Iai-america XSEL-KX Manuel d'utilisateur Page 84
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
68
Part 4 Commands
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
Actuator
control
declaration
Optional VEL Speed [mm/sec] Prohibited CP
Set speed for CP operation
129
Optional VELS Ratio [%] Prohibited CP Set speed ratio for PTP operation 130
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 131
Optional ACC Acceleration [G] Prohibited CP
Set acceleration for CP operation
132
Optional ACCS Ratio [%] Prohibited CP
Set acceleration ratio for PTP operation
133
Optional DCL Deceleration [G] Prohibited CP
Set deceleration for CP operation
134
Optional DCLS Ratio [%] Prohibited CP Set deceleration ratio for PTP operation 135
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 136
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 137
Optional DEG Division angle [deg] Prohibited CP Set division angle 138
Optional GRP Valid axis pattern Prohibited CP Set group axes 139
Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 140
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 141
Optional DIS Distance Prohibited CP Set spline division distance 142
Optional POTP 0 or 1 Prohibited CP Set PATH output type 143
Optional PAPR Distance Speed CP Set PUSH command distance, speed 144
Optional DFTL
Tool coordinate
system number
Position number CP
Define tool coordinate system
145
Optional SLTL
Tool coordinate
system number
Prohibited CP
Select tool coordinate system
146
Optional GTTL
Tool coordinate
system number
Position number CP
Get tool coordinate system definition data
147
Optional DFWK
Load coordinate
system number
Position number CP
Define load coordinate system
148
Optional SLWK
Load coordinate
system number
Prohibited CP
Select load coordinate system
149
Optional GTWK
Load coordinate
system number
Position number CP
Get load coordinate system definition data
150
Optional DFIF
Interference check
zone number
Position number CP
Define coordinates of simple interference check
zone
157
Optional SOIF
Interference check
zone number
Output/global flag
number
CP
Specify output for simple interference check
zone
158
Optional SEIF
Interference check
zone number
0 or 1 or 2
(Error type)
CP
Specify error type for simple interference check
zone
159
Optional GTIF
Interference check
zone number
Position number CP
Get definition coordinates of simple interference
check zone
160
Optional PTPD Prohibited Prohibited CP
Specify current arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation)
155
Optional PTPE Prohibited Prohibited CP
Specify current arm as PTP target arm system
(Movement of the opposite arm system is
permitted when the target value cannot be
achieved) (No arm operation)
156
Optional PTPR Prohibited Prohibited CP
Specify right arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation)
153
Optional PTPL Prohibited Prohibited CP
Specify left arm as PTP target arm system
(Movement of the opposite arm system is
prohibited when the target value cannot be
achieved) (No arm operation)
154
Optional RIGH Prohibited Prohibited PE
Change current arm system to right arm
(Arm 2 may operate if the current arm system is
the opposite arm)
151
Optional LEFT Prohibited Prohibited PE
Change current arm system to left arm
(Arm 2 may operate if the current arm system is
the opposite arm)
152
- X-SEL Controller 1
- JX/KX Type 1
- Operation Manual 1
- CAUTION 3
- Safety Precautions 5
- Warning 6
- Before Use 11
- Table of Contents 12
- Introduction 17
- Part 1 Installation 18
- 1. Warranty Period 19
- 2. Scope of Warranty 19
- 3. Scope of Service 19
- 1. Installation Environment 20
- 3. Power Source 21
- 1. Front View of Controller 24
- 2.1. Application 34
- 2.2. Core 35
- Chapter 5 Specifications 36
- Caution 38
- 4. External Dimensions 43
- 3 - ∅ 5 44
- 77.2 150 150 77.2 125.3 44
- Chapter 6 System Setup 45
- 2. I/O Connection Diagram 47
- 3. I/O Flat Cable 49
- Chapter 7 Maintenance 50
- Part 2 Operation 57
- Chapter 1 Operation 57
- Start signal 59
- Emergency-stop 59
- Parameters 62
- Parameters Parameters 62
- Chapter 1 How to Save Data 63
- Write to flash memory 63
- 1.2 I/O Ports 67
- 1.3 Virtual I/O Ports 68
- 1.4 Flags 70
- 1.5 Variables 71
- 1.6 Tags 74
- 1.7 Subroutines 75
- 1.8 Symbols 76
- 1.10 Axis Specification 77
- 2. Position Part 79
- 79
- 3. Command Part 80
- 3.2 Extension Condition 81
- Part 4 Commands 82
- Confirmation position 91
- 1.2 Arithmetic Operation 96
- Optional Optional MOD 98
- Optional Optional SIN 99
- Optional Optional COS 100
- Variable 100
- Data ZR 100
- Optional Optional TAN 101
- Optional Optional ATN 102
- Optional Optional SQR 103
- Optional Optional AND 104
- Optional Optional OR 105
- Optional Optional EOR 106
- Optional Optional CPXX 107
- 1.6 Timer 108
- Optional Optional TIMC 109
- Program 109
- Prohibited CP 109
- Optional Optional GTTM 110
- (Output 111
- Optional Optional FMIO 119
- 1.8 Program Control 122
- 1.9 Task Management 125
- Currently executed step 128
- Currently paused step 129
- 1.10 Position Operation 130
- Position 137
- Optional Optional PSIZ 141
- X 100 (%) 152
- Optional Optional GRP 155
- Optional Optional DFTL 161
- Optional Optional SLTL 162
- Optional Optional GTTL 163
- Optional Optional DFWK 164
- Optional Optional SLWK 165
- Optional Optional GTWK 166
- Optional Optional DFIF 173
- Optional Optional SOIF 174
- Optional Optional SEIF 175
- Optional Optional GTIF 176
- Optional Optional SVXX 177
- Prohibited PE 177
- Optional Optional MOVP 178
- Optional Optional MOVL 179
- Optional Optional MVPI 180
- Optional Optional MVLI 181
- Start position 182
- Position origin 182
- End position 182
- Optional Optional STOP 183
- Optional Optional PUSH 185
- Center angle 191
- Center position 192
- Optional Optional PBND 193
- Distance CP 193
- Optional Optional TMPI 194
- Optional Optional TMLI 195
- Optional Optional PTRQ 196
- Ratio CC 196
- Optional Optional IFXX 199
- Data CP 199
- Optional Optional DWXX 202
- 1.15 Multi-Branching 204
- Optional Optional WHXX 205
- Prohibited Prohibited WSXX 206
- Optional Optional SYST 210
- Optional Optional GARM 211
- 1.17 Communication 212
- Optional Optional TMRD 214
- Optional Optional SCHA 216
- Character 216
- 1.18 String Operation 217
- Optional Optional SPUT 220
- Optional Optional STR 221
- Data CC 221
- Optional Optional STRH 222
- Optional Optional SLEN 225
- Optional Optional BGPA 226
- Palletizing 226
- Optional Optional PAPN 227
- Pattern 227
- Optional Optional PAST 229
- (Position 229
- Optional Optional PAPS 230
- Optional Optional PSLI 233
- (Count) CP 233
- Optional Optional PCHZ 234
- Optional Optional ACHZ 237
- added to 246
- 1.1 CP Operation 250
- All-axis parameter 251
- CP-operation 251
- 1.2 PTP Operation 252
- 2. Arm System 253
- : Area accessibly only 254
- : Area accessibly only by 254
- 3. Coordinate System 261
- 3.2 Load Coordinate System 263
- 3.3 Tool Coordinate System 267
- –50, Zb = 150, Rb = 0 272
- 50, Zb = 200, Rb = 180 272
- 5. Soft Limits 274
- 2. PATH/PSPL Commands 280
- 3. CIR/ARC Commands 280
- 1. How to Use 281
- 2. Palletizing Setting 281
- A. 3-point teaching method 283
- PX-axis direction pitch 284
- Teach position data No. 100 284
- PY-axis direction pitch 284
- 3. Palletizing Calculation 287
- 4. Palletizing Movement 288
- 5. Program Examples 290
- : 20, zigzag count: 4 291
- 1. Basic Frame 294
- 2. Ladder Statement Field 295
- 3. Points to Note 295
- OUTR301 295
- OUTR302 295
- 4. Program Example 296
- OUTR314 296
- TIMR900 296
- 0.5 SEC 296
- Chapter 7 Multi-Tasking 297
- 3. Program Switching 299
- Appendix 300
- 1 m (1000 mm) 303
- Controller end 303
- Connector not 303
- Control 304
- List of Parameters 307
- 1. I/O Parameters 308
- 3. Axis-Specific Parameters 320
- travel at 323
- 4. Driver Card Parameters 324
- for phase-W current 328
- 5. Encoder Parameters 330
- 6. I/O-Slot Card Parameters 331
- 7. Other Parameters 332
- 8. Manual Operation Types 337
- Trouble Report Sheet 374
- INTELLIGENT ACTUATOR 375
- Catalog No.: ME0119-7A 377
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