Iai-america XSEL-QX Manuel d'utilisateur Page 28
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
4
Part 1 Installation
Part 1 Installation
Caution
Chapter 1 Safety Precautions
The X-SEL PX/QX Controller can support a combination of a SCARA robot and linear movement axes to
perform integrated control of all axes including peripheral equipment. In other words, the controller has the
ability to control systems of all sizes ranging from a small system to a large factory automation system. In
general, however, the occurrence rate of accidents due to incorrect operation or carelessness will rise as
the system becomes larger and more complex. Please give due consideration to safety measures.
This system product was developed as a drive unit for an automated machine, and as such the maximum
torque and speed are limited to levels acceptable for an automatically driven machine. However, strict
observance of the following items is required to prevent accidents. Also read the appendix entitled, “Safety
Rules and Others.”
1. Do not handle this product in a manner not specified in this manual. If you have any question regarding
the content of this manual, please contact IAI.
2. Always use the specified, genuine IAI cables for wiring between the controller and the actuator.
3. Do not enter the operation area of the machine while the machine is operating or ready to operate (the
controller power is on). If the machine is used in a place accessible to other people, provide an
appropriate safety measure such as enclosing the machine with a cage.
4. When assembling/adjusting or maintaining/inspecting the machine, always turn off the controller power
at the source beforehand. The operator should display in a conspicuous place a sign saying that
operation is in progress and that the power should not be turned on. The operator should keep the
entire power cable beside him or her to prevent another person from inadvertently plugging in the cable.
5. When two or more operators are to work together, they should communicate to ensure safety of all
personnel during the work. In particular, a person turning on/off the power or moving an axis—either
via a motor or manually—must always say what he or she is going to do and confirm the responses
from the others first before actually performing the operation.
- X-SEL Controlle 1
- PX/QX Type 1
- Please Read Before Use 3
- Table of Contents 10
- Safety Guide 15
- CE Marking 22
- Introduction 25
- 750 A L 26
- Inactivity time Motion 27
- Part 1 Installation 28
- 1. Warranty Period 29
- 2. Scope of Warranty 29
- 3. Scope of Service 29
- 1. Installation Environment 30
- Peripheral Configurations 35
- Controller 39
- 1. Front View of Controller 40
- I/O Interface List 50
- 2.1 Application 54
- 2.2 Core 55
- Chapter 5 Specifications 58
- 2.1. NPN Specification 62
- [Input circuit] 62
- Internal circuit 62
- ON duration 62
- OFF duration 62
- 2.2. PNP Specification 64
- [Output circuit] 65
- 4. External Dimensions 72
- Chapter 6 Safety Circuit 81
- QX Type X-SEL Controller 87
- Rdy and SDN = ON due to 91
- Chapter 7 System Setup 98
- PC connection cable 99
- CB-ST-A1MW050 99
- PC software IA-101-XA-MW 99
- Part 1 Installation 100
- 1.3 Startup procedure 101
- 2. I/O Connection Diagram 102
- 2.2 PNP specification 103
- 2.3 I/O Flat Cable 104
- 3.1.2 Board Variations 105
- 3.2.1 I/O Specifications 105
- 3.1.1 Features 105
- Model: CB-X-PIOH020 108
- 3.6.1 Input 109
- 3.6.2 Output 110
- 1. Preparation 111
- 2. Procedure 111
- Chapter 9 Maintenance 117
- 2. Spare Consumable Parts 118
- Battery for axis 5 122
- Battery for axis 6* 122
- Part 2 Operation 125
- Reset the controller 126
- READY signal 127
- (2) Timing chart 128
- Part 2 Operation 129
- Parameters Parameters 130
- Parameters 130
- Slave card parameters 131
- (driver card parameters and 131
- (Fixed driver parameters 132
- (Cannot be changed) 132
- 3. Points to Note 135
- Caution 137
- 1.2 I/O Ports 138
- 1.3 Virtual I/O Ports 139
- (2) Virtual output ports 140
- Program 1 Program n 141
- BTON 600 141
- WTON 600 141
- BTON 900 BTON 900 141
- 1.5 Variables 142
- (Decimal point) 143
- 1.6 Tags 145
- 1.7 Subroutines 146
- 1.8 Symbols 147
- 1.10 Axis Specification 148
- /sec o 1 deg/sec 150
- 3. Command Part 151
- 3.2 Extension Condition 152
- Part 4 Commands 153
- Part 4 Commands 154
- RC Gateway Function.” 159
- 2. Alphabetical Order 160
- 1.1 Variable Assignment 165
- 1.2 Arithmetic Operation 167
- Optional Optional MOD 169
- Variable 169
- Data ZR 169
- Optional Optional SIN 170
- Optional Optional COS 171
- Optional Optional TAN 172
- Optional Optional ATN 173
- Optional Optional SQR 174
- Optional Optional AND 175
- Optional Optional OR 176
- Optional Optional EOR 177
- (Compare) 178
- Optional Optional CP 178
- 1.6 Timer 179
- Optional Optional TIMC 180
- Prohibited CP 180
- Optional Optional GTTM 181
- (Output 182
- (Wait for I/O port, flag) 185
- Optional Optional FMIO 190
- 1.8 Program Control 193
- 1.9 Task Management 196
- Program not running 199
- 1.10 Position Operation 201
- Optional Optional PVEL Speed 208
- Position 208
- Optional Optional PSIZ 212
- Optional Optional BASE 228
- Optional Optional GRP 229
- Optional Optional HOLD 230
- (Input port 230
- (HOLD type) CP 230
- Optional Optional CANC 231
- (CANC type) CP 231
- Position origin 233
- Optional Optional DFTL 235
- Optional Optional SLTL 236
- Optional Optional GTTL 237
- Optional Optional DFWK 238
- Optional Optional SLWK 239
- Optional Optional GTWK 240
- Optional Optional DFIF 247
- Optional Optional SOIF 248
- Optional Optional SEIF 249
- Optional Optional GTIF 250
- Prohibited 252
- Optional Optional SV 253
- Prohibited PE 253
- Optional Optional MOVP 254
- Optional Optional MOVL 255
- Optional Optional MVPI 256
- Optional Optional MVLI 257
- Optional Optional STOP 261
- Optional Optional PUSH 263
- Optional Optional ARCC 275
- Optional Optional PBND 279
- Distance CP 279
- Optional Optional TMPI 280
- Optional Optional TMLI 281
- Optional Optional PTRQ 282
- Ratio CC 282
- Optional Optional ARC 284
- Optional Optional IF 285
- Data CP 285
- Optional Optional IS 286
- Optional Optional DW 288
- 1.15 Multi-Branching 290
- Optional Optional WH 291
- Prohibited Prohibited WS 292
- Optional Optional SYST 296
- Optional Optional GARM 297
- 1.17 Zone 298
- 1.18 Communication 302
- Optional Optional SCHA 307
- Character 307
- Optional Optional SCPY 308
- Optional Optional SCMP 309
- Optional Optional SGET 310
- Optional Optional SPUT 311
- Optional Optional STR 312
- Data CC 312
- Optional Optional STRH 313
- Optional Optional VAL 314
- Optional Optional VALH 315
- Optional Optional SLEN 316
- Optional Optional BGPA 317
- Palletizing 317
- Optional Optional PAPN 318
- Optional Optional PAST 320
- (Position 320
- Optional Optional PAPS 321
- Optional Optional PSLI 325
- (Count) CP 325
- Optional Optional PCHZ 326
- Optional Optional ACHZ 329
- Optional Optional PMVL 336
- Optional Optional ARCH 339
- 1.24 Extended Commands 343
- Optional Optional ECMD 250 345
- Operation 348
- All-axis parameter 349
- CP-operation 349
- 1.2 PTP Operation 350
- 2. Arm System 351
- : Area accessibly only 352
- : Area accessibly only by 352
- 3. SCARA Coordinate System 359
- Home of load 362
- EL program 366
- –50, Zb = 150, Rb = 0 370
- 50, Zb = 200, Rb = 180 370
- 6.1 Function Overview 376
- 7.1 Function Overview 378
- 2. PATH/PSPL Commands 382
- 3. CIR/ARC Commands 382
- 1. How to Use 383
- 2. Palletizing Setting 383
- A. 3-point teaching method 385
- 3. Palletizing Calculation 389
- 4. Palletizing Movement 390
- 5. Program Examples 392
- 16 PEXT 202 394
- 20 EDPA 394
- 1. Basic Frame 396
- 2. Ladder Statement Field 397
- 4. Program Example 398
- 0.5 SEC 398
- Chapter 7 Multi-Tasking 399
- 3. Program Switching 401
- Appendix 402
- 1. Position Table 408
- 2. Program Format 409
- Set the speed to 100 mm/sec 410
- 4. How to Use TAG and GOTO 411
- 6. Path Operation 413
- 8. Circular, Arc Operation 415
- Coating width 419
- Section a 419
- Section b Section c 419
- 14. How to Use Subroutines 421
- 15. Pausing of Operation 422
- Movement complete 425
- Copy to an integer variable 427
- Output 5 BCD digits 427
- Sampling time 427
- 21. Conditional Jump 428
- Move to point A 430
- Offset axis 1 by 80 mm 430
- Move to point B 430
- Go to TAG1 if the number is 431
- Specified number 432
- Sensor detection line 433
- 27. Program Switching 434
- 28. Aborting of Program 435
- (1) Specifications 436
- (2) Communication Cable 436
- (3) Parameter Settings 437
- (4) Program 439
- Battery Backup Function 443
- ~ List of Parameters 450
- 1. I/O Parameters 451
- I/O Parameters 454
- 3. Axis-Specific Parameters 472
- Axis-Specific Parameters 473
- 4. Driver Card Parameters 483
- Driver Card Parameters 484
- 5. Encoder Parameters 486
- 6. I/O Device Parameters 487
- 7. Other Parameters 488
- Other Parameters 489
- 8. Manual Operation Types 494
- Simulated 501
- Error Level Control 502
- Trouble Report Sheet 554
- Change History 555
- 12.11.000 558
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