IAI SEL User Manual

324 pages

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Instruction Manual Eleventh Edition

SEL CONTROLLER

Teaching Pendant

SEL-T, SEL-TD, SEL-TG

IAI Corporation

Default Chapter7
- Table of Contents7
Safety Guide11
1 Forward19
2 Warranty Period and Scope of Warranty20
3 Connection to Controller21
- Connection to SEL-T, TD21
- Connection between SEL-TG and the Controller30
- Teaching Pendant Connection Procedure36
4 Teaching Pendant Function and Specifications38
- General Specifications38
- Main Operation Keys and Functions39
5 How to Save Data43
- Set-Up at Shipment with System Memory Backup Battery43
- Set-Up at Shipment Without System Memory Backup Battery46
- Xsel-R/S/Rx/Sx/Rxd/Sxd48
- Tta49
- Caution50
6 Mode Transition Diagram51
- X-SEL K, P/Q, R/S, TT, TTA Controller51
- X-SEL KX Controller56
- X-SEL PX/QX, RX/SX, RXD/SXD Controller61
- SSEL, ASEL or PSEL Controller66
  - Program Mode66
  - Positioner Mode71
7 Simple Operation Procedure75
- Orthogonal Axis: 5Th and 6Th Axes of XSEL-K, P/Q or PX/QX Controller75
- SCARA Axis: 1St to 4Th Axes of XSEL-KX, PX/QX or RX/SX Controller or 1St to 4Th Axes or 5Th to 8Th Axes of RXD/SXD Controller98
8 Program Execution121
- (Excluding the Positioner Mode of the SSEL, ASEL and PSEL Controller.)121
- Operation Confirmation121
- Setting of Brake Point123
- Monitor under Operation124
9 Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller126
10 Position Edit127
- MDI (Manual Direct Input)127
- Teaching of the Orthogonal Axis: 5Th and 6Th Axes of XSEL-K, P/Q or128
- Teaching for SCARA Axis: 1St to 4Th Axes of X-SEL-KX, PX/QX or RX/SX144
- Copy and Movement of Position Data175
- Deletion of Position Data176
11 Program Edit177
- (Excluding the Positioner Mode of the SSEL, ASEL and PSEL Controller.)177
- How to Input Program177
- Symbol Input During Program Edit183
- Single Line Comment Input185
- Program: Copy or Move187
- Program: Clear188
- Flash ROM Writing190
12 Coordinate System Data Editing of the SCARA Axis191
- Or 1St to 4Th Axes or 5Th to 8Th Axes of RXD/SXD Controller191
- Editing of Work Coordinate System Data192
- Editing of Tool Coordinate System Data195
- Editing of Simple Interference Check Zone198
13 Symbol Edit203
- (Excluding the Positioner Mode of the SSEL, ASEL and PSEL Controller.)203
- Symbol Edit Items203
- Input Example: Symbolize Local Integer Variable204
- Symbol Edit Screen of each Items208
- Flash ROM Writing213
14 Parameter Edit214
- Parameter Edit Items214
- Input Example: Edit Each-Axis Parameter215
15 Monitor218
- Monitor Items218
- Input Port219
- Output Port219
- Global Flag219
- Global Variable220
- Axis Status221
- System Status226
- Error Detail Information229
- Version Information230
- Maintenance Information Window233
- Virtual Input/Output Port234
16 Controller235
- Controller Items235
- Flash ROM Writing236
- Software Reset237
- Error Reset237
- Memory Clear238
  - Groval Variable238
  - User Data Hold Memory238
- Re-Connection238
- Baud Rate Change239
- Safety Velocity239
- Driver Power Recovery Request240
- Action Pause Release Request240
- Driver Power Recovery Request (Rpwr) and Action Pause Release Request (Ract)241
  - In the Case of Controller Other than SSEL, ASEL and PSEL Controllers241
  - In the Case of SSEL, ASEL or PSEL Controller242
- Selection of Two or more Programs Start Prohibition/Permission243
- Absolute Reset244
- Procedures for Resetting Absolute-Battery Voltage-Down Warning Error279
  - For Orthogonal Axis279
  - R/S or RX/SX Controller or SSEL, ASEL or PSEL Controller279
- Time Setting281
- Flash ROM Writing Data Recovery (One Generation Before)282
17 Gateway Function Associated284
- Editing of the RC Position Data in X-SEL284
- RC Actuator Monitoring303
- RC Actuator Alarm Reset304
- User Data Hold Memory Initialization305
  - Description305
  - Operation Procedure306
Supplement308
- Orthogonal Axis Synchro Specification Absolute Reset308
  - 5Th and 6Th Axes of XSEL-K, P/Q, or PX/QX Controller, 5Th to 8Th Axes of R/S or RX/SX Controller or SSEL Controller308
- About Error Level Management316
- X-SEL Teaching Pendant Error List (Application Part)317
Change History321

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IAI SEL Specifications

General

Protection Class	IP20
Communication	RS-232C
Control Method	PTP
Number of Axes	Up to 4 axes
Vibration Resistance	4.9 m/s² (0.5 G)
Humidity	20 to 85% RH (non-condensing)

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