IAI SEL User Manual

45
6. Mode Transition Diagram
45
35
Moni
(Monitor)
In
(Input port)
Function key
GFlg
(Global flag)
Out
(Output port)
GVar
(Global variable)
Itg
(Integer variable)
Function key
Str
(String variable)
Real
(Real variable)
ASts
(Axis status)
Posi
(Current position)
Function key
Snsr
(Sensor input
status)
Srvo
(Servo status)
ErrA
(Axis-related
error)
Ecdr
(Encoder status)
Crd#
(Coordinate
system select
No.)
Posi
(Current position)
1-axis - 4-axis
(SCARA axis)
5-axis, 6-axis
(Orthogonal axis)

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)