Iai-america XSEL-KX Manuel d'utilisateur

X-SEL Controller JX/KX Type Operation Manual Seventh Edition

7. Do not let the cable got tangled or kinked in a cable track or flexible tube. When bundling the cable, keep a certain degree of flexibility (so

84 Part 4 Commands  COS (Cosine operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Out

85 Part 4 Commands  TAN (Tangent operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Ou

86 Part 4 Commands  ATN (Inverse-tangent operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Ou

87 Part 4 Commands  SQR (Root operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outpu

88 Part 4 Commands 1.4 Logical Operation  AND (Logical AND) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

89 Part 4 Commands  OR (Logical OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, fl

90 Part 4 Commands  EOR (Logical exclusive-OR) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

91 Part 4 Commands 1.5 Comparison Operation  CPXX (Compare) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

92 Part 4 Commands 1.6 Timer  TIMW (Timer) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (O

93 Part 4 Commands  TIMC (Cancel timer) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output

Before Use Caution  Caution 1. Be sure to read this operation manual to ensure the proper use of this product. 2. Unauthorized use or reprod

94 Part 4 Commands  GTTM (Get time) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, fl

95 Part 4 Commands 1.7 I/O, Flag Operation  BTXX (Output port, flag operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O,

96 Part 4 Commands  BTPN (Output ON pulse) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Out

97 Part 4 Commands  BTPF (Output OFF pulse) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Ou

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

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

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

101 Part 4 Commands  OUT (Write output, flag as binary) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

102 Part 4 Commands  OUTB (Write output, flag as BCD) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

103 Part 4 Commands  FMIO (Set IN, INB, OUT, OUTB command format) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

Table of Contents Table of Contents Introduction ...

104 Part 4 Commands (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its uppe

105 Part 4 Commands [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Variable 99 4660 (IN/OUT command) 1234 (INB

106 Part 4 Commands 1.8 Program Control  GOTO (Jump) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

107 Part 4 Commands  EXSR (Execute subroutine) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

108 Part 4 Commands  EDSR (End subroutine) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Out

109 Part 4 Commands 1.9 Task Management  EXIT (End program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

110 Part 4 Commands  EXPG (Start other program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

111 Part 4 Commands  ABPG (Abort other program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

112 Part 4 Commands  SSPG (Pause program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outp

113 Part 4 Commands  RSPG (Resume program) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Out

Table of Contents Part 4 Commands ... 66 Chapte

114 Part 4 Commands 1.10 Position Operation  PGET (Read position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

115 Part 4 Commands  PPUT (Write position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

116 Part 4 Commands  PCLR (Clear position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

117 Part 4 Commands  PCPY (Copy position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

118 Part 4 Commands  PRED (Read current position) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Outp

119 Part 4 Commands  PRDQ (Read current axis position (1 axis direct)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

120 Part 4 Commands  PTST (Check position data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

121 Part 4 Commands  PVEL (Assign speed data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (

122 Part 4 Commands  PACC (Assign acceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration O

123 Part 4 Commands  PDCL (Assign deceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration O

Table of Contents Appendix... 2

124 Part 4 Commands  PAXS (Read axis pattern) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (

125 Part 4 Commands  PSIZ (Check position data size) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration O

126 Part 4 Commands  GVEL (Get speed data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Out

127 Part 4 Commands  GACC (Get acceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Outp

128 Part 4 Commands  GDCL (Get deceleration data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Outp

129 Part 4 Commands 1.11 Actuator Control Declaration  VEL (Set speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

130 Part 4 Commands  VELS (Set speed ratio) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Ou

131 Part 4 Commands  OVRD (Override) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, f

132 Part 4 Commands  ACC (Set acceleration) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Ou

133 Part 4 Commands  ACCS (Set acceleration ratio) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Out

134 Part 4 Commands  DCL (Set deceleration) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Ou

135 Part 4 Commands  DCLS (Set deceleration ratio) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Out

136 Part 4 Commands  SCRV (Set sigmoid motion ratio) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration O

137 Part 4 Commands  OFST (Set offset) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output,

138 Part 4 Commands  DEG (Set arc angle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outpu

139 Part 4 Commands  GRP (Set group axes) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outp

140 Part 4 Commands  HOLD (Hold: Declare axis port to pause) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

141 Part 4 Commands  CANC (Cancel: Declare axis port to abort) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

142 Part 4 Commands  DIS (Set division distance at spline movement) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

143 Part 4 Commands  POTP (Set PATH output type) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Outpu

144 Part 4 Commands  PAPR (Set push-motion approach distance, speed) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

145 Part 4 Commands  DFTL (Define tool coordinate system) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

146 Part 4 Commands  SLTL (Select tool coordinate system) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

147 Part 4 Commands  GTTL (Get tool coordinate system definition data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

148 Part 4 Commands  DFWK (Define load coordinate system) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

149 Part 4 Commands  SLWK (Select load coordinate system) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

150 Part 4 Commands  GTWK (Get load coordinate system definition data) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

151 Part 4 Commands  RIGH (Change current arm system to right arm (Arm 2 may operate if the current arm system is the opposite arm)) Extension

152 Part 4 Commands  LEFT (Change current arm system to left arm (Arm 2 may operate if the current arm system is the opposite arm)) Extension

153 Part 4 Commands  PTPR (Specify right arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value

1 Introduction Introduction Thank you for purchasing the X-SEL IX-Series Controller. Inappropriate use or handling will prevent this product fr

154 Part 4 Commands  PTPL (Specify left arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target value

155 Part 4 Commands  PTPD (Specify current arm as PTP target arm system (Movement of the opposite arm system is prohibited when the target val

156 Part 4 Commands  PTPE (Specify current arm as PTP target arm system (Movement of the opposite arm system is permitted when the target valu

157 Part 4 Commands  DFIF (Define coordinates of simple interference check zone) Extension condition (LD, A, O, AB, OB) Input condition (I/O,

158 Part 4 Commands  SOIF (Specify output for simple interference check zone) Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

159 Part 4 Commands  SEIF (Specify error type for simple interference check zone) Extension condition (LD, A, O, AB, OB) Input condition (I/O,

160 Part 4 Commands  GTIF (Get definition coordinates of simple interference check zone) Extension condition (LD, A, O, AB, OB) Input conditio

161 Part 4 Commands 1.12 Actuator Control Command  SVXX (Turn ON/OFF servo) Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

162 Part 4 Commands  MOVP (Move by specifying position data in PTP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

163 Part 4 Commands  MOVL (Move by specifying position data in CP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

2 Part 1 Installation Part 1 Installation Caution Chapter 1 Safety Precautions This controller has been designed for use exclusively with

164 Part 4 Commands  MVPI (Move incrementally in PTP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

165 Part 4 Commands  MVLI (Move via incremental interpolation in CP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

166 Part 4 Commands  PATH (Move along path in CP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

167 Part 4 Commands  STOP (Stop movement) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outp

168 Part 4 Commands  PSPL (Move along spline in CP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

169 Part 4 Commands  PUSH (Move by push motion in CP operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

170 Part 4 Commands [Example] PAPR 50 20 MOVP 10 PUSH 11 Set the push-motion approach distance to 50 mm and push-motion approach speed to

171 Part 4 Commands  CIR2 (Move along circle 2 (CP operation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

172 Part 4 Commands  ARC2 (Move along arc 2 (CP operation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

173 Part 4 Commands  CIRS (Move three-dimensionally along circle (CP operation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O,

3 Part 1 Installation Chapter 2 Warranty Period and Scope of Warranty The X-SEL Controller you have purchased passed our strict outgoing insp

174 Part 4 Commands  ARCS (Move three-dimensionally along arc (CP operation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

175 Part 4 Commands  ARCD (Move along arc via specification of end position and center angle (CP operation)) Extension condition (LD, A, O, AB

176 Part 4 Commands  ARCC (Move along arc via specification of center position and center angle (CP operation)) Extension condition (LD, A, O,

177 Part 4 Commands  PBND (Set positioning band) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Outpu

178 Part 4 Commands  TMPI (Move relatively between positions on tool coordinate system) Extension condition (LD, A, O, AB, OB) Input condition

179 Part 4 Commands  TMLI (Move relatively between positions on tool coordinate system with interpolation) Extension condition (LD, A, O, AB,

180 Part 4 Commands  PTRQ (Change push torque limit parameter) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

181 Part 4 Commands  CIR (Move along circle (CP operation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

182 Part 4 Commands  ARC (Move along arc (CP operation)) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

183 Part 4 Commands 1.13 Structural IF  IFXX (Structural IF) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

4 Part 1 Installation Chapter 3 Installation Environment and Noise Measures 1. Installation Environment (1) When installing and wiring the

184 Part 4 Commands  ISXX (Compare strings) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Ou

185 Part 4 Commands  ELSE (Else) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, flag)

186 Part 4 Commands 1.14 Structural DO  DWXX (DO WHILE) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

187 Part 4 Commands  ITER (Repeat) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, fla

188 Part 4 Commands 1.15 Multi-Branching  SLCT (Start selected group) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Com

189 Part 4 Commands  WHXX (Select if true; variable) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration O

190 Part 4 Commands  WSXX (Select if true; character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

191 Part 4 Commands  OTHE (Select other) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outpu

192 Part 4 Commands 1.16 System Information Acquisition  AXST (Get axis status) Extension condition (LD, A, O, AB, OB) Input condition (I/O,

193 Part 4 Commands  PGST (Get program status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

5 Part 1 Installation POWERRBM4 M3 M2 M1PG1TPPG2 PG4I/02 I/01PG3CODEPOWERRBM4 M3 M2 M1PG1TPPG2 PG4I/02 I/01PG3CODE If multiple

194 Part 4 Commands  SYST (Get system status) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (

195 Part 4 Commands  GARM (Get current arm system) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Out

196 Part 4 Commands 1.17 Communication  OPEN (Open channel) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

197 Part 4 Commands  READ (Read) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, flag)

198 Part 4 Commands  TMRD (Set READ timeout value) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Out

199 Part 4 Commands  WRIT (Write) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, flag

200 Part 4 Commands  SCHA (Set end character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (

201 Part 4 Commands 1.18 String Operation  SCPY (Copy character string) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

202 Part 4 Commands  SCMP (Compare character strings) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

203 Part 4 Commands  SGET (Get character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outp

6 Part 1 Installation [2] Notes on wiring method Use twisted cables for the AC power cable and 24-VDC external power cable. Wire the controlle

204 Part 4 Commands  SPUT (Set character) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outp

205 Part 4 Commands  STR (Convert character string; decimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

206 Part 4 Commands  STRH (Convert character string; hexadecimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

207 Part 4 Commands  VAL (Convert character string data; decimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

208 Part 4 Commands  VALH (Convert character string data; hexadecimal) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

209 Part 4 Commands  SLEN (Set length) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output,

210 Part 4 Commands 1.19 Palletizing-Related  BGPA (Declare start of palletizing setting) Extension condition (LD, A, O, AB, OB) Input condi

211 Part 4 Commands  PAPI (Set palletizing counts) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Out

212 Part 4 Commands  PASE (Declare palletizing axes) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration O

213 Part 4 Commands  PAST (Set palletizing reference point) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

7 Part 1 Installation [2] DC solenoid valve, magnet switch, relay Measure --- Install a diode in parallel with the coil. Determine the diode

214 Part 4 Commands  PAPS (Set palletizing positions) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

215 Part 4 Commands (a) Standard (b) When the point data of axis i component matches among the three points other

216 Part 4 Commands Table 1 Moving Direction of End Point Based on Planar Type Specification Condition Moving direction of end point The point

217 Part 4 Commands  PSLI (Set zigzag) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output,

218 Part 4 Commands  PCHZ (Declare palletizing Z-axis) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

219 Part 4 Commands  PTRG (Set palletizing arch triggers) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

220 Part 4 Commands  PEXT (Set palletizing composition) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

221 Part 4 Commands  ACHZ (Declare arch-motion Z-axis) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

222 Part 4 Commands  ATRG (Set arch triggers) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (

223 Part 4 Commands  AEXT (Set arch-motion composition) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

8 Part 1 Installation Chapter 4 Name and Function of Each Part 1. Front View of Controller KX type (general-purpose type) Applicable to rob

224 Part 4 Commands 1.21 Palletizing Calculation Command  PTNG (Get palletizing position number) Extension condition (LD, A, O, AB, OB) Inpu

225 Part 4 Commands  PDEC (Decrement palletizing position number by 1) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

226 Part 4 Commands  PARG (Get palletizing angle) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Outp

227 Part 4 Commands 1.22 Palletizing Movement Command  PMVP (Move to palletizing points via PTP) Extension condition (LD, A, O, AB, OB) Inpu

228 Part 4 Commands  PACH (Palletizing-point arch motion) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

229 Part 4 Commands • The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates of the palletizing p

230 Part 4 Commands  ARCH (Arch motion) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output

231 Part 4 Commands • The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the operation may follow th

232 Part 4 Commands 1.23 Building of Pseudo-Ladder Task  CHPR (Change task level) Extension condition (LD, A, O, AB, OB) Input condition (I/

233 Part 4 Commands  TSLP (Task sleep) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output,

9 Part 1 Installation JX type (compact type) Applicable to robots of 250/350 strokes Alarm and Other LED Indicator

234 Part 4 Commands Chapter 3 Key Characteristics of Horizontal Articulated Robot Operation This chapter explains how to set the key character

235 Part 4 Commands (3) Notes on CP operation The singular point refers to a position where arms 1 and 2 form a straight line. Performing CP

236 Part 4 Commands 1.2 PTP Operation (1) Movement locus The axes move to the target position at the specified speed. The locus of axis tip du

237 Part 4 Commands 2. Arm System 2.1 Right/Left Arm Systems The robot position has two patterns based on the right arm system and the left a

238 Part 4 Commands 2.2 Arm-System Control Commands The right and left arm systems are defined as the opposite arm systems to the left and righ

239 Part 4 Commands In the figure, a black arrow indicates a movement involving change of arm systems. A white arrow indicates a movement not in

240 Part 4 Commands (2) PTPE After a PTPE command is executed, the robot will give priority to movements and positioning operations using the c

241 Part 4 Commands (3) PTPR After a PTPR command is executed, the robot will perform positioning using the right arm system. The PTPR command

242 Part 4 Commands (4) PTPL After a PTPL command is executed, the robot will perform positioning using the left arm system. The PTPL command l

243 Part 4 Commands (5) RIGH The RIGH command changes the current arm system to the right arm system. If a RIGH command is executed when the cu

10 Part 1 Installation [1] FG terminal This terminal is used to ground FG on the enclosure. With a general-purpose type, the enclosure is co

244 Part 4 Commands (6) LEFT The LEFT command changes the current arm system to the left arm system. If a LEFT command is executed when the cur

245 Part 4 Commands 3. Coordinate System A horizontal articulated robot uses three types of coordinate systems: base coordinate system, load c

246 Part 4 Commands (1) Positioning on the base coordinate system Perform positioning after selecting load coordinate system No. 0. Use a SLWK

247 Part 4 Commands 3.2 Load Coordinate System This coordinate system provides 32 sets of three-dimensional orthogonal coordinates and rotating

248 Part 4 Commands (1) Setting the load coordinate system Set the offsets with respect to the base coordinate system. • Setting example of lo

249 Part 4 Commands (2) Positioning on the load coordinate system Perform positioning after selecting a desired load coordinate system. Use a S

250 Part 4 Commands [2] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 2 Program example

251 Part 4 Commands 3.3 Tool Coordinate System This coordinate system provides 128 sets of three-dimensional orthogonal coordinates and rotatin

252 Part 4 Commands (1) Setting the tool coordinate system Set the offsets from the center of the tool-mounting surface to the tool tip. • Sett

253 Part 4 Commands (2) Positioning using tool coordinate system offsets Perform positioning after selecting a desired tool coordinate system.

11 Part 1 Installation [4] External regenerative unit connector This connector is used to connect a regenerative resistance unit that may be

254 Part 4 Commands [2] When positioning the tool tip on tool coordinate system No. 2 to position Nos. 5 and 6 on load coordinate system No. 1

255 Part 4 Commands 4. Simple Interference Check Zone The simple interference check zone is an area set for the purpose of checking possible i

256 Part 4 Commands ABCDEFGH Setting example of simple interference check zone Define simple interference check zone Nos. 1, 2 and 3 as follows:

257 Part 4 Commands As for simple interference check zone No. 1, entry into this rectangular solid area will not be detected if Rb is outside th

258 Part 4 Commands 5. Soft Limits The soft limits of IX horizontal articulated robots are set in axis-specific parameter Nos. 7 and 8. The sc

259 Part 4 Commands (2) Soft limits of arm 2 The position at which arms 1 and 2 crosses with each other at right angles defines the home of the

260 Part 4 Commands (4) Soft limits of R-axis The position at which the D-cut face at the tip of the R-axis faces the center of rotation of arm

261 Part 4 Commands 5.2 Monitoring Coordinates on Each Axis Coordinate System Coordinates can be monitored on each axis coordinate system usin

262 Part 4 Commands Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement Commands [PATH, PSPL

263 Part 4 Commands [Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step before the

12 Part 1 Installation [7] Encoder connector This 15-pin, D-sub connector is used to connect the actuator’s encoder. Encoder Connector Spec

264 Part 4 Commands 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acce

265 Part 4 Commands Chapter 5 Palletizing Function The SEL language used by the X-SEL Controller provides palletizing commands that support pa

266 Part 4 Commands (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated b

267 Part 4 Commands A. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions in position data f

268 Part 4 Commands B. Method to set palletizing positions in parallel with the load coordinate system axes Palletizing reference point: Store

269 Part 4 Commands (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount

270 Part 4 Commands (7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (b) Palletizing Z-axis offs

271 Part 4 Commands 3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown belo

272 Part 4 Commands 4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point and one used to mov

273 Part 4 Commands (2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an end point specified b

13 Part 1 Installation [8] System I/O connector This connector is used to connect an emergency-stop switch, ENABLE contact, ready relay, etc.

274 Part 4 Commands 5. Program Examples (1) Program example using PAPS (set by 3-point teaching) The example below specifies movement only an

275 Part 4 Commands Schematic diagram of palletizing positions based on the above program The

276 Part 4 Commands (2) Program example using PASE, PAPT and PAST The example below specifies movement only and does not cover picking operatio

277 Part 4 Commands Schematic diagram of palletizing positions based on the above program (The PX and PY-axes are parallel with Xb and Yb (base

278 Part 4 Commands Chapter 6 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used depending on the comma

279 Part 4 Commands 2. Ladder Statement Field (1) Extension conditions LD LOAD A AND O OR AB AND BLOCK OB OR BLOCK All of the

280 Part 4 Commands 4. Program Example Extension condition Input condition Command Operand 1 Operand 2 Output

281 Part 4 Commands Chapter 7 Multi-Tasking “Multi-tasking” operation means running several programs in parallel. 1. Difference from a Seque

282 Part 4 Commands 2. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency-stop recovery type”

283 Part 4 Commands 3. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The r

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

14 Part 1 Installation [12] Teaching connector When an optional teaching pendant or PC is connected, this D-sub, 25-pin connector will be use

284 Appendix Appendix  Expansion I/O Board (Optional) Only one optional board can be installed on the compact type. Type: IA-103-X-32 Typ

285 Appendix  Expanded SIO Specification (Optional) Type IA-105X-MW-A (for RS232 connection) IA-105X-MW-B (for RS422 connection) IA-105X-M

286 Appendix (2) Parameter setting The channel numbers and specifications of the expanded SIOs are set as follows prior to shipment using param

287 Appendix (3) Joint cable [1] For RS232C connection [2] For RS422/RS485 connection *

288 Appendix (4) Wiring [1] RS232C wiring Flow control (software flow, hardware flow) is not provid

289 Appendix [2] RS422 wiring Control circuit SIO expansion board Supplied joint cable

290 Appendix [3] RS485 wiring Control circuit SIO expansion board Supplied joint cable CB-ST-

291 Appendix  List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section.

292 Appendix 1. I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 I/O port assignment type 1 0 ~ 20 0:

293 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 23 Overcurrent/supply-voltage error detecti

15 Part 1 Installation [13] PC connector (general-purpose type only) This D-sub, 9-pin connector is used to perform serial communication (

294 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 33 Input function selection 003 1 0 ~ 5 0:

295 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 51 Output function selection 305 0 0 ~ 5 0

296 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 73 Unaffected general-purpose output area n

297 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 97 IAI-protocol minimum response delay for

298 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 112 SIO system use (SP8) 28100030H 0H ~ FFF

299 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 124 Network attribute 5 0H 0H ~ FFFFFFFFH

300 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 128 Network attribute 9 0H 0H ~ FFFFFFFFH

301 Appendix I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 151 IAI protocol B/TCP: IP address of conne

302 Appendix 2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 1 For future extension

303 Appendix Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 32 Arch-trigger start-point

16 Part 1 Installation These functions are based on the factory settings. The functions assigned to port Nos. 000 to 014, 300 to 308, 313 an

304 Appendix 3. Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 1 For future extension (Chang

305 Appendix Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 29 For future extension (Change p

306 Appendix Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 61 FAG 0 * Change is prohibite

307 Appendix Axis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 95 For future extension (Change

308 Appendix 4. Driver Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (upper) (Manufacturing i

309 Appendix Driver Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 22 Function information 14 (soft):

310 Appendix Driver Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 29 Configuration information 07: M

311 Appendix Driver Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 For future extension (Parameter

312 Appendix Driver Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 67 Phase-W current sense offset adj

313 Appendix Driver Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 89 For future extension (Parameter

17 Part 1 Installation [15] Expansion I/O connectors These connectors are used to install I/O expansion boards. I/O expansion boards are opti

314 Appendix 5. Encoder Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (upper) (Manufacturing info

315 Appendix 6. I/O-Slot Card Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (upper) (Manufacturin

316 Appendix 7. Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Auto-start program number 0 0 ~ 64

317 Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 10 Emergency-stop recovery type 0 0 ~ 4 0

318 Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 22 Control use region 0 0 ~ 99 0: J, 1:

319 Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 38 PC/TP data protect setting (Symbol, pa

320 Appendix Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 45 Special start condition setting 0 0H ~

321 Appendix 8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operation type” parame

322 Appendix 9. Use Examples of Key Parameters You can add functions to those available under the factory settings or set dedicated functions to

323 Appendix Description Action Parameter setting Manipulation/operation Want to input program numbers from input ports in binary. (The default s

18 Part 1 Installation 2. Explanation of Codes Displayed on the Panel Window 2.1. Application Display Priority (*1) Description 1 AC po

324 Appendix Description Action Parameter setting Manipulation/operation Want to retain output status while emergency-stop signal is input or the

325 Appendix Description Action Parameter setting Manipulation/operation Want to automatically execute restart (software reset) after the emergen

326 Appendix  Error Level Control Error level System error assignment source Error No. (HEX) Display (7-segment display, etc.) Error list (Appli

327 Appendix Error level System error assignment source Error No. (HEX) Display (7-segment display, etc.) Error list (Application only) Error LED o

328 Appendix  Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Des

329 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 813 Mainte

330 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A05 Motoro

331 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A1F Axis d

332 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A3D Unit t

333 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A5C Copyin

19 Part 1 Installation 2.2. Core Display Priority (*1) Description 1 AC power is cut off (including momentary power failure or drop in p

334 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B00 SCHA s

335 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B1D Ethern

336 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B7A Z-axis

337 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C02 Maxim

338 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C18 Extens

339 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C3B Parame

340 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C58 Flash-

341 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C75 Motion

342 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C95 AUTO p

343 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CAF Excess

20 Part 1 Installation Chapter 5 Specifications 1. Controller Specifications 1.1 JX Type (Compact Type) (for actuators of strokes from 250

344 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CC9 Arch t

345 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D18 Speed

346 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D62 Expand

347 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D81 Param

348 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E1F I/O a

349 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E3E Parame

350 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E5F Length

351 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E78 Brake

352 Appendix  Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Descriptio

353 Appendix  Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Descriptio

21 Part 1 Installation 1.2 KX Type (General-Purpose Type) (for actuators of strokes from 250 to 800) Type KX Type (General-Purpose Type) Total

354 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A85 FROM

355 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CD0 Drive

356 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E90 Core c

357 Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. EAD Boot

356 Appendix INTELLIGENT ACTUATOR Appendix Trouble Report Sheet Trouble Report Sheet Date: Company name Department Reported by TEL (Ext)

Appendix INTELLIGENT ACTUATOR

Appendix INTELLIGENT ACTUATOR

Appendix INTELLIGENT ACTUATOR Catalog No.: ME0119-7A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 89

22 Part 1 Installation 2. External I/O Specifications 2.1. NPN Specification (1) Input part External Input Specifications (NPN Specificati

23 Part 1 Installation (2) Output part External Output Specifications (NPN Specification) Item Specification Load voltage 24 VDC TD62084 (or

24 Part 1 Installation 2.2. PNP Specification (1) Input part External Input Specifications (PNP Specification) Item Specification Input vol

25 Part 1 Installation (2) Output part External Output Specifications Item Specification Load voltage 24 VDC TD62784 (or equivalent) Maximum

26 Part 1 Installation 3. Power-Source Capacity and Heat Output of the Controller The power-source capacity and heat output vary as follows,

27 Part 1 Installation POWERRBM4 M3 M2 M1PG1TPPG2 PG4I/02 I/01PG3CODE 4. External Dimensions 4.1 JX Type (Compact type)

28 Part 1 Installation RBPOWERFUSEM4 M3 M2 M1PG1PG2PG3PG4I/O1 I/O2 I/O3 I/O4CODEHOSTTPMODE 4.2 KX Type (General-purpose type)

29 Part 1 Installation Chapter 6 System Setup A connection example is given below: 1. Connection Method of Controller and Robot (KX Type)

30 Part 1 Installation (1) Connect to the controller the motor cable and encoder cable from the actuator. (2) Connect the teaching-pendant cab

31 Part 1 Installation 2. I/O Connection Diagram (1) NPN specification Pin No. Category Port No. Function 1 Input - General-purpose: NC, Compa

32 Part 1 Installation (2) PNP specification Pin No. Category Port No. Function 1 Input - General-purpose: NC, Compact: +24-V input 2 000 Prog

33 Part 1 Installation 3. I/O Flat Cable Flat cable: KFX-50 (S) (Color) (Kaneko Cord) No. Color No. Color No. Color No.

Safety Precautions Please read the information in “Safety Precautions” carefully before selecting a model and using the product. The precautions

34 Part 1 Installation Chapter 7 Maintenance • Routine maintenance and inspection are necessary so that the system will operate properly at a

35 Part 1 Installation 3. Replacement Procedure of System-Memory Backup Battery (CR2032) for K Type (General-Purpose Type) Backing up the syst

36 Part 1 Installation Battery Replacement Procedure 1) Remove the 7-segment LED panel from the controller. Slide the panel upward and pull i

37 Part 1 Installation 4. Replacement Procedure of System-Memory Backup Battery (CR2032) for J Type (Compact Type) [Absolute specification] In

38 Part 1 Installation [Battery replacement method] 1) Disconnect all cables from the controller. 2) Remove the screws shown by arrows that a

39 Part 1 Installation 5) As shown at left, use small screwdrivers to remove the segment board. 6) Remove the screws mounting the

40 Part 1 Installation As shown at left, use small screwdrivers to remove the battery from the holder and then install a new battery in the hol

41 Part 2 Operation Part 2 Operation Chapter 1 Operation How to Start a Program With the X-SEL Controller, the stored programs can be sta

42 Part 2 Operation 1. Starting a Program by Auto-Start via Parameter Setting I/O parameter No. 33 (input function selection 003) = 1 (default

43 Part 2 Operation 2. Starting via External Signal Selection (1) Flow chart When the READY signal turns ON, the RDY lamp (green) o

[Installation]  Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The product may ignite, burn or exp

44 Part 2 Operation (2) Timing chart [1] Program start [2] Program start by auto-start * When I/O parameter No. 33 is set to “2”

45 Part 2 Operation 3. Drive-Source Recovery Request and Operation-Pause Reset Request (1) Drive-source recovery request 1. How to request a

46 Part 3 Controller Data Structure Part 3 Controller Data Structure The controller data consists of parameters as well as position data and

47 Part 3 Controller Data Structure Chapter 1 How to Save Data Since the IX-Series Controller uses flash memory, some data are saved by batter

48 Part 3 Controller Data Structure Since the programs, parameters and symbols are read from the flash memory at restart, the data in the tempor

49 Part 3 Controller Data Structure 3. Points to Note Point to note when transferring data and writing to the flash memory Never turn off the

50 Part 3 Controller Data Structure Chapter 2 X-SEL Language Data (IX-Series Controller) 1. Values and Symbols Used in SEL Language 1.1 Lis

51 Part 3 Controller Data Structure  The variables and flags in the global range will be retained even after the controller power is turned of

52 Part 3 Controller Data Structure 1.3 Virtual I/O Ports (1) Virtual input ports Port No. Function 7000 Always OFF 7001 Always ON 7002 Vo

53 Part 3 Controller Data Structure Virtual input ports (continued) Port No. Function 7101 Running program No. 01 (including during pause) ~

 If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing to use the product may result in product

54 Part 3 Controller Data Structure 1.4 Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are

55 Part 3 Controller Data Structure 1.5 Variables (1) Meaning of variable “Variable” is a technical term used in software programming. Simply

56 Part 3 Controller Data Structure (2) Types of variables Variables are classified into two types, as follows: [1] Integer variables These v

57 Part 3 Controller Data Structure [3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable.

58 Part 3 Controller Data Structure 1.6 Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a

59 Part 3 Controller Data Structure 1.7 Subroutines By taking out the parts of a program that are used repeatedly and registering them as “sub

60 Part 3 Controller Data Structure 1.8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers can be handled as sy

61 Part 3 Controller Data Structure 1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Axis numbers and

62 Part 3 Controller Data Structure (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) (Lower)

63 Part 3 Controller Data Structure X-SEL language consists of a position part (position data = coordinates, etc.) and a command part (applicati

 Before installing or adjusting the product or performing other operations on the product, display a sign that reads, “WORK IN PROGRESS. DO NOT T

64 Part 3 Controller Data Structure 3. Command Part The primary feature of SEL language is its very simple command structure. Since the struct

65 Part 3 Controller Data Structure 3.2 Extension Condition Conditions can be combined in a complex manner. Extension condition Input cond

66 Part 4 Commands Part 4 Commands Chapter 1 List of SEL Language Command Codes 1. Command Codes by Function Variables can be specified in

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

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

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

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

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

72 Part 4 Commands 2. Command Codes in Alphabetical Order Operation type in the output field CC: Command was executed successfully, ZR: Opera

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

Prohibited Handling of Cables Caution When designing an application system using actuators and controllers, incorrect wiring or connection of eac

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

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

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

77 Part 4 Commands

78 Part 4 Commands Chapter 2 Explanation of Commands 1. Commands 1.1 Variable Assignment  LET (Assign) Extension condition (LD, A, O, AB,

79 Part 4 Commands  CLR (Clear variable) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Outpu

80 Part 4 Commands 1.2 Arithmetic Operation  ADD (Add) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

81 Part 4 Commands  MULT (Multiply) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output (Output, fl

82 Part 4 Commands  MOD (Remainder of division) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Output

83 Part 4 Commands 1.3 Function Operation  SIN (Sine operation) Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,