IAI SEL User Manual

7.2. 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 Controller ........................................80
7.2.1. Creation of position data ............................................................................81
7.2.2. Creation of program ..................................................................................88
7.2.3. Change of application program .................................................................98
8. Program Execution
(Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) .... 103
8.1. Operation Conrmation ...........................................................................................103
8.2. Setting of Brake Point .............................................................................................105
8.3. Monitor under Operation .........................................................................................106
9. Execute or stop the positioner mode of the SSEL, ASEL and PSEL controller .. 108
10. Position Edit ................................................................................................... 109
10.1. Mdi (Manual Direct Input) .......................................................................................109
10.2. Teaching of the orthogonal axis: 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 TT, TTA,
SSEL, ASEL or PSEL Controller ............................................................................. 110
10.2.1. Teac (Teaching) ....................................................................................... 110
10.2.2. Example of Teaching Input .....................................................................121
10.3. Teaching for SCARA axis: 1st to 4th Axes of X-SEL-KX, PX/QX or RX/SX
controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD controller ...................126
10.3.1. Teac (teaching) ........................................................................................126
10.3.2. Jog movement direction and coordinate system ....................................132
10.3.3. Actuator operation ...................................................................................137
10.3.4. Teaching input example ...........................................................................151
10.4. Copy and movement of position data ....................................................................157
10.5. Deletion of position data .........................................................................................158
11. Program Edit
(Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) .... 159
11.1. How to Input Program .............................................................................................159
11.2. Symbol Input during Program Edit ..........................................................................165
11.3. Single Line Comment Input ....................................................................................167
11.4. Program: Copy or Move ..........................................................................................169
11.5. Program: Clear .......................................................................................................170
11.6. Flash ROM Writing .................................................................................................172

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)