However, pay due attention to the following limitations:

[1] Numeric data

The Tabletop Robot can handle values of maximum eight digits including a sign and a decimal
point.
Integer: -9,999,999 to 99,999,999
Real number: Maximum eight digits including a sign and decimal point, regardless of the size of
value
Example) 999999.9, 0.123456, -0.12345
If a floating point is used in operations, the number of valid digits will be limited to seven. Also note
that operations using a floating point are subject to error.

[2] Position data

The input range of position data consists of four integer digits and three decimal digits.
–9999.999 to 9999.999
(The maximum value varies depending on the Tabletop Robot.)
If position data are used in internal operations as numeric data (repeated multiplications and
divisions), the precision of the last digit may decrease.

Consider the above limitations fully when using values. Particularly when the CPEQ command is
used in a comparison operation using real numbers, a match will rarely result. In this case, the
CPLE or CPGE command that looks at the magnitude relationship of two terms must be used.

1-2 I/O Ports (External DIOs)

(1) Input

ports

Used as input ports for limit switches, sensor switches, etc.

Input number assignment

016 to 031 (standard)

(2) Output ports

Used as various output ports.

Output number assignment

316 to 331 (standard)

1. Values and Symbols Used in SEL Language

Note: The parameters are normally assigned to the above input port and output port numbers

before shipment.

59

1. Values and Symbols Used in SEL Language

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INTELLIGENT ACTUATOR

1-3 Virtual I/O Ports

(1) Virtual input ports

Port No. Function

7000 Always OFF
7001 Always ON
7002 Voltage low warning for system-memory backup battery
7003 Abnormal voltage of system-memory backup battery
7004
7005
7006 Top-level system error = Message level error is present
7007 Top-level system error = Operation-cancellation level error is present
7008 Top-level system error = Cold-start level error is present
7009
7010 Drive-source cutoff factor is present (including when waiting for cutoff reset input)
7011 Latch signal indicating that all-operation-cancellation factor is present (latch signal for

7012 All-operation-pause factor is present (including when waiting for restart switch signal) (Valid

7013 All-servo-axis-interlock factor is present (all-operation-pause factor + interlock input-port

7014
7015
7016
7017
7018
7019
7020
7021
7022

7023 to 7030

7031
7032
7033
7034
7035
7036

7037
7038 to 7040
7041 to 7070

7071 In AUTO mode

7072 During automatic operation
7073 to 7100

7101 Running program No. 01 (including during pause)

aa

7164 Running program No. 64 (including during pause)
7165 to 7299

For future expansion = Use prohibited
For future expansion = Use prohibited

For future expansion = Use prohibited

recognizing 1-shot cancellation factor; latch is cancelled by 7300-ON)

only during automatic operation recognition)

factor)

For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited
For future expansion = Use prohibited

For future expansion = Use prohibited

For future expansion = Use prohibited

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INTELLIGENT ACTUATOR

(2) Virtual output ports

Port No. Function

7300 Latch cancellation output for a latch signal indicating that all-operation-cancellation factor

is present (7011) (latch is cancelled only when operation-cancellation factor is no longer
present) (7300 will be turned OFF following an attempt to cancel latch.)

7301 to 7380 For future expansion = Use prohibited

7381 to 7399 For future expansion = Use prohibited

7400 to 7599 For future expansion = Use prohibited

Chapter 3 XSEL Lanhuage Data

INTELLIGENT ACTUATOR

1-4 Flags
Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags
are used to set or reset data. They correspond to “auxiliary relays” in a sequencer.

Flags are divided into global flags (Nos. 600 to 899) that can be used in all programs, and local
flags (Nos. 900 to 999) that can be used only in each program.

General-purpose flags (global flags) are retained until the controller is powered off.
Dedicated flags (local flags) are cleared when the program is started.

Flag number 600 to 899 Can be used in all programs “Global flags”
Flag number 900 to 999 Used only in each program “Local flags”

1. Values and Symbols Used in SEL Language

Program 1

BTON 600

Turn on flag 600

BTON 900

Program n

WTON 600

Wait for flag 600 to turn ON

(Like this, global flags can be
used to exchange signals.)

BTON 900

62

(Although the number is the same,
these are local flags and can exist only
in their respective programs.)

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1-5 Variables

(1) Meaning of variable
“Variable” is a technical term used in software programming. Simply put, it means “a box in
which a value is put.” Variables can be used in many ways, such as putting in or taking out a
value and performing addition or subtraction.

A variable can be used in many ways, such as:

Putting in a value (1234),

Taking out a value (456), or

Adding a value (+1).

Variable

box 1

Command Operand 1 Operand 2

ADD 1 1

If this command is applied to variable box 1, which already contains 2, then 1 will be added to the
current value and 3 will result.

1 is added.

Variable

box 1

(Already contains 2)

INTELLIGENT ACTUATOR

(2) Types of variables

Variables are classified into two types, as follows:

[1] Integer variables

These variables cannot handle decimal places.
[Example] 1234

Integer variable box

Variable

box 1

Chapter 3 XSEL Lanhuage Data

1. Values and Symbols Used in SEL Language

Integer variable

number

Integer variable

number

Caution

[2] Real variables

Actual values. These variables can handle decimal places.
[Example] 1234.567

Real variable

number

Real variable

number

200 to 299

1200 to 1299

1 to 99

1001 to 1099

Can be used in all programs “Global integer variables”

Used only in each program “Local integer variables”

Integer 99 is a special register this system uses in integer operations.
Any value in the range from -9,999,999 to 99,999,999 can be input in
programs.

(Decimal point)

Real variable box

Variable

box 1

300 to 399

1300 to 1399

100 to 199

1100 to 1199

Can be used in all programs “Global real variables”

Used only in each program “Local real variables”

64

Caution

Real number 199 is a special register this system uses in real-number
operations. Any value in the range from -99,999.9 to 999,999.9 (eight
digits including a sign) can be input in programs.

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[3] Variables with “*” (asterisk) (indirect specification)

An “*” (asterisk) is used to specify a variable.
In the following example, the content of variable box 1 will be put in variable box 2. If variable box
1 contains “1234,” then “1234” will be put in variable box 2.

Command Operand 1 Operand 2

LET 1 1234

Put in.

Variable

box 1

Command Operand 1 Operand 2

LET 2 *1

Variable

box 1

Variable

box 2

The above use of variables is called “indirect specification.”

An “*” is also used when indirectly specifying a symbol variable (refer to 1-8, “Symbols”).

Command Operand 1 Operand 2

LET ABC 1 Put 1 in variable ABC.
LET BCD 2 Put 2 in variable BCD.

ADD ABC *BCD

Add the content of variable BCD, or 2, to variable ABC.
(The content of variable ABC becomes 3.)

Chapter 3 XSEL Lanhuage Data

INTELLIGENT ACTUATOR

1-6 Tags
The term “tag” means “heading.”
Tags are used in the same way you attach labels to the pages in a book you want to reference
frequently.
A tag is a destination specified in a jump command “GOTO.”

Tag

Command Operand 1

1. Values and Symbols Used in SEL Language

TAG Tag number (Integer between 1 and 99)

They are used only in each program.

TAG 1

GOTO 1

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1-7 Subroutines
By taking out the parts of a program that are used repeatedly and registering them as
“subroutines,” the same processing can be performed with fewer steps. (A maximum of 15 nests
are accommodated.)

They are used only in each program.

Command Operand 1

EXSR

Subroutine number (Integer between 1 and 99;

variable is also supported)

Subroutine execution command

Command Operand 1

BGSR Subroutine number (Integer between 1 and 99)

Subroutine start declaration

Command Operand 1

EDSR ---

Subroutine end declaration

Subroutines are called.

Subroutines

1. Values and Symbols Used in SEL Language

Chapter 3 XSEL Lanhuage Data

INTELLIGENT ACTUATOR

1-8 Symbols

In the Tabletop Robot, values such as variable numbers and flag numbers can be handled as
symbols. For the method to edit symbols, refer to “Editing Symbols” in the operation manual
for X-SEL teaching pendant or “Symbol Edit Window” in the operation manual for X-SEL PC
software.

(1) Supported symbols

The following items can be expressed using symbols:
Variable number, flag number, tag number, subroutine number, program number, position
number, input port number, output port number, axis number, constant

(2) Description rules of symbols

[1] A maximum of nine single-byte alphanumeric characters or underscore starting with an

alphabet
(Note: The length of a character-string literal must not exceed eight single-byte
characters.)
* If the PC software version is 1.1.0.5 or later or the teaching pendant version is 1.04 or

later, an underscore can be used as the first character in a symbol.

* If the PC software version is 1.1.0.5 or later, single-byte ASCII code characters from

21h to 7Eh (limited to those that can be input via keyboard) can be used as the second
and subsequent characters.

* Exercise caution that the same ASCII code may be expressed differently between the

PC software and the teaching pendant because of the different fonts used by the two.
(The same applies to character-string literals.)

5Ch --- PC software: Backslash \ (overseas specifications, etc.)

Teaching pendant: Yen mark ¥

7Eh --- PC software: a

Teaching pendant: Right arrow o

[2] Symbols of the same name must not be defined within each function. (The same local

symbol can be used in different programs.)

[3] Symbols of the same name must not be defined within the flag number, input-port

number or output-port number group. (The same local symbol can be used in different
programs.)

[4] Symbols of the same name must not be defined within the integer-variable number or

real-variable number group. (The same local symbol can be used in different programs.)

[5] Symbols of the same name must not be defined within the integer constant or real

constant group.

(3) Number of symbols that can be defined: Maximum 1000

(4) Number of times symbols can be used in all SEL programs: Maximum 5000 times including

character-string literals
* If symbol is used in all of the input condition, operand 1, operand 2 and output fields, it is

deemed that symbol is used four times in one step.

1-9 Character-String Literals

Character-string literals are used in certain string-operation commands and consist of the
portion enclosed by single quotation marks (‘ ‘) (maximum eight single-byte characters).
With the PC software, single-byte ASCII code characters from 20h to 7Eh (limited to those that
can be input via keyboard) can be used inside the single quotation marks. With the teaching
pendant, single-byte alphanumeric characters and single-byte underscores can be used.

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Chapter 3 XSEL Lanhuage Data

1. Values and Symbols Used in SEL Language

1-10 Axis Specification

Axes can be specified based on axis number or axis pattern.

(1) Axis numbers and how axes are stated

Each of multiple axes is stated as follows:

Axis number

How axis is

stated
1 Axis 1
2 Axis 2
3 Axis 3

The axis numbers stated above can also be expressed using symbols.

Use axis number if you wish to specify only one of multiple axes.
x Commands that use axis specification based on axis number

BASE, PPUT, PGET, AXST, PASE, PCHZ, ACHZ, PARG

INTELLIGENT ACTUATOR

(2) Axis pattern

Whether or not each axis will be used is indicated by “1” or “0.”

(Upper) (Lower)

Axis number Axis 3 Axis 2 Axis 1

Used 1 1 1

Not used 0 0 0

[Example] When axes 1 and 2 are used

Axis 2

011 --- (The 0 in front is not necessary. With the 0 removed, the expression reads “11.”)

Axis 1

Chapter 3 XSEL Lanhuage Data

1. Values and Symbols Used in SEL Language

[Example] When axes 1 and 3 are used

Axis 3

101 --- (In this case, the 0 is needed to indicate the position of axis 3.)

Axis 1

Indirect specification of axis pattern in a variable
The axis pattern is considered a binary value, and a converted decimal value is assigned to a
variable.

[Example] To perform home return for axis 3 only, you can specify as follows based on axis pattern:

HOME 100

In indirect specification, 100 (binary) is expressed as 4 (decimal), so the same operation can
be specified as follows:

LET 6 4
HOME *6

If you must select and specify multiple axes at the same time, use axis pattern.
x Commands that use axis specification based on axis pattern

OFST, GRP, SVON, SVOF, HOME, JFWN, JFWF, JBWN, JBWF, STOP, PTST, PRED
CHVL, PBND, WZNA, WZNO, WZFA, WZFO

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X-SEL language consists of a position part (position data = coordinates, etc.) and a command part
(application program).

2. Position Part

As position data, coordinates, speeds, accelerations and decelerations are set and stored.

* Maximum

Gate type: 0.3 G
Cantilever type: 0.2 G

1 to 300/mm sec

Position No. Axis 1 Axis 2 Axis 3 Speed

Acceleration Deceleration

* Maximum

Gate type: 0.3 G
Cantilever type: 0.2 G

* If speed, acceleration or deceleration is set in the position data, the setting will be given priority

over the corresponding data set in the application program. Leave the position data fields
empty if you wish to enable the corresponding data in the application program.

The effective speed and acceleration are determined based on the following priorities.

Priority Speed Acceleration (deceleration)

1 Position data value set in operand 1 Position data value set in operand 1

2 Value set by a VEL command Value set by an ACC (DCL) command

3

All-axis parameter No. 11, “Default acceleration”
(All-axis parameter No. 12, “Default deceleration”)

2. Position Part

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Chapter 3 XSEL Lanhuage Data

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3. Command Part

The primary feature of SEL language is its very simple command structure. Since the structure is simple, there is
no need for a compiler (to translate into computer language) and high-speed operation is possible via an
interpreter (the program runs as commands are translated).

3.1 SEL language Structure The table bel

ow shows the structure of one command step.

3. Command Part

Extension condition

(AND, OR)

Input condition

(I/O, flag)

Command,
declaration

Command, declaration

Operand 1 Operand 2

Output

(Output port, flag)

Using a ladder diagram, this is
expressed as follows:

Command

Operand 1 Operand 2

Output

(1) The condition before the command is equivalent to “IF ~ THEN…” in BASIC.

Command

Operand 1

Operand 2

Output

IF to THEN ELSE

To the next step

[1] If the input condition is satisfied, the command will be executed. If there is an output specification, the

specified output port will be turned ON. If the input condition is not satisfied, the program will proceed to the
next step regardless of the command that follows (e.g., WTON, WTOF). Obviously nothing will happen at the

output port, but caution must be exercised.
[2] If no condition is set, the command will be executed unconditionally.
[3] To use the condition in reverse logic (so-called “contact b logic” ), add "N" (NOT) to the condition.
[4] The input condition supports input port, output port and flag.
[5] The operand 1, operand 2 and output fields can be specified indirectly.

(2) The output field, which follows the command, operand 1 and operand 2 fields, will specify the following

action:

Command

Operand 1

Operand 2

Output

p

[1] In the case of a control command relating to actuator operation, etc., the output will turn OFF the moment the

execution of command is started, and turn ON when the execution is completed. In the case of a calculation

operation command, etc., the output will turn ON if the result corresponds to a certain value, and turn OFF if

not.
[2] The output field supports output port and flag.

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3.2 Extension Condition

Conditions can be combined in a complex manner.

AND extension (Ladder diagram) (SEL language)

Condition 1

Condition 2

Condition 3

OR extension

Condition 1

Condition 2

Extension

condition

Extension

condition

Input

condition

Command Operand 1 Operand 2

Condition

1

Condition

2

Condition

Command

3

Input

condition

Command Operand 1 Operand 2

Condition

1

Condition

Command

2

Command

Operand 1 Operand 2

Command

Operand 1 Operand 2

Output

Output

AND extension and OR extension

Condition 1

Condition 2

Condition 3

Extension

condition

Input

condition

Command Operand 1 Operand 2

Condition

1

Condition

2

Condition

Command

3

Command

Operand 1 Operand 2

Output

Chapter 4 Commands

INTELLIGENT ACTUATOR

Chapter 4 Commands

1. List of SEL Language Command Codes by Function

Variables can be specified indirectly in the operand 1, operand 2 and output fields.
Symbols can be input in the condition, operand 1, operand 2 and output fields.
The input items in ( ) under operand 1 and operand 2 are optional.

Once an “actuator control declaration” command is executed in a program, the command will remain valid as long as the
program is running. To change the values (in operand 1, operand 2, etc.) already set by the “actuator control declaration”
command, the necessary parts of the program must be set again. In other words, the values set by the last executed
command will prevail.

The output field will be turned OFF when the command is executed. Once the execution is completed, the output field may
be turned ON depending on the operation type condition in the output field. (The output field will remain OFF if the condition
is not satisfied.)

Note: The output field of a comparison command CPXX (CPEQ, CPNE, CPGT, CPGE, CPLT or CPLE) will not be turned

OFF when the command is executed.

1.1 List of Commands by Function

Operation type in the output field
CC: Command was executed successfully,
ZR: Operation result is zero, PE: Operation is complete,
CP: Command part has passed, TU: Time up

assignment

Chapter 4 Commands

Comparison Optional CPXX Comparison variable Comparison value

EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Category Condition Command Operand 1 Operand 2 Output Function Page

Variable

Arithmetic

operation

Function

operation

Logical

operation

Timer

I/O, flag

operation

Optional LET Assignment variable Assigned value ZR Assign 84
Optional TRAN Copy-destination variable Copy-source variable ZR Copy 84
Optional CLR Start-of-clear variable End-of-clear variable ZR Clear variable 85
Optional ADD Augend variable Addend ZR Add 86
Optional SUB Minuend variable Subtrahend ZR Subtract 86
Optional MULT Multiplicand variable Multiplier ZR Multiply 87
Optional DIV Dividend variable Divisor ZR Divide 87

Optional MOD

Optional SIN Sine assignment variable Operand [radian] ZR Sine 89

Optional COS

Optional TAN

Optional ATN

Optional SQR Root assignment variable Operand ZR Root 91
Optional AND AND operand variable Operand ZR Logical AND 92
Optional OR OR operand variable Operand ZR Logical OR 93

Optional EOR

Optional TIMW Wait time (sec) Prohibited TU Wait 96
Optional TIMC Program number Prohibited CP Cancel waiting 97
Optional GTTM Time assignment variable Prohibited CP Get time 98
Optional BTXX Start output, flag (End output, flag) CP Output, flag [ON, OF, NT] 99
Optional BTPN Output port, flag Timer setting CP Output ON pulse 100
Optional BTPF Output port, flag Timer setting CP Output OFF pulse 101
Optional WTXX I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF]
Optional IN Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
Optional INB Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
Optional OUT Head output, flag End I/O, flag CC Output binary (32 bits max.)
Optional OUTB Head output, flag Conversion digits CC Output BCD (8 digits max.)

Optional FMIO Format type Prohibited CP

Remainder assignment
variable

Cosine assignment
variable
Tangent assignment
variable
Inverse-tangent assignment
variable

Exclusive-OR operand
variable

Divisor ZR Calculate remainder 88

Operand [radian] ZR Cosine 89

Operand [radian] ZR Tangent 90

Operand ZR Inverse tangent 90

Operand ZR Logical exclusive-OR 94

EQ, NE,
GT, GE,

LT, LE

Compare 95

Set IN (B)/OUT (B) command
format

Operand 2,

Operand 2

102
103
104
105
106

107

74

INTELLIGENT ACTUATOR

Chapter 4 Commands

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Operand 2,

Operand 2,

Operand 2

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional GOTO

Program

control

Task

management

Position

operation

Actuator

control

declaration

Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 110

Optional EXSR

Prohibited BGSR

Prohibited EDSR Prohibited Prohibited CP End subroutine 112

Optional EXIT Prohibited Prohibited CP End program 113

Optional EXPG Execution program number

Optional ABPG Stop program number (Stop program number) CC Stop other program 115

Optional SSPG Pause program number (Pause program number) CC Pause program 116

Optional RSPG

Optional PGET Axis number Position number CC Assign position to variable 199 118
Optional PPUT Axis number Position number CP Assign value of variable 199 119

Optional PCLR Start position number End position number CP Clear position data 120

Optional PCPY

Optional PRED Read axis pattern

Optional PRDQ Axis number Variable number CP

Optional PTST Confirmation axis pattern

Optional PVEL Speed [mm/sec]

Optional PACC Acceleration [G]

Optional PDCL Deceleration [G]

Optional PAXS

Optional PSIZ

Optional GVEL Variable number Position number CP Get speed data 130
Optional GACC Variable number Position number CP Get acceleration data 131
Optional GDCL Variable number Position number CP Get deceleration data 132
Optional VEL Speed [mm/sec] Prohibited CP Set speed 133
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 134
Optional ACC Acceleration [G] Prohibited CP Set acceleration 135
Optional DCL Deceleration [G] Prohibited CP Set deceleration 136
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 137
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 138
Optional DEG Division angle [deg] Prohibited CP Set division angle 139
Optional BASE Reference axis number Prohibited CP Set reference axis 140
Optional GRP Valid axis pattern Prohibited CP Set group axes 141
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 142
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 143
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 144
Optional DIS Distance Prohibited CP Set spline division distance 145
Optional POTP 0 or 1 Prohibited CP Set PATH output type 146

Optional PAPR Distance Speed CP

Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 148

Jump-destination tag
number

Execution subroutine
number
Declaration subroutine
number

Resumption program
number

Copy-destination position
number

Axis-pattern assignment
variable number
Size assignment variable
number

Prohibited CP Jump 110

Prohibited CP Execute subroutine 111

Prohibited CP Start subroutine 111

(Execution program
number)

(Resumption program
number)

Copy-source position
number
Save-destination position
number

Confirmation position
number
Assignment-destination
position number
Assignment-destination
position number
Assignment-destination
position number

Position number CP Read axis pattern 128

CC Start program 114

CC Resume program 117

CP Copy position data 121

CP Read current axis position 122

Read current axis position (1
axis direct)

CC Confirm position data 124

CP Assign position speed 125

CP Assign position acceleration 126

CP Assign position deceleration 127

CP Confirm position size 129

Set PUSH command distance,
speed

123

1. List of SEL Language Command Codes by Function

147

75

1. List of SEL Language Command Codes by Function

Chapter 4 Commands

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional SVXX Operation axis pattern Prohibited PE Servo [ON, OF]
Optional HOME Home-return axis pattern Prohibited PE Return to home
Optional MOVP Destination position number Prohibited PE Move to specified position

Optional MOVL Destination position number Prohibited PE

Optional MVPI Travel position number Prohibited PE Move to relative position

Optional MVLI Travel position number Prohibited PE

Optional PATH Start position number End position number PE Move along path
Optional JXWX Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis
Optional PSPL Start position number End position number PE Move along spline

Actuator

control

command

Structural IF

Structural

DO

Multi-

branching

Optional PUSH Target position number Prohibited PE Move by push motion

Optional CIR2 Passing position 1 number

Optional ARC2 Passing position number End position number PE

Optional CIRS Passing position 1 number

Optional ARCS Passing position number Passing position number PE

Optional CHVL Axis pattern Speed CP Change speed

Optional ARCD End position number Center angle [deg] PE

Optional ARCC Center position number Center angle [deg] PE

Optional PBND Axis pattern Distance CP Set positioning band

Optional CIR Passing position 1 number

Optional ARC Passing position number End position number PE

Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 220
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 210
Optional ATRG Position number Position number CP Set arch trigger 211
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 212
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 212

Optional IFXX Comparison variable Comparison value CP

Optional ISXX Column number

Prohibited ELSE Prohibited Prohibited CP

Prohibited EDIF Prohibited Prohibited CP Declare end of IF

Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
Optional LEAV Prohibited Prohibited CP Pull out from DO
Optional ITER Prohibited Prohibited CP Repeat DO

Prohibited EDDO Prohibited Prohibited CP Declare end of DO

Optional SLCT Prohibited Prohibited CP Declare start of multi-branching

Prohibited WHXX Comparison variable Comparison value CP

Prohibited WSXX Column number

Prohibited OTHE Prohibited Prohibited CP

Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT

Passing position 2
number

Passing position 2
number

Passing position 2
number

Column number,
character literal

Column number,
character literal

PE

PE

PE

CP Compare strings

CP Branch character string [EQ, NE]

Operand 2,

Operand 2,

Operand 2

Move to specified position via
interpolation

Move to relative position via
interpolation

Move along circle 2 (arc
interpolation)
Move along arc 2 (arc
interpolation)
Move three-dimensionally along
circle
Move three-dimensionally along
arc

Move along arc via specification
of end position and center angl
Move along arc via specification
of center position and center
angle

Move along circle (CIR2 is
recommended)
Move along arc (ARC2 is
recommended)

Compare [EQ, NE, GT, GE, LT,
LE]

Declare execution destination
when IF command condition is
not satisfied

Branch value [EQ, NE, GT, GE,
LT, LE]

Declare branching destination
when condition is not satisfied

149
150
151

152

153

154

155
156
157
158
159

161

162

163

164

165

166

167

168

169

170

171

172

173

173
174
174
175
175
176

177

178

179

179

76

77

Chapter 4 Commands

1. List of SEL Language Command Codes by Function

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Category Condition Command Operand 1 Operand 2 Output Function Page

System
information
acquisition

Zone

Communication

String

operation

Optional AXST Variable number Axis number CP Get axis status

Optional PGST Variable number Program number CP Get program status

Optional SYST Variable number Prohibited CP Get system status

Optional WZNA Zone number Axis pattern CP Wait for zone ON, with AND

Optional WZNO Zone number Axis pattern CP Wait for zone ON, with OR

Optional WZFA Zone number Axis pattern CP Wait for zone OFF, with AND

Optional WZFO Zone number Axis pattern CP Wait for zone OFF, with OR

Optional OPEN Channel number Prohibited CP Open channel

Optional CLOS Channel number Prohibited CP Close channel

Optional READ Channel number Column number CC Read from channel

Optional TMRD Timer setting Prohibited CP Set READ timeout value

Optional WRIT Channel number Column number CP Output to channel

Optional SCHA Character code Prohibited CP Set end character

Optional SCPY Column number

Optional SCMP Column number

Optional SGET Variable number

Optional SPUT Column number Data CP Set character

Optional STR Column number Data CC Convert character string; decimal

Optional STRH Column number Data CC

Optional VAL Variable number

Optional VALH Variable number

Optional SLEN Character string length Prohibited CP Set length

Column number,
character literal
Column number,
character literal
Column number,
character literal

Column number,
character literal
Column number,
character literal

CC Copy character string

EQ Compare character strings

CP Get character

CC

CC

Operand 2,

Operand 2,

Operand 2

Convert character string;
hexadecimal
Convert character string data;
decimal
Convert character string data;
hexadecimal

180

181

182

183

184

185

186

187

187

188

189

190

191

192

193

194

195

196

197

198

199

200

Chapter 4 Commands

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional BGPA Palletizing number Prohibited CP Declare start of palletizing setting

Prohibited EDPA Prohibited Prohibited CP Declare end of palletizing setting

Optional PAPI Count Count CP Set palletizing counts

Optional PAPN Pattern number Prohibited CP Set palletizing pattern

Optional PASE Axis number Axis number CP Set palletizing axes

Optional PAPT Pitch Pitch CP Set palletizing pitches

Optional PAST (Position number) Prohibited CP Set palletizing reference point

Optional PAPS Position number Prohibited CP

Optional PSLI Offset amount (Count) CP Set zigzag

Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis

Optional PTRG Position number Position number CP Set palletizing arch triggers

Optional PEXT (Position number) Prohibited CP Set palletizing composition

Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset

Palletizing-

related

Building of

pseudo-

ladder task

Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis

Optional ATRG Position number Position number CP Set arch triggers

Optional AEXT (Position number) Prohibited CP Set arch-motion composition

Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset

Optional PTNG Palletizing number Variable number CP Get palletizing position number

Optional PINC Palletizing number Prohibited CC

Optional PDEC Palletizing number Prohibited CC

Optional PSET Palletizing number Data CC

Optional PARG Palletizing number Axis number CP Get palletizing angle

Optional PAPG Palletizing number Position number CP Get palletizing calculation data

Optional PMVP Palletizing number (Position number) PE Move to palletizing points via PTP

Optional PMVL Palletizing number (Position number) PE

Optional PACH Palletizing number Position number PE Palletizing-point arch motion

Optional ARCH Position number Position number PE Arch motion 220

Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.

Optional CHPR 0 or 1 Prohibited CP Change task level 222

Prohibited TPCD 0 or 1 Prohibited CP

Prohibited TSLP Time Prohibited CP Task sleep

Optional OUTR Output, flag number Prohibited CP Output relay for ladder

Optional TIMR Local flag number Timer setting CP Timer relay for ladder

Operand 2,

Operand 2,

Operand 2

Set 3 palletizing points for
teaching

Increment palletizing position
number by 1
Decrement palletizing position
number by 1
Set palletizing position number
directly

Move to palletizing points via
interpolation

Specify processing to be
performed when input condition is
not specified

201

201

202

202

203

203

204

205

206

207

208

209

209

210

211

212

212

213

213

214

214

215

215

216

217

218

222

223
See

245
See
245

1. List of SEL Language Command Codes by Function

78

79

Chapter 4 Commands

1. List of SEL Language Command Codes by Function

INTELLIGENT ACTUATOR

1.2 List of Commands in Alphabetical Order

Operation type in the output field
CC: Command was executed successfully
ZR: Operation result is zero
PE: Operation is complete
CP: Command part has passed
TU: Time up

Command Page Condition Operation1 Operation2 Output Function

A

ABPG 115 Optional Stop program number (Stop program number) CC Stop other program

ACC 135 Optional Acceleration Prohibited CP Set acceleration

ACHZ 210 Optional Axis number Prohibited CP Declare arch-motion Z-axis

ADD 86 Optional Augend variable Addend ZR Add

AEXT 212 Optional (Position number) Prohibited CP Set arch-motion composition

AND 92 Optional AND operand variable Operand ZR Logical AND

ARC 170 Optional Passing position number End position number PE Move along arc

ARC2 162 Optional Passing position number End position number PE Move along arc 2

ARCC 167 Optional Center position number Center angle PE

ARCD 166 Optional End position number Center angle PE

ARCH 220 Optional Position number Position number PE Arch motion

ARCS 164 Optional Passing position number Passing position number PE Move three-dimensionally along arc

ATN 90 Optional

ATRG 211 Optional Position number Position number CP Set arch trigger

AXST 180 Optional Variable number Axis number CP Get axis status

B

BASE 140 Optional Reference axis number Prohibited CP Set reference axis

BGPA 201 Optional Palletizing number Prohibited CP Declare start of palletizing setting

BGSR 111 Prohibited

BTPF Optional Output port, flag Timer setting CP Output OFF pulse

BTPN Optional Output port, flag Timer setting CP Output ON pulse

BTXX 99 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]

C

CANC 143 Optional (Input port to abort) (CANC type) CP Declare port to abort

CHPR 222 Optional 0 or 1 Prohibited CP Change task level

CHVL 165 Optional Axis pattern Speed CP Change speed

CIR 169 Optional Passing position 1 number

CIR2 161 Optional Passing position 1 number

CIRS 163 Optional Passing position 1 number

CLOS 187 Optional Channel number Prohibited CP Close channel

CLR 85 Optional Start-of-clear variable End-of-clear variable ZR Clear variable

COS 89 Optional Cosine assignment variable Operand ZR Cosine

CPXX 95 Optional Comparison variable Comparison value Compare

D

DCL 136 Optional Deceleration Prohibited CP Set deceleration

DEG 139 Optional Division angle Prohibited CP Set division angle

DIS 145 Optional Distance Prohibited CP Set spline division distance

DIV 87 Optional Dividend variable Divisor ZR Divide

DWXX 174 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]

101

100

Inverse-tangent assignment
variable

Declaration subroutine
number

EQ: Operand 1 = Operand 2
NE: Operand 1

Operand 2
GT: Operand 1 > Operand 2
GE: Operand 1

Operand 2
LT: Operand 1 < Operand 2
LE: Operand 1

Operand ZR Inverse tangent

Prohibited CP Start subroutine

Passing position 2
number
Passing position 2
number
Passing position 2
number

Operand 2

Move along arc via specification of center
position and center angle
Move along arc via specification of end
position and center angle

PE Move along circle

PE Move along circle 2

PE Move three-dimensionally along circle

1. List of SEL Language Command Codes by Function

Chapter 4 Commands

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Command Page Condition Operation1 Operation2 Output Function

E

EDDO 175 Prohibited Prohibited Prohibited CP Declare end of DO

EDIF 173 Prohibited Prohibited Prohibited CP Declare end of IF

EDPA 201 Prohibited Prohibited Prohibited CP Declare end of palletizing setting

EDSL 179 Prohibited Prohibited Prohibited CP Declare end of SLCT

EDSR 112 Prohibited Prohibited Prohibited CP End subroutine

ELSE 173 Prohibited Prohibited Prohibited CP

EOR 94 Optional

EXIT 113 Optional Prohibited Prohibited CP End program

EXPG 114 Optional Execution program number

EXSR 111 Optional

F

FMIO Optional Format type Prohibited CP Set IN (B)/OUT (B) command format

G

GACC 131 Optional Variable number Position number CP Get acceleration data

GDCL 132 Optional Variable number Position number CP Get deceleration data

GOTO 110 Optional Jump-destination tag number Prohibited CP Jump

GRP 141 Optional Valid axis pattern Prohibited CP Set group axes

GTTM 98 Optional Time assignment variable Prohibited CP Get time

GVEL Optional Variable number Position number CP Get speed data

H

HOLD 142 Optional (Input port to pause) (HOLD type) CP Declare port to pause

HOME 150 Optional Home-return axis pattern Prohibited PE Return to home

I

IFXX 171 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]

INB Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)

IN Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)

ISXX 172 Optional Column number

ITER 175 Optional Prohibited Prohibited CP Repeat DO

J

JXWX 156 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]

L

LEAV 174 Optional Prohibited Prohibited CP Pull out from DO

LET 84 Optional Assignment variable Assigned value ZR Assign

M

MOD 88 Optional

MOVL 152 Optional Destination position number Prohibited PE Move to specified position via interpolation

MOVP 151 Optional Destination position number Prohibited PE Move to specified position

MULT 87 Optional Multiplicand variable Multiplier ZR Multiply

MVLI 154 Optional Travel position number Prohibited PE Move to relative position via interpolation

MVPI 153 Optional Travel position number Prohibited PE Move to relative position

107

130

104

103

Exclusive-OR operand
variable

Execution subroutine
number

Remainder assignment
variable

Operand ZR Logical exclusive-OR

(Execution program
number)

Prohibited CP Execute subroutine

Column number,
character literal

Divisor ZR Calculate remainder

CC Start program

CP Compare strings

Operand 2,

Operand 2,

Operand 2

Declare execution destination when IF
command condition is not satisfied

80

81

Chapter 4 Commands

1. List of SEL Language Command Codes by Function

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Command Page Condition Operation1 Operation2 Output Function

O

OFAZ 212 Optional Offset amount Prohibited CP Set arch-motion Z-axis offset

OFPZ 209 Optional Offset amount Prohibited CP Set palletizing Z-axis offset

OFST 138 Optional Setting axis pattern Offset value CP Set offset

OPEN 187 Optional Channel number Prohibited CP Open channel

OR 93 Optional OR operand variable Operand ZR Logical OR

OTHE 179 Prohibited Prohibited Prohibited CP

OUT Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)

OUTB Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)

OUTR 245 Optional Output, flag number Prohibited CP Output relay for ladder

OVRD 134 Optional Speed ratio Prohibited CP Set speed ratio

P

PACC Optional Acceleration

PACH Optional Palletizing number Position number PE Palletizing-point arch motion

PAPG Optional Palletizing number Position number CP Get palletizing calculation data

PAPI

PAPN

PAPR

PAPS

PAPT

PARG

PASE

PAST

PATH

PAXS

PBND

PCHZ

PCLR

PCPY

PDCL

PDEC

PEXT

PGET

PGST

PINC

PMVL

PMVP

POTP

PPUT

PRDQ

PRED

PSET

PSIZ

PSLI

PSPL

PTNG

105

106

126

218

215

202

202

147

205

203

215

203

204

155

128

168

207

120

121

127

214

209

118

181

213

217

216

146

119

123

122

214

129

206

158

213

Assignment-destination
position number

Optional Count Count CP Set palletizing counts

Optional Pattern number Prohibited CP Set palletizing pattern

Optional Distance Prohibited CP Set PUSH command distance, speed

Optional Position number Prohibited CP Set 3 palletizing points for teaching

Optional Pitch Pitch CP Set palletizing pitches

Optional Palletizing number Axis number CP Get palletizing angle

Optional Axis number Axis number CP Set palletizing axes

Optional (Position number) Prohibited CP Set palletizing reference point

Optional Start position number End position number PE Move along path

Optional

Optional Axis pattern Distance CP Set positioning band

Optional (Axis number) Prohibited CP Set palletizing Z-axis

Optional Start position number End position number CP Clear position data

Optional

Optional Deceleration

Optional Palletizing number Prohibited CC

Optional (Position number) Prohibited CP Set palletizing composition

Optional Axis number Position number CC Assign position to variable 199

Optional Variable number Program number CP Get program status

Optional Palletizing number Prohibited CC Increment palletizing position number by 1

Optional Palletizing number (Position number) PE Move to palletizing points via interpolation

Optional Palletizing number (Position number) PE Move to palletizing points via PTP

Optional 0 or 1 Prohibited CP Set PATH output type

Optional Axis number Position number CP Assign value of variable 199

Optional Axis number Variable number CP Read current axis position (1 axis direct)

Optional Read axis pattern

Optional Palletizing number Data CC Set palletizing position number directly

Optional

Optional Offset amount (Count) CP Set zigzag

Optional Start position number End position number PE Move along spline

Optional Palletizing number Variable number CP Get palletizing position number

Axis-pattern assignment variable
number

Copy-destination position number Copy-source position number

Size assignment variable number

Position number CP Read axis pattern

Assignment-destination
position number

Save-destination position
numb

er

CP Assign position acceleration

CP Copy position data

CP Assign position deceleration

CP Read current axis position

CP Confirm position size

Operand 2,

Operand 2,

Operand 2

Declare branching destination when condition is not
satisfied

Decrement palletizing position number by 1

Chapter 4 Commands

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Command Page Condition Operation1 Operation2 Output Function

P

PTRG

PTST

PUSH

PVEL

208

124

159

125

Optional

Optional

Optional

Optional

Position number Position number CP Set palletizing arch triggers

Confirmation axis pattern

Confirmation position
number

CP Confirm position data

Target position number Prohibited PE Move by push motion

Speed

Assignment-destination
position number

CP Assign position speed

Q

QRTN 148

Optional

0 or 1 Prohibited CP Set quick-return mode

R

READ 188

RSPG 117

Optional

Optional

Channel number Column number CC Read from channel
Resumption program

number

(Resumption program
number)

CC Resume program

S

SCHA

SCMP

SCPY

SCRV

SGET

SIN

SLCT

SLEN

SPUT

SQR

SSPG

STOP

STR

STRH

SUB

SVXX

SYST

191

193

192

137

194

89

176

200

195

91

116

157

196

197

86

149

182

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Optional

Character code Prohibited CP Set end character

Column number

Column number

Column number,
character literal
Column number,
character literal

EQ Compare character strings

CC Copy character string

Ratio Prohibited CP Set sigmoid motion ratio

Variable number

Column number,
character literal

CP Get character

Sine assignment variable Operand ZR Sine

Prohibited Prohibited CP Declare start of multi-branching

Character string length Prohibited CP Set length

Column number Data CP Set character

Root assignment variable Operand ZR Root

Pause program number (Pause program number) CC Pause program

Axis stop pattern Prohibited CP Decelerate and stop axis

Column number Data CC Convert character string; decimal

Column number Data CC Convert character string; hexadecimal

Minuend variable Subtrahend ZR Subtract

Operation axis pattern Prohibited PE Servo [ON, OF]

Variable number Prohibited CP Get system status

Operand 2,

Operand 2,

Operand 2

1. List of SEL Language Command Codes by Function

82

83

Chapter 4 Commands

1. List of SEL Language Command Codes by Function

INTELLIGENT ACTUATOR

Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
GT: Operand 1 > Operand 2, GE: Operand 1
LT: Operand 1 < Operand 2, LE: Operand 1

Command Page Condition Operation1 Operation2 Output Function

T

TAG Prohibited Declaration tag number Prohibited CP Declare jump destination

TAN

TIMC

TIMR

TIMW

TMRD

TPCD

TRAN

TSLP

110

90

97

245

96

189

222

84

223

Optional

Optional

Optional

Optional

Optional

Tangent assignment variable Operand ZR Tangent

Program number Prohibited CP Cancel waiting

Local flag number Timer setting CP Timer relay for ladder

Wait time Prohibited TU Wait

Timer setting Prohibited CP Set READ timeout value

Prohibited 0 or 1 Prohibited CP

Optional

Copy-destination variable Copy-source variable ZR Copy

Prohibited Time Prohibited CP Task sleep

V

VAL

VALH

VEL

VLMX

198

199

133

144

Optional

Optional

Optional

Optional

Variable number

Variable number

Speed Prohibited CP Set speed

Prohibited Prohibited CP Specify VLMX speed

Column number,
character literal
Column number,
character literal

CC Convert character string data; decimal

CC

W

WHXX Prohibited Comparison variable Comparison value CP Branch value [EQ, NE, GT, GE, LT, LE]

WRIT

WSXX

WTXX

WZFA

WZFO

WZNA

WZNO

177

190

178

102

185

186

183

184

Optional

Channel number Column number CC Output to channel

Prohibited Column number

Optional

Optional

Optional

Optional

Optional

I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF]

Zone number Axis pattern CP Wait for zone OFF, with AND

Zone number Axis pattern CP Wait for zone OFF, with OR

Zone number Axis pattern CP Wait for zone ON, with AND

Zone number Axis pattern CP Wait for zone ON, with OR

Column number,
character literal

CP Branch character string [EQ, NE]

Operand 2,

Operand 2,

Operand 2

Specify processing to be performed when
input condition is not specified

Convert character string data;
hexadecimal

Chapter 4 Commands

INTELLIGENT ACTUATOR

2. Explanation of Commands

1. Commands
1-1 Variable Assignment

z LET (Assign)

Extension condition

(LD, A, O, AB, OB)

Optional Optional LET

[Function] Assign the value specified in operand 2 to the variable specified in operand 1.

[Example 1] LET 1 10 Assign 10 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

Input condition

(I/O, flag)

The output will turn ON when 0 is assigned to the variable specified in operand 1.

LET 3 10 Assign 10 to variable 3.
LET *1 *3 Assign the content of variable 3 (10) to the

Command,
declaration

Command, declaration

Operand 1 Operand 2

Variable

number

variable of the content of variable 1 (variable 2).

Data ZR

(Output, flag)

Output

z TRAN (Copy)

2. Explanation of Commands

Extension condition

(LD, A, O, AB, OB)

Optional Optional TRAN

[Function] Assign the content of the variable specified in operand 2 to the variable specified in

[Example 1] TRAN 1 2 Assign the content of variable 2 to variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

Input condition

(I/O, flag)

operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1.

LET 1 *2 A LET command of the same effect as the above

LET 2 3 Assign 3 to variable 2.
LET 3 4 Assign 4 to variable 3.
LET 4 10 Assign 10 to variable 4.
TRAN *1 *3 Assign the content of variable 3 (which is variable

The variables change as follows:

Command,
declaration

Command, declaration

Operand 1 Operand 2

Variable

number

operation

4, or 10) to the variable of the content of variable 1
(variable 2).

Variable

number

Output

(Output, flag)

ZR

84

1 2 3 4 1 2 3 4

2 3 4 10

o

2 10 4 10

85

Chapter 4 Commands

2. Explanation of Commands

INTELLIGENT ACTUATOR

z CLR (Clear variable)

F condition (LD, A,

O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional CLR

Command, declaration

Operand 1 Operand 2

Variable

number

Variable

number

Output

(Output, flag)

ZR

[Function] Clear the variables from the one specified in operand 1 through the other specified in

operand 2.
The contents of the variables that have been cleared become 0.
The output will turn ON when 0 is assigned to the variable specified in operand 1.

[Example 1] CLR 1 5 Clear variables 1 through 5.

[Example 2] LET 1 10 Assign 10 to variable 1.

LET 2 20 Assign 20 to variable 2.
CLR *1 *2 Clear the variables from the content of variable 1

(variable 10) through the content of variable 2
(variable 20).

Chapter 4 Commands

INTELLIGENT ACTUATOR

1-2 Arithmetic Operation

z ADD (Add)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional ADD

[Function] Add the content of the variable specified in operand 1 and the value specified in operand

2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 3 Assign 3 to variable 1.

ADD 1 2 Add 2 to the content of variable 1 (3).

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
LET 3 2 Assign 2 to variable 3.
ADD *1 *3 Add the content of variable 3 (2) to the content of

Command, declaration

Operand 1 Operand 2

Variable

number

Data ZR

5 (3+2=5) will be stored in variable 1.

variable 1 (variable 2).
5 (3+2=5) will be stored in variable 2.

Output

(Output, flag)

z SUB (Subtract)

2. Explanation of Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional SUB

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Subtract the value specified in operand 2 from the content of the variable specified in

operand 1, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 3 Assign 3 to variable 1.

SUB 1 2 Subtract 2 from the content of variable 1 (3).

1 (3–2=1) will be stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
LET 3 2 Assign 2 to variable 3.
SUB *1 *3 Subtract the content of variable 3 (2) from the

content of variable 1 (variable 2).
1 (3–2=1) will be stored in variable 2.

86

87

Chapter 4 Commands

2. Explanation of Commands

INTELLIGENT ACTUATOR

z MULT (Multiply)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional MULT

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Multiply the content of the variable specified in operand 1 by the value specified in

operand 2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

[Example 1] LET 1 3 Assign 3 to variable 1.

MULT 1 2 Multiply the content of variable 1 (3) by 2.

6 (3x2=6) will be stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 3 Assign 3 to variable 2.
LET 3 2 Assign 2 to variable 3.
MULT *1 *3 Multiply the content of variable 1 (variable 2) by

the content of variable 3 (2).
6 (3x2=6) will be stored in variable 2.

z DIV (Divide)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional DIV

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Divide the content of the variable specified in operand 1 by the value specified in operand

2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

(Note) If the variable specified in operand 1 is an integer variable, any decimal places will be

rounded off.

[Example 1] LET 1 6 Assign 6 to variable 1.

DIV 1 2 Divide the content of variable 1 (6) by 2.

3 (6y2=3) will be stored in variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 6 Assign 6 to variable 2.
LET 3 2 Assign 2 to variable 3.
DIV *1 *3 Divide the content of variable 1 (variable 2) by the

content of variable 3 (2).
3 (6y2=3) will be stored in variable 2.

Chapter 4 Commands

INTELLIGENT ACTUATOR

z MOD (Remainder of division)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional MOD

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Assign, to the variable specified in 1, the remainder obtained by dividing the content of

the variable specified in operand 1 by the value specified in operand 2.
The output will turn ON when the operation result becomes 0.

(Note) A MOD command is used with integer variables.

[Example 1] LET 1 7 Assign 7 to variable 1.

MOD 1 3 Obtain the remainder of dividing the content of

variable 1 (7) by 3.
1 (7y3=2 with a remainder of 1) will be assigned to
variable 1.

[Example 2] LET 1 2 Assign 2 to variable 1.

LET 2 7 Assign 7 to variable 2.
LET 3 3 Assign 3 to variable 3.
MOD *1 *3 Obtain the remainder of dividing the content of

variable 1 (variable 2) by the content of variable 3
(3).
1 (7y3=2 with a remainder of 1) will be assigned to
variable 2.

2. Explanation of Commands

88

89

Chapter 4 Commands

2. Explanation of Commands

INTELLIGENT ACTUATOR

1-3 Function Operation

z SIN (Sine operation)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional SIN

[Function] Assign the sine of the data specified in operand 2 to the variable specified in operand 1.

The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

(Note 1)

Radian = Angle x Sy 180

[Example 1] SIN 100 0.523599 Assign the sine of 0.523599 (0.5) to variable 100.

[Example 2] LET 1 100

LET 101 30
MULT 101 3.141592
DIV 101 180
SIN *1 *101

Assign 100 to variable 1.
30 x Sy 180 (radian)
(30q will be converted to radian and assigned to

variable 101.)
Assign the sine of the content of variable 101 (0.5) to
the content of variable 1 (variable 100).

z COS (Cosine operation)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional COS

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Assign the cosine of the data specified in operand 2 to the variable specified in operand 1.

The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.

(Note 1)

Radian = Angle x Sy 180

[Example 1] COS 100 1.047197 Assign the cosine of 1.047197 (0.5) to variable 100.

[Example 2] LET 1 100

LET 101 60
MULT 101 3.141592
DIV 101 180
COS *1 *101

Assign 100 to variable 1.
60 x Sy 180 (radian)
(60q will be converted to radian and assigned to

variable 101.)
Assign the cosine of the content of variable 101 (0.5)
to the content of variable 1 (variable 100).

Chapter 4 Commands

INTELLIGENT ACTUATOR

z TAN (Tangent operation)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional TAN

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Assign the tangent of the data specified in operand 2 to the variable specified in operand 1.

The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.

(Note 1)

Radian = Angle x Sy 180

[Example 1] TAN 100 0.785398 Assign the tangent of 0.785398 (1) to variable 100.

[Example 2] LET 1 100

LET 101 45
MULT 101 3.141592
DIV 101 180
TAN *1 *101

Assign 100 to variable 1.
45 x Sy 180 (radian)
(45q will be converted to radian and assigned to
variable 101.)
Assign the tangent of the content of variable 101 (1)
to the content of variable 1 (variable 100).

z ATN (Inverse-tangent operation)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,
declaration

Optional Optional ATN

Command, declaration

Operand 1 Operand 2

Variable

number

Output

(Output, flag)

Data ZR

[Function] Assign the inverse tangent of the data specified in operand 2 to the variable specified in

operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of inverse tangent is radian.

2. Explanation of Commands

90

(Note 1)

Radian = Angle x Sy 180

[Example 1] ATN 100 1 Assign the inverse tangent of 1 (0.785398) to

variable 100.

[Example 2] LET 1 100

LET 101 1
ATN *1 *101

Assign 100 to variable 1.
Assign 1 to variable 101.
Assign the inverse tangent of the content of variable
101 (0.785398) to the content of variable 1 (variable

100).