IAI SEL User Manual

324 pages

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6. Mode Transition Diagram

(Monitor) (Input port)

Function key

(Global flag)

(Output port)

(Global

variable)

(Integer

variable)

Function key

(String

variable)

(Real

variable)

(Axis status)

(Current

position)

Function key

(Sensor input

status)

(Servo status)

(Axis-related

error)

(Encoder

status)

1-axis, 2-axis

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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