Iai-america XSEL-KX Manuel d'utilisateur Page 90
- Page / 377
- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
74
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
Command
Page
Condition
Operand 1
Operand 2
Output
Function
L
LEAV
186
Optional
Prohibited
Prohibited
CP
Pull out from DO
LEFT 152 Optional Prohibited Prohibited PE
Change current arm system to left arm
(Arm 2 may operate if the current arm
system is the opposite arm)
LET
78
Optional
Assignment variable
Assigned value
ZR
Assign
M
MCD 82 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MCVL 163 Optional
Destination position
number
Prohibited PE
Move to specified position via
interpolation
MOVP 162 Optional
Destination position
number
Prohibited PF Move to specified position
MULT
81
Optional
Multiplicand variable
Multiplier
ZR
Multiply
MVLI 165 Optional Travel position number Prohibited PE
Move to relative position via
interpolation
MVPI
164
Optional
Travel position number
Prohibited
PE
Move to relative position
O
OFAZ
223
Optional
Offset amount
Prohibited
CP
Set arch-motion Z-axis offset
OPPZ
220
Optional
Offset amount
Prohibited
CP
Set palletizing Z-axis offset
OFST
137
Optional
Setting axis pattern
Offset value
CP
Set offset
OPEN
196
Optional
Channel number
Prohibited
CP
Open channel
OR
89
Optional
OR operand variable
Operand
ZR
Logical OR
OTHE 191 Prohibited Prohibited Prohibited CP
Declare branching destination when
condition is not satisfied
OUT
101
Optional
Head output, flag
End I/O, flag
CC
Output binary (32 bits max.)
OUTB
102
Optional
Head output, flag
Conversion digits
CC
Output BCD (8 digits max.)
OUTR
275
Optional
Output, flag number
Prohibited
CP
Output relay for ladder
OVRD
131
Optional
Speed ratio
Prohibited
CP
Set speed coefficient
P
PACC 122 Optional Acceleration
Assignment-destination
position number
CP Assign position acceleration
PACH
228
Optional
Palletizing number
Position number
PE
Palletizing-point arch motion
PAPG
226
Optional
Palletizing number
Position number
CP
Get palletizing calculation data
PAPI
211
Optional
Count
Count
CP
Set palletizing counts
PAPN
211
Optional
Pattern number
Prohibited
CP
Set palletizing pattern
PAPR
144
Optional
Distance
Speed
CP
Set PUSH command distance, speed
PAPS 214 Optional Position number
(Palletizing position
setting type)
CP Set palletizing positions
PAPT
212
Optional
Pitch
Pitch
CP
Set palletizing pitches
PARG
226
Optional
Palletizing number
Axis number
CP
Get palletizing angle
PASE
212
Optional
Axis number
Axis number
CP
Set palletizing axes
PAST
213
Optional
(Position number)
Prohibited
CP
Set palletizing reference point
PATH
166
Optional
Start position number
End position number
PE
Move along path
PAXS 124 Optional
Axis-pattern assignment
variable number
Position number CP Read axis pattern
PBND
177
Optional
Axis pattern
Distance
CP
Set positioning band
PCHZ
218
Optional
(Axis number)
Prohibited
CP
Set palletizing Z-axis
PCLR
116
Optional
Start position number
End position number
CP
Clear position data
PCPY 177 Optional
Copy-destination position
number
Copy-destination
position number
CP Copy position data
PDCL 123 Optional Deceleration
Assignment-destination
position number
CP Assign position deceleration
PDEC 225 Optional Palletizing number Prohibited CC
Decrement palletizing position number
by 1
PEXT
220
Optional
(Position number)
Prohibited
CP
Set palletizing composition
PGET
114
Optional
Axis number
Position number
CC
Assign position to variable 199
- 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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