IAI America XSEL-KX User Manual

X-SEL Controller

JX/KX Type

Operation Manual

Seventh Edition

and 60.

CAUTION

Operator Calls Regarding Low Battery Voltage

This controller uses the following backup batteries to retain data after the power is cut off:

[1] System-memory backup battery

For retention of position data, global variables/flags, error lists, strings, etc.

[2] Absolute-encoder backup battery

For retention of encoder rotation data.

Each battery is of no n-rechargeable type, so u nles s t h e bat tery is replaced befor e its l if e is f ul ly consumed, the battery voltage will eventually drop to a level where data can no longer be retained after the power is cut off. (The specific life of each battery varies depending on the operating time.) Once data is lost, the controller cannot operate properly the next time the power is turned on, in which case additional time will be required for recovery operation.

(Reference) System-memory backup battery --- A voltage low warning will generate when the voltage drops to

approx. 2.6 V from the rated voltage of 3.0 V, and data will be lost once the voltage drops to approx. 2.3 V.

Absolute-encoder backup battery --- A voltage low warning will generate when the voltage drops to

approx. 3.2 V from the rated voltage of 3.6 V, and data will be lost once the voltage drops to approx. 2.7 V.

In view of the above, this controller provides functions that allow voltage low warnings for the two batteries to be output from I/O ports.

Output port No. 313 is assigned as the output of voltage low warning for system-memory backup battery. Output port No. 314 is assigned as the output of voltage low warning for absolute-encoder backup battery. These warning output functions are available on controllers shipped on or after May 16, 2005. On controllers shipped before this date, the functions can be enabled by setting “1” in I/O parameter Nos. 59

It is requested that the aforementioned functions be used to prevent unnecessary problems caused by low battery voltage (consumption of battery life). In particular, design engineers responsible for coordinating the system components should reflect, in the design specifications, appropriate means for warning the operator using the I/O output signals utilizing the above functions. Electrical design engineers should ensure that such means are reflected in the electrical circuits. For the battery replacement procedure, refer to the applicable section in the Operation Manual.

It is recommended that the latest data be constantly backed up to a PC in case of low system-memory backup battery voltage or unexpected controller failure.

Danger

Safety Precautions

Please read the information in “Safety Precautions” carefully before selecting a model and using the product. The precautions described below are designed to help you use the product safely and avoid bodily injury and/or property damage.

Directions are classified as “danger,” “warning,” “caution” and “note,” according to the degree of risk.

Danger

Failure to observe the instruction will res ult in an imminent danger leading to death or serious injury.

Warning Caution Note

Failure to observe the instruction may result in death or serious injury.

Failure to observe the instruction may result in injury or property damage.

The user should take heed of this information to ensure the proper use of the product, although failure to do so will not result in injury.

This product has been designed and manufactured as a component for use in general industrial machinery.

Devices must be selected and handled by a system designer, personnel in charge of the actual operation using the product or similar individual with sufficient knowledge and experience, who has read both the catalog and operation manual (particularly the “Safety Precautions” section). Mishandling of the product poses a risk. Please read the operation manuals for all devices, including the main unit and controller. It is the user’s respo ns ib il ity to v er ify and determine the c ompatibility of this pr odu c t with the us er’s system, and to use them properly. After reading the catalog, operation manual and other materials, be sure to keep them in a convenient place easily accessible to the personnel using this product. When transferring or loaning this product to a third party, be sure to attach the catalog, operation manual and other materials in a conspicuous location on the product, so that the new owner or user can understand its safe and proper use. The danger, warning and caution directions in this “Safety Precauti ons” do not cover every possible case. Please read the catalog and operation manual for the given device, particularly for descriptions unique to it, to ensure its safe and proper handling.

[General]

 Do not use this product for the following applications:

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

2. Mechanisms and machinery designed for the purpose of moving or transporting people

3. Important safety parts of machinery This product has not been planned or designed for applications requiring high levels of safety. Use of this product in such applications may jeopardize the safety of human life. The warranty covers only the product as it is delivered.

Warning

[Installation]

 Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The

product may ignite, burn or explode.

 Avoid using the product in a place where the main unit or controller may come in contact with water or

oil droplets.

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

shortening the cable length. Doing so may result in fire.

[Operation]

 If you are using a pace maker or other mechanical implant, do not come within one meter of the

product. The strong magnetic field generated by the product may cause the pace maker, etc., to malfunction.

 Do not pour water onto the product. Spraying water over the product, washing it with water or using it

in water may cause the product to malfunction, resulting in injury, electric shock, fire, etc.

[Maintenance, Inspection, Repair]

 Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in

injury, electric shock, fire, etc.

 Do not disassemble and reassemble the components relating to the basic structure of the product or its

performance and function. Doing so may result in injury, electric shock, fire, etc.

[General]

 Do not use the product outside the specifications. Using the product outside the specifications may

cause it to fail, stop functioning or sustain damage. It may also significantly reduce the service life of the product. In particular, observe the maximum loading capacity and speed.

[Installation]

 If the machine will stop in the case of system problem such as emergency stop or power failure, design

a safety circuit or other device that will prevent equipment damage or injury.

 Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding:

Grounding resistance at 100 Ω or less). Leakage current may cause electric shock or malfunction.

 Before supplying power to and operating the product, always check the operation area of the

equipment to ensure safety. Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts.

 Wire the product correctly by referring to the operation manual. Securely connect the cables and

connectors so that they will not be disconnected or come loose. Failure to do so may cause the product to malfunction or cause fire.

[Operation]

 Do not touch the terminal block or various switches while the power is supplied to the product. Failure

to observe this instruction may result in electric shock or malfunction.

 Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.),

confirm that the servo is turned off (using the teaching pendant). Failure to observe this instruction may result in injury.

 The cables supplied with the product are flexible, but they are not robot cables. Do not store the cables

in a movable cable duct (cable track , etc.) that bends more than the specified bending radius.

 Do not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or

pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock, malfunction, etc.

Caution

 If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing

to use the product may result in product damage or fire.

 If any of the internal protective devices (alarms) of the product has actuated, turn off the power

immediately. Continuing to use the product may result in product damage or injury due to malfunction. Once the power supply is cut off, investigate and remove the cause and then turn on the power again.

 If the LEDs on the product do not illuminate after turning on the power, turn off the power immediately.

The protective device (fuse, etc.) on the live side may remain active. Request repair to the IAI sales office from which you purchased the product.

[Maintenance, Inspection, Repair]

 Before conducting maintenance/inspection, parts replacement or other operations on the product,

completely shut down the power supply. At this time, take the following measures:

1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER” at a conspicuous place, in order to prevent a person other than the operator from accidentally turning on the power while the operation is working.

2. When two or more operators are to perform maintenance/inspection together, always call out every time the power is turned on/off or an axis is moved in order to ensure safety.

[Disposal]

 Do not throw the product into fire. The product may burst or generate toxic gases.

[Installation]

 Do not use the product under direct sunlight (UV ray), in a place exposed to dust, salt or iron powder,

in a humid place, or in an atmosphere of organic solvent, phosphate-ester machine oil, sulfur dioxide gas, chlorine gas, acids, etc. The product may lose its function over a short period of time, or exhibit a sudden drop in performance or its service life may be significantly reduced.

 Do not use the product in an atmosphere of corrosive gases (sulfuric acid or hydrochloric acid),

inflammable gases or ign ita ble liquids. Rust may form and reduce the structural strength or the motor may ignite or explode.

 When using the product in any of the places specified below, provide a sufficient shield. Failure to do

so may result in malfunction:

1. Place where large current or high magnetic field is present

2. Place where welding or other operations are performed that cause arc discharge

3. Place subject to electrostatic noise

4. Place with potential exposure to radiation

 Install the main unit and controller in a place subject to as little dust as possible. Installing them in a

dusty place may result in malfunction.

 Do not install the product in a place subject to large vibration or impact (4.9 m/s2 or more). Doing so

may result in the malfunctioning of the product.

 Provide an emergency-stop device in a readily accessible position so the device can be actuated

immediately upon occurrence of a dangerous situation during operation. Lack of such device in an appropriate position may result in injury.

 Provide sufficient maintenance space when installing the product. Routine inspection and maintenance

cannot be performed without sufficient space, which will eventually cause the equipment to stop or the product to sustain damage.

 Do not hold the moving parts of the product or its cables during installation. It may result in injury.  Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s

genuine products for the key component units such as the actuator, controller and teaching pendant.

Note

Others

 Before installing or adjusting the product or performing other operations on the product, display a sign

that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER.” If the power is turned on inadvertently, injury may result due to electric shock or sudden activation of an actuator.

[Operation]

 Turn on the power to individual equipment one by one, starting from the equipment at the highest level

in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product damage.

 Do not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury.  Do not bring a floppy disk or other magnetic media within one meter of the product. The magnetic field

generated by the magnet may destroy the data in the floppy disk, etc.

[Maintenance, Inspection, Repair]

 When the power was turned off and the cover was opened to replace the battery, etc., do not touch the

condenser terminal in the product immediately after the power was turned off (within 30 seconds). Residual voltage may cause electric shock.

 Do not touch the terminals when performing an insulation resistance test. Electric shock may result.

(Do not perform any withstand voltage tes t, since the pr oduct uses DC vol tag e.)

[General]

 If you are planning to use the product under a condition or environment not specified in the catalogs

and operation manual, or in an application requiring strict safety such as aircraft facility, combustion system, entertainment machine, safety device or other equipment having significant impact on human life or property, design operating ranges with sufficient margins from the ratings and design specifications or provide sufficient safety measures such as fail-safes. Whatever you do, always consult IAI’s sales representative.

[Installation]

 Do not place objects around the controller that will block airflows. Insufficient ventilation may damage

the controller.

 Do not configure a control circuit that will cause the load to drop in case of power failure. Configure a

control circuit that will prevent the table or load from dropping when the power to the machine is cut off or an emergency stop is actuated.

[Installation, Operation, Maintenance]

 When handling the product, wear protective gloves, protective goggles, safety shoes or other

necessary gear to ensure safety.

[Disposal]

 When the product becomes no longer usable or necess ar y, dispose of it proper l y as an indus tria l was te.

 IAI shall not be liable whatsoever for any loss or damage ari si ng fro m a fail ure t o

observe the items specified in “Safety Precautions.”

Caution

1. Do not let the cable flex at a single point.

4. Do not let the cable receive a turning force at a

5. When fixing the cable, provide a moderate slack

Steel band Bundle loosely.

Do not use a spiral tube

Prohibited Handling of Cables

When designing an application system using actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section explains prohibited handling of cables. Read the information carefully to connect the cables properly.

Ten Rules for Handling Cables (Must be O bse r ved!)

2. Do not let the cable bend, kink or twist.

single point.

Use a curly

cable.

(piano wire)

3. Do not pull the cable with a strong force.

and do not tension it too tight.

6. Do not pinch, drop a heavy object onto or cut the cable.

where the cable flexes frequently.

8. Do not cause the cables to occupy more than

9. Do not lay signal lines together with circuit lines

Cable

Cable track

Power line

Signal lines (flat cable)

Duct

Cover

Protective layer

Signal line (copper + tin)

7. Do not let the cable got tangled or kinked in a cable track or flexible tube. When bundling the cable,

keep a certain degree of flexibility (so that the cable will not become too taut when bent).

60% of the space in the cable track.

that create a strong electric field.

10. Always use a robot cable

if the cable is likely to flex significantly.

[Standard structure of cable] The standard structure of cable will vary depending on the manufacturer and t ype of cable.

Shield

Absorbing material (When the cable is bent, this material is crushed by the surrounding signal lines to maintain the shape of the signal lines.)

� Need for Robot Cables A cable connected to a moving part of an actuator system will inevitably receive repeated bending loads at the base of the cable. As a result, the cores in the cable may break over time. To minimize the risk of cable breakage, we strongly recom mend that a robot cable

offering significantly higher flexibility be used

in this type of application.

Caution

Before Use

 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 specif ied in this opera tio n manua l.

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.

 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.)

Introduction

Thank you for purchasing the X-SEL IX-Series Controller. 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 IX-Series Controller you have purchased is a new-generation controller that uses an advanced version of the proven, innovative “SEL” language to perform a range of high functions such as multi-tasking, sequencerless operation, palletizing function and pseudo-sequence function.  Actuator duty

IAI recommends that our actuators be used at a duty of 50% or less in view of the relationship of service life and accuracy. The duty is calculated by the formula below:

Duty (%) =

 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).”

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

malfunction.

 Do not move the robot arms while the main controller power is still starting. An error, such as “C6C:

Movement error during absolute data acquisition” or “C70: Absolute coordinate non-confirmation error,” may generate.

Read the operation manual for each actuator. 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.

X 100

Example of model designation

Model table

type

(Dustproof/splash-proof type)

(General-

purpose type)

(General-

CE-compliant

type)

(Wall mount inverse type)

(Ceiling mount inverse type)

type

(High-speed type)

(Wall mount type)

(Ceiling mount type)

(Cleanroom type)

N1

[32 inputs/16 outputs

NPN board] N3 (Note 3)

[48 inputs/48 outputs

NPN board]

P1

[32 inputs/16 outputs

PNP board] P3 (Note 3)

[48 inputs/48 outputs

PNP board]

DV

[DeviceNet

256/256 board]

CC

[CC-Link

256/256 board]

PR

[ProfiBus

256/256 board]

ET

[Ethernet

Data communication

board]

E

(Not used) C (Note 4)

[CC-Link

16/16 board]

N1

[Expanded I/O

NPN32/16]

N2

[Expanded I/O

NPN16/32] N3 (Note 4)

[Multi-point I/O

NPN48/48]

P1

[Expanded I/O

PNP32/16]

P2

[Expanded I/O

PNP16/32] P3 (Note 4)

[Multi-point I/O

PNP48/48] SA (Note 4)

[Expanded SIO

Type A]

SB (Note 4)

[Expanded SIO

Type B]

SC (Note 4)

[Expanded SIO

Type C ]

E

(Not used) C (Note 4)

[CC-Link

16/16 board]

N1

[Expanded I/O

NPN32/16]

N2

[Expanded I/O

NPN16/32]

N3 (Note 4)

[Multi-point I/O

NPN48/48]

P1

[Expanded I/O

PNP32/16]

P2

[Expanded I/O

PNP16/32] P3 (Note 4)

[Multi-point I/O

PNP48/48] SA (Note 4)

[Expanded SIO

Type A]

SB (Note 4)

[Expanded SIO

Type B]

SC (Note 4)

[Expanded SIO

Type C ]

E

(Not used) C (Note 4)

[CC-Link

16/16 board]

N1

[Expanded I/O

NPN32/16]

N2

[Expanded I/O

NPN16/32]

N3 (Note 4)

[Multi-point I/O

NPN48/48]

P1

[Expanded I/O

PNP32/16]

P2

[Expanded I/O

PNP16/32] P3 (Note 4)

[Multi-point I/O

PNP48/48] SA (Note 4)

[Expanded SIO

Type A]

SB (Note 4)

[Expanded SIO

Type B]

SC (Note 4)

[Expanded SIO

Type C ]

length

(Note 2)

voltage

200-V specification

2

Caution

Part 1 Installation

Chapter 1 Safety Precautions

This controller has been designed for use exclusively with IAI’s IX-Series Horizontal Articulated Robot, and is able to provide integrated control over the entire system including peripherals. In other words , the X-SEL Controller has the ability to control systems of all sizes ranging from a small system to a large factory automation system. In general, however, the occurrence rate of accidents due to wrong operation or carelessness will rise as the system becomes larger and more complex. Please give due consideration to safety measures.

Strict observance of the following items is requested to prevent unforeseen danger. Also read the appendix entitled, “Safety Rules and Others.”

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. Always use the specified, genuine IAI cables for wiring between the controller and the actuator.

3. 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.

4. 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.

5. 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.

3

Part 1 Installation

Chapter 2 Warranty Period and Scope of Warranty

The X-SEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty:

1. Warranty Period

The warranty period shall be either of the following periods, whichever ends first:

• 18 months after shipment from our factory

• 12 months after delivery to a specified location

2. Scope of Warranty

Should the product fail during the above period under a proper use condition due to a fault on the part of the manufacturer, IAI will repair the defect free of charge. However, the following cases are excluded from the scope of warranty:

• Discoloration of paint or other normal aging

• Wear of consumable parts due to use

• Subjective imperfection, such as noise not affecting mechanical function

• Defect caused by inappropriate handling or use by the user

• Defect caused by inappropriate or erroneous maintenance/inspection

• Defect caused by use of a part other than IAI’s genuine part

• Defect caused by unauthorized modification, etc., not approved by IAI or its agent

• Defect due to an act of God, accident, fire, etc.

The warranty covers only the product as it is delivered. IAI shall not be liable for any loss arising in connection with the delivered product. The user must bring the defective product to our factory to receive a warranty repair.

3. Scope of Service

The price of the delivered product does not include costs incurred in association with program generation, dispatch of technician, etc. Therefore, a separate fee will be chargeable in the following cases even during the warranty period:

• Guidance on installation/adjustment and witnessing of test operation

• Maintenance/inspection

• Technical guidance and trai nin g on operation, wiring method, etc.

• Technical guidance and training regarding programs, such as program generation

• Other services and operations where IAI finds a need to charge a separate fee

4

24-VDC fan x 5 (compact type) 24-VDC fan x 6 (general-purpose type)

Part 1 Installation

Chapter 3 Installation Environment and Noise Measures

1. Installation Environment

(1) When installing and wiring the controller, do not block the ventilation holes provided for cooling.

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

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

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

(3) Do not expose the controller to direct sunlight or radiant heat from a high heat source such as a heat-

treating furnace. (4) Use the controller in a non-condensing environment free from corrosive or inflammable gases. (5) Use the controller in an environm ent where it will not receive external vibration or impact. (6) Prevent electrical noise from entering the controller or its cables.

Environmental Condition of Controller

Item Specification

Surrounding air temperature range

Forced air-cooling

Surrounding humidity range 30% ~ 85%

Storage temperature range

Dust protection structure IP10

Power-sour c e volta ge 100 to 115/200 to 230 VAC, single-phase

Operating power-source voltage

Rated operating power-source frequency 50 Hz/60 Hz

0°C ~ 40°C

-10°C ~ 65°C

±10%

2. Heat Radiation and Installation

Design the control panel size, controller layout and cooling method so that the ambient temperature

around the controller will be kept at or below 40°C.

Install the controller vertically on a wall, as illustrated below. The controller will be cooled by forced

ventilation (exhaust air will be discharged from the top). Be sure to install the controller in the

aforementioned direction a nd pro vide a m inimum clearance of 150 mm above and 150 mm below the

controller.

If multiple controllers are to be installed side by side, providing additional suction fans on top of the

controllers will help maintain a uniform ambient temperature.

Provide a minimum clearance of 150 mm between the front side of the controller and a wall

(enclosure).

5

POWERRBM4 M3 M2 M1

PG1

TP

PG2 PG4

I/02 I/01

PG3

CODE

POWERRBM4 M3 M2 M1

PG1

TP

PG2 PG4

I/02 I/01

PG3

CODE

Robot specification

Model

Arm length 700/800 specification, high-speed specification

MXB-1220-33

Other types

MXB-1210-33

Airflow direct io n

Airflow 150 mm min.

150 mm min.

150 mm

200-VAC power source

Class D grounding

Noise

Part 1 Installation

Fan

min.

If multiple controllers are to be connected on top of one another, prevent the controller above from

taking in the exhaust air from the controller below.

3. Power Source

Provide a single-phase power source of 200 to 230 VAC.

4. Noise Measures and Grounding

(1) Wiring and power source

PE on the power terminal block is used for protective grounding. Provide Class D grounding from this

terminal.

Use a grounding cable with a wire size of 1.0 mm

than the AC power cable.

Install a noise filter in the AC line to prevent the noise generating in the controller from traveling

through the power line to enter other unit.

(protective grounding)

Install the noise filter near the power connector on the X-SEL controller side.

Use of a noise filter by Densei-Lambda is recommended. The applicable noise filter model varies

depending on the robot specification, as shown below.

Recommended noise filter models (by Densei-Lambda)

2

(#AWG17) or more, which should not be smaller

filter

6

AC power source

Class D grounding

Metal enclosure

Surge absorber

ACIN

N

X-SEL

Other

X-SEL

Other

Do not use this method.

Part 1 Installation

[2] Notes on wiring method

Use twisted cables for the AC power cable and 24-VDC external power cable. Wire the controller

cables separately from lines creating a strong electric field such as power circuit lines (by not

bundling them together or placing in the same cable duct).

If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable,

please contact IAI. (2) Noise-eliminat ion grou ndi n g

L PE

Connect the FG terminal with the metal enclosure using a cable of a maximum allowable size over the shortest distance.

Provide dedicated FG or PE grounding.

equipment

controller

(3) 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 surg e absor ber in parallel with the coil.

← 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.

7

Diode

Controller

OUT

CR

+24 V

0 V

100 VAC

CR

0 V

Part 1 Installation

[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.

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.

Reference Circuit Diagram

COM

SOL

Surge absorber

Solenoid valve

8

External regenerative unit Motor connector

Encoder

System I/O

I/O24V power

Panel window (Refer to

FG terminal

Fuse holder

AC input

When this LED is lit in red, a system clock error is present.

gency stop is actuated or CPU hardware error or

Chapter 4 Name and Function of Each Part

1. Front View of Controller

KX type (general-purpose type) Applicable to robots of all strokes

Alarm and Other LED Indicators

[6] Driver status LEDs

[10] Panel window

4-digit, 7-segment LEDs: Refer to 2, “Explanation of Codes Displayed on the Panel Window.” The following five LEDs are provided.

connector

: When this LED is lit in orange, the driver is detecting an error. : When this LED is lit in green, the servo is on and the motor is being driven. : When this LED is lit in orange, the absolute-encoder b ac k up batter y voltage is lo w.

When this LED is lit in red, a power-system hardware error is present. When this LED is lit in red, an emer power-system hardware error is present. When this LED is lit in red, a CPU alarm (system-down level error) or CPU hardware error is present. When this LED is lit in green, the CPU is ready (program operation is enabled).

Driver stat us LEDs (Refer to the explanation below.)

connector

Standard I/O connector

connector

Part 1 Installation

connector

Expansion I/O connectors

the explanation below.) Mode switch

Teaching connector

PC connector

9

External regenerative Motor connector

Encoder

AC input

Driver stat us LEDs Standard I/O

Expansion I/O

Panel window (Refer to

When this LED is lit in red, an emergency stop is actuated or CPU hardware error or

JX type (compact type) Applicable to robots of 250/350 strokes

connector

the explanation below.)

connector

unit connector

System I/O connector System-operation setting switches Boot-target setting switch Mode switch Teaching connector

FG terminal

(Refer to the explanation below.)

connectors

connector

Alarm and Other LED Indicators

[6] Driver status LEDs

: When this LED is lit in orange, the driver is detecting an error. : When this LED is lit in green, the servo is on and the motor is being driven. : When this LED is lit in orange, the absolute-encoder b ac k up batter y voltage is lo w.

[10] Panel window

4-digit, 7-segment LEDs: Refer to 2, “Explanation of Codes Displayed on the Panel Window.” The following five LEDs are provided.

When this LED is lit in red, a system clock err or is pres ent. When this LED is lit in red, a power-system hardware error is present.

power-system hardware error is present. When this LED is lit in red, a CPU alarm (system-down level error) or CPU hardware error is present. When this LED is lit in green, the CPU is ready (program operation is enabled).

Part 1 Installation

10

[1] FG terminal

This terminal is used to ground FG on the enclosure. With a general-

Be sure to ground the FG terminal.

[2] Fuse holder (general-

This half-cut fuse holder is used to protect overcurrent in the AC input and uses a slow-blow fuse specified by IAI.

Melting characteristics

[3] AC input connector

200-VAC, single-phase input connector.

3-pin, 2-piece connector

Terminal

*

Part 1 Installation

purpose type only)

purpose type, the enclosure is connected to PE in the AC input part inside the controller. With a compact type, FG and PE are not connected inside the controller.

FG Terminal Specifications

Item Overview M4 3-point SEMS screw, 5 mm Cable size 2.0 ~ 5.5 mm2 Grounding method Class D grounding

part. It prevents inflow of abnormal current generated by ground fault, etc.,

Overview of Fuse Holder Specifications

Item Description Holder F-22001-A1 by Sato Parts Fuse type TWO 250V20A by Fuji Terminal

Slow-blow

* With a compact type, the fuse holder is mounted on the board. Type:

FGMT5 AC250V10A by Fuji Terminal

AC Power Connector Specifications

Item Overview Connector name POWER

Connector GMSTB2.5/3-STF-7.62 by Phoenix Contact

Supported cable size 1.25 ~ 2.5 mm2 (AWG12 ~ 16) Connected to AC power source

assignments

1 In N AC power input, N side 2 In L AC power input, L side 3

PE (Protective grounding line)

11

[4] External regenerative unit

This connector is used to connect a regenerative resistance unit that may

will be determined by the specific application such as axis configuration.

3-pin, 2-piece connector

Cable size

1.0 mm2 (AWG17 or equivalent), included in the external regenerative box

(Motor-driving DC voltage)

[5] Motor connector

This connector is used to drive the motor inside the actuator.

Connector

GIC2.5/4-STF-7.62 by Phoenix Contact 4-pin, 2-piece connector

Terminal

the motor drive. The following three LEDs are provided.

The voltage of the absolute-data backup battery is low.

Part 1 Installation

connector

be required when the controller is used in a high-speed/high-load environment, etc., and the built-in regenerative resistance capacity is not sufficient. Whether or not an external regenerative resistance is necessary

Overview of Fuse Holder Specifications

Item Overview Connector name RB

Connector GIC2.5/3-STF-7.62 by Phoenix Contact

Connected to External regenerative box Terminal

assignments

1 Out RB+

Regenerative resistance +

2 In RB– Regenerative resistance –

Overview of Motor Connector Specifications

Item Description

Connector name M

Cable Dedicated motor cable Connected to Actuator

assignments

1 2 Out U Motor-driving phase U

PE (Protective grounding line)

3 Out V Motor-driving phase V 4 Out W Motor-driving phase W

[6] Driver status LEDs These LEDs monitor the operating status of the driver CPU that controls

Name Color Meaning when lit

ALM Orange The driver is detecting an error.

SVON Green The servo is on and the motor is being driven.

BAT ALM Orange

12

[7] Encoder connector

This 15-pin, D-sub connector is used to connect the actuator’s encoder.

Connector name

PG

Maximum distance

10 m Interface standard

Conforming to RS422

Connected to

Actuator

(Built-in encoder unit inside the actuator)

Connection cable

Terminal

No.

Signal

name

(Phase U+)

Phase-A differential – input (Phase U–)

(Phase V+)

Phase-B differential – input (Phase V–)

(Phase W+)

Phase-Z differential – input (Phase W–)

switching+)

magnetic-pole switching–)

Backup-battery power supply

Part 1 Installation

Encoder Connector Specifications

Item Description

Connector High-density D-sub, 15-pin (fem ale)

connection

Dedicated PG cable

assignments

I/O

1 In A+

Phase-A differential + input

Description

2 In A– 3 In B+

Phase-B differential + in pu t

4 In B– 5 In Z+

Phase-Z differential + input

6 In Z–

Send/receive line+

7 IO SRD+

8 IO SRD–

(Pulse/magnetic-pole Send/receive line– (Pulse/

9 Out BATT

10 Out BATTGND Battery ground 11 Out VCC Encoder power source 12 Out GND GND 13 Out BK– 14 Out BK+

Brake output

15 FG Not used

13

[8] System I/O connector

This connector is used to connect an emergency-stop switch, ENABLE contact, ready relay, etc.

connector

1

RDY OUT

2

RDY OUT

3

ENB IN

Safety-gate input

4

+24V OUT

+24-V power output for safety gate

5

EMG IN

Emergency-stop input

+24-V power output for emergency stop

Supported cable size

0.75 ~ 1.25 mm2 (AWG16)

MC1.5/2-ST-3.5 by Phoenix Contact; 2-pin, 2-piece connector

1

0V

I/O GND

2

24V IN

+24-V power input for I/Os

[10] Panel window

This window consists of a 4-digit, 7-segment LED display and five LED

Name

Status when the LED is lit

RDY

CPU ready (program can be run)

ALM

CPU alarm (system-down level error), CPU hardware error

power-system hardware error

PSE

Power-system hardware error

CLK

System clock error

[11] Mode switch

This alternate switch with lock is used to command a controller operation

(Refer to the types of manual operations explained on p.324.)

Part 1 Installation

[9] I/O24V power connector

(general-purpose type only)

Connector

Terminal assignments

Pins 1 and 2 form a contact-A output that turns ON under the following condition:

• SYSRDY is output (software = PIO trigger program can be run) and hardware is normal (emergency stop is not being actuated and hardware error is not being detected).

Pins 3 and 4 form a contact-B safety-gate input. Operation is enabled when the pins are shorted, while the drive source is cut off when they are open. Pins 5 and 6 form a contact-B emergency-stop input. Operation is enabled when the pins are shorted, while an emergency stop is actuated when they are open. Current flowing to the emergency stop contacts: KX type (general-purpose ty pe ) : 43 mA ± 10% JX type (compact type): 30 mA ± 10% The controller is shipped with pins 3 and 4, and 5 and 6, shorted by a cable, respectively.

MC1.5/6-ST-3.5 by Phoenix Contact; 6-pin, 2-piece

Ready-status output contact

6 +24V OUT

This connector is used to externally supply I/O power to the insulated part when DI and DOs are mounted in the I/O connectors explained in [14] and [15] (2-pin, 2-piece connector by Phoenix Contact). 24 V must be supplied externally.

Connector

Terminal assignments

With a compact type, power is supplied externally to pin Nos. 1 and 50 of the I/O connector in [14].

lamps that indicate the status of the equipment. For the information shown on the display, refer to 2, “Explanation of Codes Displayed on the Panel Window” or the “Error Code Table.”

Meanings of Five LEDs

EMG

Emergency stop has been actuated, CPU hardware error,

mode. To operate the switch, pull it toward you and tilt. Tilting the switch upward will select MANU (manual mode), while tilting it downward will select AUTO (auto mode). Teaching can be performed only in the MANU mode, but auto program start is not enabled in the MANU mode.

14

[12] Teaching connector

When an optional teaching pendant or PC is connected, this D-sub, 25-

Communication method

RS232C-compliant, start-stop synchronous method

Maximum connection distance

Signal

name

Terminal

Power output teaching pendant)

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)

Baud rate 38.4 kbps max.; half-duplex communication

Interface standard RS232C Connected to X-SEL teaching pendant

Interface Specifications of Teaching Serial Interface

Part 1 Installation

10 m (38.4 kbps)

Item No. Direction

1 FG Frame ground

assignments

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

18 Out VCC

Description

(5-V power source for

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

15

[13] PC connector (general-

This D-sub, 9-pin connector is used to perform serial communication

Maximum distance

10 m (38.4 kbps)

user only when the teaching connector (D-sub, 25-pin) [12] is not in use.

[14] Standard I/O connector

This connector consists of a 50-pin flat connector and comprises 32-

With a general-purpose type, power is supplied from the

pin Nos. 1 and 50.

inputs)

16 points (including general-purpose and dedicated outputs)

Part 1 Installation

purpose type only)

(RS232C) with the host equipment when AUTO is selected as the operation mode. * [12] and [13] cannot be used sim ultan eously.

RS232 Host Connector Specifications This connector is used to establish a serial connection with a PC or PLC to enable controller control.

Item Description Connector name HOST Connector D-sub, 9-pin (DTE); XM2C-0942-502L by Omron

connection

Interface standard RS232C Connected to AT-compatible PC, etc. (half-duplex communication) Connection cable Dedicated cable

Terminal assignments

A dedicated cable must be used if an AT-compatible PC is to be connected.

The PC connector (D-sub, 9-pin) [13] will become available for use by the

Pin No. I/O Signal name Description

1 NC 2 In RD Received data (RXD) 3 Out SD Transmitted data (TXD) 4 In DR Data set ready (DSR) 5 In SG Signal ground 6 Out ER Equipment ready (DTR) 7 Out RS Request to send (RTS) 8 In CS Clear to send (CTS) 9 NC Not used

The PC connector (D-sub, 9-pin) [13] and teaching connector (D-sub, 25-pin) [12] cannot be used simultaneously. Setting the mode switch [11] to MANU will select the teaching connector [12], while setting it to AUTO will select the PC connector [13].

input/16-output DIOs.

Overview of Standard I/O Interface Specifications

Item Description Connector name I/O Connector Flat connector, 50-pin

Power supply

Input Output

Connected to External PLC, sensor, etc.

I/O24V power connector [9]. With a compact type, power is supplied from connector

32 points (including general-purpose and dedicated

16

I/O Interface List

1

-

2

000

3

001

5

003

6

004

7

005

8

006

9

007

12

010

13

011

14

012

15

013

16

014

19

017

20

018

21

019

22

020

23

021

25

023

26

024

27

025

28

026

29

027

32

030

33

031

34

300

35

301

36

302

39

305

40

306

41

307

42

308

43

309

46

312

47

313

System-memory backup battery voltage-low warning output

49

315

50

-

Part 1 Installation

These functions are based on the factory settings. The functions assigned to port Nos. 000 to 014, 300 to 308, 313 and 314 can be changed using the applicable I/O parameters. (Refer to Nos. 30 to 54, 59 and 60 in 1, “I/O Parameters” of Appendix, “List of Parameters.”)

Pin No. Category Port No. Function Cable color

General-purpose: NC, Compact: +24-V input Brown-1 Program start Red-1 General-purpose input Orange-1

4 002

10 008 11 009

Input

17 015 18 016

24 022

30 028 31 029

37 303 38 304

Output

44 310 45 311

48 314

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 Program specification (PRG No. 1) White-1 Program specification (PRG No. 2) Black-1 Program specification (PRG No. 4) Brown-2 Program specification (PRG No. 8) Red-2 Program specification (PRG No. 10) Orange-2 Program specification (PRG No. 20) Yellow-2 Program specification (PRG No. 40) Green-2 General-purpose input Blue-2 General-purpose input General-purpose input General-purpose input White-2 General-purpose input Black-2 General-purpose input Brown-3 General-purpose input Red-3 General-purpose input Orange-3 General-purpose input General-purpose input Green-3 General-purpose input Blue-3 General-purpose input Purple-3 General-purpose input Gray-3 General-purpose input White-3 General-purpose input General-purpose input General-purpose input Red-4 General-purpose input Orange-4 Alarm output Yellow-4 Ready output Green-4 Emergency-stop output Blue-4 General-purpose output General-purpose output General-purpose output White-4 General-purpose output Black-4 General-purpose output Brown-5 General-purpose output Red-5 General-purpose output Orange-5 General-purpose output General-purpose output General-purpose output Blue-5

Absolute-encoder backup battery voltage-low warning output

General-purpose output White-5 General-purpose: NC, Compact: 0 V Black-5

Purple-2 Gray-2

Yellow-3

Black-3 Brown-4

Purple-4 Gray-4

Yellow-5 Green-5

Purple-5 Gray-5

17

[15] Expansion I/O connectors

These connectors are used to install I/O expansion boards.

[16] System-operation setting

These switches are used to set the system operation mode. Normally

set to “1.”

Part 1 Installation

I/O expansion boards are optional with a general-purpose type. With compact types, on ly one expansion board can be installed. Note) The connector pins are similar to those of the standard I/O connector. 24 VDC must be input to pin Nos. 1 and 50.

switches (compact type only)

[17] Boot-target specification switch

(compact type only)

all switches should be set to OFF.

This switch is used to select the device that will be updated w he n the system implements program update. Normally this switch should be

18

Display

Priority (*1)

Description

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

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).

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

Part 1 Installation

2. Explanation of Codes Displayed on the Panel Window

2.1. Application

1 1 System-down level error 2 Writing data to the flash ROM. 3 Emergency stop is being actuated (except during the update mode). 4 Safety gate is open (except during the update mode). 5 Cold-start level error 5 Cold-start level error 5 Operation-cancellation level error 5 Operation-cancellation level error 6 6 7 All servo axes are interlocked (except during the update mode). 8 Message level error 8 Message level error 9 Core update mode 9 Core update is in progress. 9 Core update has completed. 9 Slave update mode 9 Slave update is in progress. 9 Slave update has completed. 9 9 Initialization sequence number 9 Debug mode 9 Ready status (auto mode) 9 Ready status (manual mode) 10 Deadman switch OFF (manual mode)

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

19

Display

Priority (*1)

Description

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

2.2. Core

1 1 Cold-start level error 1 Cold-start level error 1 Operation-cancellation level error 1 Operation-cancellation level error 2 Message level error 2 Message level error 2 Application update mode 2 Application update is in progress .

Part 1 Installation

2 Application update has completed. 2 Hardware test mode process 2 Clearing the application flash ROM. 2 Application flash ROM has been cleared. 2 Jump to the application 2 Core flash-ROM check process 2 Application flash-ROM check process 2 SDRAM check process

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

20

Total output when maximum number of axes are connected

Operating power-sourc e vo ltag e range

terminals and between the external terminals (together) and case)

Surrounding air temperature range

For backup of absolute data: AB-3 by I AI For backup of system memory: CR2032

Motor overcurrent, overload, motor-driver temperature check, overload error

Teaching pendant, PC software, absolute-data backup battery unit, I/O installed)

Part 1 Installation

Chapter 5 Specifications

1. Controller Specifications

1.1 JX Type (Compact Type) (for actuators of strokes from 250 to 350)

Type JX Type (Compact Type)

450 W

Power-sour c e volta ge Single-phase, 200 to 230 V

±10% Power-source frequency 50 Hz/60 Hz Insulation resistance Withstand voltage 1500 VAC for 1 minute (Note)

Surrounding humidity range 30% to 85% Storage temperature range Axis control method AC full digital servo Position detection methods Rotation data backup absolute encoder

10 MΩ min. (measured at 500 VDC between the power terminal and I/O

0°C to 40°C

-10°C to 65°C

Batteries Speed setting 1 mm/sec to 2000 mm/sec

Acceleration/deceleration setting 0.01 G to 1 G Programming language Super SEL language Program steps 6000 steps (total) Number of positions 3000 positions (total) Number of programs 64 programs Multi-tasking 16 programs Storage device Flash ROM + SRAM battery backup Data input methods Teaching pendant or PC software Standard inputs 32 points (total of dedicated inputs + general-purpose inp uts) Standard outputs 16 points (total of dedicated outputs + general-purpose outputs) Expanded inputs/outputs Only one board can be installed. Serial communication For connection of teaching pendant or PC Other inputs/output Emergency-stop input, safety-gate input, system ready output

Protective functions

check, encoder-open detection, soft limit over, system error, battery

Drive-source cutoff method Semiconductor Regenerative resistance

Built-in (1 kΩ, 20 W); external regenerative resistance supported

Accessory I/O flat cable

Optional parts and components

Note: The withstand voltage of the actuator motor is 1000 V for 1 minute. When performing a withstand voltage test with the controller and actuator connected, make sure the test voltage and

duration will not exceed 1000 V and 1 minute, respectively.

shield cable, I/O expansion board (only one expansion board can be

21

Total output when maximum number of axes are connected

Operating power-sourc e vo ltag e range

terminals and between the external terminals (together) and case)

range

For backup of absolute data: AB-3 by I AI

Motor overcurrent, overload, motor-driver temperature check, overload error

Teaching pendant, PC software, absolute-data backup battery unit, I/O shield cable, I/O expansion board

Part 1 Installation

1.2 KX Type (General-Purpose Type) (for actuators of strokes from 250 to 800)

Type KX Type (General-Purpose Type)

1750 W

Power-sour c e volta ge Single-phase, 200 to 230 V

±10% Power-source frequency 50 Hz/60 Hz Insulation resistance Withstand voltage 1500 VAC for 1 minute (Note)

Surrounding air temperature

Surrounding humidity range 30% to 85% Storage temperature range Axis control method AC full digital servo Position detection methods Rotation data backup absolute encoder

10 MΩ min. (measured at 500 VDC between the power terminal and I/O

0°C to 40°C

-10°C to 65°C

Batteries

For backup of system memory: CR2032

Speed setting 1 mm/sec to 2000 mm/sec Acceleration/deceleration setting 0.01 G to 1 G Programming language Super SEL language Program steps 6000 steps (total) Number of positions 3000 positions (total) Number of programs 64 programs Multi-tasking 16 programs Storage device Flash ROM + SRAM battery backup Data input methods Teaching pendant or PC software Standard inputs 32 points (total of dedicated inputs + general-purpose inp uts) Standard outputs 16 points (total of dedicated outputs + general-purpose outputs) Expanded inputs/outputs 48 points per unit (a maximum of 3 units can be added) Serial communication For connection of teaching pendant or PC Other inputs/output Emergency-stop input, safety-gate input, system ready output

Protective functions

check, encoder-open detection, soft limit over, system error, battery

Drive-source cutoff method Relay Regenerative resistance

Built-in (220 kΩ, 80 W); external regenerative resistance supported

Accessory I/O flat cable Optional parts and components

Note: The withstand voltage of the actuator motor is 1000 V for 1 minute. When performing a withstand voltage test with the controller and actuator connected, make sure the test voltage and

duration will not exceed 1000 V and 1 minute, respectively.

22

Item

Specification

Input voltage

24 VDC ±10%

Input current

7 mA per circuit

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

Insulation method

Photocoupler insulation

[4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

*

General purpose

Compact

I/O24V connector

24V IN

Caution

Internal circuit

Input terminal

OFF duration

+

-

2. External I/O Specifications

2.1. NPN Specification

(1) Input part

External Input Specifications (NPN Specification)

ON/OFF voltage

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

External devices

[2] Photoelectric/proximity sensor (NPN type) [3] Sequencer transistor output (open-collector type)

[Input circuit]

560 Ω

3.3 KΩ

Part 1 Installation

P24*

External power supply

24 VDC +10%

P24

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.

 X-SEL controller’s input signal

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).

ON duration

I/O interface pin No. 1

23

Item

Specification

Load voltage

24 VDC

Maximum load current

100 mA per point, 400 mA per 8 ports Note)

Leakage current

0.1 mA max. per point

Insulation method

Photocoupler insulation

[1] Miniature relay [2] Sequencer input unit

*

General purpose

Compact

24V IN

I/O24V connector

0V

Caution

Internal circuit

N*

P24*

+ - Surge absorber

Load

External power supply

(2) Output part

Part 1 Installation

External Output Specifications (NPN Specification)

TD62084 (or equivalent)

External devices

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

maximum total load current of output port No. 300 + n to No. 300 + n + 7 is 400 mA, where n is 0 or a multiple of 8.)

[Output circuit]

D

10 Ω

Output terminal

24 VDC ± 10%

P24 N

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.

I/O24V connector

I/O interface pin No. 1

I/O interface pin No. 50

24

Item

Specification

Input voltage

24 VDC ±10%

Input current

7 mA per circuit

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

Insulation method

Photocoupler insulation

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

[4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

*

General purpose

Compact

I/O24V connector

0V

Internal circuit

Input terminal

External power supply

N*

OFF duration

+

-

2.2. PNP Specification

(1) Input part

ON/OFF voltage

Part 1 Installation

External Input Specifications (PNP Specification)

External devices

[2] Photoelectric/proximity sensor (PNP type) [3] Sequencer transistor output (open-collector type)

[Input circuit]

N

560 Ω

3.3 KΩ

I/O interface pin No. 50

24 VDC +10%

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.

 X-SEL controller’s input signal

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).

ON duration

25

Item

Specification

Load voltage

24 VDC

Maximum load current

100 mA per point, 400 mA per 8 ports Note)

Leakage current

0.1 mA max. per point

Insulation method

Photocoupler insulation

[1] Miniature relay [2] Sequencer input unit

*

General purpose

Compact

I/O24V connector

24V IN

0V

Caution

N

P24

Surge absorber

Output terminal

External power supply

+

-

(2) Output part

Part 1 Installation

External Output Specifications

TD62784 (or equivalent)

External devices

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

maximum total load current of output port No. 300 + n to No. 300 + n + 7 is 400 mA, where n is 0 or a multiple of 8.)

[Output circuit]

Internal circuit

10 Ω

24 VDC +10%

P24 N

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.

I/O24V connector

I/O interface pin No. 1

I/O interface pin No. 50

26

3. Power-Source Capacity and Heat Output of the Controller

The power-source capacity and heat output vary as follows, depending on the robot stroke.

Robot stroke length Power-source capacity Heat outp ut

700/800 3625 VA 133 W 500/600 1963 VA 99 W 250/350 1118 VA 81 W

Part 1 Installation

27

POWER

RB

M4 M3 M2 M1

PG1

TP

PG2 PG4

I/02 I/01

PG3

CODE

5

180

4. External Dimensions

4.1 JX Type (Compact type)

35.9 112.5 112.5 35.9 3 - ∅ 5 125.3

(296.9)

Part 1 Installation

186

195

28

RB

POWER

FUSE

M4 M3 M2 M1

PG1

PG2

PG3

PG4

I/O1 I/O2 I/O3 I/O4

CODE

HOST

TP

MODE

454.5

5

77.2 150 150 77.2 125.3

4.2 KX Type (General-purpose type)

3 - ∅ 5

Part 1 Installation

186

180

195

29

Class D grounding

PG cable

U cable

Quick joint

24 VDC power Tool, control

Chapter 6 System Setup

A connection example is given below:

1. Connection Method of Controller and Robot (KX T y pe)

AC power

source

(protective grounding)

M cable

PC software

(optional)

Standard cable length: 5 m

To air tube (provided by user)

(cable for user wiring)

BK power cable

Teaching pendant

(optional)

supply for brake (provided by user)

Part 1 Installation

Output voltage: 24 VDC ± 10% Capacity: 20 to 30 W

unit, etc. (provided by user)

30

(1) Connect to the controller the motor cable and encoder cable from the actuator. (2) Connect the teaching-pendant cable to the teaching connector. After the connection, set the mode

switch to MANU (by tilting the switch upward). (If the mode switch is set to AUTO, the teaching pendant will not operate and RS-232 communication

will not establish after the power is turned on.) (3) Connect the power cable to the controller. (4) The panel window will display the code “rdy” to indicate that the preparation is complete.

If “ErG” is displayed, EMERGENCY STOP signal is being input. Reset the emergency stop.

This completes the preparation.

• The RDY terminals (Nos. 1 and 2) on the system I/O connector are relay-contact terminals shorted in

the ready mode.

• The ENB terminals (Nos. 3 and 4) on the system I/O connector are enable terminals. The controller

can operate when these terminals are shorted. The drive source will be cut off when the terminals are open.

• The EMG terminals (Nos. 5 and 6) on the system I/O connector are emergency-stop switch connection

terminals. An emergency stop will be actuated when these terminals are open. The controller is shipped with terminal Nos. 3 and 4, and 5 and 6, shorted, respectively.

Part 1 Installation

31

Pin No.

2. I/O Connection Diagram

(1) NPN specification

General-purpose input General-purpose input General-purpose input

Program specification (PRG No. 2) Program specification (PRG No. 4)

General-purpose input

Input

18 016

General-purpose input General-purpose input

Part 1 Installation

Digital switch

38 304

Output

General-purpose input General-purpose input

Emergency-stop output General-purpose output General-purpose output

General-purpose output General-purpose output

With a general-purpose (K) type, pin Nos. 1 and 50 are not connected. With a compact (J) type, +24 V is connected to pin No. 1, while 0 V is connected to pin No. 50.

32

Pin No.

3. I/O Flat Cable

No. Color No. Color No. Color No. Color No. Color

1 Brown-1 11 Brown-2 21 Brown-3 31 Brown-4 41 Brown-5 2 Red-1 12 Red-2 22 Red-3 32 Red-4 42 Red-5 3 Orange-1 13 Orange-2 23 Orange-3 33 Orange-4 43 Orange-5 4 Yellow-1 14 Yellow-2 24 Yellow-3 34 Yellow-4 44 Yellow-5 5 Green-1 15 Green-2 25 Green-3 35 Green-4 45 Green-5 6 Blue-1 16 Blue-2 26 Blue-3 36 Blue-4 46 Blue-5 7 Purple-1 17 Purple-2 27 Purple-3 37 Purple-4 47 Purple-5 8 Gray-1 18 Gray-2 28 Gray-3 38 Gray-4 48 Gray-5 9 White-1 19 White-2 29 White-3 39 White-4 49 White-5

10 Black-1 20 Black-2 30 Black-3 40 Black-4 50 Black-5

Part 1 Installation

Flat cable: KFX-50 (S) (Color) (Kaneko Cord)

34

Part 1 Installation

Chapter 7 Maintenance

• Routine maintenance and inspection are necessary so that the system will operate properly at all time. Be sure to turn off the power before performing maintenance or inspection.

• The standard inspection interval is six months to one year. If the environment warrants, however, the interval should be shortened.

1. Inspection points

• Check to see if the supply voltage to the controller is inside the specified range.

• Inspect the ventilation holes in the controller and remove dirt, dust and other foreign attachments, if

any.

• Inspect the controller cables (controller → actuator) and check for any loose screws or cable disconnection.

• Check the controller mounting screws, etc., for looseness.

• Inspect each cable (axis link cable, general-purpose I/O cable, system I/O cable, power cable) for

loose connection, disconnection, play, etc.

2. Spare consumable parts Without spare part s, a failed controller cannot be repaired even when the problem is identifie d q uic kly. We recommend that you keep the following consumable parts as spares:

Consumable parts

• Cables

• System-memory backup battery: CR2032 (Note 1) --- Battery life: Approx. 1 year *

• Absolute-date backup battery: AB-3 by IAI --- Battery life: Approx. 3 years *

(Absolute-data backup battery is installed on the robot.)

• Fuses

* The actual battery life will vary depending on the use condition. (Note 1) CR2032 is a standardized product and can be used with products by any manufacture.

Memory backup The X-SEL Controller saves program, position, coordinate system and parameter data to its flash memory (when written to the flash memory). The data saved by the system-memory backup battery are positions, coordinate system data, SEL global data and error lists. (Refer to Chapter 1, “How to Save Data,” of Part 3.)

When the battery voltage drops, an applicable error code will be displayed on the panel window.

Error Codes Indicating Low Battery Voltage

System-memory backup battery A01 or A02

Absolute-data backup battery A03, A23 or D72

In the case of a low battery voltage of the absolute-data backup battery, the axis-driver status LED will also illuminate.

35

Part 1 Installation

3. Replacement Procedure of System-Memory Backup Battery (CR2032) for K Type (General-Purpose Type)

Backing up the system memory If “Other parameter No. 20, System-memory backup battery installation function type” is set to “2” (installed), the following SRAM data in the X-SEL Controller will be backed up by the system-memory backup battery on the panel board:

• Position data

• Coordinate system data

• SEL global data (flags, integer/real variables, string variables)

• Error lists

Therefore, the above SRAM data will be destroyed if the system-memory backup battery is removed when “Other parameter No. 20, System-memory backup battery installation function type” is set to “2” (installed). For this reason, always follow the procedure below when replacing the system-memory backup battery:

[1] Turn on the controller power. [2] Record (write down) the current setting of “Other parameter No. 20, System-memory backup

battery installation function type.” (This will be used when reverting the parameter to its original setting following the replacement of system-memory backup battery.)

[3] If the PC software is installed in your PC, save the position data to a file using the PC software.

The data will be used as a backup in case the SRAM data saved to the flash ROM fails.

[4] Change “Other parameter No. 20, System-memory backup battery installation function type” to

“1” and transfer the setting to the controller, and then perform a flash ROM write. (The point data will be saved to the flash ROM.)

* Confirm that the flash ROM writing process has completed.

[5] Perform a software reset (restart) to restart the controller. (The SEL global data and error lists

will be saved to the special area in the flash ROM.)

[6] When the controller has been restarted, turn off the power.

* Once the controller has been restarted, be sure to keep the power on until the initialization

sequence number is no longer displayed on the panel window (while “InXX” is displayed following “8888”; XX indicates a number).

[7] Replace the system-memory backup battery. The battery is mounted on the panel board and

can be removed using two small screwdrivers or the like. When removing the current battery and installing a new one, pay due attention to the following points (SRAM data will be destroyed if steps 1 through 6 are not performed properly):

● Do not damage the board patterns.

● Do not short the circuits.

● Connect the battery in the correct polarities.

36

Battery Replacement Procedure

1) Remove the 7-segment LED panel from the controller. Slide the panel upward and pull it toward you to remove.

2) As shown at lef t, remove the battery from the holder using two screwdrivers, and then install a new battery in the holder.

3) Install the panel in the original position.

[8] When the replacement of system-memory backup battery is complete, confirm that the battery is

installed securely and then turn on the controller power.

[9] Revert “Other parameter No. 20, System-memory backup battery installation function type” to

the value recorded in step 2, transfer the setting to the controller, and then perform a flash ROM write.

* Confirm that the flash ROM writing process has completed. [10] Perform a software reset (restart the controller). [11] When the controller has been restarted, confirm that the SRAM data have been restored.

Part 1 Installation

37

4. Replacement Procedure of System-Memory Backup Battery (CR2032) for J Type (Compact Type) [Absolute specification]

In the case of a compact controller of absolute specification, an absolute reset must be performed after replacing the system-memory backup battery. (Since all cables and absolute-data backup battery are disconnected from the controller during the replacement procedure, the absolute data will be destroyed.)

[Memory backup] If “Other parameter No. 20, System-memory backup battery installation function type” is set to “2” (installed), the following SRAM data in the X-SEL Controller will be backed up by the system-memory backup battery on the main CPU board:

• Position data

• Coordinate system data

• SEL global data (flags, integer/real variables, string variables)

• Error lists

Therefore, the above SRAM data will be destroyed if the system-memory backup battery is removed when “Other parameter No. 20, System-memory backup battery installation function type” is set to “2” (installed). For this reason, always follow the procedure below when replacing the system-memory backup battery:

[Replacement procedure for system-memory backup battery] [1] Turn on the controller power. [2] Record (write down) the current setting of “Other parameter No. 20, System-memory backup

battery installation function type.” (This will be used when reverting the parameter to its original setting following the replacement of system-memory backup battery.)

[3] If the PC software is installed in your PC, save the position data to a file using the PC software.

The data will be used as a backup in case the SRAM data saved to the flash ROM fails.

[4] Change “Other parameter No. 20, System-memory backup battery installation function type” to

“1” and transfer the setting to the controller, and then perform a flash ROM write. (The point data will be saved to the flash ROM.)

* Confirm that the flash ROM writing process has completed.

[5] Perform a software reset to restart the controller. (The SEL global data and error lists will be

saved to the special area in the flash ROM.)

[6] When the controller has been restarted, turn off the power.

* Once the controller has been restarted, be sure to keep the power on until the initialization

sequence number is no longer displayed on the panel window (while “InXX” is displayed following “8888”; XX indicates a number).

[7] Replace the system-memory backup battery. When removing the current battery and installing a

new one, pay due attention to the following points (SRAM data will be destroyed if steps 1 through 6 are not performed properly):

• Do not damage the board patterns.

• Do not short the circuits.

• Connect the battery in the correct polarities.

Part 1 Installation

38

Segment board

Main board

[Battery replacement method]

1) Disconnect all cables from the controller.

2) Remove the screws shown by arrows that are mounting the front panel.

3) Remove the front panel.

4) Remove the screws mounting the segment board.

Part 1 Installation

39

Battery

5) As shown at left, use small screwdrivers to remove the segment board.

6) Remove the screws mounting the main CPU board.

7) As shown at left, use small screwdrivers to remove the main CPU board. (The main CPU board is sandwiched between the enclosure guides.)

8) Replace the battery located in the position shown by an arrow in the figure at left.

Part 1 Installation

40

As shown at left, use small screwdrivers to remove the battery from the holder and then install a new battery in the holder.

[8] When the replacement of system-memory backup battery is complete, confirm that the battery is

installed securely. (Pay attention to the polarities of the battery.) [9] Install the main CPU board, segment board and front panel in the reverse steps. [10] Connect the controller and the actuator using the cables. Connect the power cable and turn on

the controller power. [11] Revert “Other parameter No. 20, System-memory backup battery installation function type” to

the value recorded in step 2, transfer the setting to the controller, and then perform a flash ROM

write.

* Confirm that the flash ROM writing process has completed. [12] Perform a software reset and restart the controller. [13] When the controller has been restarted, confirm that the SRAM data have been restored.

Part 1 Installation

41

Teaching pendant

Start

PC software

X-SEL

Starting via

Start

Part 2 Operation

Chapter 1 Operation

How to Start a Program

With the X-SEL Controller, the stored programs can be started (run) using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the remaining two are used in general applications on site.

The former two methods are “starting from the teaching pendant” and “starting from the PC software.” These methods provide simple means of checking the operation. For details on “starting from the teaching

pendant,” read the operation manual for the optional teaching pendant. For “starting from the PC software,” read the applicable explanation in the manual supplied with the PC software.

The latter two methods are “starting automatically via parameter setting” and “starting via external signal selection.” This chapter only explains the methods for “starting automatically via parameter setting” and “starting via external signal selection.”

Controller

Starting

automatically via

parameter setting

external signal

selection

42

Caution

Set an auto-start prog r am nu mb er

Reset the controller

Automatically starting the program

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

1. Starting a Program by Auto-Start via Parameter Setting

I/O parameter 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.

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. *

Part 2 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 ca us ed b y 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.

* When I/O parameter No. 33 is set to “2”

The program of the selected number will start automatically at the ON edge of input signal received by input port No. 3. The program will be terminated at the OFF edge.

43

Select a desired program number externally and then input a start signal.

Power ON

READY signal ON

Program number

N

N N N Y Y

Y

N N Y

N

Program run

Emergency-stop

Controller

ALARM signal ON

Alarm output

External start input

Program number

Ready output

External device

Power ON

READY signal

Various I/O

Program number

Start signal ON

Emergency-stop

ALARM

Y

2. Starting via External Signal Selection

(1) Flow chart

error?

Controller

confirmed?

Start signal confirmed?

signal confirmed?

Servo OFF

input

Emergency-stop

input

confirmed?

Y

processing

specification

switch ON?

signal ON

ALARM signal

confirmed?

processing

Part 2 Operation

When the READY signal turns ON, the RDY lamp (green) on the controller front panel will illuminate.

Input a desired program number as a BCD code from the external device.

Input a start signal from the external device.

When the program is run, the number of the started program will be shown in the CODE display area of the controller front panel.

If an emergency-stop signal was input from the external device or a controller error occurred, the controller will turn off the servo power. (The RDY lamp will turn off.)

44

Duration after the program number is input until

Ready output

T1: Duration after the ready output turns ON, until

Set the program you want to start automatically

T1: Duration after the ready output turns ON, until

Ready output

T1: Duration after the ready output turns ON, until

(2) Timing chart

[1] Program start

Ready output Program

number input External start

input

Program 1 Program 2

[2] Program start by auto-start

* When I/O parameter No. 33 is set to “2”

Input by input function 003

Auto program start

[3] Software reset signal

* When I/O parameter No. 31 is set to “1”

Ready output

Input by input function 001

Program starting

[4] Servo ON signal

* When I/O parameter No. 32 is set to “1”

Input by input function 002

Servo ON

[5] When the recovery action following an emergency stop or enable operation is set to “continued

operation”

* When other parameter No. 10 is set to “2”

Set I/O parameter No. 35 to “1” (Operation-pause reset signal) Set I/O parameter No. 44 to “1” (Drive-source cutoff reset input)

Program starting

Emergency stop

Drive-source cutoff reset

Pause reset

Part 2 Operation

T1: Duration after the ready output turns ON until

input of external start signal is permitted T1 = 10 msec min .

T2:

input of external start signal is permitted T2 = 50 msec min.

T3: Input duration of external start signal

T3 = 100 msec min.

input by the input function 003 is permitted T1 = 10 msec min.

* Auto program start:

in other parameter No. 1, “Auto-start program number.”

input by the input function 001 is permitte d T1 = 10 msec min.

T2: Duration until the software reset signal

becomes functional T2 = 1 sec min.

T3: Duration after the software reset signal is reset,

until the ready signal is output

input by the input function 002 is permitte d T1 = 10 msec min.

T2: Interval after the servo turns off, until the servo

turns on again T2 = 1.5 sec min.

T1: Duration after the emergency stop input is reset,

until the drive-source cutoff reset signal can be input T1 = 2 sec min.

T2: Duration over which the drive-source cutoff reset

signal is input T2 = 10 msec min.

T3: Duration over which the pause reset signal is input T3 = 10 msec min.

45

Part 2 Operation

3. Drive-Source Recovery Request and Operation-Pause Reset Request

(1) Drive-source recovery request

1. How to request a drive-source recovery

A drive-source recovery request can be issued using one of the following methods:

• Set I/O parameter No. 44 to “1” (Input selection function 014 = Drive-source cutoff reset input), then input the ON edge to input port No. 14.

• Select [Drive-Source Recovery Reques t (P screen.

• Select Ctl (controller operation) and RPwr (drive-source recovery request) on the mode selection screen of the teaching pendant.

2. Case where a drive-source request is required A drive-source recovery request is required in the following case:

• A drive-source cutoff factor occurred when I/O parameter No. 44 was set to “1” → Rec ov er y after

the cutoff factor is removed.

(2) Operation-pause reset request

1. How to request an operation-pause reset

An operation-pause reset request can be issued using one of the following methods:

• Set I/O parameter No. 35 to “1” (Input selection function 005 = Operation-pause reset signal), then input the ON edge to input port No. 5.

• Select [Operation-Pause Reset Request (L)] from the [Controller (C)] menu on the PC software screen.

• Select Ctl (controller operation) and RAct (operation-pause reset request) on the mode selection screen of the teaching pendant.

2. Cases where an operation-pause reset request is required An operation-pause reset request is required in any of the following cases:

• The automatic operation was stopped using the deadman switch when other parameter No. 9

was set to “2” (Deadman-switch recovery type = Continued operation) (only during automatic operation) → Recovery (reset of operation pause) after the stop is reset.

• An emergency stop was actuated during automatic operation when other parameter No. 10

was set to “2” (Emergency-stop recovery type = Contin ued oper a tio n) (on l y during automatic operation) → Recovery (reset of operation pause) after the emergency stop is reset.

• The safety gate was opened during automatic operation when other parameter No. 11 was set

to “2” (Safety-gate open recovery type = Continued operation) (only during automatic operation) → Recovery (reset of operation pause) after the safety gate is closed.

• An OFF-level input signal was received by input port No. 6 when I/O parameter No. 36 was set

to”1” (Input selection function 006 = Operation-pause signal) → Recovery (reset of operation pause) after an ON-level input signal is received by input port No. 6.

* If the case in 2 of (1) and any of the cases in 2 of (2) are present at the same time, a drive-source

recovery request must be issued first, followed by an operation-pause reset request.

)] from the [Controller (C)] menu on the PC software

46

Driver

Parameters

Communication

Main

SEL language

Part 3 Controller Data Structure

The controller data consists of parameters as well as position data and application programs used to implement SEL language.

X-SEL Controller Data Structure

1

2

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

3

Parameters Parameters

4

Parameters

Position

data,

coordinate

system

data

Application

programs

47

Data edited on the PC

Data will be retained while

Programs,

Slave car ds,

Positions,

Transfer

Temporary

Write to flash memory

Read for reset

Transfer

Flash

EEPROM

Transfer

*Encoder

Battery

Write to flash

Read for reset

Part 3 Controller Data Structure

Chapter 1 How to Save Data

Since the IX-Series Controller uses flash memory, some data are saved by battery backup while others are saved in the flash memory.

When data is transferred from the PC software or teaching pendant to the controller, the data is only written to the temporary memory and will be erased once the controller is powered down or reset.

For important data, always write to the flash memory so that they will not be lost.

1. Factory Settings: When the System-Memory Backup Battery is Used

(Other parameter No. 20 = 2 (System-memory backup battery installed))

or teaching pendant

the power is on and

cleared upon reset

parameters (content 1),

symbols

memory

parameters

(content 2)

memory

*Encoder

parameters

Temporary

memory

coordinate

system data

SEL global

data (content

3), error lists

* The encoder parameters are stored in the EEPROM of the actuator’s encoder itself, not in the

controller. The encoder parameters will be read to the controller when the power is turned on or upon software reset.

Data will be retained even after the

power is turned off

memory

EEPROM

backup

memory

Flash

memory

backup

memory

48

Data edited on the PC

Data will be retained whi le

Data will be retained even after

Programs,

*Encoder

SEL global

Transfer

Temporary

Transfer

Flash

EEPROM

Transfer

*Encoder

Read for reset

Part 3 Controller Data Structure

Since the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary memory will remain the same as the original data before edit 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).

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

2. When the System-Memory Backup Battery is Not Used

Other parameter No. 20 = 0 (System-memory backup battery not installed)

or teaching pendant

parameters (content 1),

symbols,

positions,

coordinate

system data

Transfer

Slave car ds,

parameters

(content 2)

parameters

data (content

3), error lists

Since the programs, parameters, symbols and positions are read from the flash memory at restart, the data in the temporary memory will remain the same as the original data before edit 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).

Note: SEL global data cannot be retained if the backup battery is not installed.

the power is on and

cleared upon reset

Write to flash memory

Temporary

memory

the power is turned off

memory

EEPROM

49

Part 3 Controller Data Structure

3. 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.

Point to note when saving parameters to a file

The encoder parameters are stored in the EEPROM of the actuator’s encoder itself (unlike other parameters, they are not stored in the EEPROM of the controller). The encoder parameters will be read from the encoder’s EEPROM to the controller when the power is turned on or upon software reset.

Therefore, if the parameters are saved to a file after turning on the controller (or restarting it via a software reset) without an actuator (encoder) connected, the encoder parameters saved to the file will become invalid.

Point to note when transferring a parameter file to the controller

When a parameter file is transferred to the controller, the encoder parameters will be transferred to the EEPROM of the encoder (excluding manufacturing/function information).

Therefore, if the parameter file transferred to the controller has been read from a controller that was started without an actuator connected, invalid encoder parameters will be written to the encoder’s EEPROM (provided that an actuator is connected to the controller to which the file was transferred).

When saving the parameters to a file, do so with an actuator connected to the controller.

50

Varies depending on the function.

Varies depending on

Flag

600 ~ 899 (300)

900 ~ 999 (100)

200 ~ 299 (100)

1200 ~ 1299 (100)

1 ~ 99 (99)

1001 ~ 1099 (99)

99 is used for IN, INB, OUT, OUTB, etc.

300 ~ 399 (100)

1300 ~ 1399 (100)

100 ~ 199 (100)

1100 ~ 1199 (99)

199 is used for PPUT, PGET, PARG, etc.

String

300 ~ 999 (700)

1 ~ 299 (299)

Tag number

1 ~ 99 (99)

Subroutine number

1 ~ 99 (99)

Load coordinate system

0 ~ 31 (32)

Tool coordinate system

0 ~ 127 (128)

Simple interference check

zone number

Pallet number

1 ~ 10 (10)

Varies depending on the function.

Axis pattern

0 ~ 1111

Position number

1 ~ 3000 (3000)

Program number

1 ~ 64 (64)

Step number

1 ~ 6000 (6000)

Task level

NORMAL/HIGH (2)

1 ~ 1 (1) (Also used

for TP/PC)

Wait timer

1

16 (Number of timers

simultaneously)

Ladder timer

Local flag (100)

Virtual input port (SEL system

SEL user program)

Virtual output port (SEL user

program → SEL system)

Number of symbol definitions

1000

Number of times symbol can

be used in commands

Used in common from

Referenced separately

Caution

boards, etc., available for each device application.

Part 3 Controller Data Structure

Chapter 2 X-SEL Language Data (IX-Series Controller)

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 ~ 299 (300)

Output port 300 ~ 599 (300)

Variable (integer)

Variable (real)

1 ~ 10 (10)

Axis number 1 ~ 4 (4)

SIO channel number

the function.

1-shot pulse timer

→

that can be operated

7000 ~ 7299 (300) 7300 ~ 7599 (300)

5000 (including literals)

any program.

in each program. Cleared when the program is started.

• Variables 99 and 199 are special variables this system uses in operations. Avoid using these two variables for general purposes.

• 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

51

 The variables and flags in the global range will be retained even after the controller power is turned off.

(When other parameter No. 20 is set to “2.” Refer to Chapter 1, “How to Save Data,” of Part 3.)

 The variables and flags in the local range will be cleared when the program is started.  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 X-SEL Controller c an h and le values of maximum eight digits inc ludin g a s i gn a nd a d ec imal 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 d igits will be limited t o s even. 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 actuator model.) If position data are used in internal operations as numeric data (repeated multiplications and divisions), the accuracy 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.

Part 3 Controller Data Structure

1.2 I/O Ports

(1) Input ports

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

(2) Output ports

Input number assignment

000 to 031 (standard)

Used as various output ports.

Output number assignment

300 to 315 (standard)

52

Latch signal indicating that all-operation-cancellation factor is present (latch signal for recognizing 1-shot cancellation factor; latch is cancelled by 7300-ON)

only during automatic operation recognition)

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

Abnormal voltage of axis-1 absolute-data backup battery (latched until power-on reset or software reset (restart))

(restart)

Abnormal voltage of axis-3 absolute-data backup battery (latched until power-on reset or software reset (restart))

software reset (restart))

Part 3 Controller Data Structure

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 (For future extension = Use strictly prohibited) 7005 (For future extension = Use strictly prohibited) 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 (For future extension = Use strictly prohibited) 7010 Drive-source cutoff fac tor is present (including when waiting for cutoff reset input)

7011 7012

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

7013 7014 (For future extension = Use strictly prohibited)

7015 Voltage low warning for axis-1 absolute-data backup battery 7016 7017 Voltage low warning for axis-2 absolute-data backup battery 7018 7019 Voltage low warning for axis-3 absolute-data backup battery 7020 7021 Voltage low warning for axis-4 absolute-data backup battery 7022

7023 ~ 7030 (For future extension = Use strictly prohibited)

7031 Reading SIO CH1 (standard SIO) (reception ready) (*OFF if used for PC/TP connection) 7032 Reading SIO CH2 (expanded SIO)(reception ready) 7033 Reading SIO CH3 (expanded SIO)(reception ready) 7034 Reading SIO CH4 (expanded SIO)(reception ready) 7035 Reading SIO CH5 (expanded SIO)(reception ready) 7036 Reading SIO CH6 (expanded SIO)(reception ready) 7037 Reading SIO CH7 (expanded SIO)(reception ready)

7038 ~ 7070 (For future extension = Use strictly prohibited)

7071 7072 Automatic operation (Main application vers ion 0.34 or l ater)

7073 ~ 7100 (For future extension = Use strictly prohibited)

Abnormal voltage of axis-2 absolute-data backup battery (latched until power-on reset or software reset

Abnormal voltage of axis-4 absolute-data backup battery (latched until power-on reset or

)

Auto mode (Main application version 0.34 or later)

53

present) (7300 will be turned OFF following an attempt to cancel latch.)

Virtual input ports (continue d)

Port No. Function

7101 Running program No. 01 (including during pause)

~ ~

7164 Running program No. 64 (including during pause)

7165 ~ 7299 (For future extension = Use strictly prohibited)

(2) Virtual output ports

Port No. Function

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

7300

is present (7011) (latch is cancelled only when operation-cancellation factor is no longer

7301 ~ 7380 (For future extension = Use strictly prohibited)

7381 ~ 7399 (For future extension = Use strictly prohibited)

7400 ~ 7599 (For future extension = Use strictly prohibited)

Part 3 Controller Data Structure

54

Program 1

Program n

BTON 600

WTON 600

BTON 900

Turn on flag 600 Wait for flag 600 to turn ON

(Although the number is the

and

Part 3 Controller Data Structure

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. Global flags will be retained (backed up by battery) even after the power is turned off. Local flags will be cleared when the power is turned o f f .

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

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

same, these are local flags can exist only in their respective programs.)

55

Variable

box 1

A variable can be used in man y ways, such as:

Variable

box 1

(Already contains 2)

Part 3 Controller Data Structure

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 v al ue and performing addition or subtraction.

Command Operand 1 Operand 2

Putting in a value (1234),

Taking out a value (456), or

Adding a value (+1).

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.

2

56

200 ~ 299

1200 ~ 1299

1 ~ 99

1001 ~ 1099

Caution

Integer 99 is a special register this system uses in integer 99,999,999 can be input in programs.

300 ~ 399

1300 ~ 1399

1100 ~ 1199

Caution

Real number 199 is a special register this system uses in real-number digits including a sign) can be input in programs.

1 2 3 4

Variable

1234.567

Variable

(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

box 1

Part 3 Controller Data Structure

Integer variable number Integer variable number

[2] Real variables

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

(Decimal point)

Can be used in all programs “Global integer variables” Used only in each program “Local integer variables”

operations. Any value in the range from –9,999,999 to

Real variable box

box 1

Real variable number Real variable number

100 ~ 199

operations. Any value in the range from –99,999.9 t o 999,999.9 (eight

Can be used in all programs “Global real variables” Used only in each program “Local real variables”

57

Variable

1 2 3 4

Put in.

Variable

1 2 3 4

[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

box 1

Command Operand 1 Operand 2

Part 3 Controller Data Structure

LET 2 *1

box 1

box 2

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

58

Tag

TAG 1

GOTO 1

Part 3 Controller Data Structure

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.”

Command Operand 1

TAG Tag number (Integer between 1 and 99)

They are used only in each program.

59

Subroutines are called.

Subroutines EXSR 1

EXSR 1

BGSR 1

Part 3 Controller Data Structure

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

EDSR



60

Part 3 Controller Data Structure

1.8 Symbols

In the X-SEL Controller, values such as variable numbers and flag numbers can be handled as symbols. (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.) * Exercise caution that the same ASCII code may be expressed differently between the PC

software and the teac h ing 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: ~ Teaching pendant: Right arrow →

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 inte ger -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 a symbol 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.

61

Axis number

(Note) The movements of arms 1 and 2 of the SCARA robot are linked.

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 X-axis 1 Y-axis 2

Z-axis 3

R-axis 4

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

Use axis number if you wish to specify only one of multiple axes.

• Commands that use axis specification based on axis number PPUT, PGET, AXST, PASE, PCHZ, ACHZ, PARG

It is not always the case that arm 1 is the X-axis and arm 2 is the Yaxis. It should be interpreted that the operation of X-axis (axis number =

1) represents operation in the X coordinate direction, while the operation of the Y-axis (axis number = 2) represents operation in the Y coordinate direction. Note that the X-axis and Y-axis do correspond to the axes of arm 1 and arm 2, respectively, only when an AXST command is executed.

Part 3 Controller Data Structure

62

(2) Axis pattern

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

(Upper) (Lower)

Axis R-axis Z-axis Y-axis X-axis

Used 1 1 1 1

Not used 0 0 0 0

(Note) The movements of arms 1 and 2 of the SCARA robot are linked.

It is not always the case that arm 1 is the X-axis and arm 2 is the Y-axis. It should be interpreted that the operation of X-axis (axis number = 1) represents operation in the X coordinate direction, while the operation of the Y-axis (axis number = 2) represents operation in the Y coordinate direction.

[Example] When the X and Y-axes are used

Y-axis

0011 --- (The two 0s in front are not necessary. With the 0s removed, the expression reads “11.”)

X-axis

[Example] When the X and R-axes are used

R-axis

1001 --- (In this case, the 0s are needed to indicate the position of axis 4.)

X-axis

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.

If you must select and specify multiple axes at the same time, use axis pattern.

• Commands that use axis specification based on axis pattern OFST, GRP, PTST, PRED, PBND (Note) With SVON, SVOF and STOP, all axes are specified regardless of the axis pattern.

Part 3 Controller Data Structure

63

Speed

Acceleration (deceleration)

Value set by the position data

Value set by the position data specified in operand

Value set by a VEL command

Value set by an ACC (DCL) command

Default CP acceleration set by all-axis parameter

No. 12)

Part 3 Controller Data Structure

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, CP speeds, CP accelerations and CP decelerations are set and stored.

X-axis Y-axis Z-axis R-axis * * *

No. Axis 1 Axis 2 Axis 3 Axis 4 Vel Acc Dcl

1 2 3

: : :

2998 2999 3000

* Varies depending on the actuator model.

If speed, acceleration or deceleration is set in the position data, the setting will be given pr ior it y over the corresponding data set in the application program. Leave the position data fields empty if you wish to enable the cor res po ndi ng data in the application program.

The effective speed and acceleration are determined in the order of precedence specified below.

Precedence

1

specified in operand 1

2

3

Values pertaining to the R-axis (rotating axis) are processed in degrees instead of millimeters.

Example) Distance 1 mm → 1 deg Speed 1 mm/sec → 1 deg/sec Acceleration/deceleration 1 G = 9807 mm/sec → 9807 deg/sec

1

No. 11 (Default CP deceleration set by all-axis parameter

2

64

Command, declaration

To the next step

Command

Operand 1

Operand 2

Output

Command

Operand 1

Operand 2

IF ~ THEN ELSE

Command

Operand 1

Operand 2

Output

Part 3 Controller Data Structure

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 below shows the structure of one command step.

Extension condition

(AND, OR)

Input condition

(I/O, flag)

E N CND Pst

Using a ladder diagram, this is expressed as follows:

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

Command, declaration

Operand 1 Operand 2

Output

(Output port, flag)

Output

[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:

[1] In the case of a control command relating to actuator operation, etc., the out put w ill 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.

↓

65

AND extension (Ladder diagram) (SEL language)

Condition

AND

OR extension

Condition

OR

AND extension and OR extension

Condition

AND

OR

Condition

Part 3 Controller Data Structure

3.2 Extension Condition

Conditions can be combined in a complex manner.

Extension

condition

AND

1

2

E N CND Pst

A

A N

Input

condition

Condition

1

Condition

2

Condition

3

Command,

declaration

Command

Operand 1 Operand

Output

2

Condition

3

1

Condition

2

3

Extension

condition

E N CND Pst

O N

O

Extension

condition

Input

condition

Condition

1

Condition

2

Condition

3

Input

condition

Command,

declaration

Command

Command,

declaration

Operand 1 Operand

2

Output

1

2

3

E N CND Pst

A

O

Condition

1

Condition

2

Condition

3

Command

Operand 1 Operand

2

66

Operation type in the output field

LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2

Part 4 Commands

Chapter 1 List of SEL Language Command Codes

1. 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 option al.

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: T he output field of a comparison command CPXX (CPEQ, CPNE, CPGT, CPGE, CPLT and CPLE) will not be turned OFF

when the command is executed.

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 ≠ Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,

Variable

assignment

Arithmetic

operation

Function

operation

Logical

operation

Comparison Optional CPXX Comparison variable Comparison value

Timer

Optional TRAN Copy-destination variable Optional CLR Start-of-clear variable

Optional MOD

Optional ATN

Optional EOR

End-of-clear variable

Divisor ZR Calculate remainder 82

Operand ZR Inverse tangent 86

Operand ZR Logical exclusive-OR 90

ZR Copy 78 ZR Clear variable 79

GT, GE,

Compare 91

I/O, flag

operation

Optional FMIO Format type Prohibited CP

Program

control

Prohibited BGSR

103

Prohibited CP Start subroutine 107

67

Execution program

(Execution program

Resumpt ion program

(Resumption program

Copy-destination position number

Copy-source position number

Save-destination position number

Read current axis position (1 pattern

number

Assignment-destination position number

Axis-pattern assignment variable number

Size assignment variable number

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional EXIT Prohibited Prohibited CP End program 109

Task

management

Optional EXPG Optional ABPG Stop program number (Stop program number) CC Stop other program 111

Optional SSPG Pause program number (Pa use program number) CC Pause program 112 Optional RSPG Optional PGET Axis number Position number CC Assign position to variable 199 114

Optional PPUT Axis number Position number CP Assign value of variable 199 115 Optional PCLR Start posit ion number End position number CP Clear position data 116

Optional PCPY

number

LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2

number)

CC Start program 110

CC Resume program 113

CP Copy position data 117

Position

operation

Optional PRED Read axis pattern Optional PRDQ Axis number Variable number CP Optional PTST 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 126 Optional GACC Variable number Position number CP Get acceleration data 127 Optional GDCL Variable number Position number CP Get deceleration data 128

Confirmation axis

Confirmation position

Assignment-destination position number

Position number CP Read axis pattern 124 Prohibited CP Confirm position size 125

CP Read current axis position 118

axis direct)

CC Confirm position dat a 120 CP Assign position speed 121 CP Assign position acceleration 122 CP Assign position dece leration 123

119

68

Set deceleration for CP operation

system number

Tool coordinate system number

Select tool coordinate system

system number

Load coordinate system number

Select load coordi n ate s yst em

system number

Interference check zone number

Define coordinates of simple interference check zone

Interference check

Output/global flag

Specify output for simple interference check

zone number

(Error type)

zone

Interference check zone number

Get definition coordinates of simple interference check zone

Specify current arm as PTP target arm system

achieved) (No arm operati on )

Specify right arm as PTP target arm system

achieved) (No arm operation)

the opposite arm)

Change current arm system to left arm the opposite arm)

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up 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 2

Category Condition Command Operand 1 Operand 2 Output Function Page

Set speed for CP operation

Set acceleration for CP operation Set acceleration ratio for PTP operation

Define tool coordinate system

Get tool coordinate system definition data Define load coordinate system

Get load coordinate system definition data

CP

zone Specify error type for simple interference check

CP

Specify current arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value cannot be achieved) (No arm operati on )

(Movement of the opposite arm system is permitted when the target value cannot be

Actuator

control

declaration

Optional VEL Speed [mm/sec] Prohibited CP Optional VELS Ratio [%] Prohibited CP Set speed ratio for PTP operation 130 Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 131 Optional ACC Acceleration [G] Prohibited CP Optional ACCS Ratio [%] Prohibited CP Optional DCL Deceleration [G] Prohibited CP Optional DCLS Ratio [%] Prohibited CP Set deceleration ratio for PTP operation 135 Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 136 Optional OFST Setting axis pattern Offset value [mm] CP Set offset 137 Optional DEG Division angle [deg] Prohibited CP Set division angle 138 Optional GRP Valid axis pattern Prohibited CP Set group axes 139 Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 140 Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 141 Optional DIS Distance Prohibited CP Set spline division dista nce 142 Optional POTP 0 or 1 Prohibited CP Set PATH output type 143 Optional PAPR Distance Speed CP Set PUSH command distance, speed 144

Optional DFTL Optional SLTL Optional GTTL Optional DFWK Optional SLWK Optional GTWK Optional DFIF Optional SOIF Optional SEIF Optional GTIF

Optional PTPD Prohibited Prohibited CP

Optional PTPE Prohibited Prohibited CP

Tool coordinate

Tool coordinate system number Load coordinate

Load coordinate

zone number Interference check

Position number CP Prohibited CP Position number CP Position number CP Prohibited CP Position number CP Position number CP

number 0 or 1 or 2

Position number CP

129

132 133 134

145 146 147 148 149 150 157 158 159 160

155

156

Optional PTPR Prohibited Prohibited CP

Optional PTPL Prohibited Prohibited CP

Optional RIGH Prohibited Prohibited PE

Optional LEFT Prohibited Prohibited PE

(Movement of the opposite arm system is prohibited when the target value cannot be

Specify left arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value cannot be achieved) (No arm operati on ) Change current arm system to right arm (Arm 2 may operate if the current arm system is

(Arm 2 may operate if the current arm system is

153

154

151

152

69

Move to specified position via interpolation

Optional

STOP

Axis stop pattern

Prohibited

CP

Decelerate and stop axis

167

Passing position 2 number

Move along circle 2 (arc interpolation)

Optional

ARC2

Passing position number

End position number

PE

Move along arc 2 (arc interpolation)

172

Passing position 2 number

Move three-dimensionally along circle

end position and center angle

Move along arc via specification of center position and center angle

Move relatively between positions on tool coordinate system

Move relatively between positions Passing position 2 number

Move alon g circle (CIR2 is recommended)

Move along arc (ARC2 is

Optional

OFAZ

Offset value

Prohibited

CP

Set arch-motion Z-axis offset

223

Declare execution destination when satisfied

EDIF

Prohibited

CP

Declare end of IF

185

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

Column number, character literal

Declare branching destination when condition is not satisfied

EDSL

Prohibited

CP

Declare end of SLCT

191

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional SVXX Operation axis pattern Prohibited PE Servo [ON, OF] 161 Optional MOVP D estination positi on number Prohibited PE Move to specified posit ion 162

Optional MOVL D estination positi on number Prohibited PE Optional MVPI Travel posit ion number Prohibited PE Move to relative position 164 Optional MVLI Trav el position number Prohibited PE Optional PATH Start position num ber End position number PE Move along path 166

Optional PSPL Start position num ber End position number PE Move along spline 168 Optional PUSH Target position number Prohibited PE Move by push motio n 169

Optional CIR2 Passing position 1 number

LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2

Move to relative position via interpolation

PE

163

165

171

Actuator

control

command

Structural

IF

Structural

DO

Multi-

branching

Optional CIRS Passing position 1 number Optional ARCS Passing position number End position number PE Move thre e-dimensionally along arc 174 Optional ARCD End position number Center angle [deg] PE

Optional ARCC Center pos ition numbe r Center angle [deg] PE Optional PBND Axi s p at te r n Distance CP Set positioning band 177 Optional TMPI Position number Prohibited PE

Optional TMLI Position number Prohibited PE Optional PTRQ Axis pattern Ratio [%] CC

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 230 Optional ACHZ Ax is number Prohibited CP Declare arch-motion Z-axis 221 Optional ATRG Position number Position number CP Set arch trigger 222 Optional AEXT (Position number) Prohibited CP Set arch-motion composition 223

Optional IFXX Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE] 183 Optional ISXX Column number

Prohibited

Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 186 Optional LEAV Prohibited Prohibited CP Pull out from DO 186 Optional ITER Prohibited Prohibited CP Repeat DO 187

Prohibited EDDO Prohibited Prohibited CP Declare end of DO 187

Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 188

Prohibited

Prohibited Prohibited

ELSE Prohibited Prohibited CP

WHXX Comparison variable Comparison value CP WSXX Column number OTHE Prohibited Prohibited CP

Column number, character literal

PE

Move along arc via specification of

on tool coordinate system with interpolation Change push torque limit parameter

PE

recommended)

CP Compare stri ngs 184

IF command conditio n is not

LE]

CP Branch character string [EQ, NE] 190

173

175 176

178

179 180

181 182

185

189

191

70

Column number, string literal

Convert character string;

Column number, string literal

Convert character string data; decimal

Column number, string literal

Convert character string data; hexadecimal

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional AXST Variable number Axis number CP Get axis status 192

System

information

acquisition

Communica

tion

Optional PGST Variable number Program number CP Get program status 193 Optional SYST Variable number Prohibited CP Get system status 194 Optional GARM Variable number Prohibited CP Get current arm system 195 Optional OPEN Channel number Prohibited CP Open channel 196 Optional CLOS Channel number Prohibited CP Close channel 196 Optional READ Channel number Column number CC Read from channel 197 Optional TMRD Timer setting Prohibited CP Set READ timeout value 198 Optional WRIT Channel number Column number CP Output to channel 199 Optional SCHA Character code Prohibited CP Set end character 200

Optional SCPY Column number

LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2

CC Copy character string 201

String

operation

Optional SCMP Column number Optional SGET Variable number

Optional SPUT Column number Data CP Set character 204 Optional STR Column number Data CC

Optional STRH Column number Data CC Optional VAL Variable number Optional VALH Variable number

Optional SLEN Character string length Prohibited CP Set length 209

EQ Compare character strings 202 CP Get character 203

decimal Convert character string; hexadecimal

CC CC

205 206 207 208

71

Declare start of palletizing setting

Increment palletizing position number by 1

Set palletizing position number directly

Move to palletizing points via

Specif y p rocessin g t o be is not specified

See 275

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,

Category Condition Command Operand 1 Operand 2 Output Function Page

Optional BGPA Palletizing number Prohibited CP

Prohibited EDPA Prohibited Prohibited CP

Optional PAPI Count Count CP Set palletizing counts 211 Optional PAPN Pattern number Prohibited CP Set palletizing pattern 211 Optional PASE Axis number Axis numb er CP Set palletizing axes 212 Optional PAPT Pitch Pitch CP Set palletizing pitches 212 Optional PAST (Position number) Prohibited CP Set palletizing reference point 213

Optional PAPS Position number Optional PSLI Offset amount (Count) CP Set zigzag 217

Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 218 Optional PTRG Position number Position number CP Set palletizing arch triggers 219 Optional PEXT (Position number) Prohibited CP Set palletizing composition 220 Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 220

Palletizing-

Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 221 Optional ATRG Position number Position number CP Set arch triggers 222 Optional AEXT (Position number) Prohibited CP Set arch-motion composition 223 Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 223 Optional PTNG Palletizing number Variable number CP Get palletizing position number 224

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 226 Optional PAPG Palletizing number Position number CP Get palletizing calculation data 226

Optional PMVP Palletizing number (Position number) PE Optional PACH Palletizing number Position number PE Palletizing-point arch motion 228

Optional ARCH Position number Position number PE Arch motion 230

Extension conditions LD (LOAD), A ( AN D ), O (OR) , AB (AND BLOCK) and OB (OR BLOCK) are suppor ted .

Optional CHPR 0 or 1 Prohibited CP Change task level 232

LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2

Declare end of palletizing setting

(Palletizing position setting typ e)

CP Set palletizing positions 214

Decrement palletizing position number by 1

PTP

210 210

224 225 225

227

Building of

pseudo-

ladder task

Prohibited TPCD 0 or 1 Prohibited CP

Optional TSLP 0 or 1 Prohibited CP Task sleep 233 Optional OUTR Output, flag number Prohibited CP Output relay for ladder

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

performed when input condition

232

See 275

72

Set acceleration ratio for PTP

Move along arc via specification of center position and center angle

Inverse-tangent assignment operation

Passing position 2 number

Cosine assignment variable

Part 4 Commands

2. Command Codes in Alphabetical Order

Command Page Condition Operand 1 Operand 2 Output Function

A

ABPG 111 Optional Stop program number (Stop program number) CP S t op other program ACC 132 Optional Acceleration Prohibited CP Set acceleration for CP operation

ACCS 133 Optional Ratio Prohibited CP ACHZ 221 Optional A x is number Prohibited CP Declare arch-moti on Z-axis

ADD 80 Optional Augend variable Addend ZR Add AEXT 223 Optional (Position number) Prohibited CP Set arch-motion composition AND 88 Optional AND operand variable Operand CP Logical AND ARC 182 Optional Passing position number End position number CP Move along arc ARC2 172 Optional Passing position number End position number CP Move along arc 2

ARCC 176 Optional Center position number Center angle CP ARCD 175 Optional End position number Center angle CP

ARCH 230 Optional Position number Position number CP Arch motion ARCS 174 Optional Passing position number Passing position number CP Move three-dimensionally along arc

ATM 86 Optional ATRG 222 Optional Position number Position number CP Set arch trigger

AXST 192 Optional Variable number Axis number CP Get axis status

B

BGPA 210 Optional Palletizing number Prohibited CP Declare start of palletizing setting BGSR 107 Prohibited BT[F 97 Optional Output port, flag Timer settin g CC Output OFF pulse

BT[M 96 Optional Output port, flag Timer setting CC Output ON pulse BTXX 95 Optional Start output, flag (End output, flag) CC Output, flag [ON, OF, NT]

C

CANC 141 Optional (Input port to abort) (CANC t ype) CP Declare port to abort CHPR 232 Optional 0 or 1 Prohibited CP Change task level

CIR 181 Optional Passing position 1 number CIR2 171 Optional Passing position 1 number

Declaration subroutine number

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up 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 2

operation

Move along arc via specification of end position and center angle

Operand ZR Inverse tangent

Prohibited CP Start subroutine

Passing position 2 number

PE Move along circle PE Move along circle 2

CIRS 173 Optional Passing position 1 number CLOS 196 Optional Channel number Prohibited CP Close channel

CLR 79 Optional Start-of-clear variable End-of-clear variable ZR Clear variable COS 84 Optional CPXX 91 Optional Comparison variable Comparator Compare

PE Mov e t hree-dimensionally along circle

Operand ZR Cosine

73

Command

Page

Condition

Operand 1

Operand 2

Output

Function

D

DCL

134

Optional

Deceleration

Prohibited

CP

Set deceleration for CP operation

Set dece leration ratio for PTP

DEG

138

Optional

Division angle

Prohibited

CP

Set division angle

Tool coordinate system number

Load coordinate system number

DIS

142

Optional

Distance

Prohibited

CP

Set spline division distance

DIV

81

Optional

Dividend variable

Divisor

ZR

Divide

DWXX

186

Optional

Comparison variable

Comparison value

CP

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

E

EDDO

187

Prohibited

CP

Declare end of DO

EDIF

185

Prohibited

CP

Declare end of IF

EDPA

210

Prohibited

CP

Declare end of palletizing setting

EDSL

191

Prohibited

CP

Declare end of SLCT

EDSR

108

Prohibited

CP

End subroutine

Declare execution destination when IF command condition is not satisfied

Exclusive-OR operand EXIT

109

Optional

Prohibited

CP

End program

Execution program

(Execution program

F

FMIO

103

Optional

Format type

Prohibited

CP

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

G

GACC

127

Optional

Variable number

Position number

CP

Get acceleration data

GARM

195

Optional

Variable number

Prohibited

CP

Get current arm system

GDCL

128

Optional

Variable number

Position number

CP

Get deceleration data

Jump-destination tag number

GRP

139

Optional

Valid axis pattern

Prohibited

CP

Set group axes

Interference check zone number

Get definition coordinates of simple interference check zone

Tool coordinate system number

Get tool coordinate system definition data

GTTM

94

Optional

Time assignment variable

Prohibited

CP

Get time

Load coordinate system number

Get load coordinate system definition data

GVEL

126

Optional

Variable number

Position number

CP

Get speed data

H

HOLD

140

Optional

(Input port to pause)

(Hold type)

CP

Declare port to pause

I

IFXX

183

Optional

Comparison variable

Comparison value

CP

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

INB

100

Optional

Head I/O, flag

Conversion digits

CC

Input BCD (8 digits max.)

IN

99

Optional

Head I/O, flag

End I/O, flag

CC

Input binary (32 bits max.)

Column number, character literal

ITER

187

Optional

Prohibited

CP

Repeat DO

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up 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 2

DCLS 135 Optional Ratio Prohibited CP

DFIF 157 Optional

DFT; 145 Optional

DFWL 148 Optional

ELSE 165 Prohibited Prohibited Prohibited CP

EOR 90 Optional

EXPG 110 Optional

EXSR 107 Optional

Interference check zone number

variable

number Execution subroutine

number

Position number CP

Position number CP Define tool coordinate system

Position number CP Define load coordinate system

Operand ZR Logical exclusive-OR

number) Prohibited CP Execute subroutine

CC Start program

operation

Define coordinates of simple interference check zone

COTO 106 Optional

GTIF 160 Optional

GTTL 147 Optional

GTWK 150 Optional

ISXX 184 Optional Column number

Prohibited CP Jump

Position number CP

CP Compare string s

74

Command

Page

Condition

Operand 1

Operand 2

Output

Function

L

LEAV

186

Optional

Prohibited

CP

Pull out from DO

Change current arm system to left arm system is t he opposite arm)

LET

78

Optional

Assignment variable

Assigned value

ZR

Assign

M

Remainder assignment variable

Destination position number

Move to specified position via interpolation

MULT

81

Optional

Multiplicand variable

Multiplier

ZR

Multiply

Move to relative position via interpolation

MVPI

164

Optional

Travel p osition num ber

Prohibited

PE

Move to relative pos ition

O

OFAZ

223

Optional

Offset amount

Prohibited

CP

Set arch-motion Z-axis offset

OPPZ

220

Optional

Offset amount

Prohibited

CP

Set palletizing Z-axis offset

OFST

137

Optional

Setting axis pattern

Offset value

CP

Set offs et

OPEN

196

Optional

Channel number

Prohibited

CP

Open channel

OR

89

Optional

OR operand variable

Operand

ZR

Logical OR

Declare branching destination when condition is not satisfied

OUT

101

Optional

Head output, flag

End I/O, flag

CC

Output binary (32 bits max.)

OUTB

102

Optional

Head output, flag

Conversion digits

CC

Output BCD (8 digits max.)

OUTR

275

Optional

Output, flag number

Prohibited

CP

Output relay for ladder

OVRD

131

Optional

Speed ratio

Prohibited

CP

Set speed coefficient

P

PACH

228

Optional

Palletizing number

Position number

PE

Palletizing-point arch motion

PAPG

226

Optional

Palletizing number

Position number

CP

Get palletizing calculation data

PAPI

211

Optional

Count

CP

Set palletizing counts

PAPN

211

Optional

Pattern number

Prohibited

CP

Set palletizing pattern

PAPR

144

Optional

Distance

Speed

CP

Set PUSH command distance, speed

PAPT

212

Optional

Pitch

CP

Set palletizing pitches

PARG

226

Optional

Palletizing number

Axis number

CP

Get palletizing angle

PASE

212

Optional

Axis number

CP

Set palletizing axes

PAST

213

Optional

(Position number)

Prohibited

CP

Set palletizing reference point

PATH

166

Optional

Start position number

End position number

PE

Move along path

PBND

177

Optional

Axis pattern

Distance

CP

Set positioning band

PCHZ

218

Optional

(Axis number)

Prohibited

CP

Set palletizing Z-axis

PCLR

116

Optional

Start position numbe r

End positio n number

CP

Clear position data

Copy-destination position number

Assignment-destination position number

Decrement palletizing position number

PEXT

220

Optional

(Position number)

Prohibited

CP

Set palletizing composition

PGET

114

Optional

Axis number

Position number

CC

Assign position to variable 199

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up 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 2

LEFT 152 Optional Prohibited Prohibited PE

MCD 82 Optional

MCVL 163 Optional

MOVP 162 Optional

MVLI 165 Optional Trav el position number Prohibited PE

OTHE 191 Prohibited Prohibited Prohibited CP

PACC 122 Optional Acceleration

Destination position number

Divisor ZR Calc ulate remainder

Prohibited PE

Prohibited PF Move to specified posi tion

Assignment-destination position number

CP Assign positi on acceleration

(Arm 2 may operate if the current arm

PAPS 214 Optional Position number

PAXS 124 Optional

PCPY 177 Optional

PDCL 123 Optional Deceleration

PDEC 225 Optional Palletizing number Prohibited CC

Axis-pattern assignment variable number

(Palletizing position setting typ e)

Position number CP Read axis pattern

CP Set palletizing positions

CP Copy position data

CP Assign positi on deceleration

by 1

75

Command

Page

Condition

Operand 1

Operand 2

Output

Function

P

PGST

193

Optional

Variable number

Program number

CP

Get program status

Increment palletizing position number by 1

PMVP

227

Optional

Palletizing number

(Position number)

PE

Move to palletizing points via PTP

POTP

143

Optional

0 or 1

Prohibited

CP

Set PATH output type

PPUT

115

Optional

Axis number

Position number

CP

Assign value of variable 199

PRDQ

119

Optional

Axis number

Variable number

CP

number

PSET

225

Optional

Palletizing number

Data

CC

Set palletizing position number directly

Size assignment variable number

PSLI

217

Optional

Offset amount

(Count)

CP

Set zigzag

PSPL

168

Optional

Start position number

End position numb er

PE

Move along spline

PTPD

224

Optional

Palletizing number

Variable number

CP

Get palletizing position number

when the target value cannot be achieved)

Specify current arm as PTP target arm system when the target value cannot be achieved)

Specify right arm as PTP tar g et ar m syst em

PTRG

219

Optional

Position number

CP

Set palletizing arch triggers

PTRQ

180

Optional

Axis pattern

Ratio

CC

Change push torque limit parameter

number

PUSH

169

Optional

Target position number

Prohibited

PE

Move by pus h m otion

Assignment-destination position number

R

READ

197

Optional

Channel number

Column number

CC

Read from channel

Change current arm system to right arm system is the opposite arm)

Resumpt ion program number

(Resumption program number)

S

SCHA

200

Optional

Character code

Prohibited

CP

Set end character

Column number, character literal

SCRV

136

Optional

Ratio

Prohibited

CP

Set sigmoid motion ratio

Interference check zone number

Specify error type for simple interference check zone

Column number, character literal

SIN

83

Optional

Sine assignment variable

Operand

ZR

Sine

SLCT

188

Optional

Prohibited

CP

Declare start of multi-branching

SLEN

209

Optional

Character string length

Prohibited

CP

Set length

Tool coordinate system number

Load coordinate system number

SPUT

204

Optional

Column number

Data

CP

Set character

SQR

87

Optional

Root assignment variable

Operand

ZR

Root

SSPG

112

Optional

Pause program number

(Pause program number)

CC

Pause program

STOP

167

Optional

Axis stop pattern

Prohibited

CP

Decelerate and stop axis

STR

205

Optional

Column number

Data

CC

Convert character string; decimal

STRH

206

Optional

Column number

Data

CC

Convert character string; hexadecimal

SUB

80

Optional

Minuend variable

Subtrahend

ZR

Subtract

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2, GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,

PINC 224 Optional Palletizing number Prohibited CC

LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2

Part 4 Commands

PRED 118 Optional Read axis pattern

PSIZ 125 Optional

Save-destination position

CP Read current axis position

CP Confirm position size

PTPD 155 Optional Prohibited Prohibited CP

PTPE 156 Optional Prohibited Prohibited CP

PTPL 154 Optional Prohibited Prohibited CP

PTPR 153 Optional Prohibited Prohibited CP

PTST 120 Optional Confirmation axis pattern

PVEL 121 Optional Speed

Confirmation position

CP Confirm position data

CP Assign position speed

RIGH 151 Optional Prohibited Prohibited PE

RSPG 113 Optional

CC Resume program

Read current axis position (1 axis direct)

Specify current arm as PTP target arm system (Movement of the opposite arm system is prohibited

(Movement of the opposite arm system is permitted when the target value cannot be achieved) Specify left arm as PTP tar get arm system (Movement of the opposite arm system is prohibited

(Movement of the opposite arm system is prohibited when the target value cannot be achieved)

(Arm 2 may operate if the current arm

SCMP 202 Optional Column number SCPY 201 Optional Column number

SEIF 159 Optional SGET 203 Optional Variable number

SLTL 146 Optional SLWK 149 Optional SOIF 158 Optional

Column number, character literal

EQ Compare character strings CC Copy character string

0 or 1 or 2 CP

CP Get character

Prohibited CP Select tool coordinate system Prohibited CP Select load coordinate system

Interference check zone number

Output, global flag number

Specif y o utput for simple inter f erence

CP

check zone

76

Command

Page

Condition

Operand 1

Operand 2

Output

Function

S

SVXX

161

Optional

Operation axis pattern

Prohibited

PE

Servo [ON, OF]

SYST

194

Optional

Variable number

Prohibited

CP

Get system status

T

TAG

106

Prohibited

Declaration tag number

Prohibited

CP

Declare jump destination

Tangent assignment TIMC

93

Optional

Program number

Prohibited

CP

Cancel waiting

TIMR

275

Optional

Local flag number

Timer setting

CP

Timer relay for ladder

TIMW

92

Optional

Wait time

Prohibited

TU

Wait

interpolation

Move relatively between positions on

TMRD

198

Optional

Read timer setting

(Write timer setting)

CP

Set READ timeout value

Specify processing to be performed when input condition is not specified

TRAN

78

Optional

Copy-destination variable

Copy-source variable

ZR

Copy

TSLP

233

Optional

Time

Prohibited

CP

Task sleep

V

Column number,

Column number, character literal

Convert character string data; hexadecimal

VEL

129

Optional

Speed

Prohibited

CP

Set speed for CP operation

VELS

130

Optional

Ratio

Prohibited

CP

Set speed ratio for PTP operation

W

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

WRIT

199

Optional

Channel number

Column number

CC

Output to channel

Column number, character literal

WTXX

98

Optional

I/O, flag

(Wait time)

TU

Wait for I/O, flag [ON , O F]

Part 4 Commands

Operation type in the output field CC: Command was executed successfully, Z R: Operati on result is zero, PE: Operat i on is compl ete, CP: Command part has passed, TU: Time up 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 2

TAN 85 Optional

TMLI 179 Optional Position number Prohibited PE

TMPI 178 Optional Position number Prohibited PE

TPCD 232 Prohibited 0 or 1 Prohibited CP

VAL 207 Optional Variable number

VALH 208 Optional Variable number

WHXX 189 Prohibited Comparison variable Comparison value CP

WSXX 190 Prohibited Column number

variable

Operand ZR Tangent

character literal

CC Convert character string data; decimal

CC

CP Branch charact er string [EQ, NE]

Move relatively between positions on tool coordinate system with

tool coordinate system

77

Part 4 Commands

78

Command, declaration

[Function]

Assign the value specified in operand 2 to the variable specified in operand 1. The output will turn ON when 0 is assigned 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.

LET

3

10

Assign 10 to variable 3.

LET

*1

*3

Assign the content of variable 3 (10) to the variable of the content of variable 1 (variable 2).

Command, declaration

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

[Example 1]

TRAN

1 2 Assign the content of variable 2 to variable 1.

operation

[Example 2]

LET

1 2 Assign 2 to variable 1.

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 (variable 2).

1 2 3 4 1 2 3 4

Chapter 2 Explanation of Commands

1. Commands

1.1 Variable Assignment

 LET (Assign)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Optional Optional LET

 TRAN (Copy)

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

Input condition

(I/O, flag)

Input condition

(I/O, flag)

operand 1.

Operand 1 Operand 2

Variable

number

Operand 1 Operand 2

Variable

number

Data ZR

Variable

number

Output

(Output, flag)

Output

(Output, flag)

ZR

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

4, or 10) to the variable of the content of variable 1

The variables change as follows:

2 3 4

10

→

2

10

4

10

79

Command, declaration

[Function]

Clear the variables from the one specified in operand 1 through the other specified in

[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 20).

 CLR (Clear variable)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Optional Optional CLR

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.

Output

Operand 1 Operand 2

Variable

number

(variable 10) through the content of variable 2

Variable

number

(Output, flag)

ZR

80

Command, declaration

[Function]

Add the content of the variable specified in operand 1 and the value specified in operand 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). 5 (3+2=5) 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.

ADD

*1

*3

Add the content of variable 3 (2) to the content of 5 (3+2=5) will be stored in variable 2.

Command, declaration

[Function]

Subtract the value specified in operand 2 from the content of the variable specified in 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 1 (3–2=1) will be stored in variable 2.

1.2 Arithmetic Operation

 ADD (Add)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Optional Optional ADD

2, and assign the result to the variable specified in operand 1.

 SUB (Subtract)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Operand 1 Operand 2

Variable

number

variable 1 (variable 2).

Operand 1 Operand 2

Data ZR

Output

(Output, flag)

Output

(Output, flag)

Optional Optional SUB

operand 1, and assign the result to the variable specified in operand 1.

Variable

number

content of variable 1 (variable 2).

Data ZR

81

Command, declaration

[Function]

Multiply the content of the variable specified in operand 1 by the value specified in 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 var iab le 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 6 (3x2=6) will be stored in variable 2.

Command, declaration

[Function]

Divide the content of the variable specified in operand 1 by the value specified in operand 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 (6÷2=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 3 (6÷2=3) will be stored in variable 2.

 MULT (Multiply)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Optional Optional MULT

operand 2, and assign the result to the variable specified in operand 1.

 DIV (Divide)

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Operand 1 Operand 2

Variable

number

the content of variable 3 (2).

Operand 1 Operand 2

Data ZR

Output

(Output, flag)

Output

(Output, flag)

Optional Optional DIV

2, and assign the result to the variable specified in operand 1.

Variable

number

content of variable 3 (2).

Data ZR

82

Command, declaration

[Function]

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

(Note)

A MOD command is used with int eger var iab les.

[Example 1]

LET

1 7 Assign 7 to variable 1.

MOD

1 3 Obtain the remainder of dividing the content of

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 2.

 MOD (Remainder of division)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Optional Optional MOD

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

Output

Operand 1 Operand 2

Variable

number

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

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

Data ZR

(Output, flag)

83

Command, declaration

[Function]

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

(Note 1)

Radian = Angle x π ÷ 180

[Example 1]

SIN

100

0.523599

Assign the sine of 0.523599 (0.5) to variable 100.

[Example 2]

LET

1

100

Assign 100 to variable 1.

the content of variable 1 (variable 100).

LET

101

30 MULT

101

3.141592

DIV

101

180

SIN

*1

*101

1.3 Function Operation

 SIN (Sine operation)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Optional Optional SIN

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.

Output

Operand 1 Operand 2

Variable

number

30 x π ÷ 180 (radian) (30° will be converted to radian and assigned to variable 101.) Assign the sine of the content of variable 101 (0.5) to

Data ZR

(Output, flag)

84

Command, declaration

[Function]

Assign the cosine of the data specified in operand 2 to the variable specified in op er and 1.

(Note 1)

Radian = Angle x π ÷ 180

[Example 1]

COS

100

1.047197

Assign the cosine of 1.047197 (0.5) to variab le 100 .

[Example 2]

LET

1

100

Assign 100 to variable 1.

to the content of variable 1 (variable 100).

LET

101

60 MULT

101

3.141592

DIV

101

180

COS

*1

*101

 COS (Cosine operation)

Part 4 Commands

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Optional Optional COS

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.

Output

Operand 1 Operand 2

Variable

number

60 x π ÷ 180 (radian) (60° will be converted to radian and assigned to variable 101.) Assign the cosine of the content of variable 101 (0.5)

Data ZR

(Output, flag)

IAI America XSEL-KX User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

CAUTION

Operator Calls Regarding Low Battery Voltage

Danger

Safety Precautions

Warning

Caution

Note

Others

Prohibited Handling of Cables

Before Use

Table of Contents

Introduction

Part 1 Installation

Chapter 1 Safety Precautions

Chapter 2 Warranty Period and Scope of Warranty

1. Warranty Period

2. Scope of Warranty

3. Scope of Service

Chapter 3 Installation Environment and Noise Measures

1. Installation Environment

2. Heat Radiation and Installation

3. Power Source

4. Noise Measures and Grounding

Chapter 4 Name and Function of Each Part

1. Front View of Controller

2. Explanation of Codes Displayed on the Panel Window

2.1. Application

2.2. Core

Chapter 5 Specifications

1. Controller Specifications

1.1 JX Type (Compact Type) (for actuators of strokes from 250 to 350)

1.2 KX Type (General-Purpose Type) (for actuators of strokes from 250 to 800)

2. External I/O Specifications

2.1. NPN Specification

2.2. PNP Specification

3. Power-Source Capacity and Heat Output of the Controller

4. External Dimensions

4.1 JX Type (Compact type)

4.2 KX Type (General-purpose type)

Chapter 6 System Setup

1. Connection Method of Controller and Robot (KX T y pe)

2. I/O Connection Diagram

3. I/O Flat Cable

Chapter 7 Maintenance

Part 2 Operation

Chapter 1 Operation

1. Starting a Program by Auto-Start via Parameter Setting

2. Starting via External Signal Selection

3. Drive-Source Recovery Request and Operation-Pause Reset Request

Part 3 Controller Data Structure

Chapter 1 How to Save Data

1. Factory Settings: When the System-Memory Backup Battery is Used

2. When the System-Memory Backup Battery is Not Used

3. Points to Note

Chapter 2 X-SEL Language Data (IX-Series Controller)

1. Values and Symbols Used in SEL Language

1.1 List of Values and Symbols Used

1.2 I/O Ports

1.3 Virtual I/O Ports

1.4 Flags

1.5 Variables

1.6 Tags

1.7 Subroutines

1.8 Symbols

1.9 Character-String Literals

1.10 Axis Specification

2. Position Part

3. Command Part

3.1 SEL language Structure

3.2 Extension Condition

Part 4 Commands

Chapter 1 List of SEL Language Command Codes

1. Command Codes by Function

2. Command Codes in Alphabetical Order

Chapter 2 Explanation of Commands

1. Commands