Operation ManualSeventh EditionX-SEL ControllerPX/QX TypeNinth Edition
Table of Contents3.4 Multipoint I/O Board Connection Cables... 833.5 Multipoint
76Part 1 InstallationThe positions of motor connectors and encoder connectors vary depending on the SCARA type. The figure below shows where the motor
77Part 1 Installation1.3 Startup procedure Caution: Be sure to connect the cables from the respective actuators to the correct connectors. When conne
78Part 1 Installation2. I/O Connection Diagram 2.1 NPN specification Pin No. Category Port No. Function (factory setting) 1 - +24-V input2 000 Pro
79Part 1 Installation2.2 PNP specification Pin No. Category Port No. Function (factory setting) 1 - +24-V input2 000 Program start3 001 General-pur
80Part 1 Installation2.3 I/O Flat Cable Flat cable: KFX-50 (S) (Color) (Kaneko Cord) No. Color No. Color No. Color No. Color No. Color 1 Brown-1 11
81Part 1 Installation3. Multipoint DIO Board This board is a multipoint DIO board for XSEL controllers on which 48 input points and 48 output points
82Part 1 Installation3.3 External Interface Specifications 3.3.1 External DIO Interface Terminal Assignment Overview or multipoint DIO interface spe
83Part 1 Installation3.4 Multipoint I/O Board Connection Cables Cable 1 Cable 2 Category Pin No. Color Port No. Function Category Pin No. Color
84Part 1 Installation3.5 Multipoint I/O Board Connection Cables Model: CB-X-PIOH020 Socket: HIF6-100D-1.27R (Hirose)Flat cable (50 cores) UL2651 AWG2
85Part 1 InstallationInternalcircuit Internalcircuit Input terminal Input terminal External power supply External power supply 3.6 I/O Circuits 3.6.1
Table of ContentsPart 4 Commands ... 12
86Part 1 Installation3.6.2 Output Output specifications Specification Output element Transistor array NPN specification: TD62084AF by Toshiba PNP sp
87Part 1 InstallationChapter 8 How to Perform An Absolute Encoder Reset of A Direct Movement Axis (Absolute Specification) When the absolute-encoder
88Part 1 Installation(6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error message. (7) From the [Monito
89Part 1 Installation(8) From the [Controller (C)] menu, select [Absolute Reset (Linear Movement Axis) (A)]. (9) When a [Warning] dialog box is disp
90Part 1 Installation(10) The [Abs. Encoder Reset] dialog box will be displayed. Click here to select the axis for which you wish to perform an absolu
91Part 1 Installation(12) Another [Warning] dialog box will be displayed. Click the [Yes] button. (13) When the processing of “encoder rotation data r
92Part 1 Installation(15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controller. (Note) Commencing the o
93Part 1 InstallationChapter 9 Maintenance x Routine maintenance and inspection are necessary so that the system will operate properly at all times.
94Part 1 Installation2. Spare Consumable Parts Without spare parts, a failed controller cannot be repaired even when the problem is identified quickl
95Part 1 Installation3. Replacement Procedure for System Memory Backup Battery Backing up the system memory If “Other parameter No. 20, Backup batter
Table of Contents1. How to Use ...
96Part 1 InstallationBattery Replacement Procedure [1] Remove the 7 segment LED panel from the controller. Slide the panel upward and pull it toward
97Part 1 Installation(8) When the replacement of system memory backup battery is complete, confirm that the battery is installed securely and then tu
98Part 1 Installation4. Replacement Procedure for Absolute-Encoder Backup Battery for Linear Movement AxisThe replacement procedure will vary dependi
99Part 1 Installation(5) Insert a new battery into the holder and plug in the battery connector. (6) Turn on the controller power. (7) Set the abso
100 Part 1 Installation(15) From the [Controller (C)] menu on the PC software screen, select [Software Reset (R)], and restart the controller. Confirm
101Part 2 OperationPart 2 Operation Chapter 1 Operation How to Start a Program With the X-SEL controller, the stored programs can be started using f
102 Part 2 Operation1. Starting a Program by Auto Start via Parameter Setting I/O parameter No. 33 (input function selection 003) = 1 (default factor
103Part 2 Operation2. Starting via External Signal Selection (1) Flow chart When the READY signal turns ON, the RDY lamp (green) on the controller fr
104 Part 2 Operation(2) Timing chart [1] Start of programReady output Program 1 Program 2 Program number inputExternal start inputT1: Duration after
105Part 2 Operation3. Drive Source Recovery Request and Operation Pause Reset Request (1) Drive source recovery request [1] How to request a drive
Table of ContentsBattery Backup Function ... 419
106Part 3 Controller Data StructurePart 3 Controller Data Structure The controller data consists of parameters as well as position data and applicati
107Part 3 Controller Data StructureChapter 1 How to Save Data Since the X-SEL controller uses flash memory, some data are saved by battery backup whi
108Part 3 Controller Data StructureSince the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary mem
109Part 3 Controller Data Structure2. When the System Memory Backup Battery is Not Used 2.1 Controller without Increased Memory Size Other parameter
110Part 3 Controller Data Structure2.2 Controller with Increased Memory Size (with Gateway Function) (Other parameter No. 20 = 0 (System-memory backu
111Part 3 Controller Data Structure3. Points to Note Point to note when transferring data and writing to the flash memory Never turn off the main pow
112Part 3 Controller Data StructureNote on increased parameters On controllers with increased memory size (with gateway function), the number of param
113Part 3 Controller Data StructureChapter 2 X-SEL Language Data 1. Values and Symbols Used in SEL Language 1.1 List of Values and Symbols Used The
114Part 3 Controller Data Structurez The variables and flags in the global range will be retained even after the controller power is turned off (when
115Part 3 Controller Data Structure1.3 Virtual I/O Ports (1) Virtual input ports Port No. Function 7000 Always OFF 7001 Always ON 7002 Voltage low
116Part 3 Controller Data Structure(2) Virtual output ports Port No. Function 7300 Latch cancellation output for a latch signal indicating that all
117Part 3 Controller Data Structure1.4 Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to
118Part 3 Controller Data Structure1.5 Variables (1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it
119Part 3 Controller Data StructureReal variable boxVariable box 1 (2) Types of variables Variables are classified into two types, as follows: [1] In
120Part 3 Controller Data Structure[3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable. In the
121Part 3 Controller Data Structure1.6 Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a book you
122Part 3 Controller Data Structure1.7 Subroutines By taking out the parts of a program that are used repeatedly and registering them as “subroutines,
123Part 3 Controller Data Structure1.8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers can be handled as symbols. Fo
124Part 3 Controller Data Structure1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Axis numbers and how axes
125Part 3 Controller Data Structure(2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) (Lower) Axis number Axi
Pre-1Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read
126Part 3 Controller Data StructureX-SEL language consists of a position part (position data = coordinates, etc.) and a command part (application prog
127Part 3 Controller Data Structure3. Command Part The primary feature of SEL language is its very simple command structure. Since the structure is si
128Part 3 Controller Data StructureCondition1Condition2Condition1Condition2Condition1Condition2Condition33.2 Extension Condition Conditions can be com
129Part 4 CommandsPart 4 Commands Chapter 1 List of SEL Language Command Codes 1. By Function Variables can be specified indirectly in the operand 1
130Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
131Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
132Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
133Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
134Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
135Part 4 CommandsRC Gateway Function Commands (Controllers with Gateway Function Only) * For the RC gateway function commands, refer to “Operation M
Pre-2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work conditionCutoff of drive source Measure Articl
136Part 4 Commands2. Alphabetical Order Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE:
137Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
138Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
139Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
140Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,
141Part 4 CommandsChapter 2 Explanation of Commands 1. Commands 1.1 Variable Assignment z LET (Assign) Command, declaration Extension condition (LD,
142Part 4 Commandsz CLR (Clear variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
143Part 4 Commands1.2 Arithmetic Operation z ADD (Add) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command
144Part 4 Commandsz MULT (Multiply) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera
145Part 4 Commandsz MOD (Remainder of division) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl
Pre-3Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice
146Part 4 Commands1.3 Function Operation z SIN (Sine operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla
147Part 4 Commandsz COS (Cosine operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati
148Part 4 Commandsz TAN (Tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat
149Part 4 Commandsz ATN (Inverse-tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
150Part 4 Commandsz SQR (Root operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
151Part 4 Commands1.4 Logical Operation z AND (Logical AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C
152Part 4 Commandsz OR (Logical OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera
153Part 4 Commandsz EOR (Logical exclusive-OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla
154Part 4 Commands1.5 Comparison Operation z CP (Compare) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co
155Part 4 Commands1.6 Timer z TIMW (Timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio
Pre-4Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1 Mod
156Part 4 Commandsz TIMC (Cancel timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
157Part 4 Commandsz GTTM (Get time) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Oper
158Part 4 Commands1.7 I/O, Flag Operation z BT (Output port, flag operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond
159Part 4 Commandsz BTPN (Output ON pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati
160Part 4 Commandsz BTPF (Output OFF pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat
161Part 4 Commandsz WT (Wait for I/O port, flag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de
162Part 4 Commandsz IN (Read I/O, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de
163Part 4 Commandsz INB (Read I/O, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl
164Part 4 Commandsz OUT (Write output, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman
165Part 4 Commandsz OUTB (Write output, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
Pre-5No. Task Note (2) Wiring the cables z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. z Do not
166Part 4 Commandsz FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl
167Part 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 upper eight
168Part 4 Commands[Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Variable 99 4660 (IN/OUT command) 1234 (INB/OUTB co
169Part 4 Commands1.8 Program Control z GOTO (Jump) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d
170Part 4 Commandsz EXSR (Execute subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar
171Part 4 Commandsz EDSR (End subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio
172Part 4 Commands1.9 Task Management z EXIT (End program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co
173Part 4 Commandsz EXPG (Start other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla
174Part 4 Commandsz ABPG (Abort other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla
175Part 4 Commandsz SSPG (Pause program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
Pre-6No. Task Note 5 Teaching z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its de
176Part 4 Commandsz RSPG (Resume program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio
177Part 4 Commands1.10 Position Operation z PGET (Read position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/
178Part 4 Commandsz PPUT (Write position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla
179Part 4 Commandsz PCLR (Clear position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla
180Part 4 Commandsz PCPY (Copy position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar
181Part 4 Commandsz PRED (Read current position) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec
182Part 4 Commandsz PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/
183Part 4 Commandsz PTST (Check position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla
184Part 4 Commandsz PVEL (Assign speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara
185Part 4 Commandsz PACC (Assign acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
Pre-7Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Not
186Part 4 Commandsz PDCL (Assign deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
187Part 4 Commandsz PAXS (Read axis pattern) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara
188Part 4 Commandsz PSIZ (Check position data size) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
189Part 4 Commandsz GVEL (Get speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio
190Part 4 Commandsz GACC (Get acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec
191Part 4 Commandsz GDCL (Get deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec
192Part 4 Commands1.11 Actuator Control Declaration z VEL (Set speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I
193Part 4 Commandsz VELS (Dedicated SCARA command: Set speed ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,
194Part 4 Commandsz OVRD (Override) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera
195Part 4 Commandsz ACC (Set acceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati
CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.Pre
196Part 4 Commandsz ACCS (Dedicated SCARA command: Set acceleration ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio
197Part 4 Commandsz DCL (Set deceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati
198Part 4 Commandsz DCLS (Dedicated SCARA command: Set deceleration ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio
199Part 4 Commandsz VLMX (Dedicated linear movement axis command: Specify VLMX speed) Command, declaration Extension condition (LD, A, O, AB, OB) Inp
200Part 4 Commandsz SCRV (Set sigmoid motion ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
201Part 4 Commandsx S-motion A (Operand 2 = Blank or 0) x S-motion B (Operand 2 = 1) If S-motion B is selected, the speed pattern becomes smoother
202Part 4 Commandsz OFST (Set offset) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op
203Part 4 Commandsz DEG (Set arc angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
204Part 4 Commandsz BASE (Set reference axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar
205Part 4 Commandsz GRP (Set group axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
Pre-9Steel band (piano wire)Bundle loosely. Use a curly cable.Do not use a spiral tube where the cable flexes frequently. Prohibited Handling of Cable
206Part 4 Commandsz HOLD (Hold: Declare axis port to pause) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C
207Part 4 Commandsz CANC (Cancel: Declare axis port to abort) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)
208Part 4 Commandsz DIS (Set division distance at spline movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,
209Part 4 Commandsz POTP (Set PATH output type) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl
210Part 4 Commandsz PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,
211Part 4 Commandsz DFTL (Dedicated SCARA command: Define tool coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c
212Part 4 Commandsz SLTL (Dedicated SCARA command: Select tool coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c
213Part 4 Commandsz GTTL (Dedicated SCARA command: Get tool coordinate system definition data) Command, declaration Extension condition (LD, A, O, AB
214Part 4 Commandsz DFWK (Dedicated SCARA command: define load coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c
215Part 4 Commandsz SLWK (Dedicated SCARA command: select load coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c
Pre-107. 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
216Part 4 Commandsz GTWK (Dedicated SCARA command: get load coordinate system definition data) Command, declaration Extension condition (LD, A, O, AB
217Part 4 Commandsz RIGH (Dedicated SCARA command: change current arm system to right arm (Arm 2 may operate if the current arm system is the opposit
218Part 4 Commandsz LEFT (Dedicated SCARA command: change current arm system to left arm (Arm 2 may operate if the current arm system is the opposite
219Part 4 Commandsz PTPR (Dedicated SCARA command: specify right arm as PTP target arm system (Movement of the opposite arm system is prohibited when
220Part 4 Commandsz PTPL (Dedicated SCARA command: specify left arm as PTP target arm system (Movement of the opposite arm system is prohibited when
221Part 4 Commandsz PTPD (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the opposite arm system is prohibited wh
222Part 4 Commandsz PTPE (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the opposite arm system is permitted whe
223Part 4 Commandsz DFIF (Dedicated SCARA command: define coordinates of simple interference check zone) Command, declaration Extension condition (LD
224Part 4 Commandsz SOIF (Dedicated SCARA command: specify output for simple interference check zone) Command, declaration Extension condition (LD, A
225Part 4 Commandsz SEIF (Dedicated SCARA command: specify error type for simple interference check zone) Command, declaration Extension condition (L
1Introduction[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]Slot 1 Slot 2 Slot 3 Slot 4 [1]Series [2]Controller type [3]IX actuator type [4]Axis 5 motor
226Part 4 Commandsz GTIF (Dedicated SCARA command: get definition coordinates of simple interference check zone) Command, declaration Extension condi
227Part 4 Commandsz WGHT (Dedicated SCARA command/Set tip load mass, inertial moment) Command, declaration Extension condition (LD, A, O, AB, OB) Inp
228Part 4 Commandsz HOME (Dedicated linear movement axis command: Return to home) Command, declaration Extension condition (LD, A, O, AB, OB) Input c
229Part 4 Commands1.12 Actuator Control Command z SV (Turn ON/OFF servo) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio
230Part 4 Commandsz MOVP (Move by specifying position data in PTP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condit
231Part 4 Commandsz MOVL (Move by specifying position data in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi
232Part 4 Commandsz MVPI (Move incrementally in PTP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag
233Part 4 Commandsz MVLI (Move via incremental interpolation in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi
234Part 4 Commandsz PATH (Move along path in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co
235Part 4 Commandsz JW ( Jog) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand 1
2[1]Series [2]Controller type [3]IX actuator type [4]Axis 5 motor wattage[5]Axis 6 motor wattage[6]Network (dedicated slot)[7]Standard I/OSlot 1 Slot
236Part 4 Commands(Note 9) If an axis moving in accordance with JW has its “Axis-specific parameter No. 1, Axis operation type” set to “0” (linear
237Part 4 Commandsz STOP (Stop movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
238Part 4 Commandsz PSPL (Move along spline in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)
239Part 4 Commandsz PUSH (Move by push motion in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag
240Part 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 20 mm/se
241Part 4 Commandsz CIR2 (Move along circle in CP operation (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB, OB) Input co
242Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi
243Part 4 Commandsz ARC2 (Move along arc in CP operation (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi
244Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi
245Part 4 Commandsz CIRS (Move three-dimensionally along circle in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input co
3IntroductionThis controller receives power in order to drive the actuator motor(s) (three-phase/single-phase, 200 to 220 V) and to operate the contro
246Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi
247Part 4 Commandsz ARCS (Move three-dimensionally along arc in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi
248Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi
249Part 4 Commandsz ARCD (Move along arc via specification of end position and center angle in CP operation (arc interpolation)) Command, declaration
250Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi
251Part 4 Commandsz ARCC (Move along arc via specification of center position and center angle in CP operation (arc interpolation)) Command, declarat
252Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi
253Part 4 Commandsz CHVL (Dedicated linear movement axis command: Change speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input con
254Part 4 Commands(Note 6) Override of the CHVL call task will be applied, so caution must be exercised. (Note 7) The maximum speed of the specified
255Part 4 Commandsz PBND (Set positioning band) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl
4Part 1 InstallationPart 1 Installation CautionChapter 1 Safety Precautions The X-SEL PX/QX Controller can support a combination of a SCARA robot an
256Part 4 Commandsz TMPI (Dedicated SCARA command: Move relatively between positions on tool coordinate system in PTP operation) Command, declaration
257Part 4 Commandsz TMLI (Dedicated SCARA command: Move relatively between positions on tool coordinate system via interpolation in CP operation) Com
258Part 4 Commandsz PTRQ (Change push torque limit parameter) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)
259Part 4 Commandsz CIR (Move along circle in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C
260Part 4 Commandsz ARC (Move along arc in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm
261Part 4 Commands1.13 Structural IF z IF (Structural IF) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co
262Part 4 Commandsz IS (Compare strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio
263Part 4 Commandsz ELSE (Else) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand 1
264Part 4 Commands1.14 Structural DO z DW (DO WHILE) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command
265Part 4 Commandsz ITER (Repeat) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand
5Part 1 InstallationChapter 2 Warranty Period and Scope of Warranty The X-SEL Controller you have purchased passed our strict outgoing inspection. T
266Part 4 Commands1.15 Multi-Branching z SLCT (Start selected group) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O
267Part 4 Commandsz WH (Select if true; variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d
268Part 4 Commandsz WS (Select if true; character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
269Part 4 Commandsz OTHE (Select other) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
270Part 4 Commands1.16 System Information Acquisition z AXST (Get axis status) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond
271Part 4 Commandsz PGST (Get program status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar
272Part 4 Commandsz SYST (Get system status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara
273Part 4 Commandsz GARM ((Dedicated SCARA command: Get current arm system) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi
274Part 4 Commands1.17 Zone z WZNA (Dedicated linear movement axis command: Wait for zone ON, with AND) Command, declaration Extension condition (LD,
275Part 4 Commandsz WZNO (Dedicated linear movement axis command: Wait for zone ON, with OR) Command, declaration Extension condition (LD, A, O, AB,
Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod
6Part 1 InstallationChapter 3 Installation Environment and Selection of Auxiliary Power Devices1. Installation Environment (1) When installing and w
276Part 4 Commandsz WZFA (Dedicated linear movement axis command: Wait for zone OFF, with AND) Command, declaration Extension condition (LD, A, O, AB
277Part 4 Commandsz WZFO (Dedicated linear movement axis command: Wait for zone OFF, with OR) Command, declaration Extension condition (LD, A, O, AB,
278Part 4 Commands1.18 Communication z OPEN (Open channel) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co
279Part 4 Commandsz READ (Read) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand 1
280Part 4 Commands(Note 1) A READ command must have been executed before the other side sends the end character. (Note 2) Dummy read specification (
281Part 4 Commandsz TMRW (Set READ/WRIT timeout value) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman
282Part 4 Commandsz WRIT (Write) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand
283Part 4 Commandsz SCHA (Set end character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara
284Part 4 Commands1.19 String Operation z SCPY (Copy character string) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I
285Part 4 Commandsz SCMP (Compare character strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
7Part 1 Installation2. Heat Radiation and Installation Design the control panel size, controller layout and cooling method so that the surrounding a
286Part 4 Commandsz SGET (Get character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
287Part 4 Commandsz SPUT (Set character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration
288Part 4 Commandsz STR (Convert character string; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C
289Part 4 Commandsz STRH (Convert character string; hexadecimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl
290Part 4 Commandsz VAL (Convert character string data; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl
291Part 4 Commandsz VALH (Convert character string data; hexadecimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/
292Part 4 Commandsz SLEN (Set length) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op
293Part 4 Commands1.20 Palletizing-Related z BGPA (Declare start of palletizing setting) Command, declaration Extension condition (LD, A, O, AB, OB)
294Part 4 Commandsz PAPI (Set palletizing counts) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de
295Part 4 Commandsz PASE (Declare palletizing axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
8Part 1 Installation3. Selection of Auxiliary Power Devices This section provides selection guidelines for breakers, earth leakage breakers, contacto
296Part 4 Commandsz PAST (Set palletizing reference point) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co
297Part 4 Commandsz PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I
298Part 4 Commandsx When setting palletizing positions for 4-point teaching where all four points are known to be on a plane and the settings also re
299Part 4 CommandsFig. 2-(b) When the point data of the axis i component matches among all three points excluding the end point Fig. 2-(c) When the po
300Part 4 Commandsx This command cannot be used with PASE (set palletizing axes). Whichever is set later will be given priority. (A single PAPS comma
301Part 4 Commandsz PSLI (Set zigzag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op
302Part 4 Commandsz PCHZ (Dedicated SCARA command: Declare palletizing Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond
303Part 4 Commandsz PTRG (Dedicated SCARA command: Set palletizing arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input c
304Part 4 Commandsz PEXT (Dedicated SCARA command: Set palletizing composition (Set R-axis coordinate)) Command, declaration Extension condition (LD,
305Part 4 Commandsz ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,
9Part 1 Installation(4) Auxiliary power devices [1] Circuit breaker Install a circuit breaker or earth leakage breaker in the AC power-supply line (
306Part 4 Commandsz ATRG (Set arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara
307Part 4 Commandsz AEXT (Dedicated SCARA command: Set arch-motion composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input con
308Part 4 Commands1.21 Palletizing Calculation Command z PTNG (Get palletizing position number) Command, declaration Extension condition (LD, A, O,
309Part 4 Commandsz PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/
310Part 4 Commandsz PARG (Get palletizing angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec
311Part 4 Commands1.22 Palletizing Movement Command z PMVP (Move to palletizing points via PTP) Command, declaration Extension condition (LD, A, O, A
312Part 4 Commandsz PMVL (Dedicated linear movement axis command: Move to palletizing points via interpolation) Command, declaration Extension condit
313Part 4 Commandsz PACH (Dedicated SCARA command) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d
314Part 4 Commandsx The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates of the palletizing point, i
315Part 4 Commandsz ARCH (Arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op
10Part 1 Installation[4] Noise filter, ring core and clamp filters The global specification has no built-in noise filters in the motor power supply.
316Part 4 Commandsx The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the operation may follow the locus
317Part 4 Commands1.23 Building of Pseudo-Ladder Task z CHPR (Change task level) Command, declaration Extension condition (LD, A, O, AB, OB) Input co
318Part 4 Commandsz TSLP (Task sleep) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Ope
319Part 4 Commands1.24 Extended Commands z ECMD1 (Get motor current value (% of rated current)) Command, declaration Extension condition (LD, A, O, A
320Part 4 Commandsz ECMD3 (Get overrun sensor status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command
321Part 4 Commandsz ECMD250 (Set torque limit/detection time for torque limit over error) Command, declaration Extension condition (LD, A, O, AB, OB)
322Part 4 Commands[Example 1] LET 290 3 Set the target axis pattern (axes 1 and 2) in integer variable 290. LET 291 80 Set the steady-state t
323Part 4 Commands(Note 6) An “Error No., C6B deviation overflow error” or “Error No., CA5, Stop deviation overflow error” is sometimes detected befo
324Part 4 CommandsChapter 3 Key Characteristics of Horizontal Articulated Robot (SCARA) OperationThis chapter explains how to set the key characteris
325Part 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 operation
11Part 1 InstallationPeripheral Configurations3-phase Power Supply Specification PX Type (Standard Specification) QX Type (Global Specification) Contr
326Part 4 Commands1.2 PTP Operation (1) Movement locus The axes move to the target position at the specified speed. The locus of axis tip during movem
327Part 4 Commands2. Arm System 2-1 Right/Left Arm Systems The robot position has two patterns based on the right arm system and the left arm system,
328Part 4 Commands2-2 Arm-System Control Commands (Dedicated SCARA Command) The right and left arm systems are defined as the opposite arm systems to
329Part 4 CommandsIn the figure, a black arrow indicates a movement involving change of arm systems. A white arrow indicates a movement not involving
330Part 4 Commands(2) PTPE After a PTPE command is executed, the robot will give priority to movements and positioning operations using the current ar
331Part 4 Commands(3) PTPR After a PTPR command is executed, the robot will perform positioning using the right arm system. The PTPR command limits th
332Part 4 Commands(4) PTPL After a PTPL command is executed, the robot will perform positioning using the left arm system. The PTPL command limits the
333Part 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 current arm
334Part 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 current arm
335Part 4 Commands3. SCARA Coordinate System A horizontal articulated robot uses three types of coordinate systems: base coordinate system, load coor
12Part 1 InstallationPeripheral ConfigurationsSingle-phase Power Supply Specification PX Type (Standard Specification)QX Type (Global Specification) C
336Part 4 Commands(1) Positioning on the base coordinate system Perform positioning after selecting load coordinate system No. 0. Use a SLWK command
337Part 4 Commands3.2 Load Coordinate System (Dedicated SCARA Function) This coordinate system provides 32 sets of three-dimensional cartesian coordi
338Part 4 Commands(1) Setting the load coordinate system Set the offsets with respect to the base coordinate system. x Setting example of load coord
339Part 4 Commands(2) Positioning on the load coordinate system Perform positioning after selecting a desired load coordinate system. Use a SLWK comm
340Part 4 Commands[2] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 2 Program example : : : SLWK 2 Sele
341Part 4 Commands3.3 Tool Coordinate System (Dedicated SCARA Function) This coordinate system provides 128 sets of three-dimensional cartesian coord
342Part 4 Commands(1) Setting the tool coordinate system Set the offsets from the center of the tool-mounting surface to the tool tip. x Setting exa
343Part 4 Commands(2) Positioning using tool coordinate system offsets Perform positioning after selecting a desired tool coordinate system. Use a SL
344Part 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 in PTP mo
345Part 4 Commands4. Simple Interference Check Zone (Dedicated SCARA Function) The simple interference check zone is an area set for the purpose of c
13Part 1 Installation4. Noise Control Measures and Grounding (1) Wiring and power source PE on the power terminal block is used for protective groun
346Part 4 CommandsABCDEFGHSetting example of simple interference check zone Define simple interference check zone Nos. 1, 2 and 3 as follows: a. Set
347Part 4 CommandsAs for simple interference check zone No. 1, entry into this rectangular solid area will not be detected if Rb is outside the range
348Part 4 Commands5. Soft Limits of SCARA Axes The soft limits of IX horizontal articulated robots are set in axis-specific parameter Nos. 7 and 8. T
349Part 4 Commands(2) Soft limits of arm 2 The position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis coordinat
350Part 4 Commands(4) Soft limits of the R-axis The position where the D-cut surface at the tip of the R-axis is facing toward the center of rotation
351Part 4 Commands5.2 Monitoring Coordinates on Each Axis System Coordinates on each axis system can be monitored using the PC software or teaching p
352Part 4 Commands6. PTP Optimal Acceleration/Deceleration Function for SCARA Robot Certain models such as the high-speed SCARA robot IX-NNN5020H per
353Part 4 CommandsNotes x With PTP optimal acceleration/deceleration for SCARA robot, the robot will not operate at an optimal acceleration/decelerat
354Part 4 Commands7. Horizontal move optimization function based on Z position for SCARA Robot Certain models such as the high-speed SCARA robot IX-
355Part 4 CommandsNotes x When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the tip load mass of the SC
14Part 1 Installation(3) Noise sources and noise elimination There are many noise sources, but solenoid valves, magnet switches and relays are of par
356Part 4 CommandsChapter 4 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement Commands [PATH, PSPL, CIR2, A
357Part 4 Commands[Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step before the one in
358Part 4 Commands2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration/d
359Part 4 CommandsChapter 5 Palletizing Function The SEL language used by the IX Controller provides palletizing commands that support palletizing op
360Part 4 Commands(2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below are
361Part 4 CommandsA. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions in position data fields as
362Part 4 CommandsB. Method to set palletizing positions in parallel with the load coordinate system axes Palletizing reference point: Store the posi
363Part 4 Commands(5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in the
364Part 4 Commands(7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (Dedicated SCARA command) (b) Palle
365Part 4 Commands3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown below: (1) P
15Part 1 InstallationReference Circuit Diagram Surge absorber Solenoid valve Controller0 V
366Part 4 Commands4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point and one used to move to an e
367Part 4 Commands(2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an end point specified by positi
368Part 4 Commands5. Program Examples (1) Program example using PAPS (set by 3-point teaching) The example below specifies movement only and does not
369Part 4 CommandsSchematic diagram of palletizing positions based on the above program The number shown at top right of each cycle indicates the corr
370Part 4 Commands(2) Program example using PASE, PAPT and PAST The example below specifies movement only and does not cover picking operation. Step
371Part 4 CommandsSchematic diagram of palletizing positions based on the above program (The PX and PY-axes are parallel with Xb and Yb (base coordina
372Part 4 CommandsChapter 6 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used depending on the command and ext
373Part 4 Commands2. Ladder Statement Field [1] Extension conditions LD LOAD A AND O OR AB AND BLOCK OB OR BLOCK All of the above extension condition
374Part 4 Commands4. Program Example Extension condition Input condition Command Operand 1 Operand 2 OutputNo. E N Cnd Cmnd Operand 1 Operand
375Part 4 CommandsChapter 7 Multi-Tasking “Multi-tasking” operation means running several programs in parallel. 1. Difference from a Sequencer The p
CAUTIONOperator Alarm on Low Battery Voltage This controller is equipped with the following backup batteries for retention of data in the event of pow
16Part 1 InstallationChapter 4 Name and Function of Each Part 1. Front View of Controller PX Type (Standard Specification), 4 axes (SCARA axes only)
376Part 4 Commands2. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency-stop recovery type” = 0 “O
377Part 4 Commands3. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The representat
378AppendixAppendixList of Additional Linear Movement Axis Specifications (Note 1) The figure in each band indicates the maximum speed for each appli
379Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation
380Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation
381Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation
382Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation
383Appendix
384AppendixHow to Write Programs 1. Position Table Position Table With X-SEL controllers of PX/QX types, 4000 position points can be registered if the
385Appendix2. Program Format Program Edit Screen (PC Software) With X-SEL controllers, a program consisting of up to 6000 steps can be created if the
17Part 1 InstallationQX Type (Global Specification), 4 axes (SCARA axes only) QX Type (Global Specification), expanded by 2 additional linear movement
386Appendix3. Positioning to 5 Positions (for Linear Axes) Description Move the actuator to positions 1 through 5 at a speed of 100 mm/sec after comp
387Appendix4. How to Use TAG and GOTO Description If you want to repeat the same operations in the program or skip steps when a given condition is me
388Appendix5. Back-and-Forth Operation between 2 Points (for Linear Axes) Description Move the actuator back and forth repeatedly between two points.
389Appendix6. Path Operation Description Move the actuator through four arbitrary points continuously without stopping (PATH operation). The actuator
390Appendix7. Output Control during Path Movement Description In coating application, etc., output control may become necessary while the actuator is
391Appendix8. Circular, Arc Operation Description The actuator operates along a two-dimensional circle or arc. How to Use To specify a circle, specify
392Appendix9. Output of Home Return Complete Signal (for Linear Axes) Description Output a signal to confirm completion of home return (Incremental s
393Appendix10. Axis Movement by Input Waiting and Output of Complete Signal Description How to perform an input waiting process and output a processi
394Appendix11. Change of Moving Speed (for Linear Axes) Description Change the moving speed. How to Use With X-SEL controllers, speed can be set in t
395Appendix12. Speed Change during Operation Description Use a PATH command to change the speed while the actuator is moving. This function is useful
18Part 1 Installation[1] FG terminal This terminal is used to ground FG on the enclosure. The enclosure is connected to PE in the AC input part insi
396Appendix13. Local/Global Variables and Flags Description Internal variables and flags used in the SEL language are classified into the local type
397Appendix14. How to Use Subroutines Description When the same processes are performed several times in one program, a group of these steps that are
398Appendix15. Pausing of Operation Description Use a declarative command HOLD to pause the moving axis via an external input. How to Use You can int
399Appendix16. Aborting of Operation 1 (CANC) Description Use a declarative command CANC to cause the moving axis to decelerate a stop and cancel the
400Appendix17. Aborting of Operation 2 (STOP) Description Cause the moving axis to decelerate a stop and cancel the remaining operation of the axis.
401Appendix18. Movement by Position Number Specification Description Read an external BCD code input as a position number to move the actuator. How t
402Appendix19. Movement by External Position Data Input (for Linear Axes) Description Receive from the host device an absolute value indicating the p
403Appendix20. Output of Coordinate Values Description Read the current coordinates of the actuator in real time and output BCD data via an output po
404Appendix21. Conditional Jump Description Select the destination of jump specified by GOTO, using the state of an external input, output or internal
405Appendix22. Waiting for Multiple Inputs Description The actuator waits for one of several different inputs, and proceeds to an applicable process
19Part 1 Installation[3] AC-power input connector A 200-VAC, single-phase/three-phase input connector consisting of six terminals including motor pow
406Appendix23. How to Use Offsets (for Linear Axes) Description If you want to move (offset) all teaching points by several millimeters to compensate
407Appendix24. Execution of Operation n Times Description Execute a specific operation n times. Example of Use The actuator repeats going back and fo
408Appendix25. Constant Pitch Feed Operation (for Linear Axes) Description Move the actuator at a specified pitch n times from a given reference poin
409Appendix26. Jogging (for Linear Axes) Description The slider moves forward or backward while an input is ON or OFF. In addition to an input, an ou
410Appendix27. Program Switching Description Use an EXPG/ABPG command to switch programs from within a program. Example 1 Start program 2 when the pro
411Appendix28. Aborting of Program Description Abort a program currently running. In the multi-tasking mode, execute an ABPG command (abort other pro
412AppendixGeneral-purpose RS232 (2-channel RS232 Unit) (1) Specifications The 2-channel RS232 unit is a dedicated D-sub, 9-pin RS232 interface. It ca
413Appendix(3) Parameter Settings The SIO channel numbers and specifications are set as follows according to the factory-set parameters. For advanced
414AppendixNo. Parameter name Default value Input range Unit 202Attribute 2 of SIO channel 1 opened to user (mount standard) 00000001H 0H to FFFF
415Appendix(4) Program [1] String process commands A “string” refers to a series of characters. This controller supports global strings and local str
20Part 1 Installation[6] Encoder/axis-sensor connector This connector is used to connect the actuator encoder and axis sensors such as LS, CREEP and O
416Appendix[3] Explanation of string Strings sent by the aforementioned transmission format can be used freely in a program. To put it in simple word
417Appendix[4] Definition of transmission format In the sample application program provided here, only three types of transmission formats, or namely
418Appendix[5] Processing procedure The processing procedure to be followed to program this sample application is explained. A. Set “LF” as a charact
419AppendixBattery Backup Function The X-SEL controller uses the following two types of batteries. x System-memory backup battery This coin battery i
420Appendix<Battery Replacement> To replace the system-memory backup battery, open the panel window on the front side of the controller and repl
421Appendix2. Absolute-Encoder Backup Battery If the X-SEL controller is to drive an absolute-type actuator, an absolute-encoder backup battery must
422AppendixThe X-SEL-PX/QX controller provides an absolute-encoder backup battery enable switch for each linear movement axis. When replacing any abso
423AppendixExpansion I/O Board (Optional) Type: IA-103-X-32 Type: IA-103-X-16 Pin No. Category Port No. Function Pin No. Port No. Function 1
424Appendix Number of Regenerative Units to be Connected Regenerative energy produced when a linear movement axis decelerates to a stop or moves down
425Appendix5
21Part 1 InstallationLeft: PC cable ( conforming to safety category 4) SEL-T, SEL-TD, SEL-TG teaching pendant IA-T-XA teaching pendant Right: PC c
426Appendix~ List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section. After chan
427Appendix1. I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 I/O port assignment type 1 0 ~ 20 0: Fixe
428AppendixNo. Parameter name Default value (Reference) Input range Unit Remarks 13 Expanded I/O3 error monitor (I/O4) 1 0 ~ 5 0: Do not monit
429AppendixNo. Parameter name Default value (Reference) Input rangeUnitRemarks 24 I/O setting bit pattern 1 (Related to global specifications) 10000
430AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 30 Input function selection 0001 0 ~ 5 0: General-p
431AppendixI/O ParametersNo. Parameter name Default value (Reference) Input rangeUnitRemarks 34 Input function selection 0040 0 ~ 5 0: General-pu
432AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 48 Output function selection 3022 0 ~ 20 0: Gener
433AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 60 Output function selection 314 1 0 ~ 5 0: Gene
434AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 78 Input target axis pattern for acceptance permissi
435AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 100 Used by the SIO system (SP3) (extended) 28100010H
22Part 1 Installation[9] Teaching connector The teaching interface connects IAI’s teaching pendant or a PC to enable operation and setting of your e
436AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 123 Network attribute 4 0H 0H ~ FFFFFFFFHBits 0 to 3
437AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 126 Network attribute 7 7D007D0H 0H ~ FFFFFFFFH E
438AppendixI/O Parameters No. Parameter name Defaultvalue(Reference) Input range Unit Remarks 144 IAI protocol B/TCP: Own port number (MANU mode) 645
439AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 201 Attribute 1 of SIO channel 1 opened to user (mou
440AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 204 Attribute 4 of SIO channel 1 opened to user (mou
441AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 215 Attribute 3 of SIO channel 2 opened to user (mo
442AppendixI/O ParametersNo. Parameter name Default value (Reference) Input range Unit Remarks 401~500(For extenstion) (Main application version
443AppendixI/O ParametersNo. Parameter name Default value (Reference) Input range Unit Remarks 518 Forced brake release input port number for RC axi
444Appendix2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks ~ 1 Valid axis pattern 1111B
445AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 29 All-axis setting bit pattern 1 10
23Part 1 InstallationInterface Specifications of Teaching Serial Interface Item No. Direction Signal name Details 1 FG Frame ground 2 Out TXD Trans
446AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 51 SCARA axis control 1 0H 0H ~ F
447AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 204 Maximum deceleration of linear mov
448Appendix3. Axis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Axis operation type 1,1,0,1,0,00
449AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 14 Home-sensor input polarity 0 0 ~ 2 Ref
450AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 22 Phase-Z position at home return1000,10
451AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 34 Brake equipment specification 0,0,1,1,
452AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 51 Gear ratio numerator 50,50,10,15,1,11
453AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 67 Short-cut control selection for rotatio
454AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 82 Middle forced-feed range of linear mov
455AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 93 Zone 3 MIN of linear movement axis 0 -
24Part 1 Installation[10] System I/O connector This I/O connector is used to control the safety actions of the controller. With the global specificat
456AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 136 Minimum PTP emergency deceleration of
457AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 145 SIO current-arm-system change speed de
458AppendixNo.Parameter name Default value (Reference) Input range Unit Remarks 183Reserved by the system (Change prohibited) 0 0 ~ 99999999 For
459Appendix4. Driver Card Parameters No. Parameter name Defaultvalue(Reference)Input range Unit Remarks 1 Type (upper) (Manufacturing information)S
460AppendixDriver Card Parameters No. Parameter name Defaultvalue(Reference)Input range Unit Remarks29 Motor/encoder characteristic word (compatible
461AppendixDriver Card Parameters No. Parameter name Default value(Reference)Input range Unit Remarks 61~67(For extension) 0H 0000H ~ FFFFH 68
462Appendix5. Encoder Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (Manufacturing information)Spa
463Appendix6. I/O Device Parameters No. Parameter name Defaultvalue(Reference)Input range Unit Remarks 1 Type (upper) (Manufacturing information) S
464Appendix7. Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Auto-start program number0 0 ~ 64 (Invalid
465AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 12 Automatic operation recognition type 0 0 ~ 3
25Part 1 Installation[11] Panel window This window consists of a 4-digit, 7 segment LED display and five LED lamps that indicate the status of the e
466AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 36 PC/TP data protect setting (Program) 0H 0H ~ FFF
467AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 39 PC/TP data protect setting (Coordinate system)
468AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 Other setting bit pattern 12001H 0H ~ FFFFFFFFH
469AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 49 Panel 7-segment display data type 0 0 ~ 9
470Appendix8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operation type” parameter (Othe
471Appendix 9. Use Examples of Key Parameters You can add functions to those available under the factory settings or set dedicated functions to I/O p
472Appendix Description Action Parameter setting Manipulation/operation Want to execute home return for all incremental linear movement axes using an
473Appendix Description Action Parameter setting Manipulation/operation Want to output signal when all valid linear movement axes are at their home.Ou
474Appendix Description Action Parameter setting Manipulation/operation Want to start programs while emergency-stop signal is input or the safety gate
475Appendix Description Action Parameter setting Manipulation/operation Want to continue actuator operation after the emergency stop is reset (want to
CAUTION200 to 230 VAC power supply Auxiliary power circuit Top: 0 V Bottom: 24 V Brake power +24-V power supply Example of X-SEL-PX controller (4-axis
26Part 1 InstallationI/O Interface List Pin No. Category Port No. Function Cable color1 - +24 V input Brown-1 2 000 Program start Red-1 3 001
476Appendix Description Action Parameter setting Manipulation/operation Want to output signal when a linear movement axis enters a specified area (zon
477Appendix Combination Table of X-SEL PX/QX Axis 5/6 Linear/Rotary Control Parameter (Other than SCARA Axes) Permitted encoder processing methodAxis-
478Appendix Error Level Control Program run (Application only) Error level System error assignment source Error No. (HEX)Display (7-segmentdisplay, et
479Appendix Program run (Application only) Error level System error assignment sourceError No. (HEX) Display (7-segment display, etc.)Error list (Appl
480Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Descripti
481Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 400 Mounted-
482Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 412 Exclusiv
483Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 435RC gateway
484Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 601 EMG logi
485Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 622 Mounted-
27Part 1 Installation[14] General RS232C port connector 1 Channel 1 of the two-channel RS232C port provided for connection of general RS232C equipment
486Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 63E ABZ enco
487Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 65A Unsuppor
488Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 667 Invalid
489Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 6A1UBM data c
490Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 6B6 “Allowab
491Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 80E Expanded
492Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 900 Blank st
493Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 938 Simple i
494Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A13 Flash-RO
495Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A2A Program
28Part 1 Installation[19] Brake power input connector (SCARA axis only) This connector is used to input the power for SCARA brake control. 24 VDC mu
496Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A4B Monitori
497Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A68 SCI pari
498Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B00 SCHA set
499Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B1D Ethernet
500Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B73 Error du
501Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B83 Rc = 0 w
502Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C05 Program
503Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C1C Unused-L
504Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C3D String n
505Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C59 Head sec
29Part 1 Installation[22] Brake switch (Linear movement axis only) This alternate switch with lock is used to release the axis brake. To operate the s
506Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C70 Absolute
507Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C84 In-use a
508Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CA2 Abnormal
509Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CB9 PX/PY-ax
510Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CCB Arch sta
511Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D01 Encoder
512Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D20 Driver e
513Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D58 Fieldbus
514Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D67 Motor/en
515Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E06 Receive
30Part 1 Installation2. Explanation of Codes Displayed on the Panel Window 2.1 Application Display Priority (*1) Description 1 AC power is cut o
516Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E23 Card ID
517Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E47 No norma
518Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E65 Regenera
519Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E7E Paramete
520Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. FF0 ~ FF0 Shu
521Appendix Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, act
522Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A85 FROM wri
523Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E90 Core cod
524Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. EAC Servo co
525Appendix Troubleshooting of X-SEL Controller The X-SEL Controller has a panel window on its front face. Error numbers will be displayed in this pan
31Part 1 Installation2.2 Core Display Priority (*1) Description 1 AC power is cut off (including momentary power failure or drop in power source
526Appendix Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure ACF AC power cutoff Momentary po
527Appendix Error No. Error name Cause Countermeasure C6b Deviation overflow error Operation is mechanically disabled. Check if any of the mount
528AppendixServo Gain Adjustment for Linear Movement Axis Caution: Do not adjust the servo gains of SCARA axes.The servo has been adjusted at the fact
529Appendixz Speed loop integral time constant (parameter list 1) Driver card parameter number Unit Input range Default (reference) 44 - 1 ~ 1000
530AppendixTrouble Report Sheet Trouble Report Sheet Date: Company name Department Reported by TEL (Ext) FAX IAI agent Purchase date Serial number
531Change History Revision Date Description of Revision February 2008 May 2008 August 2009 June 2010 First edition Second edition Third edition Fourt
Manual No.: ME0152-9B (November 2012)The information contained in this document is subject to change without notice for purposes of product improvemen
32Part 1 Installation2.3 Current Monitor and Variable Monitor Other parameter Nos. 49 and 50 can be set up to monitor currents or variables on the pa
33Part 1 Installation(2) Variable monitor The contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999
34Part 1 InstallationChapter 5 Specifications 1. Controller Specifications 1.1. PX Type (Standard Specification) 1-axis to 6-axis controller Total o
35Part 1 InstallationController with increased memory size (with gateway function)128 programs Number of programs Controller without increased memory
CAUTIONDrive-source Cutoff Relay Error (Detection of Fused Relay: E6D) Because of their circuit configuration, XSEL-PX controllers of single-phase, st
36Part 1 Installation1.2 QX Type (Global Specification) 1-axis to 6-axis controller Total output when maximum number of axes are connected Single-pha
37Part 1 InstallationData input methods Teaching pendant or PC software Absolute brake unit (brake type or absolute specification actuator only) Buil
38Part 1 Installation2. External I/O Specifications 2.1. NPN Specification (1) Input part External Input Specifications (NPN Specification)Item Speci
39Part 1 Installation(2) Output part External Output Specifications (NPN Specification)Item Specification Load voltage 24 VDC Maximum load current 1
40Part 1 Installation2.2. PNP Specification (1) Input part External Input Specifications (PNP Specification)Item Specification Input voltage 24 VDC r1
41Part 1 Installation(2) Output part External Output SpecificationsItem Specification Load voltage 24 VDC Maximum load current 100 mA per point, 400
42Part 1 Installation3. Power Source Capacity and Heat Output The power consumption and heat output of the X-SEL controller will vary depending on th
43Part 1 Installation*2 The number of fan units varies depending on the controller specification. The number of fan units varies as follows in accord
44Part 1 Installation(2) Power consumption and heat output of the motor drive part Both the power consumption and heat output of the motor drive part
45Part 1 InstallationList of Motor Drive Powers Power [W] (rated output)Power y 0.6 [Power factor] [VAOutput stage loss [W]NN2515 NN3515 TNN3015
CAUTIONNote on Controllers with Increased CPU Unit Memory Size * Controllers with gateway function come with an increased memory size in their CPU un
46Part 1 Installation(3) Calculation example Obtain the power source capacities and heat outputs when a controller of the following specifications is
47Part 1 Installation(4) Reference example The power supply capacity and heat output of a SCARA-axis controller (4-axis specification without addition
48Part 1 Installation4. External Dimensions 4.1 List of External Dimension Drawings The external controller dimensions vary depending on the SCARA mo
49Part 1 InstallationExample of applicable model: X-SEL-PX-NNN1205-N1-EEE-2-3Fig. 4-2 PX/QX Type (Three-phase Standard Specification, Single-phase Gl
50Part 1 Installation22 120 1203-5284300195186180225357373519518618058.5 120 1203-558.5Fig. 4-3 PX/QX Type (Three-phase Standard Specification, Si
51Part 1 Installation342358519518618051 120 1203-551269285519518618059.5 75 3-575 59.5Fig. 4-5 PX/QX Type (Three-phase Standard Specification, Sing
52Part 1 Installation397413519518618078.5 120 1203-578.5324340519518618042 120 1203-542Fig. 4-7 PX/QX Type (Three-phase Standard Specification, Sin
53Part 1 Installation206222519518618028753-52875(80)3125.3279295519518618064.5 75 3-564.5754.3 QX Type (Three-phase Global Specification) Controlle
54Part 1 Installation241257519518618045.5 75 3-545.575314330519518618037 1203-537120Example of applicable model: X-SEL-QX-NNN1205-200I-200I-N1-EEE-2
55Part 1 Installation226242519518618038753-53875299315519518618029.5 120 3-529.5120Example of applicable model: X-SEL-QX-NNN2521-N1-EEE-2-3Example o
56Part 1 Installation354370519518618057 1203-557120281297519518618020.5 120 3-520.5120Example of applicable model: X-SEL-QX-NNN5020-400AB-200AB-N1-E
57Part 1 InstallationChapter 6 Safety Circuit The circuit configuration for embodying safety actions such as emergency stop is different between the
58Part 1 Installation2. Safety Circuit for PX Type (Standard Specification) Controller The PX type controller has a built-in drive source cutoff circ
59Part 1 InstallationWith the PX type, use only the signals shown in the shaded fields of the table for connection with the safety switches. Ensure th
60Part 1 Installation3. Safety Circuit for QX Type (Global Specification) Controller The global controller has no internal drive source cutoff circui
61Part 1 InstallationTerminal Assignments PinNo.SignalnameOverview Details 9 DET IN To fused-contact detection circuitExternal contact error input (p
62Part 1 Installationx EMG1/EMG2, ENB1/ENB2 EMG1 (line+)/(line-) and EMG2 (line+)/(line-) are redundant emergency stop control lines. ENB1 (line+)/(li
63Part 1 InstallationQX Type X-SEL Controller Power supply part Not installed AC cutoff relay RectifierDC busTo power stageExternal emergency-stop res
64Part 1 InstallationExternal Emergency Stop Circuit Contactor (NEO SC)RelayContactor (NEO SC)200-VAC, three-phaseReset switchExternal emergency-stop
65Part 1 Installation4. Timing Chart of Safety Circuit for QX-type SEL Controller A timing chart of the safety circuit for QX-type SEL controller is
Table of ContentsTable of Contents Safety Guide...
66Part 1 Installation[2] Emergency stop x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger program operat
67Part 1 Installation[3] Power on without cancelling emergency stop Assume that the same timings will apply when the power is turned on without perfo
68Part 1 Installation[4] Enable operation x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger program oper
69Part 1 Installation[5] System shutdown level error x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger
70Part 1 Installation[6] Cold start level error x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger progr
71Part 1 Installation[7] Operation cancellation level error x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO t
72Part 1 Installation[8] Power on (in combination with drive-source cutoff reset input) x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (
73Part 1 Installation[9] Emergency stop (in combination with drive-source cutoff reset input) x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT ou
74Part 1 InstallationChapter 7 System Setup1. Connection Method of Controller and Actuator1.1 Connection Diagram for PX Type (Standard Specification)T
75Part 1 Installation1.2 Connection Diagram for QX Type (Global Specification)Three-phase specificationCP: Single-phase 200 to 230 VACpower supplyMP:
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