Iai-america IA-T-XA (ANSI standard CE mark agreement) Manuel d'utilisateur

X-SEL ANSI-Compliant Teaching Box Instruction Manual Ver. 1.0IAI Corporation

6. Functions and Specifications of Teaching Box 6-1. Main operation keys and their functions 㽲 LCD displayIt displays the program or operation monitor

Then, press 5 of the ten-key numeric pad severaltimes to display n, and press the return key.Then, press 1 of the ten-key numeric pad severaltimes to

Press the return key to confirm the symbol name. When the name is confirmed, the cursor’s blinking stops.Before confirmation, the name can be correcte

The message “Please wait…” flashes during flashROM writing. * Never turn off the power to the Controller duringthis time. When flash ROM writing is co

13-3. Symbol edit screen for each item (1) ConstantSelect the F1 (Cnst) key on the Sym-Mdfy screen. Mode flow: Selection between integer and real Sele

(2) ConstantSelect the F2 (Var) key on the Sym-Mdfy screen. Mode flow: Selection between integer and real Select the integer or real. F1 (ltg): Integ

(4) Position Select the F4 (Posi) key on the Sym-Mdfy screen. Mode flow: Position No. symbol edit screen Enter a symbol with alphabet/numeric values.E

(7) Flag Select the F3 (Flag) key on the Sym-Mdfy screen. Mode flow: Flag No. symbol edit screen Enter the program No. for the local areaand 0 for the

(10) Subroutine Select the F2 (SubR) key on the Sym-Mdfy screen. Mode flow: Subroutine No. symbol edit screen Since the subroutine No. is in the local

13-4. Flash ROM writingIf data is only transferred to the controller after symbol editing, the edited program is erased whenthe power is turned on aga

14. Parameter EditingParameters can be changed according to the customer’s system. When you change parameters, record the parameter descriptions. Para

㽵 F1 F2 F3 and F4 keys (function keys) These keys correspond to each item in the LCD display (function key section). 㽶 SF key (shift key)When there ar

14-1. Parameter editing items The parameter items are displayed in the function key section. Every time the SF key is pressed, the items are shifted a

14-2. Editing of axis-specific parametersThe axis-specific parameter No. 7 soft limit + is set as axis No. 1 = 300 mm and axis No. 2 = 200mm.Select th

Data input for axis No. 2 The display screen advances to the screen forparameter No. 8. Since the axis No. 2 for the parameter No. 7 is unedited, retu

When continuing to edit the axis-specific parameters,move the cursor to the parameter No. and enter theparameter No. for editing. When completing the

The message “Please wait…” flashes duringsoftware reset. When software reset is completed, the screen returns to the Mode Selection screen. 111

15. Monitoring Various statuses, global variables, port conditions, etc., are monitored. Select the F3 (Moni) key on the Mode Selectionscreen.15-1. Mo

15-2. Input portsThe ON/OFF conditions of input ports are displayed. Select the F1 (In) key on the Moni screen. Mode flow: 1: ON 0: OFFEvery time the

15-5. Global variablesThe descriptions of global variables and global strings are displayed. In addition, numeric valuescan be assigned to global vari

(3) Global stringsMode flow: Character string displayThe cursor is located at the data (column). Entering an ASCII code with the ten-key numeric pada

15-6. Axis statusThe current position, servo status, sensor status, etc., are displayed. Select the F1 (ASts) key on the Moni screen. Mode flow: Poji:

㽽 Status display LED Conditions when each LED is lit are as follows: Condition when LED is lit JOGJog operation is available with the 1- to ALL- or 1+

(2) Servo statusMode flow: Axis No.Home position return Servo-ON axis in useServoMotion command normal endPush(System reservation)(System reservation

(5) Axis-related errorsMode flow: Error No. Axis No.Error message The axis No. can be changed with the PAGE UP and PAGE DOWN keys. Pressing the F1 (D

15-7. System statusThe system status is displayed. Select the F2 (SSts) key on the Moni screen. Mode flow: Mode: System modeErrS: System errorSts1: Sy

(3)System status 1 Mode flow: Teaching Box Deadman SW statusEmergency Stop SW statusRun mode SW statusSafety gate statusPower system error statusBatte

15-8. Error detail information Error detail information is displayed. Select the F3 (ErrL) key on the Moni screen. Mode flow: List No. The axis No. ca

15-9. Version informationA variety of version information is displayed. Select the F4 (Ver) key on the Moni screen. Mode flow: Main: Main Drv: Driver

16. Controller Operations such as software reset and error reset are performed for the controller.Select the F4 (Ctl) key on the Mode Selectionscreen.

16-2. Flash ROM writingAfter the data in flash ROM has been erased, the data stored in the controller’s memory is writtenin flash ROM. Select the F1 (

16-3. Software reset (restart)The controller’s software is reset. The data in memory that has not been written in flash ROM is abandoned.Select the F2

16-5. Memory initializationGlobal variables are cleared to zero. Select the F4 (MClr) key on the Ctl screen. Mode flow: When initializing memory, pres

㾃 Axis operation keys (1- to ALL-, 1+ to ALL+)These keys operate each axis. The functions are as follows according to the operation mode: FunctionOper

16-7. Baud rate change The communication baud rate between the controller and the Teaching Box is changed. Select the F2 (Baud) key on the Ctl screen.

16-9. Driving power recovery request The driving power recovery request is given to the controller.Select the F3 (RPwr) key on the Ctl screen. Mode fl

16-11. Driving power recovery request (RPwr) and action restart request (RAct)(1)Driving power recovery request 㽲 How to request driving power recover

16-12. Absolute encoder reset The absolute encoder data is reset. Select the F1 (RAbs) key on the Ctl screen. Mode flow: Axis No. input Enter the axis

㽴 Servo ONPress the F1 (OK) key.㽵 Home position return Press the F1 (OK) key.㽶 Servo OFFThe absolute encoder with the driver CPU Ver.0.23 or later can

Press the ESC key to return to the axis No. input screen.When resetting the absolute encoder for anotheraxis, enter the axis No. here, press the F1 (O

16-13. Procedures for resetting absolute-battery voltage-down warning error When the absolute-encoder-battery voltage-down warning error (error code A

㽶 Press the PAGE UP and PAGE DOWN keysseveral times to display the “*: Encoder errorreset” screen. Do not press the F1 key on the screen at the left.㽷

APPENDIXRemarksSpecial error level for maintenanceStatus display, input errors, etc. Errors interfering withaction. For a minor errors with a level lo

APPENDIXSpecial remarksInput data error. Check the input data.Too-small input data. Check the allowable input range. Too-large input data. Check the a

7. Mode Flow Chart Power ONCommunicationsestablishedSelect position No.and press returnFunction key Function key Function keyModeselection(Edit) (Posi

APPENDIXOperand 2 undefined symbol use error. An undefined symbol is used for the operand 2. Operand 3 undefined symbol use error. An undefined symbol

APPENDIXProgram edit prohibition error while running. Editing operation cannot be performed for the running program. Exit fromthe program first. Exces

APPENDIXSpecial remarksThere is a communication error. Check noise, connecting equipment, communication setting, etc. There is a communication error.

Manual No.: ME0130-1A (December 2011)The information contained in this document is subject to change without notice for purposes of product improvemen

12Select the program No.and press returnSelect the step No. and press returnFunction keyStep datainput(Program) (Change)* After writing data with [WRT

13Function key(Input port)(Monitor)(Output port)(Global flag)Function key(Global variable)(Integer variable)(Real variable)(String variable)Function k

14Function key(System status) (Sy e)stem mod(System error)(System status 1)(System status 2)(System status 3)(System status 4)(Error list)Function key

Function key(Controller)(FROM wring)(Software reset)(Error reset)(Memoryinitialization)(Reconnection)(Baud ratechange)(Driving powerrecovery request)(

8. Data Storage Method Since the X-SEL Controller adopts flash memory, there is a storage area by battery backup and a storage area by flash memory ac

1. Introduction ... 12. Before Use...

Since the program, parameter, and symbol are read from flash memory at restart time, the data in memory becomes the original data before editing unles

8-3. Cautions Cautions in data transfer and flash writingNever turn off the main power during data transfer and flash writing.Failure to do so may res

9. Simple Operating Procedures In this section, the program and position data to draw a simple “pentagon” passing through the following 6 points (㽲 an

9-1. Creation of position dataInput the position data of 6 points each to draw a pentagon as shown in the position data list below.Enter numeric value

Mode Selection screen This screen becomes the basic screen for alloperations.Press the F1 (Edit) key.* When you make a selection error or input error,

㽲 Data input for 1st point Enter a numeric value of 0 and press the returnkey. 0.000 is displayed, the axis No. changes to2, and the cursor moves to t

The cursor moves to the section for the 2nd-axisposition data. Enter 100 and press the return key.Transfer the data with the WRT key and advancethe po

Transfer the data with the WRT key and advancethe position No. to 4. 㽵 Data input for 4th point Enter 100 for the 1st-axis position data and press the

㽶 Data input for 5th point Enter 0 for the 1st-axis position data and press the return key.Enter 0 for the 2nd-axis position data and press the return

Enter 50 for the 2nd-axis position data and press the return key.Transfer the data with the WRT key and advancethe position No. to 7. Complete positio

13. Symbol Editing... 9413-1. Symbol editing items ...

Pressing the ESC key again moves to the Edit mode screen. Pressing the ESC key once more moves to the Flsh (flash ROM writing) screen. When writing th

When flash ROM writing is completed, the screen returns to the Edit screen. With the above, input of the basic position data is completed.28

9-2. Creation of program The program to move the position data created in 9-1. is created. Application Program List In this section, the X-SEL program

Select the F1 (Edit) key on the Mode Selection screen.Select the F2 (Prog) key on the Edit mode screen. Select the F1 (Mdfy) key on the Prog (program

The cursor has moved to the location of the step No. Press the return key.The cursor moves to the input section for Ext (extension condition). Move th

Enter a command. The command is displayed in the function key section.Command search method 㽲 When the cursor is at the location for command input, pr

After displaying HOME in the function keysection, press the F3 (HOME) key. (To return the command input field to blank, press the BS key.)Press the re

Select the F3 (VEL) key.Press the return key.Enter 100 for the velocity* here and press the return key.* For the maximum velocity, check it with the c

Display MOVL with 5 of the ten-key numeric pad andthe SF key.Select the F2 (MOVL) key.Press the return key.The cursor moves to the section for Op-1. E

Press the WRT key to transfer the data to thecontroller.The step No. advances to 4. * When the screen is changed with the PAGE UPand PAGE DOWN keys or

1. Introduction Thank you very much for purchasing our Teaching Box for the X-SEL Controller. Improperusage or mishandling may result in a product not

Press the WRT key to transfer the data to thecontroller.* When the screen is changed with the PAGE UPand PAGE DOWN keys or ESC key before datatransfer

Press the ESC key.Return to the Edit screen. Press the ESC key.When writing the data in flash ROM, press the F1(OK) key.When not writing the data in f

When flash ROM writing is completed, the screen returns to the Edit screen. 39

9-3. Change of application program The program created in the preceding section (9-2) is changed. A program step is inserted or deleted to allow the s

Select the F1 (Mdfy) key on the Prog screen. The display changes to the Mdfy screen. Press thereturn key once to move the cursor to the location for s

Press the return key to confirm the step No. to insert.Move the cursor to Cmnd (command) input sectionwith the return key or ŻźŸŹ keys.Display TAG wit

Enter a numeric value of 1 for Op-1 and press thereturn key.Press the WRT key to transfer the program data tothe controller.* When the screen is chang

Press the F2 (Del) key.Press the F2 (Del) key again. (When canceling deletion, press the ESC key.)Press the return key.Move the cursor to the Cmnd (co

Display GOTO with 9 of the ten-key numeric pad orthe SF key.Select the F2 (GOTO) key and press the return key.Enter the same numeric value as the one

Press the ESC key several times to move to the Flshscreen.When writing the data in flash ROM, press the F1(OK) key.When not writing the data in flash

3. Safety Precautions(1) Use a genuine product specified by us for wiring between the actuator and X-SEL Controller.(2) Keep out of the operating rang

10. Program ExecutionNow, operate the program created in “9. Simple Operating Procedures.” 10-1. Operation checkPress the F2 (Play) key to move to the

The screen has moved to the Run mode selection screen. Select whether to make a run by 1 step of the program or to make a continuous run. Run mode sel

10-2. Setting of break point The break points in a continuous run can be set. Press the F4 (Brk) key on the Run mode selection screen or Run mode scre

(2) Local flagsThe ON/OFF conditions of local flags are displayed. The conditions of local flags can bechanged between ON and OFF.Select the F2 (LFlg

㽴 Local stringMode flow: The ACII codes excluding 20h to 7Eh aredisplayed as “ƒ”.The cursor is located at the data (column). Entering an ASCII code wi

11. Position Editing11-1. Mdi (numeric input) Method of inputting a numeric value with the ten-key numeric pad for position dataFor the data input of

11-2. Teac (teaching)Teaching (method in which an actuator is moved to any given position and the current positions ofthe actuator are incorporated as

(1) Teac screenAs the Teac screen, the position No. selection screen and the axis-specific data input screenexist.On the position No. selection screen

㽴 Servo ON/OFFThe axial servo ON/OFF is executed on an axis basis or for all axes simultaneously on the Teacscreen.Press the SERVO key to light up the

㽵 Home position return For the increment specification, it is required to execute home position return before teachingafter turning on the power. Home

4. Warranty Term and Coverage The Teaching Box you purchased has been delivered upon completion of our strict shippingtest.We shall warrantee this pro

(2)Movement of actuator 㽲 Jog operationTurn on the servo for the axis to be jogged, in a Teacscreen condition. (It is not required if the axis is alre

㽳 Inching operationSet the inching distance (travel made every time theJOG key is pressed once). Enter a numeric value for Dis (inching distance) with

(3)Incorporation of current positions as dataThe confirmed positions of the actuator are incorporated as position data onto the Teacscreen.Enter the p

(5)I/O monitoring and position check Input and output ports can be monitored during teaching operation. In addition, it is alsopossible to move the ac

㽳 Movement The actuator is moved to the location of the position data transferred to the controller.Select the position No. you want to move in a Teac

When checking or changing the movement velocity,press the F3 (JVel) key to move to the screen for changing the velocity etc. Enter the change data wit

㽴 Continuous movementThe actuator is continuously moved to the location of the position data transferred to the controller.Select the position No. to

When checking and changing the movementvelocity, press the F3 (Jvel) key to move to the screen for changing the velocity etc. Enter the change data wi

(6)User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF.Select UsrO among the function keys in a Te

㽲 Setting of user-specified output port parametersFor the operation method for parameter setting, refer to “14. Parameter Editing.” The first port No.

5. Connection to Controller MODE switch㽲 Connect the controller to the actuator, IO 24V power, system IO, etc., in advance. Connect the cable connecto

11-3. Teaching input example Data is input for the position No. 10 by jog operation and for the position No. 11 by manual operation under servo OFF.Se

Turn on the servo for all axes and execute jog operation.Press the SERVO key to light up the SERVO statusdisplay LED. Press the ALL+ key. (Servo ON fo

Press the return key to move the cursor to the nextaxis, and press the F2 (Scan) key.Press the WRT key to transfer the position data tothe controller.

Press the ESC key to return to the Teac screen. To move the Z-axis manually, it is required to release the brake. Therefore, the Z-axis may lower by t

Complete the position data input by teaching. Press the ESC key.Press the ESC key.Press the ESC key.Press the ESC key.71

When writing the data in flash ROM, press the F1(OK) key.When not writing the data in flash ROM, press theF2 (Canc) key.The message “Please wait…” fla

11-4. Copy and movement of position dataThe following operating instructions are to copy or move the position data to another position No.: Select the

When executing copy or movement, press the F1(OK) key.When canceling it, press the ESC key.The display returns to the previous screen. When writing th

11-5. Deletion of position dataThe following operating instructions are to delete the position data:Select the F1 (Edit) key on the Mode Selection scr

When executing deletion, press the F1 (OK) key.When canceling it, press the ESC key.The display returns to the previous screen. When writing the data

When the Deadman switch is OFF, the screenshown at the left is displayed. Pressing the ESC key moves to the Mode Selection screen. (Even when the Dead

12. Program Editing12-1. Program input method The following program is input with the Teaching Box (for explanation of input procedures): The program

Select the F1 (Edit) key on the Mode Selection screen.Select the F2 (Prog) key on the Edit screen. Select the F1 (Mdfy) key on the Prog screen. Enter

The cursor has moved to the location of the step No. Press the return key.Input section for Ext Press the return key.Input section for N and Cond Ente

Move the cursor to the input section for Ext with the return key or Ÿź keys.Input section for Ext Select the F2 (A) key and press the return key.Even

Select the F2 (CPGE) key and press the return key.Input section for Op-1 Enter 200 with the ten-key numeric pad and pressthe return key.When specifyin

Press the WRT key to transfer the data of step No. 2to the controller.The step No. advances to 3. * When the screen is changed with the PAGE UPand PAG

Input section for Op-2 (String input) Press the F4 (’) key. Num or Alph is displayed for F1in the function key section. Every time the F1 key is press

12-2. Symbol input during program editing Symbols can be input when the cursor is located at Op-1/Op-2 (operation 1/2), Post (output), or Cond (input

Every time the F1 key is pressed, the display is changed between Num and Alph. Change the input method between numeric input and alphabeticalinput.Num

Press the WRT key to transfer the data in thisprogram step to the controller.When completing the program input, return to the Flsh screen with the ESC

When “OPEN 1” (channel 1 shared for the Teaching Box) is executed within the SEL programin the MANU mode, the right of use of the serial port channel

12-3. One-line comment input A comment is input for the program step (invalid step) with numeric values, alphabet letters, andsymbols (*, 䊶, and _).

The figure at the left is the display example when“Palette” is input. Numeric input Press the F1 key to display Num.Enter a numeric value with the ten

The screen advances to the one for the next step No.When completing program input, return to the Flsh screen with the ESC key.Note: The data of double

12-4. Copy and movement of program The following operating instructions are to copy or move a program to another program No.: Mode flow: EditĺProgSele

12-5. Deletion of program The following operating instructions are to delete a program: Mode flow: EditĺProgSelect the F2 (Clr) key.Enter the program

Return to the previous screen with the ESC key.Then, press the ESC key several times to return to the Flsh screen. 92

12-6. Flash ROM writingIf data is only transferred to the controller after program editing, the edited program is erased when the power is turned on a

13. Symbol EditingFor the X-SEL Controller, symbols (names) can be given to variables, input ports, flags, points,etc.Select the F1 (Edit) key.Select

13-1. Symbol editing items The items to be symbolized are displayed in thefunction key section. Every time the SF key is pressed, the items are shifte

13-2. Input example: Symbolization of local integer variables The local variable No. 5 of the program No. 3 is symbolized by “Cnt5.” Press the F2 (Var