IAI X-SEL

406
INTELLIGENT ACTUATOR
Appendix
I/O Parameters
No. Parameter name
Default value
(Reference)
Input
range
Unit Remarks
72 Unaffected general-
purpose output area
number (MIN) when all
operations are paused
(servo-axis soft interlock +
output-port soft interlock)
300 0 to 6999 * Important: Outputs in this area must be operated (including recovery)
under the responsibility of user programs including the “I/O
processing program at all operations pause.” Outputs outside this
area will be forcibly turned OFF, reflecting/holding the results of
operations performed while all operation pause is effective (only
during automatic operation).
(Invalid if “0” is set)
* With the F-ROM 16-Mbit version, only output port Nos. 300 to 599
are valid.
73 Unaffected general-
purpose output area
number (MAX) when all
operations are paused
(servo-axis soft interlock +
output-port soft interlock)
599 0 to 6999
74 Number of TP user output
ports used (hand, etc.)
0 0 to 8 Referenced by TP.
(Invalid if “0” is set)
75 TP user output port start
number (hand, etc.)
0 0 to 599 Referenced by TP.
76 AUTO mode physical
output port number
0 0 to 6999 (Invalid if “0” is set)
* With the F-ROM 16-Mbit version, only output port Nos. 300 to 599
are valid.
77 Input port number
permitted to receive
PC/TP servo movement
command
0 0 to 3999 * Important: Invalid once operation is started.
(Invalid if “0” is set)
78 Axis pattern permitted to
receive PC/TP servo
movement command for
0 0B to
11111111
B
79 Input port number for
remote mode control
0 0 to 3999 System mode = MANU if specified DI = ON or AUTO/MANU-SW =
MANU. (Invalid if “0” is set)
* Debug filter is invalid for the remote-mode control input port
* With the F-ROM 16-Mbit version, only output port Nos. 000 to 299
are valid.
80 (PC/TP SIO usage) 1 1 to 1 Switching of DIP switches
81 (PC/TP SIO station code) 153 153 to 153 Fixed to 153 (99H).
82
to
89
(PC/TP SIO reservation) 0
90 Usage of SIO channel 0
opened to user
(AUTO mode)
0 0 to 9 0: Open SEL program
1: Open SEL program (Connect PC/TP when both devices are closed
= Used exclusively by the manufacturer)
2: IAI protocol B (Slave)
91 Station code of SIO
channel 0 opened to user
153 0 to 255 Valid only with IAI protocol.
92 Baud rate type of SIO
channel 0 opened to user
0 0 to 5 0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8,
5: 115.2 kbps
93 Data length of SIO
channel 0 opened to user
8 7 to 8
94 Stop bit length of SIO
channel 0 opened to user
1 1 to 2
95 Parity type of SIO channel
0 opened to user
0 0 to 2 0: None
1: Odd
2: Even
96 Receive operation type of
SIO channel 0 opened to
user
0 0 to 1 0: Forcibly enable receive after send
1: Do not forcibly enable receive at send
97 IAI-protocol minimum
response delay for SIO
channel 0 opened to user
0 0 to 999 msec Valid only with IAI protocol.
98 (Reservation of SIO
channel 0 opened to user)
0
99 (Reservation of SIO
channel 0 opened to user)
0
PC: PC software
TP: Teaching pendant