Iai-america XSEL-KE Manuel d'utilisateur Page 334
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319
Appendix
INTELLIGENT ACTUATOR
Combination Table of X-SEL Linear/Rotary Control Parameters
Permitted encoder
processing method
Axis-specific
parameter
No. 1, Axis
operation
type
Axis-specific
parameter
No. 68, Mode
selection for
linear
movement
axis
Axis-specific
parameter
No. 66, Mode
selection for
rotational
movement
axis
Axis-specific
parameter
No. 67, Short-
cut control
selection for
rotational
movement
axis
ABS
Simulated
INC
INC
Expression
of current
position
(approx.)
Axis-specific
parameter
No. 7, Soft
limit +
Axis-specific
parameter
No. 8, Soft
limit -
Axis-specific
parameter
No. 44,
Length
measurement
correction
Axis-
specific
parameter
No. 47,
Screw lead
Axis-
specific
parameter
No. 50,
Gear ratio
numerator
Axis-specific
parameter
No. 51, Gear
ratio
denominator
Input unit
0
(Normal
mode)
{{{
Counter
range
Valid Valid
0
(Linear
movement
axis)
1
(Infinite-
stroke mode)
* Duty cycle
timeout check
must be
reviewed.
Invalid Invalid
x
{{
-10000 ~
9999.999
(rotary)
Invalid
(Note)
Invalid
(Note)
Valid Valid Valid Valid
x Distance mm
x Speed mm/sec
x Acceleration/
deceleration G
0
(Normal
mode)
0
(Short-cut
control not
selected)
³´PXVWEH
specified if
the normal
mode is
selected.
{{{
Counter
range
Valid Valid
0
(Short-cut
control not
selected)
{{{
Counter
range
1
(Rotational
movement
axis)
Invalid
1
(Index mode)
1
(Short-cut
control
selected)
x
{{
0 ~ 359.999
(rotary)
Invalid
(fixed to
359.999
internally)
Invalid
(fixed to 0
internally)
Invalid Invalid Valid Valid
x Angle mm o deg
x Angular speed
mm/sec o
deg/sec
x Angular
acceleration/dece
leration G
= 9807 mm/sec2
o 9807 deg/sec2
= 9807 x 2 S/360
rad/sec2
$³GHJ´YDOXH
indicates the
angle of the
rotating body at
the end.
1RWH $Q\SRVLWLRQLQJFRPPDQGRWKHUWKDQ³-;:;´H[FHHGLQJDFRRUGLQDWHUDQJHIURPDSSUR[±WRZLOOJHQHUDWHDQ³(UUor No. CBC,
7DUJHWGDWDERXQGDU\SXOORXWHUURU´
([HFXWLQJDQ\SRVLWLRQLQJFRPPDQGRWKHUWKDQ³-;:;´RXWVLGHDFRRUGLQDWHUDQJHIURPDSSUR[±WRZLOOJHQHUDWHDQ³(Uror No.
&&3RVLWLRQLQJERXQGDU\SXOORXWHUURU´
- J/K/KE Type 1
- X-SEL Controller 1
- Please Read Before Use 3
- [Important] 3
- Safety Guide 4
- Alert Indication 8
- Caution in Handling 11
- CE Marking 12
- Table of Contents 13
- Introduction 16
- Part 1 Installation 17
- Part 1 Installation 18
- Chapter 2 Warranty 18
- 1. Installation Environment 20
- 3. Power Source 21
- 1. Front View of Controller 24
- (General-purpose Type) 26
- (Compact Type) 26
- Battery Capacity: 1000 mAh 27
- (10) Axis-driver status LEDs 28
- Chapter 5 Specifications 36
- 1. Controller Specifications 36
- , Type KE (CE-compliant) 37
- [Input circuit] 38
- Internal circuit 38
- ON duration 38
- OFF duration 38
- [Output circuit] 39
- [W]} y Power factor [0.6] 42
- 4. External Dimensions 44
- AC power 47
- Class D grounding 47
- (protective grounding) 47
- 2. I/O Connection Diagram 49
- (2) PNP specification 50
- 3. I/O Flat Cable 51
- 1. Preparation 52
- 2. Procedure 52
- Chapter 8 Maintenance 57
- Part 2 Operation 66
- Start signal 68
- Emergency-stop 68
- Write to flash 72
- Write to flash memory 73
- (Decimal point) 81
- 2. Position Part 88
- CP Set offset 140 92
- (Count) CP Set zigzag 216 95
- 1. Alphabetical Order 96
- Part 4 Commands 100
- 1. Commands 101
- Optional Optional MOD 105
- Variable 105
- Data ZR 105
- Optional Optional SQR 108
- Optional Optional AND 109
- Optional Optional OR 110
- Optional Optional EOR 111
- Optional Optional CPXX 112
- Optional Optional TIMC 114
- Prohibited CP 114
- Optional Optional GTTM 115
- (Output 116
- Optional Optional FMIO 124
- Currently executed step 133
- Currently paused step 134
- Optional Optional PVEL Speed 142
- Position 142
- Optional Optional PSIZ 146
- X 100 (%) 154
- Command, declaration 155
- Optional Optional BASE 157
- Optional Optional GRP 158
- Optional Optional QRTN 166
- Quick return 166
- Near detection approx. 50 167
- 1HDUGHWHFWLRQDSSUR[ 168
- Optional Optional SVXX 170
- Prohibited PE 170
- Optional Optional HOME 171
- Optional Optional MOVP 172
- Optional Optional MOVL 173
- Optional Optional MVPI 174
- Optional Optional MVLI 175
- Start position 176
- Position origin 176
- End position 176
- Optional Optional STOP 178
- Optional Optional PUSH 180
- Center angle 187
- Center position 188
- Optional Optional PBND 189
- Distance CP 189
- Optional Optional IFXX 193
- Data CP 193
- Optional Optional DWXX 196
- Prohibited Prohibited WHXX 199
- Optional Optional SYST 204
- Optional Optional TMRD 211
- Optional Optional SCHA 213
- Character 213
- Optional Optional SPUT 217
- Optional Optional STR 218
- Data CC 218
- Optional Optional STRH 219
- Optional Optional SLEN 222
- Optional Optional BGPA 223
- Palletizing 223
- Optional Optional PAPN 224
- Optional Optional PAST 226
- (Position 226
- Optional Optional PAPS 227
- Optional Optional PSLI 231
- (Count) CP 231
- Optional Optional PCHZ 232
- Optional Optional ACHZ 235
- 2. PATH/PSPL Commands 252
- 3. CIR/ARC Commands 252
- 1. How to Use 253
- 2. Palletizing Setting 253
- PX-axis direction pitch 256
- Teach position data No. 100 256
- PY-axis direction pitch 256
- Odd-numbered 257
- (YHQQXPEHUHG 257
- 3. Palletizing Calculation 259
- 4. Palletizing Movement 260
- 5. Program Examples 262
- 15 267
- 1. Basic Frame 270
- 2. Ladder Statement Field 271
- 3. Points to Note 271
- 4. Program Example 272
- Operation Position 274
- I/O Assignments 274
- Operation Flow Chart 274
- Increment axis-1 offset by 280
- Increment axis-2 offset by 280
- Part 5 Multi-Tasking 282
- 2. Multi-Tasking 283
- Emergency stop 285
- UHOHDVHG" 285
- 5. Program Switching 286
- 1. Equipment 287
- 2. Operation 287
- 4. Hardware 289
- Z-axis down Parts feeder 290
- CR1 CR2 290
- Z-axis air cylinder 291
- Screw tightening 291
- Appendix 293
- RCS2CR (slider type) 294
- RCS (slider type) 295
- RCS (rod type) 295
- ~ Programming Method 298
- 1. Position Table 298
- 2. Program Format 299
- Flowchart 300
- Repeat the same operations 301
- Operations to be repeated 301
- Operations to be ignored 301
- 6. Path Operation 303
- 8. Circle, Arc Operation 305
- 11. Change of Moving Speed 308
- 14. How to Use Subroutines 311
- 15. Pausing of Operation 312
- Flow chart 315
- )ORZFKDUW 316
- 21. Conditional Jump 318
- 23. How to Use Offset 320
- Start input 322
- Initial setting 322
- Reference point 322
- 26. Jogging 323
- 27. Program Switching 324
- 28. Aborting of Program 325
- 1 m (1000 mm) 329
- Controller end 329
- Connector not 329
- RD+ 11 RD + SD + 331
- RD- 12 RD - SD 331
- SD+ 15 SD + RD + 331
- SD- 14 SD - RD 331
- RD + 11 RD + SRD + 332
- RD - 12 RD - SRD 332
- SD + 15 SD + 332
- SD - 14 SD 332
- 1. Synchro Axes 336
- List of Parameters 342
- 1. I/O Parameters 343
- I/O Parameters 344
- PC: PC software 349
- TP: Teaching pendant 349
- 26 Acceleration/deceleration 355
- 3& 3&VRIWZDUH 356
- 3. Axis-Specific Parameters 357
- Axis-Specific Parameters 358
- 1 Reference 359
- 4. Driver Card Parameters 362
- Driver Card Parameters 363
- 26500 Proportional gain 364
- (Kelvin = 367
- Temperature 367
- 6. I/O-Slot Card Parameters 368
- 7. Other Parameters 369
- Other Parameters 370
- Change prohibited 372
- 8. Manual Operation Types 374
- INTELLIGENT ACTUATOR 375
- 10. Servo Gain Adjustment 381
- Error Level Control 384
- Change History 422
- 11.11.000 424
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