Iai-america XSEL-QX Manuel d'utilisateur Page 470
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446
Appendix
Parameters Common to All Axes
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
51 SCARA axis control 1 0H 0H ~
FFFFFFFFH
Bits 8 to 11: Z position Æ horizontal move optimization
for SCARA (PTP)
(0: Disable
1: Enable)
(Available only on high-speed SCARA robots of main
application version 0.45 or later.)
Bits 12 to 15: Z position Æ horizontal move optimization
for SCARA (CP)
(0: Disable
1: Enable)
* It is recommended to disable this function if CP
operation must be performed at a constant speed
with accurate locus and the set speed must be
reached.
(Available only on high-speed SCARA robots of main
application version 0.45 or later.)
52 ~
60
(For extension) 0
61 ~
109
(For extension)
110
~
130
(For extension) ~
131 Reserved by the system
(Change prohibited)
0 0 ~ 5
132 Maximum loading
capacity for load at tip
(SCARA axis)
10000 1 ~ 99999999 9
133 Maximum allowable tip
load inertial moment
(SCARA axis)
60000 1 ~ 99999999 kg-
mm^2
134 Reserved by the system
(Change prohibited)
0 0 ~ 5
135 Reserved by the system
(Change prohibited)
0 0 ~999
136 Reserved by the system
(Change prohibited)
0H 0H ~
FFFFFFFFH
139 Reserved by the system
(Change prohibited)
50891 1 ~ 99999999 For adjustment by the manufacturer.
140 Reserved by the system
(Change prohibited)
98000 1 ~ 99999999 For adjustment by the manufacturer.
141~
199
(For extension) ~
200 Default acceleration of
linear movement axis
30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
201 Default deceleration of
linear movement axis
30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
202 Default speed of linear
movement axis
30 1 ~ 250 mm/sec Used if not specified in SIO message or position data or
during continuous recovery movement, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
203 Maximum acceleration
of linear movement axis
100 1 ~ 999 0.01 G * Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
PC: PC software
TP: Teaching pendant
- 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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