Iai-america XSEL-KET Manuel d'utilisateur

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Résumé du contenu

Page 1 - Tenth Edition

Operation Manual Seventh EditionGlobal Specification Controller X-SEL-KTX-SEL-KTXSEL-KT/KETEighth EditionX-SEL-KTXSEL-KT/KETTenth EditionX-SEL-KTXSEL-

Page 2

INTELLIGENT ACTUATOR Table of Contents10. Servo Gain Adjustment...

Page 3 - [Important]

81Part 3 Controller Data Structure INTELLIGENT ACTUATOR (2) Types of variables Variables are classified into two types, as follows: 1. Integer

Page 4 - CAUTION

82 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 3. Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to

Page 5 - CE Marking

83Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-6 Tags The term “tag” means “heading.” Tags are used in the same way you attach label

Page 6

84 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1-7 Subroutines By taking out the parts of a program that are used repeatedly and regi

Page 7 - Table of Contents

85Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers c

Page 8

86 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1-10 Axis Specification Axes can be specified based on axis number or axis pattern. (

Page 9

87Part 3 Controller Data Structure INTELLIGENT ACTUATOR (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (U

Page 10 - INTELLIGENT ACTUATOR

88 INTELLIGENT ACTUATOR Part 3 Controller Data Structure X-SEL language consists of a position part (position data = coordinates, etc.) and a c

Page 11 - Safety Guide

89Part 3 Controller Data Structure INTELLIGENT ACTUATOR 3. Command Part The primary feature of SEL language is its very simple command structu

Page 12

90 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 3-2 Extension Condition Conditions can be combined in a complex manner. (SEL languag

Page 13

Pre-1INTELLIGENT ACTUATOR Safety Guide“Safety Guide” has been written to use the ma

Page 14

91Part 4 Commands INTELLIGENT ACTUATOR Part 4 Commands Chapter 1 List of SEL Language Command Codes by Function Variables can be specified ind

Page 15

92 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

Page 16 - Alert Indication

93Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

Page 17

94 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero,

Page 18

95Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

Page 19

96 INTELLIGENT ACTUATOR Part 4 Commands 2. In Alphabetical Order Operation type in the output field CC: Command was executed successfully, ZR:

Page 20 - Introduction

97Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE

Page 21

98 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, P

Page 22 - Part 1 Installation

99Part 4 Commands INTELLIGENT ACTUATOR Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE

Page 23 - 3. Scope of Service

100 INTELLIGENT ACTUATOR Part 4 Commands Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero,

Page 24 - 1. Installation Environment

Pre-2INTELLIGENT ACTUATOR Introduction No.Operation Description Description 2 Transportation ● When the work is carried out with 2 or more persons,

Page 25 - 3. Power Source

101Part 4 Commands INTELLIGENT ACTUATOR Chapter 2 Explanation of Commands 1. Commands 1-1 Variable Assignment  LET (Assign) Command, declarati

Page 26

102 INTELLIGENT ACTUATOR Part 4 Commands  CLR (Clear variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 27

103Part 4 Commands INTELLIGENT ACTUATOR 1-2 Arithmetic Operation  ADD (Add) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

Page 28 - 1. Front View of Controller

104 INTELLIGENT ACTUATOR Part 4 Commands  MULT (Multiply) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

Page 29

105Part 4 Commands INTELLIGENT ACTUATOR  MOD (Remainder of division) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 30 - Battery Capacity: 1000 mAh

106 INTELLIGENT ACTUATOR Part 4 Commands 1-3 Function Operation  SIN (Sine operation) Command, declaration Extension condition (LD, A, O, AB, O

Page 31

107Part 4 Commands INTELLIGENT ACTUATOR  TAN (Tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

Page 32

108 INTELLIGENT ACTUATOR Part 4 Commands  SQR (Root operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 33

109Part 4 Commands INTELLIGENT ACTUATOR 1-4 Logical Operation  AND (Logical AND) Command, declaration Extension condition (LD, A, O, AB, OB) In

Page 34

110 INTELLIGENT ACTUATOR Part 4 Commands  OR (Logical OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

Page 35

Pre-3INTELLIGENT ACTUATOR No.Operation Description Description (3) Grounding ● Make sure to perform the grounding of type D (Former Type 3) for the c

Page 36

111Part 4 Commands INTELLIGENT ACTUATOR  EOR (Logical exclusive-OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 37

112 INTELLIGENT ACTUATOR Part 4 Commands 1-5 Comparison Operation  CPXX (Compare) Command, declaration Extension condition (LD, A, O, AB, OB) I

Page 38 - 1. Controller Specifications

113Part 4 Commands INTELLIGENT ACTUATOR 1-6 Timer  TIMW (Timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

Page 39 - OFF duration

114 INTELLIGENT ACTUATOR Part 4 Commands  TIMC (Cancel timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 40 - [Output circuit]

115Part 4 Commands INTELLIGENT ACTUATOR  GTTM (Get time) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

Page 41

116 INTELLIGENT ACTUATOR Part 4 Commands 1-7 I/O, Flag Operation  BTXX (Output port, flag operation) Command, declaration Extension condition

Page 42

117Part 4 Commands INTELLIGENT ACTUATOR  BTPN (Output ON pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

Page 43

118 INTELLIGENT ACTUATOR Part 4 Commands  BTPF (Output OFF pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 44 - The heat output is 63 [W]

119Part 4 Commands INTELLIGENT ACTUATOR  WTXX (Wait for I/O port, flag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

Page 45 - 4. External Dimensions

120 INTELLIGENT ACTUATOR Part 4 Commands  IN (Read I/O, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

Page 46 - Chapter 6 System Setup

Pre-4INTELLIGENT ACTUATOR Introduction No.Operation Description Description 5 Teaching ● When the work is carried out with 2 or more persons, make

Page 47

121Part 4 Commands INTELLIGENT ACTUATOR  INB (Read I/O, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 48 - Cable color

122 INTELLIGENT ACTUATOR Part 4 Commands  OUT (Write output, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input

Page 49

123Part 4 Commands INTELLIGENT ACTUATOR  OUTB (Write output, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 50 - 1.3 I/O Flat Cable

124 INTELLIGENT ACTUATOR Part 4 Commands  FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition (LD, A, O, AB,

Page 51

125Part 4 Commands INTELLIGENT ACTUATOR (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 3

Page 52

126 INTELLIGENT ACTUATOR Part 4 Commands [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Variable 99 4660 (IN/OUT

Page 53

127Part 4 Commands INTELLIGENT ACTUATOR 1-8 Program Control  GOTO (Jump) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

Page 54

128 INTELLIGENT ACTUATOR Part 4 Commands  EXSR (Execute subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 55

129Part 4 Commands INTELLIGENT ACTUATOR  EDSR (End subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 56

130 INTELLIGENT ACTUATOR Part 4 Commands 1-9 Task Management  EXIT (End program) Command, declaration Extension condition (LD, A, O, AB, OB) In

Page 57

Pre-5INTELLIGENT ACTUATOR No.Operation Description Description 8 Maintenance and Inspection ● When the work is carried out with 2 or more persons, m

Page 58

131Part 4 Commands INTELLIGENT ACTUATOR  EXPG (Start other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 59

132 INTELLIGENT ACTUATOR Part 4 Commands  ABPG (Abort other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 60

133Part 4 Commands INTELLIGENT ACTUATOR  SSPG (Pause program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 61

134 INTELLIGENT ACTUATOR Part 4 Commands  RSPG (Resume program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 62

135Part 4 Commands INTELLIGENT ACTUATOR 1-10 Position Operation  PGET (Read position data) Command, declaration Extension condition (LD, A, O,

Page 63 - Phoenix

136 INTELLIGENT ACTUATOR Part 4 Commands  PPUT (Write position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 64 - Safety relay

137Part 4 Commands INTELLIGENT ACTUATOR  PCLR (Clear position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 65 - G9S-301 by

138 INTELLIGENT ACTUATOR Part 4 Commands  PCPY (Copy position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 66 - (Refer to 2.2.)

139Part 4 Commands INTELLIGENT ACTUATOR  PRED (Read current position) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

Page 67

140 INTELLIGENT ACTUATOR Part 4 Commands  PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition (LD, A, O,

Page 68

Pre-6INTELLIGENT ACTUATOR Introduction Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according

Page 69

141Part 4 Commands INTELLIGENT ACTUATOR  PTST (Check position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 70

142 INTELLIGENT ACTUATOR Part 4 Commands  PVEL (Assign speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 71 - 2. Procedure

143Part 4 Commands INTELLIGENT ACTUATOR  PACC (Assign acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

Page 72

144 INTELLIGENT ACTUATOR Part 4 Commands  PDCL (Assign deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 73

145Part 4 Commands INTELLIGENT ACTUATOR  PAXS (Read axis pattern) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 74

146 INTELLIGENT ACTUATOR Part 4 Commands  PSIZ (Check position data size) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 75

147Part 4 Commands INTELLIGENT ACTUATOR  GVEL (Get speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 76 - Chapter 8 Maintenance

148 INTELLIGENT ACTUATOR Part 4 Commands  GACC (Get acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condit

Page 77

149Part 4 Commands INTELLIGENT ACTUATOR  GDCL (Get deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

Page 78

150 INTELLIGENT ACTUATOR Part 4 Commands 1-11 Actuator Control Declaration  VEL (Set speed) Command, declaration Extension condition (LD, A, O,

Page 79

Pre-7INTELLIGENT ACTUATOR Prohibited Handling of Cables CautionWhen designing an application system using actuators and controllers, incorrect wiring

Page 80

151Part 4 Commands INTELLIGENT ACTUATOR  OVRD (Override) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

Page 81 - Part 2 Operation

152 INTELLIGENT ACTUATOR Part 4 Commands  ACC (Set acceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

Page 82

153Part 4 Commands INTELLIGENT ACTUATOR  DCL (Set deceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

Page 83 - Emergency-stop

154 INTELLIGENT ACTUATOR Part 4 Commands  SCRV (Set sigmoid motion ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 84

155Part 4 Commands INTELLIGENT ACTUATOR  OFST (Set offset) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

Page 85

156 Part 4 Commands INTELLIGENT ACTUATOR  DEG (Set arc angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 86

157Part 4 Commands INTELLIGENT ACTUATOR  BASE (Specify axis base) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 87

158 Part 4 Commands INTELLIGENT ACTUATOR  GRP (Set group axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 88

159Part 4 Commands INTELLIGENT ACTUATOR  HOLD (Hold: Declare axis port to pause) Command, declaration Extension condition (LD, A, O, AB, OB) In

Page 89

160 Part 4 Commands INTELLIGENT ACTUATOR  CANC (Cancel: Declare axis port to abort) Command, declaration Extension condition (LD, A, O, AB, OB)

Page 90 - Parameters

Pre-8INTELLIGENT ACTUATOR Introduction 7. Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable, keep

Page 91 - Write to flash

161Part 4 Commands INTELLIGENT ACTUATOR  VLMX (Specify VLMX speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 92

162 Part 4 Commands INTELLIGENT ACTUATOR  DIS (Set division distance at spline movement) Command, declaration Extension condition (LD, A, O, AB

Page 93

163Part 4 Commands INTELLIGENT ACTUATOR  POTP (Set PATH output type) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 94

164 Part 4 Commands INTELLIGENT ACTUATOR  PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition (LD, A, O, A

Page 95

165Part 4 Commands INTELLIGENT ACTUATOR  QRTN (Set quick-return mode) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

Page 96

166 Part 4 Commands INTELLIGENT ACTUATOR 1-12 Actuator Control Command  SVXX (Turn ON/OFF servo) Command, declaration Extension condition (LD,

Page 97

167Part 4 Commands INTELLIGENT ACTUATOR  HOME (Return to home) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 98

168 Part 4 Commands INTELLIGENT ACTUATOR  MOVP (Move PTP by specifying position data) Command, declaration Extension condition (LD, A, O, AB, O

Page 99

169Part 4 Commands INTELLIGENT ACTUATOR  MOVL (Move by specifying position data) Command, declaration Extension condition (LD, A, O, AB, OB) In

Page 100 - Caution

170 Part 4 Commands INTELLIGENT ACTUATOR  MVPI (Move via incremental PTP) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 101

INTELLIGENT ACTUATOR

Page 102

171Part 4 Commands INTELLIGENT ACTUATOR  MVLI (Move via incremental interpolation) Command, declaration Extension condition (LD, A, O, AB, OB)

Page 103

172 Part 4 Commands INTELLIGENT ACTUATOR  PATH (Move along path) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

Page 104

173Part 4 Commands INTELLIGENT ACTUATOR  JXWX (Jog) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

Page 105

174 Part 4 Commands INTELLIGENT ACTUATOR  STOP (Stop movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 106

175Part 4 Commands INTELLIGENT ACTUATOR  PSPL (Move along spline) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 107 - 2. Position Part

176 Part 4 Commands INTELLIGENT ACTUATOR  PUSH (Move by push motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 108 - 3. Command Part

177Part 4 Commands INTELLIGENT ACTUATOR [Example] PAPR 100 20 MOVP 2 PUSH 10 Set the push-motion approach distance to 100 mm and push-mot

Page 109

178 Part 4 Commands INTELLIGENT ACTUATOR  CIR2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB

Page 110 - Part 4 Commands

179Part 4 Commands INTELLIGENT ACTUATOR  ARC2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB,

Page 111

180 Part 4 Commands INTELLIGENT ACTUATOR  CIRS (Move three-dimensionally along circle) Command, declaration Extension condition (LD, A, O, AB,

Page 113

1INTELLIGENT ACTUATOR Introduction Introduction Thank you for purchasing the X-SEL Controller. Inappropriate use or handling will prevent this p

Page 114 - (Count) CP Set zigzag 226

181Part 4 Commands INTELLIGENT ACTUATOR  ARCS (Move three-dimensionally along arc) Command, declaration Extension condition (LD, A, O, AB, OB)

Page 115 - 2. In Alphabetical Order

182 Part 4 Commands INTELLIGENT ACTUATOR  CHVL (Change speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 116

183Part 4 Commands INTELLIGENT ACTUATOR  ARCD (Move along arc via specification of end position and center angle (arc interpolation)) Command,

Page 117

184 Part 4 Commands INTELLIGENT ACTUATOR  ARCC (Move along arc via specification of center position and center angle (arc interpolation)) Comma

Page 118

185Part 4 Commands INTELLIGENT ACTUATOR  PBND (Set positioning band) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

Page 119

186 Part 4 Commands INTELLIGENT ACTUATOR  CIR (Move along circle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 120 - 1. Commands

187Part 4 Commands INTELLIGENT ACTUATOR  ARC (Move along arc) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 121

188 Part 4 Commands INTELLIGENT ACTUATOR 1-13 Structural IF  IFXX (Structural IF) Command, declaration Extension condition (LD, A, O, AB, OB) I

Page 122

189Part 4 Commands INTELLIGENT ACTUATOR  ISXX (Compare strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

Page 123

190 Part 4 Commands INTELLIGENT ACTUATOR  ELSE (Else) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

Page 124 - Data ZR

2 INTELLIGENT ACTUATOR Introduction The X-SEL Controller is available with one to four axes. As with the conventional SEL Controller, it can be us

Page 125

191Part 4 Commands INTELLIGENT ACTUATOR 1-14 Structural DO  DWXX (DO WHILE) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

Page 126

192 Part 4 Commands INTELLIGENT ACTUATOR  ITER (Repeat) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

Page 127 - Optional Optional SQR

193Part 4 Commands INTELLIGENT ACTUATOR 1-15 Multi-Branching  SLCT (Start selected group) Command, declaration Extension condition (LD, A, O, A

Page 128 - Optional Optional AND

194 Part 4 Commands INTELLIGENT ACTUATOR  WHXX (Select if true; variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 129 - Optional Optional OR

195Part 4 Commands INTELLIGENT ACTUATOR  WSXX (Select if true; character) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

Page 130 - Optional Optional EOR

196 Part 4 Commands INTELLIGENT ACTUATOR  OTHE (Select other) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 131 - Optional Optional CPXX

197Part 4 Commands INTELLIGENT ACTUATOR 1-16 System Information Acquisition  AXST (Get axis status) Command, declaration Extension condition (L

Page 132

198 Part 4 Commands INTELLIGENT ACTUATOR  PGST (Get program status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 133 - Prohibited CP

199Part 4 Commands INTELLIGENT ACTUATOR  SYST (Get system status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 134 - Optional Optional GTTM

200 Part 4 Commands INTELLIGENT ACTUATOR 1-17 Zone  WZNA (Wait for zone ON, with AND) Command, declaration Extension condition (LD, A, O, AB, O

Page 135 - (Output

3INTELLIGENT ACTUATOR Part 1 Installation Part 1 Installation Caution Chapter 1 Safety Precautions The X-SEL Controller can be combined wit

Page 136

201Part 4 Commands INTELLIGENT ACTUATOR  WZNO (Wait for zone ON, with OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 137

202 Part 4 Commands INTELLIGENT ACTUATOR  WZFA (Wait for zone OFF, with AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input

Page 138

203Part 4 Commands INTELLIGENT ACTUATOR  WZFO (Wait for zone OFF, with OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

Page 139

204 Part 4 Commands INTELLIGENT ACTUATOR 1-18 Communication  OPEN (Open channel) Command, declaration Extension condition (LD, A, O, AB, OB) In

Page 140

205Part 4 Commands INTELLIGENT ACTUATOR  READ (Read) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Com

Page 141

206 Part 4 Commands INTELLIGENT ACTUATOR  TMRD (Set READ timeout value) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

Page 142

207Part 4 Commands INTELLIGENT ACTUATOR  WRIT (Write) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

Page 143 - Optional Optional FMIO

208 Part 4 Commands INTELLIGENT ACTUATOR  SCHA (Set end character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition

Page 144

209Part 4 Commands INTELLIGENT ACTUATOR 1-19 String Operation  SCPY (Copy character string) Command, declaration Extension condition (LD, A, O,

Page 145

210 Part 4 Commands INTELLIGENT ACTUATOR  SCMP (Compare character strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

Page 146

4 Part 1 InstallationINTELLIGENT ACTUATOR Chapter 2 Warranty Period and Scope of Warranty The X-SEL Controller you have purchased passed our s

Page 147

211Part 4 Commands INTELLIGENT ACTUATOR  SGET (Get character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

Page 148

212 Part 4 Commands INTELLIGENT ACTUATOR  SPUT (Set character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

Page 149

213Part 4 Commands INTELLIGENT ACTUATOR  STR (Convert character string; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) In

Page 150

214 Part 4 Commands INTELLIGENT ACTUATOR  STRH (Convert character string; hexadecimal) Command, declaration Extension condition (LD, A, O, AB,

Page 151

215Part 4 Commands INTELLIGENT ACTUATOR  VAL (Convert character string data; decimal) Command, declaration Extension condition (LD, A, O, AB, O

Page 152

216 Part 4 Commands INTELLIGENT ACTUATOR  VALH (Convert character string data; hexadecimal) Command, declaration Extension condition (LD, A, O,

Page 153 - Currently paused step

217Part 4 Commands INTELLIGENT ACTUATOR  SLEN (Set length) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

Page 154

218 Part 4 Commands INTELLIGENT ACTUATOR 1-20 Palletizing-Related  BGPA (Declare start of palletizing setting) Command, declaration Extension c

Page 155

219Part 4 Commands INTELLIGENT ACTUATOR  PAPI (Set palletizing counts) Command, declaration Extension condition (LD, A, O, AB, OB) Input condit

Page 156

220 Part 4 Commands INTELLIGENT ACTUATOR  PASE (Declare palletizing axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

Page 157

5INTELLIGENT ACTUATOR Part 1 InstallationChapter 3 Installation Environment and Noise Measures 1. Installation Environment As for the use environ

Page 158

221Part 4 Commands INTELLIGENT ACTUATOR  PAST (Set palletizing reference point) Command, declaration Extension condition (LD, A, O, AB, OB) Inp

Page 159

222 Part 4 Commands INTELLIGENT ACTUATOR  PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition (LD, A, O

Page 160

223Part 4 Commands INTELLIGENT ACTUATOR  When setting palletizing positions via 4-point teaching, it is recommended that the non-planar type be

Page 161 - Position

224 Part 4 Commands INTELLIGENT ACTUATOR When the point data other than the PZ-axis component corresponds at

Page 162

225Part 4 Commands INTELLIGENT ACTUATOR  This command cannot be used with PASE (set palletizing axes). If this command is used with PASE, whiche

Page 163

226 Part 4 Commands INTELLIGENT ACTUATOR  PSLI (Set zigzag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, f

Page 164

227Part 4 Commands INTELLIGENT ACTUATOR  PCHZ (Declare palletizing Z-axis) Only when there are at least three axes. Command, declaration Extensi

Page 165 - Optional Optional PSIZ

228 Part 4 Commands INTELLIGENT ACTUATOR  PTRG (Set palletizing arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Inpu

Page 166

229Part 4 Commands INTELLIGENT ACTUATOR  PEXT (Set palletizing composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

Page 167

230 Part 4 Commands INTELLIGENT ACTUATOR  ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

Page 168

6 Part 1 InstallationINTELLIGENT ACTUATOR If multiple controllers are to be connected on top of one another, prevent the control

Page 169

231Part 4 Commands INTELLIGENT ACTUATOR  ATRG (Set arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (

Page 170

232 Part 4 Commands INTELLIGENT ACTUATOR  AEXT (Set arch-motion composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input

Page 171

233Part 4 Commands INTELLIGENT ACTUATOR 1-21 Palletizing Calculation Command  PTNG (Get palletizing position number) Command, declaration Exten

Page 172

234 Part 4 Commands INTELLIGENT ACTUATOR  PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition (LD, A, O,

Page 173 - X 100 (%)

235Part 4 Commands INTELLIGENT ACTUATOR  PARG (Get palletizing angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

Page 174

236 Part 4 Commands INTELLIGENT ACTUATOR 1-22 Palletizing Movement Command  PMVP (Move to palletizing points via PTP) Command, declaration Ext

Page 175

237Part 4 Commands INTELLIGENT ACTUATOR  PMVL (Move to palletizing points via interpolation) Command, declaration Extension condition (LD, A, O

Page 176 - Optional Optional BASE

238 Part 4 Commands INTELLIGENT ACTUATOR  PACH (Palletizing-point arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Inpu

Page 177 - Optional Optional GRP

239Part 4 Commands INTELLIGENT ACTUATOR  The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates o

Page 178

240 Part 4 Commands INTELLIGENT ACTUATOR  ARCH (Arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, f

Page 179

7INTELLIGENT ACTUATOR Part 1 Installation * Notes on wiring method Use twisted cables for the AC power cable and 24-VDC external power cable. Wir

Page 180

241Part 4 Commands INTELLIGENT ACTUATOR  The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the oper

Page 181

242 Part 4 Commands INTELLIGENT ACTUATOR 1-23 Building of Pseudo-Ladder Task  CHPR (Change task level) Command, declaration Extension conditio

Page 182

243Part 4 Commands INTELLIGENT ACTUATOR  TSLP (Task sleep) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

Page 183

244 Part 4 Commands INTELLIGENT ACTUATOR Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement C

Page 184

245Part 4 Commands INTELLIGENT ACTUATOR [Example 1] (POTP = 1) POTP 1    PATH 1 3 308 ARC2 10 11 311 PATH 21 23 312   

Page 185 - Prohibited PE

246 Part 4 Commands INTELLIGENT ACTUATOR 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will

Page 186 - Optional Optional HOME

247Part 4 Commands INTELLIGENT ACTUATOR Chapter 4 Palletizing Function The SEL language used by the X-SEL Controller provides palletizing comma

Page 187 - Optional Optional MOVP

248 Part 4 Commands INTELLIGENT ACTUATOR (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two pa

Page 188 - Optional Optional MOVL

249Part 4 Commands INTELLIGENT ACTUATOR A. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions

Page 189 - Optional Optional MVPI

250 Part 4 Commands INTELLIGENT ACTUATOR B. Method to set palletizing positions in parallel with the actuators Palletizing reference point: St

Page 190 - Optional Optional MVLI

8 Part 1 InstallationINTELLIGENT ACTUATOR b. DC solenoid valve, magnet switch, relay Measure --- Install a diode in parallel with the coil. De

Page 191 - End position

251Part 4 Commands INTELLIGENT ACTUATOR (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag of

Page 192

252 Part 4 Commands INTELLIGENT ACTUATOR (7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (b) Pall

Page 193 - Optional Optional STOP

253Part 4 Commands INTELLIGENT ACTUATOR 3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation comma

Page 194

254 Part 4 Commands INTELLIGENT ACTUATOR 4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point

Page 195 - Optional Optional PUSH

255Part 4 Commands INTELLIGENT ACTUATOR (2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an en

Page 196

256 Part 4 Commands INTELLIGENT ACTUATOR 5. Program Examples (1) Simple program example (two-axis specification) using PAPS (set by 3-point tea

Page 197

257Part 4 Commands INTELLIGENT ACTUATOR (2) Simple program example (two-axis specification) using PAPS, PAPT and PAST The example below specifie

Page 198

258 Part 4 Commands INTELLIGENT ACTUATOR (3) Simple program example using PAPS (set by 3-point teaching) The example below specifies movement on

Page 199

259Part 4 Commands INTELLIGENT ACTUATOR Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 31 MOVP 8 Move to picking position.

Page 200

260 Part 4 Commands INTELLIGENT ACTUATOR Schematic diagram of placement-point positions based on the above program

Page 201 - Speed CP

9INTELLIGENT ACTUATOR Part 1 Installation Chapter 4 Name and Function of Each Part 1. Front View of Controller 4-axis type

Page 202 - Center angle

261Part 4 Commands INTELLIGENT ACTUATOR (4) Simple program example using PASE, PAPT and PAST The example below specifies movement only and does

Page 203 - Center position

262 Part 4 Commands INTELLIGENT ACTUATOR Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 31 TAG 1 Beginning of loop processin

Page 204 - Distance CP

263Part 4 Commands INTELLIGENT ACTUATOR Schematic diagram of placement-point positions based on the above program

Page 205

264 Part 4 Commands INTELLIGENT ACTUATOR Chapter 5 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used de

Page 206

265Part 4 Commands INTELLIGENT ACTUATOR 2. Ladder Statement Field (1) Extension conditions LD LOAD A AND O OR AB AND BLOCK OB OR BLOCK

Page 207 - Data CP

266 Part 4 Commands INTELLIGENT ACTUATOR 4. Program Example Extension condition N Input condition Command Operand 1 O

Page 208

267Part 4 Commands INTELLIGENT ACTUATOR Chapter 6 Application Program Examples 1. Operation by Jog Command [Doll-Picking Game Machine] (1) Ov

Page 209

268 Part 4 Commands INTELLIGENT ACTUATOR (2) Explanation of the operation 1. Wait for the axis-1 movement pushbutton switch to turn ON. 2. Th

Page 210 - Optional Optional DWXX

269Part 4 Commands INTELLIGENT ACTUATOR (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1

Page 211

270 Part 4 Commands INTELLIGENT ACTUATOR 2. Operation by Point Movement Command [Riveting System] (1) Overview of the system This system is a

Page 212

10 Part 1 InstallationINTELLIGENT ACTUATOR (3) AC control-power input connector An input connector for 230-VAC, single-phase control power. AC

Page 213 - Optional Optional WHXX

271Part 4 Commands INTELLIGENT ACTUATOR (2) Explanation of the operation 1. The XY-table moves to the operation home (P1) and waits. 2. The o

Page 214

272 Part 4 Commands INTELLIGENT ACTUATOR (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1

Page 215

273Part 4 Commands INTELLIGENT ACTUATOR 3. Palletizing Operation [Palletizing System] (1) Overview of the system This system is a palletizing s

Page 216

274 Part 4 Commands INTELLIGENT ACTUATOR (2) Explanation of the operation 1. Move to the standby point and wait for a start input. 2. Move to

Page 217

275Part 4 Commands INTELLIGENT ACTUATOR (3) X-SEL Controller application program Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment 1

Page 218 - Optional Optional SYST

276 Part 5 Multi-TaskingINTELLIGENT ACTUATOR Part 5 Multi-Tasking Chapter 1 Real-Time Multi-Tasking 1. SEL Language The X-SEL Controller all

Page 219

2775. Multi-Tasking INTELLIGENT ACTUATOR 2. Multi-Tasking “Multi-tasking” operation may not be a familiar term, but it is widely used in compute

Page 220

278 Part 5 Multi-TaskingINTELLIGENT ACTUATOR 3. Difference from a Sequencer The parallel processing method has evolved from the traditional met

Page 221

2795. Multi-Tasking INTELLIGENT ACTUATOR 4. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency

Page 222

280 Part 5 Multi-TaskingINTELLIGENT ACTUATOR 5. Program Switching Various methods are available to switch between programs, depending on the pur

Page 223

INTELLIGENT ACTUATOR Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structu

Page 224

11INTELLIGENT ACTUATOR Part 1 Installation (6) Motor connector This connector is used to drive the motor inside the actuator. Overview of Motor C

Page 225 - Optional Optional TMRD

2815. Multi-Tasking INTELLIGENT ACTUATOR Chapter 2 Example of Building a System How to build hardware and software is explained in details by u

Page 226

282 Part 5 Multi-TaskingINTELLIGENT ACTUATOR 3. Overview of the Screw-Tightening System This system consists of axis-1 and axis-2 actuators, Z-

Page 227 - Character

2835. Multi-Tasking INTELLIGENT ACTUATOR 4. Hardware (1) I/O assignments I/O connector (50-pin) Pin No. Category Port No. Function Cable

Page 228

284 Part 5 Multi-TaskingINTELLIGENT ACTUATOR (2) Layout diagram Pin No. Category Port No. Function 1 - General-purpose: NC, Compact: +24-V inpu

Page 229

2855. Multi-Tasking INTELLIGENT ACTUATOR 5. Software (1) Control flow chart Main program

Page 230

286 Part 5 Multi-TaskingINTELLIGENT ACTUATOR (2) Main program Screw-tightening program No. 1 Application program Extension condition Input conditi

Page 231 - Optional Optional SPUT

287Appendix INTELLIGENT ACTUATOR Appendix  Actuator Specification List (*1) The value in each

Page 232 - 87 . 654

288 INTELLIGENT ACTUATOR Appendix (*1) The value in each band indicates the maximum speed at the applicable stroke. (*

Page 233 - Data CC

289Appendix INTELLIGENT ACTUATOR (*1) The value in each band indicates the maximum speed at the applicable s

Page 234

290 INTELLIGENT ACTUATOR Appendix (*1) The value in each band indicates the maximum speed at the a

Page 235

12 Part 1 InstallationINTELLIGENT ACTUATOR (9) Brake switch This alternate switch with lock is used to release the axis brake. To operate the swi

Page 236 - Optional Optional SLEN

291Appendix INTELLIGENT ACTUATOR (*1) The value in each band indicates the maximum speed at

Page 237 - Palletizing

292 INTELLIGENT ACTUATOR Appendix  Programming Method 1. Position Table [Position table] The X-SEL controller lets you register up to 3000 p

Page 238 - Pattern

293Appendix INTELLIGENT ACTUATOR 2. Program Format [Program Edit Screen (PC Software)] You can create an X-SEL controller program consisting of

Page 239

294 INTELLIGENT ACTUATOR Appendix 3. Positioning to Five Positions [Description] Move the actuator to positions 1 to 5 at a speed of 100 mm/sec

Page 240 - (Position

295Appendix INTELLIGENT ACTUATOR 4. How to Use TAG and GOTO [Description] Use GOTO and TAG commands to repeat the same operation or jump to a

Page 241 - Optional Optional PAPS

296 INTELLIGENT ACTUATOR Appendix 5. Reciprocating Operation between Two Points [Description] The actuator repeats a reciprocating operation b

Page 242

297Appendix INTELLIGENT ACTUATOR 6. Path Operation [Description] The actuator moves through four desired points continuously without stopping (

Page 243

298 INTELLIGENT ACTUATOR Appendix 7. Output Control during Path Movement [Description] In a coating process, etc., output control may be requ

Page 244

299Appendix INTELLIGENT ACTUATOR 8. Circular/Arc Operation [Description] The actuator operates along a two-dimensional circle or arc. [How t

Page 245 - (Count) CP

300 INTELLIGENT ACTUATOR Appendix 9. Home return Complete Output [Description] Output a signal to confirm completion of home return (incremen

Page 246 - Optional Optional PCHZ

13INTELLIGENT ACTUATOR Part 1 Installation (12) System I/O connector This connector is used to connect an emergency-stop switch, ENABLE contact,

Page 247

301Appendix INTELLIGENT ACTUATOR 10. Axis Movement with Input Waiting and Complete Output [Description] How to execute input waiting and outpu

Page 248

302 INTELLIGENT ACTUATOR Appendix 11. Travel Speed Change [Description] Change the travel speed. [How to use] With the X-SEL controller,

Page 249 - Optional Optional ACHZ

303Appendix INTELLIGENT ACTUATOR 12. Speed Change during Operation [Description] Use the PATH command to change the speed while the actuator

Page 250

304 INTELLIGENT ACTUATOR Appendix 13. Local/Global Variables and Flags [Description] Internal variables and flags used in the SEL language ar

Page 251

305Appendix INTELLIGENT ACTUATOR 14. How to Use Subroutines [Description] When the same processing occurs multiple times in the same program,

Page 252

306 INTELLIGENT ACTUATOR Appendix 15. Pause [Description] Use the declaration command HOLD to pause the moving axis via an external input. [

Page 253

307Appendix INTELLIGENT ACTUATOR 16. Abort 1 (CANC) [Description] Use the declaration command CANC to cause the moving axis to decelerate to

Page 254

308 INTELLIGENT ACTUATOR Appendix 17. Abort 2 (STOP) [Description] Cause the moving axis to decelerate to a stop and cancel the remaining opera

Page 255

309Appendix INTELLIGENT ACTUATOR 18. Movement by Position Number Specification [Description] Read an external BCD code input as a position nu

Page 256

310 INTELLIGENT ACTUATOR Appendix 19. Movement by External Position Data Input [Description] Receive data of the position to move to as an ab

Page 257

14 Part 1 InstallationINTELLIGENT ACTUATOR (16) Teaching-pendant connector When an optional teaching pendant or PC is connected, this D-sub, 25-

Page 258

311Appendix INTELLIGENT ACTUATOR 20. Coordinate Value Output [Description] Read the current coordinate of the actuator in real time and output

Page 259

312 INTELLIGENT ACTUATOR Appendix 21. Conditional Jump [Description] Select the jump destination of GOTO on the condition of the status of an e

Page 260

313Appendix INTELLIGENT ACTUATOR 22. Wait for Multiple Inputs [Description] Different inputs are specified and processing proceeds if one of

Page 261

314 INTELLIGENT ACTUATOR Appendix 23. How to Use Offset [Description] If you want to move (offset) all teaching points by several millimeters

Page 262

315Appendix INTELLIGENT ACTUATOR 24. Repetition of Operation N Times [Description] Perform a specific operation n times. [Use example]

Page 263 - ARCD, ARCC, CIRS, ARCS]

316 INTELLIGENT ACTUATOR Appendix 25. Constant Pitch Feed Operation [Description] Feed the actuator by a specified pitch n times from a speci

Page 264

317Appendix INTELLIGENT ACTUATOR 26. Jogging [Description] Move the slider forward or backward while the input is ON or OFF. Not only an inpu

Page 265 - 3. CIR/ARC Commands

318 INTELLIGENT ACTUATOR Appendix 27. Program Switching [Description] Switch the current program in the program using an EXPG or ABPG command.

Page 266 - 2. Palletizing Setting

319Appendix INTELLIGENT ACTUATOR 28. Program Abort [Description] Abort the program currently running. Execute an ABPG command (abort other pro

Page 267

320 INTELLIGENT ACTUATOR Appendix Appendix  Expansion Board (Optional) Only one optional board can be installed on compact 3/4-axis types. (Comp

Page 268

15INTELLIGENT ACTUATOR Part 1 Installation (17) PC connector This D-sub, 9-pin connector is used to perform serial communication (RS232C) with the

Page 269 - PY-axis direction pitch

321Appendix INTELLIGENT ACTUATOR  Expanded SIO Specification (Optional) Type IA-105X-MW-A (for RS232 connection) IA-105X-MW-B (for RS422 co

Page 270

322 INTELLIGENT ACTUATOR Appendix (2) Parameter setting The channel numbers and specifications of the expanded SIOs are set as follows prior to sh

Page 271

323Appendix INTELLIGENT ACTUATOR (3) Joint cable 1. For RS232C connection 2. For RS422/RS485 connection

Page 272 - 3. Palletizing Calculation

324 INTELLIGENT ACTUATOR Appendix (4) Wiring 1. RS232C wiring Flow control (software flow, hardware flo

Page 273 - 4. Palletizing Movement

325Appendix INTELLIGENT ACTUATOR 2. RS422 wiring Controlcircuit SIO expansion board Suppl

Page 274

326 INTELLIGENT ACTUATOR Appendix 3. RS485 wiring Controlcircuit SIO expansion board Suppli

Page 275 - 5. Program Examples

327Appendix INTELLIGENT ACTUATOR  Number of Regenerative Resistance Units (REU-1s) to Be Connected Regenerative energy that generates under cer

Page 276

328 INTELLIGENT ACTUATOR Appendix  Synchro Function 1. Common Items (Applicable to both the absolute specification and incremental specification

Page 277

329Appendix INTELLIGENT ACTUATOR  Absolute Reset of A Synchro Controller If you have specified the synchro specification at the time of order, t

Page 278

330 INTELLIGENT ACTUATOR Appendix 2. Position Adjustment of Synchro-Axis Sliders The positions of synchro-axis sliders are adjusted (physically ad

Page 279

16 Part 1 InstallationINTELLIGENT ACTUATOR The functions are at the time of shipment. The functions assigned to port Nos. 000 to 015, 300 to

Page 280

331Appendix INTELLIGENT ACTUATOR (3) Perform an absolute reset using the special procedure (forced reset by ignoring the on-screen instructions)

Page 281

332 INTELLIGENT ACTUATOR Appendix (4) Enter the value of the slave axis recorded in (1) in “Axis-specific parameter No. 83, ABS synchro slave-axi

Page 282

333Appendix INTELLIGENT ACTUATOR 3. Enter the calculation result obtained in step 2 above in the slave-axis field of “Axis-specific parameter No.

Page 283 - 1. Basic Frame

334 INTELLIGENT ACTUATOR Appendix 5. Notes on Use of the Synchro Function  As a rule, the synchro function must be implemented by coupling the

Page 284 - 3. Points to Note

335Appendix INTELLIGENT ACTUATOR  List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engi

Page 285 - 4. Program Example

336 INTELLIGENT ACTUATOR Appendix 1. I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 I/O port assignment ty

Page 286 - [Doll-Picking Game Machine]

337Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 13 Expanded I/O3 error mon

Page 287 - Operation Flow Chart

338 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 24 I/O setting bit pattern

Page 288

339Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 33 Input function selection

Page 289 - [Riveting System]

340 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 Output function selecti

Page 290

17INTELLIGENT ACTUATOR Part 1 Installation 2. Explanation of Codes Displayed on the Panel Window 2-1. Application Display Priority (*1) Descript

Page 291

341Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 54 Output function selectio

Page 292 - [Palletizing System]

342 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 72 Unaffected general-purp

Page 293 -    

343Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 92 Baud rate type of SIO c

Page 294

344 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 103 (Reservation of SIO ch

Page 295 - Part 5 Multi-Tasking

345Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 124 Network attribute 5 0

Page 296 - 2. Multi-Tasking

346 INTELLIGENT ACTUATOR Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 128 Network attribute 9 0

Page 297

347Appendix INTELLIGENT ACTUATOR I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 150 IAI protocol B/TCP: IP

Page 298

348 INTELLIGENT ACTUATOR Appendix 2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 1 Effect

Page 299 - 5. Program Switching

349Appendix INTELLIGENT ACTUATOR Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 27 Master ax

Page 300 - 2. Operation

350 INTELLIGENT ACTUATOR Appendix 3. Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 1 Axis operati

Page 301

18 Part 1 InstallationINTELLIGENT ACTUATOR 2-2. Core Display Priority (*1) Description 1 AC power is cut off (including momentary power fai

Page 302 - 4. Hardware

351Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 26 (Phase-Z evacuat

Page 303

352 INTELLIGENT ACTUATOR Appendix Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 51 Gear ratio den

Page 304 - 5. Software

353Appendix INTELLIGENT ACTUATOR Axis-Specific Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 78 Maximum takeoff

Page 305

354 INTELLIGENT ACTUATOR Appendix Axis-Specific Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 94 Zone 3 output

Page 306 - Appendix

355Appendix INTELLIGENT ACTUATOR 4. Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (

Page 307 - Rated acceleration

356 INTELLIGENT ACTUATOR Appendix Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 26 Configuration in

Page 308

357Appendix INTELLIGENT ACTUATOR Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 54 Speed-loop inte

Page 309

358 INTELLIGENT ACTUATOR Appendix Driver Card Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 85 Current-loop c

Page 310

359Appendix INTELLIGENT ACTUATOR 5. Encoder Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (Manu

Page 311 - [Position table]

360 INTELLIGENT ACTUATOR Appendix 6. I/O-Slot Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (uppe

Page 312 - 2. Program Format

19INTELLIGENT ACTUATOR Part 1 Installation Chapter 5 Specifications 1. Controller Specifications Type Number of controlled axes 1 axis 2 axes

Page 313

361Appendix INTELLIGENT ACTUATOR 7. Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Auto-start program nu

Page 314

362 INTELLIGENT ACTUATOR Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 10 Emergency-stop recover

Page 315

363Appendix INTELLIGENT ACTUATOR Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 21 Manual operation type 0

Page 316 - 6. Path Operation

364 INTELLIGENT ACTUATOR Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 37 PC/TP data protect set

Page 317

365Appendix INTELLIGENT ACTUATOR Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 45 Special start condition

Page 318 - 8. Circular/Arc Operation

366 INTELLIGENT ACTUATOR Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 Other setting bit pat

Page 319

367Appendix INTELLIGENT ACTUATOR 8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operat

Page 320

Appendix INTELLIGENT ACTUATOR 368 9. Use Examples of Key Parameters You can add functions to those available under the factory settings or set d

Page 321 - 11. Travel Speed Change

Appendix INTELLIGENT ACTUATOR 369 Description Action Parameter setting Manipulation/operation Want to execute home return using an external input

Page 322

Appendix INTELLIGENT ACTUATOR 370 Description Action Parameter setting Manipulation/operation Want to output signal when all valid axes are at the

Page 323

20 Part 1 InstallationINTELLIGENT ACTUATOR 2. External I/O Specifications 2-1. NPN Specification (1) Input part External Input Specifications

Page 324

Appendix INTELLIGENT ACTUATOR 371 Description Action Parameter setting Manipulation/operation Want to start programs while emergency-stop signal i

Page 325 - 15. Pause

Appendix INTELLIGENT ACTUATOR 372 Description Action Parameter setting Manipulation/operation Want to continue actuator operation after the emerge

Page 326 - Input port 20 turns ON

Appendix INTELLIGENT ACTUATOR 373 Description Action Parameter setting Manipulation/operation Want to output signal when the actuator enters a spe

Page 327

374 INTELLIGENT ACTUATOR 10. Servo Gain Adjustment Since the servo has been adjusted at the factory according to the standard actuator specificat

Page 328 - Movement complete signal ON

375 INTELLIGENT ACTUATOR  Speed-loop integral time constant Driver card parameter number Unit Input range Default value (reference) 39 - 0 to

Page 329

376 INTELLIGENT ACTUATOR  FF (feed-forward) gain Axis-specific parameter number Unit Input range Default value (reference) 61 - 0 to 500 0 T

Page 330 - 20. Coordinate Value Output

Appendix INTELLIGENT ACTUATOR 377  Combination Table of X-SEL Linear/Rotational Control Parameters Support of encoder processing method Axis-spec

Page 331 - 21. Conditional Jump

Appendix INTELLIGENT ACTUATOR 378  Error Level Control Program run (Application only) Error level System error assignment source Error No. (HEX)

Page 332

Appendix INTELLIGENT ACTUATOR 379 Program run (Application only) Error level System error assignment source Error No. (HEX) Display (7-segment dis

Page 333 - 23. How to Use Offset

Appendix INTELLIGENT ACTUATOR 380  Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.) Er

Page 334

CAUTION Operator Calls Regarding Low Battery Voltage This controller uses the following backup batteries to retain data after the power is cut of

Page 335 - Reference point

21INTELLIGENT ACTUATOR Part 1 Installation (2) Output part External Output Specifications (NPN Specification) Item Specification Load voltage

Page 336 - 26. Jogging

Appendix INTELLIGENT ACTUATOR 381 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 337 - 27. Program Switching

Appendix INTELLIGENT ACTUATOR 382 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 338 - 28. Program Abort

Appendix INTELLIGENT ACTUATOR 383 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 339

Appendix INTELLIGENT ACTUATOR 384 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 340

Appendix INTELLIGENT ACTUATOR 385 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 341

Appendix INTELLIGENT ACTUATOR 386 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 342 - Connector not

Appendix INTELLIGENT ACTUATOR 387 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 343

Appendix INTELLIGENT ACTUATOR 388 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 344 - SD- 14 SD - RD

Appendix INTELLIGENT ACTUATOR 389 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 345

Appendix INTELLIGENT ACTUATOR 390 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 346

22 Part 1 InstallationINTELLIGENT ACTUATOR 2-2. PNP Specification (1) Input part External Input Specifications (PNP Specification) Item Speci

Page 347

Appendix INTELLIGENT ACTUATOR 391 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 348 - 1. Synchro Axes

Appendix INTELLIGENT ACTUATOR 392 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 349

Appendix INTELLIGENT ACTUATOR 393 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 350

Appendix INTELLIGENT ACTUATOR 394 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 351

Appendix INTELLIGENT ACTUATOR 395 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 352

Appendix INTELLIGENT ACTUATOR 396 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 353

Appendix INTELLIGENT ACTUATOR 397 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 354 -  List of Parameters

Appendix INTELLIGENT ACTUATOR 398 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 355 - 1. I/O Parameters

Appendix INTELLIGENT ACTUATOR 399 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 356

Appendix INTELLIGENT ACTUATOR 400 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 357 - Input range Unit Remarks

23INTELLIGENT ACTUATOR Part 1 Installation (2) Output part External Output Specifications (PNP Specification) Item Specification Load voltage

Page 358

Appendix INTELLIGENT ACTUATOR 401 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 359

Appendix INTELLIGENT ACTUATOR 402 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 360

Appendix INTELLIGENT ACTUATOR 403 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 361

Appendix INTELLIGENT ACTUATOR 404  Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) Error No.

Page 362 - I/O Parameters

Appendix INTELLIGENT ACTUATOR 405 (In the panel window, the three digits after “E” indicate an error number.)C Error No. Error name Description,

Page 363

Appendix INTELLIGENT ACTUATOR 406 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 364 - TP: Teaching pendant

Appendix INTELLIGENT ACTUATOR 407 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 365

Appendix INTELLIGENT ACTUATOR 408 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description,

Page 366

409 Appendix INTELLIGENT ACTUATOR  Troubleshooting of X-SEL Controller The X-SEL Controller has a panel window on its front face. Error numbers w

Page 367

Appendix INTELLIGENT ACTUATOR 410 Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure ACF AC

Page 368 - FFFFFFFFH

24 Part 1 InstallationINTELLIGENT ACTUATOR 3. Power-Source Capacity and Heat Output of the Controller The power-source capacity and heat output

Page 369

Appendix INTELLIGENT ACTUATOR 411 Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure CA1 Abn

Page 370

Appendix INTELLIGENT ACTUATOR 412 Error No. Error name Cause Countermeasure d18 Speed loop underrun error The driver CPU board was damaged d

Page 371 - Axis-Specific Parameters

413 Appendix INTELLIGENT ACTUATOR Trouble Report Sheet Trouble Report Sheet Date: Company name Department Reported by TEL (Ext) FAX IAI agen

Page 372

414 INTELLIGENT ACTUATOR Change History Revision Date Description of Revision June 2010 First edition Second edition Third edition Fourth edition Fif

Page 375

Manual No.: ME0134-10A (December 2011)The information contained in this document is subject to change without notice for purposes of product improveme

Page 376 - Input range Unit Remarks

25INTELLIGENT ACTUATOR Part 1 Installation  Calculation example) A 3-axis controller with a brake, equipped with a 200-W actuator for axis 1, 200

Page 377

26 Part 1 InstallationINTELLIGENT ACTUATOR 4. External Dimensions 2-axis type (The external dimensions of 1-axis type and 2-axis type are the s

Page 378 - (Kelvin =

27INTELLIGENT ACTUATOR Part 1 Installation Chapter 6 System Setup A connection example of a 2-axis controller is given below: 1. Connection M

Page 379

28 Part 1 InstallationINTELLIGENT ACTUATOR (1) Connect to the controller the motor cable, encoder cable and LS cable (optional) from the actuato

Page 380

29INTELLIGENT ACTUATOR Part 1 Installation 1.2 I/O Connection Diagrams (1) NPN specification

Page 381

30 Part 1 InstallationINTELLIGENT ACTUATOR (2) PNP specification Red-1 Orange-1 Yellow-1 G

Page 382

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.INT

Page 383 - Input range Unit Remarks

31INTELLIGENT ACTUATOR Part 1 Installation 1.3 I/O Flat Cable Socket (with strain relief): XG4M-5030-T (Omron) No. Color No. Color No.

Page 384

32 Part 1 InstallationINTELLIGENT ACTUATOR 2. Drive-Power Cutoff Control Circuit This controller has no built-in drive-power cutoff control circ

Page 385

33INTELLIGENT ACTUATOR Part 1 Installation 2.1 System I/O Connector The table below summarizes the detailed explanations of the respective termi

Page 386 - 8. Manual Operation Types

34 Part 1 InstallationINTELLIGENT ACTUATOR   [4] [3] [5][1][2] 2.2 Relay Box (1) Overview of Relay Box The relay box is a unit needed to

Page 387

35INTELLIGENT ACTUATOR Part 1 Installation 1) Dedicated X-SEL Teaching Pendant Connector Silkscreen printed name TP IN Connecting destination,

Page 388

36 Part 1 InstallationINTELLIGENT ACTUATOR Terminal Numbers and Descriptions of Safety I/O Terminals Terminal number Description 1 (When the AN

Page 389

37INTELLIGENT ACTUATOR Part 1 Installation 4) Internal Circuit Selector Terminals Silkscreen printed name TP (ANSI/IAI) SELECT Description This c

Page 390

38 Part 1 InstallationINTELLIGENT ACTUATOR 5) AUTO/MANU Selector Switch Silkscreen printed name AUTO/MANU Description This switch selects the AU

Page 391

39INTELLIGENT ACTUATOR Part 1 Installation (3) Teaching Pendant Operations and Safety I/O Terminal Conditions 1) Safety I/O Terminal (Pins 1 t

Page 392

40 Part 1 InstallationINTELLIGENT ACTUATOR (4) Operations to Safety I/O Terminals and X-SEL Controller Conditions 1) X-SEL Controller Condit

Page 394

41INTELLIGENT ACTUATOR Part 1 Installation 2.3 Drive-Power Cutoff Control Circuit (1) Connection Example of External Drive-Power Cutoff Control

Page 395

42 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conforming to safety

Page 396

43INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conforming to safe

Page 397 -  Error Level Control

44 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

Page 398

45INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conformi

Page 399 -  Error List

46 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

Page 400

47INTELLIGENT ACTUATOR Part 1 Installation AC power input C_POWER Motor power inputM_POWER

Page 401

48 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

Page 402

49INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conformi

Page 403

50 Part 1 InstallationINTELLIGENT ACTUATOR Example of drive-source cutoff circuit conform

Page 404

INTELLIGENT ACTUATOR Table of Contents Table of Contents Safety Guide...

Page 405

51INTELLIGENT ACTUATOR Part 1 Installation Example of drive-source cutoff circuit conformi

Page 406

52 Part 1 InstallationINTELLIGENT ACTUATOR Chapter 7 How to Perform An Absolute Encoder Reset When the absolute-encoder battery voltage of the

Page 407

53INTELLIGENT ACTUATOR Part 1 Installation (6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error mess

Page 408

54 Part 1 InstallationINTELLIGENT ACTUATOR (8) From the [Controller (C)] menu, select [Absolute Reset (A)]. (9) When a [Warning] dialog box is

Page 409

55INTELLIGENT ACTUATOR Part 1 Installation (12) Another [Warning] dialog box will be displayed. Click the [Yes] button. (13) When the

Page 410

56 Part 1 InstallationINTELLIGENT ACTUATOR (15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controll

Page 411

57INTELLIGENT ACTUATOR Part 1 Installation Chapter 8 Maintenance  Routine maintenance and inspection are necessary so that the system will ope

Page 412

58 Part 1 InstallationINTELLIGENT ACTUATOR (3) Replacement procedure for system-memory backup battery (CR2032) Backing up the system memory If “

Page 413

59INTELLIGENT ACTUATOR Part 1 Installation Battery Replacement Procedure 1) Remove the 7-segment LED panel from the controller. Slide the panel

Page 414

60 Part 1 InstallationINTELLIGENT ACTUATOR (4) Reset procedure following a battery-voltage low warning When a voltage low warning for absolute-e

Page 415

INTELLIGENT ACTUATOR Table of ContentsChapter 2 Explanation of Commands ...

Page 416

61INTELLIGENT ACTUATOR Part 1 Installation 6. The [Abs. Encoder Reset] dialog box will be displayed. 7. For Axis No., select the number of t

Page 417

62 Part 2 Operation INTELLIGENT ACTUATOR Part 2 Operation Chapter 1 Operation How to Start a Program With the X-SEL Controller, the stored

Page 418

63INTELLIGENT ACTUATOR Part 2 Operation 1. Starting a Program by Auto-Start via Parameter Setting I/O parameter No. 33 (input function selectio

Page 419

64 Part 2 Operation INTELLIGENT ACTUATOR 2. Starting via External Signal Selection (1) Flow chart When the READY signal turns ON, the

Page 420

65INTELLIGENT ACTUATOR Part 2 Operation (2) Timing chart T1: Duration after the ready output turns O

Page 421

66 Part 2 Operation INTELLIGENT ACTUATOR 3. Drive-Source Recovery Request and Operation-Pause Reset Request (1) Drive-source recovery request 1

Page 422

67Part 3 Controller Data Structure INTELLIGENT ACTUATOR [1] Drive-source cutoff reset after control power ON

Page 423

68 INTELLIGENT ACTUATOR Part 3 Controller Data Structure [3] Power ON with drive-source cutoff input still effective

Page 424

69Part 3 Controller Data Structure INTELLIGENT ACTUATOR [5] Drive-source cutoff reset after control power ON (When combined with the drive-so

Page 425

70INTELLIGENT ACTUATOR Part 3 Controller Data Structure [6] Emergency stop switch/safety gate/deadman switch input and drive-source cutoff/reset

Page 426

INTELLIGENT ACTUATOR Table of Contents5. Reciprocating Operation between Two Points...

Page 427

71Part 3 Controller Data Structure INTELLIGENT ACTUATOR Part 3 Controller Data Structure The controller data consists of parameters as well as

Page 428

72 INTELLIGENT ACTUATOR Part 3 Controller Data Structure Chapter 1 How to Save Data Since the X-SEL Controller uses flash memory, some data a

Page 429

73Part 3 Controller Data Structure INTELLIGENT ACTUATOR Since the programs, parameters and symbols are read from the flash memory at restart, th

Page 430

74 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 3. Points to Note Point to note when transferring data and writing to the flash memo

Page 431

75Part 3 Controller Data Structure INTELLIGENT ACTUATOR Chapter 2 X-SEL Language Data 1. Values and Symbols Used in SEL Language 1-1 List o

Page 432 - Trouble Report Sheet

76 INTELLIGENT ACTUATOR Part 3 Controller Data Structure  The variables and flags in the global range will be retained even after the control

Page 433 - Change History

77Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-3 Virtual I/O Ports (1) Virtual input ports Port No. Function 7000 Always OFF 7001

Page 434

78 INTELLIGENT ACTUATOR Part 3 Controller Data Structure (2) Virtual output ports Port No. Function 7300 Latch cancellation output for a latc

Page 435

79Part 3 Controller Data Structure INTELLIGENT ACTUATOR 1-4 Flags Contrary to its common meaning, the term “flag” as used in programming means

Page 436 - 11.12.000

80 INTELLIGENT ACTUATOR Part 3 Controller Data Structure 1-5 Variables (1) Meaning of variable “Variable” is a technical term used in software

Modèles reliés XSEL-KT

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