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IAI X-SEL User Manual
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57
INTELLIGENT ACTUATOR
Part 1 Installation
Q Type X-SEL Controller
Power supply part
Digital control part
Not installed
AC cutoff relay
Rectifier
DC bus
To power stage
External
emergency-stop
reset contact output
Teaching pendant
Power-on reset
MPSDWN bit
Power error
Mushroom emergency-
stop swit
ch
EMG SW
contact 1
EMG SW
contact 2
Double-position enabling-
control sw
itch
DEADMAN
SW
contact 1
DEADMAN
SW
contact 2
Emergenc
y-stop status
Enable status
86
88
Table of Contents
Default Chapter
7
Default Chapter
7
Table of Contents
7
Safety Guide
31
Chapter 1 Safety Precautions
33
Part 1 Installation
33
Chapter 2 Warranty Period and Scope of Warranty
34
Warranty Period
34
Scope of Warranty
34
Scope of Service
34
Chapter 3 Installation Environment and Selection of Auxiliary Power Devices
35
Installation Environment
35
Heat Radiation and Installation
36
Selection of Auxiliary Power Devices
37
Noise Control Measures and Grounding
42
Chapter 4 Name and Function of each Part
45
Front View of Controller
45
Explanation of Codes Displayed on the Panel Window
58
Application
58
Core
59
Current Monitor and Variable Monitor
60
Chapter 5 Specifications
62
Controller Specifications
62
P Type (Standard Specification)
62
Q Type (Global Specification)
64
Differences between Q Type (Global Specification) and P Type (Standard Specification)
65
External I/O Specifications
66
NPN Specification
66
PNP Specification
68
Power-Source Capacity and Heat Output
70
External Dimensions
73
P/Q Type
73
P/Q Type (Standard Specification) 6-Axis Controller (Three-Phase Standard Specification, Single-Phase Global Specification, Single-Phase Standard Specification)
75
Q Type (Three-Phase Global Specification) 4-Axis Controller
77
Q Type (Three-Phase Global Specification) 6-Axis Controller
79
Chapter 6 Safety Circuit
81
Items to Notes
81
Safety Circuit for P Type (Standard Specification) Controller
82
Safety Circuit for Q Type (Global Specification) Controller
84
Safety Circuit Timing Charts for Q-Type SEL Controller
89
Chapter 7 System Setup
98
Connection Method of Controller and Actuator
98
Connection Diagram for P Type (Standard Specification)
98
Connection Diagram for Q Type (Global Specification)
99
Startup Procedure
100
I/O Connection Diagram
101
NPN Specification
101
PNP Specification
102
I/O Flat Cable
103
Changing Port Numbers Assigned to I/O Function Selections (Main (FROM32M) or Later)
104
Multi-Point DIO Board
107
Overview
107
Specifications
107
External Interface Specifications
108
Connection Cables for Multi-Point IO Board
109
Connection Cables for Multi-Point IO Board
110
Input/Output Circuits
111
Chapter 8 How to Perform an Absolute Encoder Reset (Absolute Specification)
113
Single Axis, Orthogonal Axis and Rotating Axis
113
Preparation
113
Procedure
113
How to Perform Absolute Reset on ZR Unit (Absolute Type Only)
118
Preparing for Absolute Reset
118
Starting the Absolute Reset Menu (Ball-Screw Spline Adjustment Window)
119
Absolute Reset (Ball-Screw Spline Adjustment) Procedure
120
Chapter 9 Maintenance
133
Inspection Points
133
Spare Consumable Parts
133
Replacement Procedure for System-Memory Backup Battery
134
Replacement Procedure for Absolute-Data Backup Battery
137
Chapter 1 Operation
139
Starting a Program by Auto-Start Via Parameter Setting
140
Starting Via External Signal Selection
141
Drive-Source Recovery Request and Operation-Pause Reset Request
143
Part 2 Operation
139
Part 3 Controller Data Structure
144
Chapter 1 How to Save Data
145
Factory Settings: When the System-Memory Backup Battery Is Used
145
Controller Without Expanded Memory
145
Controller with Expanded Memory (with Gateway Function)
146
When the System-Memory Backup Battery Is Not Used
147
Controller Without Expanded Memory
147
Controller with Expanded Memory (with Gateway Function)
148
Points to Note
149
Chapter 2 X-SEL Language Data
151
Values and Symbols Used in SEL Language
151
List of Values and Symbols Used
151
I/O Ports
152
Virtual I/O Ports
153
Flags
155
Variables
156
Tags
159
Subroutines
160
Symbols
161
Character-String Literals
161
Axis Specification
162
Position Part
164
Command Part
165
SEL Language Structure
165
Extension Condition
166
Chapter 1 List of SEL Language Command Codes
167
By Function
167
Alphabetical Order
172
Part 4 Commands
167
Chapter 2 Explanation of Commands
178
Commands
178
Variable Assignment
178
Arithmetic Operation
180
Function Operation
183
Logical Operation
186
Comparison Operation
189
Timer
190
I/O, Flag Operation
193
Program Control
204
Task Management
207
Position Operation
212
Actuator Control Declaration
227
Actuator Control Command
243
Structural if
266
Structural DO
269
Multi-Branching
271
System Information Acquisition
275
Zone
278
Communication
282
String Operation
288
Palletizing-Related
297
Palletizing Calculation Command
311
Palletizing Movement Command
314
Building of Pseudo-Ladder Task
320
Extended Commands
322
Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note
328
Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS]
328
PATH/PSPL Commands
330
CIR/ARC Commands
330
CIR2/ARC2/ARCD/ARCC Commands
330
Chapter 4 Palletizing Function
331
How to Use
331
Palletizing Setting
331
3-Point Teaching Method
333
Method to Set Palletizing Positions in Parallel with the Actuators
334
Palletizing Calculation
337
Palletizing Movement
338
Program Examples
340
Chapter 5 Pseudo-Ladder Task
348
Basic Frame
348
Ladder Statement Field
349
Points to Note
349
Program Example
350
Chapter 6 Application Program Examples
351
Operation by Jog Command [Doll-Picking Game Machine]
351
Operation by Point Movement Command [Riveting System]
354
Palletizing Operation [Palletizing System]
357
Chapter 1 Real-Time Multi-Tasking
360
SEL Language
360
Multi-Tasking
361
Difference from a Sequencer
362
Release of Emergency Stop
363
Program Switching
364
Part 5 Multi-Tasking
360
Chapter 2 Example of Building a System
365
Equipment
365
Operation
365
Overview of the Screw-Tightening System
366
Hardware
367
Software
369
Appendix
371
Position Table
377
Programming Format
378
Positioning to Five Positions
379
How to Use TAG and GOTO
380
Moving Back and Forth between Two Points
381
Path Operation
382
Output Control During Path Movement
383
Circle/Arc Operation
384
Home Return Completion Output
385
Axis Movement by Input Waiting and Completion Output
386
Changing the Moving Speed
387
Changing the Speed During Operation
388
Local/Global Variables and Flags
389
How to Use Subroutines
390
Pausing the Operation
391
Canceling the Operation 1 (CANC)
392
Canceling the Operation 2 (STOP)
393
Movement by Position Number Specification
394
Movement by External Position Data Input
395
Outputting Coordinates
396
Conditional Jump
397
Waiting Multiple Inputs
398
How to Use Offset
399
Executing an Operation N Times
400
Constant-Pitch Feed
401
Jogging
402
Switching Programs
403
Aborting a Program
404
Battery Backup Function
405
System-Memory Backup Battery
405
Absolute-Data Backup Battery
407
Expansion I/O Board (Optional)
409
Number of Regenerative Resistance Units to be Connected
410
Synchro Function
411
Absolute Specification (When both the Master Axis and Slave Axis Are of the Absolute Specification)
411
Absolute Reset of a Synchro Controller
412
Common Items (Applicable to both the Absolute Specification and Incremental Specification)
411
Incremental Specification
411
Synchro Axes
412
Position Adjustment of Synchro-Axis Sliders
413
Special Absolute-Reset Procedure
413
Standard Absolute-Reset Procedure
416
Notes on Use of the Synchro Function
417
Multiple-Slider Near-Miss Detection (Collision Prevention) Function
418
General-Purpose RS232 (2-Channel RS232 Unit)
420
List of Parameters
427
I/O Parameters
428
Parameters Common to All Axes
453
Axis-Specific Parameters
456
Driver Card Parameters
462
Encoder Parameters
465
I/O Devices
466
Other Parameters
467
Manual Operation Types
473
Use Examples of Key Parameters
474
Combination Table of X-SEL Linear/Rotary Control Parameters
480
Error Level Control
481
Error List
483
Troubleshooting of X-SEL Controller
526
Trouble Report Sheet
532
Change History
533
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IAI X-SEL Specifications
General
Brand
IAI
Model
X-SEL
Category
Controller
Language
English
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