Sel TB-03 Instruction Manual
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Sel TB-03 Instruction Manual

Sel TB-03 Instruction Manual

Data setter program controller wired link
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This instruction manual describes the contents for Program (SEL system)
Controllers Wired Link.
For how to use the ELECYLINDER wireless link, refer to the following instruction manual.
"Data Setter TB-03 ELECYLINDER Wireless Link Instruction Manual" (ME0375)
ME0375
For how to use the position (CON/SEP/MEC system) controllers and ELECYLINDER wired link, refer
to the following instruction manual.
"Data Setter TB-03 Position Controller, ELECYLINDER Wired Link Instruction Manual" (ME0376)
For details of applicable controllers, refer in the section for the supported models.
ME0376
Data Setter
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Instruction Manual First Edition
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Summary of Contents for Sel TB-03

  • Page 1 For how to use the position (CON/SEP/MEC system) controllers and ELECYLINDER wired link, refer to the following instruction manual. "Data Setter TB-03 Position Controller, ELECYLINDER Wired Link Instruction Manual" (ME0376) For details of applicable controllers, refer in the section for the supported models.
  • Page 3 Please Read Before Use Thank you for purchasing our product. This Instruction Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.
  • Page 4 For details on handling the position controller (ERC3, ERC2, ACON, PCON, SCON, DCON, RACON, RPCON, MSCON, MCON, ASEP, PSEP, DSEP, MSEP, AMEC, PMEC, RCP6S, RCM-P6PC, RCM-P6AC, RCM-P6DC), and ELECYLINDER wired link, refer to the separate “Data Setter TB-03 Applicable for Position Controller Wired Link Instruction Manual (ME0376)”. Supported Model List Model Name...
  • Page 5 Chapter Contents Safety Guide Caution in Handling International Standards Compliances Product Check 1. Forward 2. Specifications Check 3. Connection with the Controller 4. How to Save Data 5. Mode Transition Diagram 6. Menu Selection 7. Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller 8.
  • Page 6 21. Appendix 22. Warranty...

  • Page 7: Table Of Contents

    Table of Contents Safety Guide ..........................1 Caution in Handling ........................8 International Standards Compliances ..................8 Product Check .......................... 9 Forward ........................... 13 Specifications Check ....................... 15 Basic Specifications ......................15 Environmental Specifications ....................16 Explanation of Each Part ......................17 2.3.1 Front and Side Surface ....................
  • Page 8 How to Save Data ......................45 Set-up at Shipment with System Memory Backup Battery ........... 45 Set-up at Shipment without System Memory Backup Battery (Table Top Actuator (TT), SSEL, ASEL, PSEL) ..............48 XSEL-R/S/RX/SX/RXD/SXD ....................50 XSEL-RA/SA/RAX/SAX/RAXD/SAXD .................. 51 TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF ................52 Caution ..........................
  • Page 9 10.2 Setting of Break Point ......................193 10.3 Monitoring in Program Operation ..................194 10.4 Program Execution Time Measurement Function ..............204 10.4.1 Indication of Execution Time Measurement Section ...........205 10.4.2 Display of Execution Time Measurement Result ............207 10.4.3 Cautions ........................208 11. Coordinate System Data Editing of the SCARA Axis ............ 209 11.1 Editing of Work Coordinate System Data ................211 11.2 Editing of Tool Coordinate System Data ................217 11.3 Editing of Simple Interference Check Zone ................223...
  • Page 10 15.6 Re-Connection ........................290 15.7 Baud Rate Change ......................291 15.8 Safety Velocity ........................292 15.9 Driver Power Recovery Request ..................292 15.10 Action Pause Release Request ..................293 15.11 Simultaneous Operation of Multiple Programs ..............293 15.12 Driver Power Recovery Request and Action Pause Release Request ......295 15.12.1 In the Case of Controller Other Than SSEL, ASEL and PSEL Controllers ....295 15.12.2 In the Case of SSEL, ASEL or PSEL Controller ............296 15.13 Time Setting ........................297...
  • Page 11 18.1.3 Extended Motion Control Axis Position Data Deletion ..........457 18.2 Extended Motion Control Axis Monitoring ................459 18.3 User Data Hold Memory Initialization .................461 18.3.1 Description ........................461 18.3.2 Operation Procedure....................461 19. Data Backup ........................463 19.1 Data Backup of the Controller ....................464 19.2 Restore to Controller ......................471 20.

  • Page 13: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 14 Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 15 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 16 Operation Description Description Installation (4) Safety Measures and Start ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ●...
  • Page 17 Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear who Operation is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ●...
  • Page 18 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well Inspection with each other to ensure the safety of the workers. ●...
  • Page 19 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious...

  • Page 20: Caution In Handling

    English and Chinese. • Refer to Section 20 Environment Setting [Language] for how to change it. ● Do not attempt to give mechanical shock on this data setter TB-03 as it may cause malfunction. ● When operating this data setter TB-03, be sure to hold the teaching pendant to prevent the cables from receiving unnecessary tensile loads.

  • Page 21: Product Check

    When model <Cable Program controller cable CB-TB3-S050 Type> S or SC is selected When model <Cable Replacement cable CB-SEL-SJS002 Type> S or SC is selected (For use in Japan, North America and Thailand) UN318-5928 (For use in China) Depends on model...

  • Page 22: Msel-Pc/Pg/Pcf/Pgf/Pcx/Pgx

    The picture shows an (DVD) image. 2. Instruction manual related to this product, stored in the DVD Name Control number Instruction manual for data setter TB-03 program controller wired link ME0377 Instruction manual for XSEL-J/K controller ME0116 Instruction manual for XSEL-JX/KX controller ME0119...
  • Page 23 3. How to Read Model Nameplate Product number Serial number 4. How to Read Product Number T B - 0 3 - S C N - E - E N G <Language option> Not specified : Screens are displayed in Japanese. (Display can be changed to other languages) : Screens are displayed in English.
  • Page 24 Model Code for Cable Itself Remark CB-TB3-C050 For position controller/ELECYLINDER connection Separately CB-TB3-S050 For SEL System Controller Connection (XSEL-J/JX Type excluded) sold cable For ASEL, PSEL, SSEL and MSEL Connection (used together with CB-SEL-SJS002 CB-TB3-S050) Option model code Option Model Code...

  • Page 25: Forward

    Therefore, in the case of the orthogonal axis, the maximum velocity is 250 mm/sec or lower when the program is started from the TB-03. In the case of the SCARA axis, the maximum velocity is 250 mm/sec or lower for CP motion and 3% or less for PTP motion. To operate the controller according to the program velocity command, it is required to change the condition to “No Effect.”...

  • Page 27: Specifications Check

    2. Specifications Check 2.1 Basic Specifications Item Specifications 24V DC 10% (Supplied from controller) Rated Voltage 5.9V DC (5.7 to 6.3V) (Supplied from AC adapter) 150mA (24V DC : Supplied from controller) Power Current 2.8A (5.9V DC : Supplied from AC adapter) Insulation Resistance Between GND and FG 500V DC 10M...

  • Page 28: Environmental Specifications

    2.2 Environmental Specifications Item Specifications Ambient Operating Temperature 0 to 40C Ambient Operating Humidity 85%RH or less (non-condensing) Ambient Storage Temperature -20 to 70C Ambient Storage Humidity 85%RH or less (non-condensing) Altitude 1000m or below above sea level Environment with no corrosive or flammable gas. Environment Avoid use in places with dust or in places where oil mist or cutting fluid splashes.

  • Page 29: Explanation Of Each Part

    2.3 Explanation of Each Part 1) STOP Switch 2.3.1 Front and Side Surface 2) Touch Pen / Touch Pen Storage 3) Power Supply Switch (Used for wireless link) 4) SD Memory Card Slot Cover (In state of close) 5) AC Adapter Joint 6) Display and Touch Panel Parts 7) Cable Joint...

  • Page 30: Back

    6) Display and Touch Panel Parts This screen is configured of a TFT color LCD and touch panel. Use this screen to edit the various setting values and to display the teaching details, etc. Touch the touch panel with a touch pen (or finger) to perform operations. *1 In a use of the LCD display for a long term, the brightness may drop.

  • Page 31: Cable Joint

    Enable Signal Line 2 To be short-circuited internally ENB2- Not connected Not connected Signal ground Data Transmission for SEL System Controller Data Reception for SEL System Controller 6.5V Detection Signal for SEL System Controller Transmission and Reception Data Positive for EC/CON SRD+...

  • Page 32: How To Set In/Out Sd Memory Card

    2.4 How to Set in/out SD Memory Card 2.4.1 How to Insert SD Memory Card Front Side Back Side Push the extruded part (tab) slightly on the SD memory card slot cover towards the rear side and pull it up to open. Face the electrode side of a SD memory card to the front and insert it till it makes a clicking noise.

  • Page 33: How To Take Out Sd Memory Card

    2.4.2 How to Take out SD Memory Card Press the SD memory card softly and release, and the card comes out slightly. Pull it out straight.

  • Page 34: How To Set In/Out Battery Unit

    2.5 How to Set in/out Battery Unit 2.5.1 How to Take Out Battery Unit 1) Push the tab towards the battery cover and the pull up batter cover. Connector Position 2) Pull out the connector and take out the battery unit.

  • Page 35: How To Attach Battery Unit

    2.5.2 How to Attach Battery Unit 1) Set the battery unit in. Connector Position 2) Join the connector. 3) Attach the battery cover. Pay attention not to get the cable pinched.

  • Page 36: External Dimensions

    2.6 External Dimensions 2.7 Life of Touch Panel LCD The product life of the touch panel is 1,000,000 times of touches and that of the LCD backlight is 15,000 hours. (Ambient temperature at 25C) 2.8 Life of Battery and Replacement of Battery The nominal life of the button battery CR2032 that the manufacturer states is approximately five years (Ambient temperature at 25C).

  • Page 37: Ac Adapter

    2.9 AC Adapter 2.9.1 Common Specifications for AC Adapter Item Specifications Power Input Voltage Range Single-Phase 100 to 240V AC ±10% Power Current 0.4Amax. Power Frequency Range 50/60Hz ±5% In-Rush Current 50A (at 25C) Output Voltage 5.9V DC (5.7 to 6.3V) Output Current 2.8Amax.
  • Page 38 [For use in China : UNZ318-5928] [For use in Europe : UNE318-592] [For use in Korea : UNR318-5928]...

  • Page 39: Optional Items

    2.10 Optional Items 2.10.1 Grip Belt (GRP-2) Belt 1) Put the belt through the slit on Grip the left of the main body, and fix 2) Close the grip. it on the fabric hook-and-loop fastener on the open grip. 2.10.2 Strap (STR-1) Put it through the slit on the left bottom of the main body.

  • Page 40: Spiral Cord (Sic-1)

    2.10.3 Spiral Cord (SIC-1) Putting it through the hole on the touch pen, and then put it through the hole allocated on the bottom the main body. (In case the spiral code would not go through the hole well, pull the cord using a tool such as tweezers.) 2.11 Maintenance Parts 2.11.1 Battery Unit (AB-7) (Enclosed to Main Unit)

  • Page 41: Specifications Related To Battery Change

    2.12 Specifications Related to Battery Change 2.12.1 Types of Charger Mode Charger Mode Condition of Operation Contents Quick Charging • AC adapter connected • Battery should be fully charged from empty of AC Adapter • Battery not fully charged in approximately three hours. AC Adapter •...

  • Page 43: Connection With The Controller

    3. Connection with the Controller 3.1 XSEL-K Type Controller (Note) It cannot be connected to XSEL-J type controllers.

  • Page 44: Xsel-Kt/Ket Type Controller

    3.2 XSEL-KT/KET Type Controller...

  • Page 45: Xsel-P/Q, R/S, Ra/Sa Type Controller

    3.3 XSEL-P/Q, R/S, RA/SA Type Controller Caution: Set the data setter type selection switch of the XSEL-P type to the left.

  • Page 46: Xsel-Kx Type Controller

    3.4 XSEL-KX Type Controller (Note) It cannot be connected to XSEL-JK type controllers.

  • Page 47: Xsel-Px/Qx, Rx/Sx, Rxd/Sxd, Rax/Sax, Raxd/Saxd Type Controller

    3.5 XSEL-PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD Type Controller Caution: Set the data setter type selection switch of the XSEL-PX type to the left.

  • Page 48: Tt/Tta Type Controller

    3.6 TT/TTA Type Controller...

  • Page 49: Ssel Type Controller

    3.7 SSEL Type Controller...

  • Page 50: Asel Type Controller

    3.8 ASEL Type Controller...

  • Page 51: Psel Type Controller

    3.9 PSEL Type Controller...

  • Page 52: Msel Type Controller

    3.10 MSEL Type Controller Note 1 Please prepare separately...

  • Page 53: Connection Cable

    3.11.1 Cable for Program Controller (XSEL-J and XSEL-JX excluded) Model CB-TB3-S050 Controller Connection Cable for TB-03 Name (for XSEL-K/P/Q/R/S/RA/SA types and TT/TTA) E25-403N-140 Connector Model on Controller Side (Manufactured by TECHNICAL ELECTRON) Connector Model on TB-03 Unit Side ST60-24P (30) (HIROSE) Mass 285g approx. (5m)

  • Page 54: Data Setter Connection Procedure

    3.12 Data Setter Connection Procedure 1) Connect actuators, I/O 24V DC power source, and system I/O to the controller first. Then connect the cable connector of the data setter to the controller’s teaching connector when the main power supply of the controller is OFF. 2) After you flip the mode switch to MANU side, supply power to the controller.

  • Page 55: How To Save Data

    4. How to Save Data Since the Controller adopts flash memory, there is a storage area by battery backup and a storage area by flash memory according to the data to be stored. In addition, even if data is transferred from the PC software or Data Setter, the data is only to be written in memory as shown in the chart below and the data is erased by power-off or controller reset.
  • Page 56 Since the program, parameter, and symbol will be read from flash memory at restart time, the data in memory becomes the original data before editing unless the data is written in flash memory. The controller always operates according to the data in memory (within the dotted box) excluding parameters.

  • Page 57: Set-Up At Shipment With System Memory Backup Battery

    For the XSEL-P/Q and PX/QX controllers with the gateway function, the position Nos. 10001 to 20000 data memory and user hold memory (RC axis position in XSEL) have been added. (Other parameter No.20=2 (System memory backup battery equipped)) * Encoder parameters are not stored within the controller but in the EEPROM of the actuator’s encoder itself.

  • Page 58: Set-Up At Shipment Without System Memory Backup Battery (Table Top Actuator (Tt), Ssel, Asel, Psel)

    The controller always operates according to the data in memory (within the dotted box) excluding parameters. Note: SEL global data can’t be saved without the backup battery.
  • Page 59 The controller always operates according to the data in memory (within the dotted box) excluding parameters. Note: SEL global data can’t be saved without the backup battery.

  • Page 60: Xsel-R/S/Rx/Sx/Rxd/Sxd

    4.3 XSEL-R/S/RX/SX/RXD/SXD An example of 20,000 positions is given below.

  • Page 61: Xsel-Ra/Sa/Rax/Sax/Raxd/Saxd

    4.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD...

  • Page 62: Tta, Msel-Pcx/Pgx/Pc/Pg/Pcf

    4.5 TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF Positions (No. 1 to 10000), SEL global data, error list, maintenance information and SCARA coordinate system data are stored in the battery-less backup memory (FRAM). It is not necessary to have a flash ROM writing.

  • Page 63: Caution

    4.6 Caution Cautions in data transfer and flash writing Never shut OFF the main power while the data is transmitting and writing into flash. Data may be lost and controller may be rendered inoperable. Cautions concerning the increase in the number of positions The number of position data items has been raised to 20,000 in the XSEL-P/Q and PX/QX controllers for the increased memory capacity (with gateway function).

  • Page 65: Mode Transition Diagram

    5. Mode Transition Diagram 5.1 XSEL-K, P/Q, R/S, RA/SA, TT/TTA Controller...
  • Page 69 (Main Menu) Select Item Select Item Back To File Menu File Backup Data Position Program Symbol Parameter All Data Global Data Error List *For applicable models only RC Axis Position *For applicable models only Ex Motion Position Select Item To File Menu Restore data Position Program...
  • Page 70 (Main Menu) Select Item Select Item Select Item Back Back Back *Conduct edit after inputting position number Edit Teach ExMotion Teach (Position number input is available also on PageUp/Dn) *Data writing by “Write” *For applicable models only Clear Jog Velcity Cont.

  • Page 71: Xsel-Kx Controller

    5.2 XSEL-KX Controller...

  • Page 76: Xsel-Px/Qx, Rx/Sx, Rax/Sax Controller

    5.3 XSEL-PX/QX, RX/SX, RAX/SAX Controller...
  • Page 77 (Main Menu) (Edit) Select Item Select Item Back Back Symbol Modify Integer Variable No. Real Variable No. Integer Constants Real Constants Flag No. Input Port No. Output Port No. *For applicable models only InOut Port No Program No. Tag No. Subroutine No.
  • Page 80 (Main Menu) (File) Select Item To File Menu Restore data Position Program Symbol Parameter All Data Global Data Coodinate system definition RC Axis Position *For applicable models only *For applicable models only Ex Motion Position Select Item Select Item Select Number Back Back Back...
  • Page 81 (Main Menu) Select Item Select Item Select Item Back Back Back *Conduct edit after inputting position number ExMotion Edit Teach Teach (Position number input is available also on PageUp/Dn) *Data writing by “Write” *For applicable models only Clear Jog Velcity Cont.

  • Page 82: Xsel-Rxd/Sxd, Raxd/Saxd Controller

    5.4 XSEL-RXD/SXD, RAXD/SAXD Controller...
  • Page 83 Main Menu Edit Select Item Select Item Back Back Symbol Modify Integer Variable No. Real Variable No. Integer Constants Real Constants Flag No. Input Port No. Output Port No. *For applicable models only InOut Port No Program No. Tag No. Subroutine No.
  • Page 86 Main Menu Select Item Select Item Back To File Menu File Backup Data Position Program Symbol Parameter All Data Global Data Error List Coodinate system definition RC Axis Position *For applicable models only Ex Motion Position *For applicable models only Select Item To File Menu Restore data...
  • Page 87 (Main Menu) Select Item Select Item Select Item Back Back Back *Conduct edit after inputting position number ExMotion Edit Teach Teach (Position number input is available also on PageUp/Dn) *Data writing by “Write” *For applicable models only Clear Jog Velcity Cont.

  • Page 88: Msel-Pcx/Pgx/Pc/Pg/Pcf/Pgf Controller

    5.5 MSEL-PCX/PGX/PC/PG/PCF/PGF Controller...

  • Page 93: Ssel, Asel Or Psel Controller

    5.6 SSEL, ASEL or PSEL Controller In the case of the SSEL, ASEL or PSEL controller, 2-type selection is possible between the program mode and positioner mode. Set the selection to the other parameter No. 25 “Operation mode type.” For details, refer to the operating manual of the SSEL, ASEL or PSEL controller. 5.6.1 Program Mode...
  • Page 94 (Main Menu) (Edit) Select Item Select Item Back Back Symbol Modify Integer Variable No. Real Variable No. Integer Constants Real Constants Flag No. Input port No. Output Port No. Program No. Tag No. Subroutine No. Position No. All Clear Axis No. Select Item Back Parameter...

  • Page 98: Positioner Mode

    5.6.2 Positioner Mode (Note) In the positioner mode, “Program edit” or “Symbol edit” is unavailable. “Two or more programs start prohibition” operation cannot be performed, either.

  • Page 103: Menu Selection

    6. Menu Selection There are six menus in Menu that you can select and touch. The screen changes to the touched menu. Menu list  Edit : Editing of the positions, programs, symbols, parameters and coordinate systems, status display of the actuator and manual operation (teaching) can be performed.

  • Page 105: Execute Or Stop The Positioner Mode Of The Ssel, Asel And Psel Controller

    7. Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller When the SSEL, ASEL or PSEL controller is in the positioner mode, execute or stop the positioner mode. Touch Positioner Mode button in the Menu screen. There are two items in the Positioner Mode screen.

  • Page 107: Position Edit

    8. Position Edit There are two ways to input the position data. (1) Numerical input ··· It is the way to input numbers directly on the numeric keys in the touch panel in the position edit screen. (2) Teaching ············ The way to set on the target position by manual movement (direct teaching) of either JOG operation or inching operation with the servo being off, and to indicate to read that position (current position) in the position table.
  • Page 108 [Items Shown in Edit Position Screen] 1) Position No. Input Area 4) Target Arm System 2) Position No. 5) Velocity • Display Area Acceleration/ Deceleration 6) Output Function 3) Axis Data 7) Comment 1) Position No. Input Area 4) Target Arm System 2) Position No.
  • Page 109 • Movement by MOVE button in Teaching screen (When there is no PTP target arm system setting in the position data, operation is made as “current arm system (movement of opposite arm system allowed when impossible)”) • Servo operation SEL Command using position data 5) Velocity • Acceleration/Deceleration Indicate the velocity.

  • Page 110: Basic Operation

    8.1.1 Basic Operation [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) Input the position number by displaying the numeric keys on the touch panel by touching...
  • Page 111 If you want to input 100 to Axis1 (1 axis), touch Keyboard button to show the touch panel numeric keys, and touch 1 0 0 ENT on the touch panel numeric keys. If it is accepted correctly, the focus moves onto Axis2.
  • Page 112 [Input of Target Arm System Data (Arm1 or Arm), (Arm2)] * Arm1 (Arm) is a function dedicated only for XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD or MSEL-PCX/PGX. Arm2 is a function dedicated only for XSEL-RXD/SXD or RAXD/SAXD. Show the cursor to the input area for the item which is desired for inputting. To show the cursor in the input area for the item which is desired for inputting is to touch in that area (white area in the background, or an area framed in red for Arm1).
  • Page 113 Initial Screen SHIFT key being touched Use the keyboard shown in the figure above to input a comment. When you want to input a capital letter, either touch SHIFT key or touch CAP key to show the capital letters. (Figure on top right) SHIFT key gets released every time after a letter is input while CAP key is remained on until it is touched again.
  • Page 114 Select the output functions. Touch the radio buttons that you would like to select (figure in left, area marked with red highlight). Input Output Ports / Flag Numbers, Parameter1 and Parameter2. Touch an input part where you would like to input contents (area marked with red highlight for Output Ports / Flag Numbers) to show the cursor.
  • Page 115 The selected output functions will be displayed in the output function column (OutFn). [Data Transfer] After inputting data, touch Write button on the touch panel to transfer the data to the controller. Once the transfer to the controller is complete, the background color in the position number display column will turn to the normal condition.
  • Page 116 [Data Clear] When you would like to delete the position data, touch Edit button on the position data that you would like to delete. The edit window opens. Touch Clear button in the edit window. The edit window closes. The position data was deleted, and the background color of the position number display column turns to red, which shows that it is being edited (controller writing not yet done).
  • Page 117 [Copy and move of data] When you would like to copy (or move) the position data, touch the Edit button on the position data that you would like to copy (or move) from. The edit window opens. Touch the Copy button in the edit window when you would like to copy the data.
  • Page 118 The position data was copied (or moved), and the background color of the position number display column turns to red, which shows that it is being edited (controller writing not yet done). (Shown in the figure one the left is an example of copying.) Touch the Write button on the touch panel to transfer the data to the controller.

  • Page 119: Flash Rom Writing

    8.1.2 Flash ROM Writing The edit data will be cleared by restoring the power and executing software reset, only if the position edit data was transmitted to the controller. To save the data after restoring the power and executing software reset, write the data to Flash ROM. From the final editing screen, return to the Flash ROM writing screen with Back button.

  • Page 120: Teaching Of The Linear Axis: Xsel-K, P/Q, Or 5Th To 6Th Axes Of Px/Qx Controller

    Teaching of the Linear Axis: XSEL-K, P/Q, or 5th to 6th Axes of PX/QX Controller, R/S, 5th to 8th Axes of RX/SX Controller, RA/SA, or 5th to 8th Axes of RAX/SAX Controller, Additional Axes on 3-axis SCARA Type MSEL-PCX/PGX Controller, MSEL-PC/PG/PCF/PGF, TT, TTA, SSEL, ASEL or PSEL Controller 8.2.1 Teaching...
  • Page 121 Touch Position button on the Edit screen. * Example shown on the left is for XSEL-K, P/Q, R/S, RA/SA, TT, TTA, SSEL, ASEL, PSEL and MSEL-PC/PG/PCF/PGF. Touch Teach (Linear) button in Position menu screen. For Input and Output Ports...
  • Page 122 Explanation for each Display Area Position No. : Currently displayed position number Axis1-4 (Axis5-8) : Position data for the axes from Axis 1 to 4 or Axis 5 to 8. (Only the valid cartesian axes should be shown.) : Velocity : Acceleration : Deceleration Explanation for each Touch Panel Button...
  • Page 123 For incremental encoder specification, it is required to execute homing after supplying power or software reset before you start teaching. Turn the servo ON condition by touching the SERVO ON/OFF button and then the Servo all axes ON button in the Teaching screen condition.
  • Page 124 (1) Movement of an actuator 1) Jog Operation Turn the servo ON condition by touching the SERVO ON/OFF button and then the Servo all axes ON button in the Teaching screen condition. Execute the all-axes servo OFF command when there is any axis in the servo ON status, and execute the all-axes servo ON command when all axes are in the servo OFF status.
  • Page 125 2) Inching Operation Inching distance Set the inching distance. (the moving distance each time touching jog button.) In the jog velocity change screen, input a number in Inc (Inching Distance). (To open the touch panel numeric keys, touch Keyboard button.) Value input range is 0.001 to 1.000 [unit: mm].
  • Page 126 (2) Take in the current position as a data The determined actuator position is uploaded to the teaching screen as the position data. Touch in the position number input box to show the cursor and input a value on the touch panel numeric keys.
  • Page 127 (4) I/O Monitor • Position Confirmation During teaching operation, you can monitor various ports. You can also confirm the location by moving an actuator to a to the location of the position data with teaching. 1) Input/Output Monitor Either touch In or Out button in Teaching screen. For models applicable for input and output ports, monitoring of the input and output ports is available by either touching InOut button.
  • Page 128 2) Moving Move the actuator to the location of the position data transmitted to the controller. Position No. to move Select position No. to move in the Teaching screen condition. Touch SERVO ON/OFF button and then touch Servo all axes ON button to turn the servo ON. To check if servo is turned ON or OFF touch Cur Pos.
  • Page 129 3) Continuous movement Move the actuator continuously to the location of the position data transmitted to the controller. Position No. you’d like to move first In Teaching screen, select the position number to operate first. Touch SERVO ON/OFF button and then touch Servo all axes ON button to turn the servo ON.
  • Page 130 (5) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Touch UserOutput button in the Teaching screen condition. When UserOutput button is touched (A) User-specified output port status The conditions of user-specified output ports are displayed as ‘1’ (=ON) and ‘0’ (=OFF). (The conditions are displayed from the first specified port for the number of specified ports from the left.) (B) User-Specified Output Port Operation Panel Window...

  • Page 131: Example Of Teaching Input

    8.2.2 Example of Teaching Input Entering the data into position No. 10 using the jog and into position No. 11 by manual movement (direct teaching) with Servo OFF status. Operation Touch Edit button. Touch Position button. Touch Teach (Linear) button. Either use Page Up button and Page Dn button in the touch panel...
  • Page 132 Operation Touch the jog buttons Axis 1 JOG-, Axis 1 JOG+, Axis 2 JOG-, Axis 2 JOG+, Axis 3 JOG- and Axis 3 JOG+ to move the robot to a desired position. Touch the Scan button to load the current position of the axis No., where there is the cursor, to the input screen.
  • Page 133 Operation 12 Press the EMERGENCY Warning: STOP button. Be sure to execute Touch Back button. manual movement when the EMERGENCY STOP button is pressed. To have manual operation on Z-axis, it is necessary to release the brake. As a result, the Z-axis may drop by the weight of such as a hand installed on the end when the brake is released.
  • Page 134 Operation 17 Finish the position data input with teaching. Touch Back button. 18 Touch Back button. The figures shown hereafter are in the condition of the emergency stop being cancelled. 19 Touch Back button. 20 To write the data to the flash ROM, touch Yes button.
  • Page 135 Operation...

  • Page 136: (*1 1St To 3Rd Axes For 3-Axis Scara Type)

    Teaching for SCARA axis: 1st to 4th Axes of XSEL-KX, PX/QX, RX/SX or RAX/SAX Controller, 1st to 4th Axes or 5th to 8th Axes of XSEL- RXD/SXD or RAXD/SAXD Controller or 1st to 4th Axes on MSEL- PCX/PGX Controller (*1 1st to 3rd Axes for 3-axis SCARA Type) 8.3.1 Teaching Teaching is one way to input position data (moving the actuator to an arbitrary position and getting...
  • Page 137 Touch Position button on the Edit screen. * Example shown on the left is for XSEL-KX, PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL-PCX/PGX. * There is no coordinate system buttons shown when a controller other than above is connected. Touch Teach (Scara) button in Position menu screen.
  • Page 138 Explanation for each Display Area Position No. : Currently displayed position number Axis1-4 (Axis5-8) : Position data for the SCARA axes for the 1st unit or 2nd unit (Only the valid SCARA axes should be shown.) : Velocity : Acceleration : Deceleration : Target Arm (for XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL- PCX/PGX Controllers only)

  • Page 139: Jog Movement Direction And Coordinate System

    8.3.2 Jog Movement Direction and Coordinate System (1) Jog buttons and movement directions The movement direction during jog operation changes according to the coordinate system No. selected. The status before shipment is the base coordinate system (work coordinate system No. 0) and tool coordinate system No.
  • Page 140 2) Jog operation on work coordinate system Example) The jog buttons and movement directions on the work coordinate system No. 1 are as shown below. The offset values from the work coordinate system No. 1 become Xofw1 = 150, Yofw1 = 200, Zofw1 = 0, and Rofw1 = 30. 30°...
  • Page 141 3) Jog operation on tool coordinate system Example) The jog buttons and movement directions on the tool coordinate system No. 1 are as shown below. The offset values from the tool coordinate system No. 1 become Xoft1 = 45, Yoft1 = 35, Zoft1 = -10, and Roft1 = 45. (For 3-axis SCARA type, Roft will not be taken into account) 45°...
  • Page 142 4) Jog operation on each axis system (jog operation on each arm) Each arm, jog buttons and movement directions are as shown below. In the case of each axis system, the position display on the teaching screen cannot be incorporated. Jog movement on each axis system Switchover of the coordinate system for jog operation is to be...
  • Page 143 (2) Selection of coordinate system No. Touch Crd. Sys button. Displayed only for XSEL-RXD/SXD or RAXD/SAXD. The axis number displayed in teach screen is shown. Enter the work coordinate system No. Enter the tool coordinate system No. This is a screen displayed when the work coordinate system No.

  • Page 144: Actuator Operation

    8.3.3 Actuator Operation Jog the actuator or move it to the input (transferred) position data by using the Data Setter. Operate the actuator on the Teaching screen. How to Open to Teaching Screen Go to Edit → Position → Teach (SCARA) in touch panel operation For XSEL-RXD/SXD, RAXD/SAXD, go to Edit →...
  • Page 145 Change of jog velocity The actuator movement velocity under jog operation is changed. Touch JVel button. It should be shown only for XSEL-RXD/ SXD and RAXD/SAXD. The axis number displayed in the teach window should be displayed. Input the Vel (velocity), Acc (acceleration) and Dcl (deceleration) in the jog operation on the touch panel numeric keys.
  • Page 146 (2) Inching operation Set the inching distance (travel made every time the JOG button is pressed once). In the jog velocity screen, input a number in Inc (inching distance) on the touch panel numeric buttons. The numerical input range is between 0.01 and 1.00 [unit: mm].
  • Page 147 (4) Arm system change Change the current arm system over to the opposite arm system (Right arm → left arm, left arm → right arm). The 1st arm does not move and the 2nd arm moves in such a way that it becomes straightened with the 1st arm.
  • Page 148 (5) Load Current Position as Data Check the work coordinate system No., tool coordinate system No., and arm system currently selected in advance. Display Change：Go to Edit → Position → Teach (SCARA) → Crd. Sys in touch panel operation For XSEL-RXD/SXD and RAXD/SAXD, go to Edit → Position → Teach (Axis1-4) or Teach (Axis5-8) →...
  • Page 149 In the case of the XSEL-RX/SX, RXD/SXD, RAXD/SAXD or MSEL-PCX/PGX controller, it can be selected as to whether or not the arm system is scanned and the data is set on the position data. Arm System Data for Axes 1 to 4 Scanning Selection Arm System Data for Axes 5 to 8 Scanning Selection...
  • Page 150 (6) Transfer to Controller The incorporated data is transferred to the controller. In Teaching screen, touch Write button. The loaded data is stored in the memory in the controller. Once the transfer to the controller is complete, the position number is incremented by one.
  • Page 151 (8) Movement The actuator is moved to the location of the position data transferred to the controller. (Check the location of the teaching position data.) Position number to move Select position No. to move in the Teaching screen condition. Touch SERVO ON/OFF button and then touch Servo all axes ON button to turn the servo ON.
  • Page 152 (9) Continuous movement The actuator is continuously moved to the location of the position data transferred to the controller. Position No. to move first In Teaching screen, use the numeric keys, Page Up and Page Dn buttons to select the position number to operate first.
  • Page 153 (10) Jump movement The actuator is moved to the location of the position data transferred to the controller by jump motion (arch motion). Before/after normal movement or continuous movement, the Z-axis is moved up and down. Z-axis offset value Target position Current position Normal movement Motion sequence...
  • Page 154 Displayed only in XSEL-RXD/SXD and RAXD/SAXD axis number in teach window To set the jump operation valid/invalid, touch in the check box at JumpMotion, to put or remove a check mark. Enter the Z-axis offset value. Enter the offset value (mm) from the Z-axis target position coordinate.
  • Page 155 (11) User-specified output port operation The output ports set in the parameter can easily be turned ON/OFF. In Teaching screen (or the current position screen in Teaching), touch UserOutput button. When in Teaching screen, it automatically changes to the current position screen. When UserOutput button is touched (A) User-specified output port status The conditions of user-specified output ports are displayed as ‘1’...
  • Page 156 (12) Arm System setting In the case of the XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD or MSEL-PCX/PGX Controller, the arm system data can be set on the position data. The arm system settings for Axis1 to 4 (Axis 1 to 3 for 3-axis SCARA) or Axis5 to 8 (Axis5 to 8 are for XSEL-RXD/SXD, RAXD/SAXD only) that is currently shown can be established.

  • Page 157: Example Of Teaching Input

    8.3.4 Example of Teaching Input Entering the data into position No. 10 using the jog and into position No. 11 by manual movement (direct teaching) with Servo OFF status. Operation Touch Edit button. Touch Position button. Touch Teach (Scara) There is no Teach (Linear) button.
  • Page 158 Operation Touch the jog buttons Axis 1 JOG-, Axis 1 JOG+ through Axis 4 JOG-, Axis 4 JOG+ to move the robot to a desired position. Touch the Scan button to When the jog coordinate system is each axis load the current position system “A”...
  • Page 159 Operation 12 Press the EMERGENCY Warning: STOP button. Be sure to execute Touch Back button. manual movement when the EMERGENCY STOP button is pressed. To have manual operation on Z-axis/R-axis, it is necessary to release the brake. As a result, the Z- axis may drop by the weight of such as a hand installed on the end when...
  • Page 160 Operation 17 Touch Write button to If the screen is switched with Page Up or Page Dn transfer the position data to the controller. buttons before the data is The position moves to No. transferred, the input data will become invalid. 18 Finish the position data input with teaching.
  • Page 161 Operation 23 The flash ROM writing process is finished. Touch OK button. The screen returns to Edit menu.

  • Page 162: Copy And Movement Of Position Data

    Copy and Movement of Position Data It is a way to copy or move the position data to another position number. Touch Edit button in the Menu screen. Touch Position button on the Edit screen. Touch Copy/Move button in Position screen. Touch Keyboard button to show the touch panel keyboard.
  • Page 163 Input a value in From No. First No. and touch ENT button. The cursor moves to From No. Last No. and touch panel keyboard closes. Touch Keyboard button again to show the touch panel keyboard. Input a value in From No. Last No. and touch ENT button.

  • Page 164: Deletion Of Position Data

    Deletion of Position Data The following operating instructions are to delete the position data. Touch Edit button in the Menu screen. Touch Position button on the Edit screen. Touch Clear button on the Position screen. Touch Keyboard button to show the touch panel keyboard.
  • Page 165 Input the First No. and touch ENT button. The cursor moves to the Last No. and the touch panel keyboard closes. Touch Keyboard button again to show the touch panel keyboard. Input the Last No. and touch ENT button. When you want to delete the selected position data, touch Clear button.

  • Page 167: Program Edit

    Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 9.1 How to Input Program Input the program step below as an example. Program No. 2 Cmnd Operand1 Operand2 Comment CPGE *201 Compare Data SCPY ‘1234 Only input conditions for Step No. 1 and all for Step No. 2 are input. Touch Edit button in the Menu screen.
  • Page 168 : Input an extension condition. : Input the reversion of input condition. : Input the input condition. Cmnd : Input a SEL command language. Operand1 : Input Operation 1 (Operand1). Operand2 : Input Operation 2 (Operand2). : Input the output part (Operand3).
  • Page 169 Move the cursor to No.1, Cnd area by touching. With the cursor being in Cnd input area, touch the keyboard button to show the touch panel keyboard and input 601. Condition of Touch Panel Keyboard Displayed Input 601 and touch ENT. The touch panel keyboard closes and 601 is input in Cnd.
  • Page 170 Touch the keyboard button with the cursor being displayed at E Column to show the touch panel keyboard in order to A. Input A and touch ENT. The touch panel keyboard closes and A gets to be input to E Column. The cursor moves to N Column.
  • Page 171 The cursor moves to the Cnd input area. Touch Keyboard button to show the touch panel keyboard, and input 600. Example for input on touch panel keyboard The cursor moves to the Cmnd input area. Touch Keyboard button to show the touch panel keyboard, and input CPGE.
  • Page 172 For Cmnd Column, command list is also available to input from. Have the cursor displayed in Cmnd Column and touch Edit button. Touch ComdList button in the edit menu. Command Initial Letters Button The command list window appears. Touch the command initial letters or Page Up / Page Dn buttons to switch the display in order to show the command that you would like to input.
  • Page 173 The cursor moves to the Operand1 input box. Touch Keyboard button to show the touch panel keyboard, and input 200. Example for input on touch panel keyboard The cursor moves to the Operand2 input box. Touch Keyboard button to show the touch panel keyboard.
  • Page 174 Touch *. The letters displayed on the keyboard return to normal. Input * followed by 201, and then touch ENT. The touch panel keyboard closes and the cursor moves to Pst box. Touch Keyboard button to show the touch panel keyboard, and input 900.
  • Page 175 Example for input on touch panel keyboard The cursor moves to the Comment input area. Touch Keyboard button to show the touch panel keyboard. Any alphabetical and numerical letters can be used for input. If you touch SHIFT button, buttons with capital letters show up, and go back to small letters once a letter is input.
  • Page 176 Touch Keyboard button to show the touch panel keyboard. Input SCPY, and then touch ENT. The touch panel keyboard closes and SCPY gets displayed in Cmnd Column. The cursor moves to the Operand1 input box. Touch Keyboard button to show the touch panel keyboard, and input 1.
  • Page 177 The cursor moves to the Operand2 input box. Touch Keyboard button to show the touch panel keyboard. Input ‘1234 and touch ENT. The touch panel keyboard closes and the cursor moves to Pst box. Touch Write button to transfer the data to the controller. When the screen is changed with the Page Up and Page Dn buttons and Back button before data transfer, the input data becomes invalid.
  • Page 178 [For Operand Binary/Hexadecimal Digit Input] For XSEL-RA/SA/RAX/SAX/RAXD/SAXD, binary/hexadecimal digits can be used for Operand 1 and 2. • Only constant value can be used. They cannot be used for indirection. • When binary digits are to be used, input them each with “&B” before the value, and hexadecimal digits are to be used, “&H”...

  • Page 179: Symbol Input During Program Edit

    9.2 Symbol Input During Program Edit Symbol input is available when the cursor is on Operand1 or 2 (Operation 1 or 2) or Pst (output). Method 1: In case symbol registration has already been conducted, direct input is available from the touch panel keyboard.
  • Page 180 Touch Next button. Touch Position No. button Touch Keyboard button to show the touch panel numeric keys. Input 10 on the touch panel numeric keys and then touch ENT. Touch panel keyboard will close.

  • Page 181: When There Is Symbol Definition

    With the cursor being in the symbol input box, touch Keyboard button. Input TAIKIITI on the touch panel keyboard and touch ENT. (If you touch CAP button, the keyboard changes to capital-letter input. If you touch CAP button again, it goes back to small-letter input.) Touch Write button to transfer the symbol data to the controller.
  • Page 182 Once the transfer to the controller is complete, the background color in the step number display column will turn to the normal condition. Finish the program input. Return to the flash ROM writing window by using the Back button. Follow "9.8 Flash ROM Writing" to conduct the flash ROM writing.

  • Page 183: Single Line Comment Input

    9.3 Single Line Comment Input Turns a step from a program into a comment (invalid step) and you can input numbers, alphabets and signs. After switching the display range with Page Up / Page Dn buttons or the step number direct input, touch the Edit button in the step number that you would like to input a comment.
  • Page 184 Input desirable letters on the keyboard. An example for when Palette1 is input is shown in the figure on the left. (To input capital letters, touch CAP key or SHIFT key to switch the mode.) Touch ENT for confirmation. Once the comment input is finished, touch Write button to transfer the input data to the controller.

  • Page 185: To Change Program Steps

    9.4 To Change Program Steps Program No. 4 It is assumed the top line program below is already input. And it is assumed that the contents will be changed to those in the bottom line below by editing. Cmnd Operand1 Operand2 Comment HOME...
  • Page 186 Touch InsBlank button in the edit menu. The original data in Step No. 3 and below move to No. 4 and below. Also, the line for Step No. 3 gets blank. Touch No. 3, Cmnd Column to move the cursor. Touch Keyboard button to show the touch panel keyboard.
  • Page 187 The cursor moves to the Operand1 input box. Touch Keyboard button to show the touch panel keyboard again. Input 1 and touch ENT. Inactivate MOVL 5 next. Touch Edit button in Step No.8. Touch Comment in the Edit menu.
  • Page 188 The background color of the step data box in Step No. 8 turns to dark yellow, which shows it is invalid (Comment status). (To cancel the invalid condition, show the edit menu again and touch the comment cancel button.) It is only the displayed range available for editing at once.
  • Page 189 Confirmation window gets displayed. Touch the Yes button. (If you wish to cancel the deletion, touch the Cancel button.) Touch No. 9, Cmnd Column to move the cursor. Touch Keyboard button to show the touch panel keyboard. Input GOTO on the touch panel keyboard and touch ENT.
  • Page 190 The touch panel keyboard closes and the cursor moves to Operand1 box. Input the same value as that input in Operand1 box in Step No. 3 TAG Command to Operand1 box. Touch Keyboard button to show the touch panel keyboard. Input 1 and touch ENT.

  • Page 191: Other Editing Features

    9.5 Other Editing Features Copy and Clear of the step data can be conducted. [Copy of Step Data] For example, here explains the case to copy the step data in Step No. 3 to Step No. 4. Switch the display range with Page Up / Page Dn or the step number direct input in order to show the data in Step No.
  • Page 192 Touch Paste button in Edit Menu. Edit menu is closed. The step data copied in Step No. 4 gets displayed. Also, to show that it is being edited (controller writing not yet done), the background color in the step number display box turns to red. Touch Write button.
  • Page 193 [Insertion of Step Data] For example, here explains the case to copy the step data in Step No. 3 to Step No. 2. Switch the display range with Page Up / Page Dn or the step number direct input in order to show the data in Step No.
  • Page 194 The step data copied in Step No. 2 gets inserted. Data transfer (step data writing) to the controller is automatically conducted for Ins&Paste button. Finish the program input. Return to the flash ROM writing window by using the Back button or Cancel button.
  • Page 195 [Clear of Step Data] For example, here explains the case to clear the step data in Step No. 2. Switch the display range with Page Up / Page Dn buttons or the step number direct input in order to show the data in Step No. 2. Touch Edit button in Step No.2.

  • Page 196: Program: Copy Or Move

    9.6 Program: Copy or Move The following operating instructions are to copy or move a program to another program No. Touch Edit → Program → Copy/Move...
  • Page 197 Copy/Origin Program Number Copy/Destination Program Number Touch Keyboard button and input the program number on the touch panel keyboard. If the cursor is in “From” or “To” box, touch the No. column in the table and the number you touched gets input in the box.

  • Page 198: Program: Clear

    9.7 Program: Clear Touch Clear button in the program menu screen. Refer to Section 9.5 for how to go to the program menu screen. Top number to be deleted Last number to be deleted Input the program number to be deleted on the touch panel numeric keys.
  • Page 199 Touch All Clear button in the program number select screen to delete all the programs. To execute, touch Yes button. To cancel, touch No button. Touch OK button to go back to the previous screen. In addition, touch Back or Cancel button several times to go to Flash ROM writing screen.

  • Page 200: Flash Rom Writing

    9.8 Flash ROM Writing The edit data will be cleared by restoring the power and executing software reset, only if the program edit data was transmitted to the controller. To save the data after restoring the power and executing software reset, write the data to Flash ROM. From the final editing screen, return to Flash ROM writing screen with Back button.

  • Page 201: Program Execution

    10. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 10.1 Operation Confirmation Touch Play in the main menu. Also, in the program edit menu, there is Play button. Touch Select Program button. There are three items in the program operation menu. Select Program : It opens the screen to select the program to be executed.
  • Page 202 To show Task No. 9 and further, use Page Up and Page Dn buttons to change the display. Touch Back button to return to Program Operation Menu screen. No. : Task No. Prg. : Program No. Sts : Task Status (Task status in OS administration inside) (For XSEL-K, the main application is applicable in Ver.
  • Page 203 Once a program is selected in the program select screen, the display is switched to the following screen. (Figure below is the case Program No. 1 is selected.) Select whether to operate one step by one or have the continuous operation. Touch Step button to start step operation.
  • Page 204 Area Step No. Display Area Execution Status Display Program No. Display Area Step Data Display Area [Items Shown in Program Operation Screen] Program No. Display Area : Selected program No. is displayed. Step No. Display Area : Is to input Step No. By the input values, Display Area is changed.

  • Page 205: Setting Of Break Point

    10.2 Setting of Break Point Break point can be set with the continuance operation. Break Points All Clear Button Change the display range so that the step No. for setting the break point, is displayed in the screen, by means of direct input of Step No. using the touch panel ten-key pad, or touching the Page Up or Page Dn button.

  • Page 206: Monitoring In Program Operation

    10.3 Monitoring in Program Operation The current position of the actuator and the data in the local and global domains can be monitored during the continuous operation or step operation. Touch Monitor button. The monitor menu is opened. Touching the button selects the monitor item. When the monitor menu screen is closed, the selected monitor screen appears.
  • Page 207 (1) Display the Current Position Display the current position of the actuators. Touch Cur pos. button in the monitor menu. SCARA Axis Linear Axis Servo ON Status Servo OFF status For XSEL-RXD/SXD or RAXD/SAXD Controllers For SCARA type, the coordinate system type to show can be switched.
  • Page 208 (2) Local Flag This is the local flag ON/OFF display. It can be switched ON/OFF. Touch L-Flag button in the monitor menu. When the cursor is in the flag data box as the figure on the top right shows, switchover of ON/OFF is available for the flag which the cursor is placed on.
  • Page 209 (3) Local Variables Displays the contents of the local variable. Moreover, values can be substituted for a local integer variable and a local real variable, and then the character sequence can be substituted for a local string. Touch L Integer L Real L String buttons in monitor menu. 1) Local Integer Variables When the Local Integer Variable screen is opened, the cursor should be placed in a number box.
  • Page 210 2) Local Real Variables When the Local Real Variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric key is also available. The cursor moves to the Value input box.
  • Page 211 Character strings display and input box Touch in a character strings display and input box to show the cursor in it, and input of character strings is available. Touch Keyboard button to show the touch panel keyboard to input. In order to move the cursor among the character string displays, input columns and data columns, touch a place where you would like to show the cursor.
  • Page 212 (5) Global Variables Touch G Integer G Real G String buttons in monitor menu. 1) Global Integer variables When the Global Integer Variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys is also available.
  • Page 213 2) Global Real Variables When the Global Real Variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys is also available. The cursor moves to the Value input box.
  • Page 214 (6) Input Port Touch In port button in monitor menu. Touch Keyboard button to open the touch panel numeric keys, input a port number that you want to show, and touch ENT for confirmation. Every touch of Page Up and Page Dn buttons scrolls up/down the displayed input port numbers by 50 items.
  • Page 215 8) Input/Output Port (for applicable models only) Touch InOutPort button in monitor menu. The way to operate is the same as (7) Output Port.

  • Page 216: Program Execution Time Measurement Function

    10.4 Program Execution Time Measurement Function In the program execution window, the period of time while the program was executed in the indicated section can be measured. Open the program execution window. For the models that support the program execution time measurement function, the program execution time measurement section indication button (T Button) should be displayed between the break...

  • Page 217: Indication Of Execution Time Measurement Section

    10.4.1 Indication of Execution Time Measurement Section Indicate the execution time measurement section while the program is stopped. 1) Touch a blank T Button, and the display of the touched button turns to S as shown in the figure in the left and the execution time measurement start point can be established.
  • Page 218 4) Touch a T Button with E being shown while E is shown in the T Button, and the display of E disappears as shown in the figure in the left and the execution time measurement start and end points become not set. Also, if you touch a button other than that with E being shown, the display of the touched button turns to S and the execution time...

  • Page 219: Display Of Execution Time Measurement Result

    10.4.2 Display of Execution Time Measurement Result Follow the procedures below to display the result of the execution time measurement. 1) Touch Monitor button. 2) Touch Exec Time button. 3) The monitor menu closes automatically and the it becomes that the execution time measurement result gets displayed in the program operation window.

  • Page 220: Cautions

    10.4.3 Cautions • It should be only one section that the execution time measurement section is available to set up. • Once measurement gets started, measurement will be kept on until the step which the end point has been set to completes. •...

  • Page 221: Coordinate System Data Editing Of The Scara Axis

    11. Coordinate System Data Editing of the SCARA Axis 1st to 4th Axes of XSEL-KX, PX/QX, RX/SX or RAX/SAX, 1st to 4th Axes and 5th to 8th Axes of XSEL-RXD/SXD or RAXD/SAXD, 1st to 4th Axes of MSEL-PCX/PGX (*1 1st to 3rd Axes for 3-axis SCARA Type) Touch Edit button.
  • Page 222 Select the coordinate system subject to editing in this screen.

  • Page 223: Editing Of Work Coordinate System Data

    11.1 Editing of Work Coordinate System Data As an input example of the work coordinate system data, a coordinate system as shown below is set for the work coordinate system No. 1. (Motion range at the arm length 500-type stroke) 30°...
  • Page 224 Touch Work coordinate system offset button in the all Coordinate System Data Edit screen. X-axis Offset Input Box The cursor is placed at the number. To select the work coordinate system number, touch Keyboard button to show the touch panel keyboard to input, input on the hardware numeric keys, or use Page Up and Page Dn buttons.
  • Page 225 The cursor is on the X-axis offset data, touch Keyboard button to show the touch panel keyboard. Input 150 and touch ENT. The cursor is placed on the Y-axis offset data. Touch Keyboard button to show the touch panel keyboard. Input 200 and touch ENT.
  • Page 226 The cursor is placed on the Z-axis offset data. As the offset of Z-axis remains at 0, touch in the R- axis offset input box. R-axis offset input box The cursor is placed on the R-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 227 Touch Back button or Cancel button to go to Flash ROM writing screen. To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed.
  • Page 228 Regarding Clear button in Work Coordinate System Data Edit screen No matter where the cursor is placed, all the values in X, Y, Z and R-axes offset are set to 0. To transfer the data to the controller, touch Write button.

  • Page 229: Editing Of Tool Coordinate System Data

    11.2 Editing of Tool Coordinate System Data As an input example of the tool coordinate system data, a tool as shown below is set for the tool coordinate system No. 1. R-axis Tool Roft1=45° Tool End Yoft1=35 Tool End Xoft1=45 D-cut Surface Tool Mounting Surface Center Zoft1=10...
  • Page 230 Edit Screen for XSEL-RX/SX, RAX/SAX Edit Screen for XSEL-RXD/SXD, RAXD/SAXD With the cursor being on the X-axis offset data, touch Keyboard button to show the touch panel keyboard. Input 45 and touch ENT.
  • Page 231 The cursor is placed on the Y-axis offset data. Touch Keyboard button to show the touch panel keyboard. Input 35 and touch ENT. The cursor is placed on the Z-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 232 The cursor is placed on the R-axis offset data. Touch Keyboard button to show the touch panel keyboard. Input 45 and touch ENT. * In 3-axis SCARA type, the offset of R-axis is not taken into account on the controller side. Touch Write button to transfer the data to the controller.
  • Page 233 To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 234 Regarding Clear button in Tool Coordinate System Data Edit screen No matter where the cursor is placed, all the values in X, Y, Z and R-axes offset are set to 0. To transfer the data to the controller, touch Write button.

  • Page 235: Editing Of Simple Interference Check Zone

    11.3 Editing of Simple Interference Check Zone It is required to input the following 3 items to set the simple interference check zone: • 2-point position data to define the zone. (Input the values of the base coordinate system.) • Output port No.
  • Page 236 Edit Screen for XSEL-RX/SX, RAX/SAX To switch the axis in XSEL-RXD/SXD and RAXD/SAXD, touch a radio button. Axis Switchover Edit Screen for XSEL-RXD/SXD, RAXD/SAXD Input of base coordinate values of A. The cursor is located at the X-axis data. Touch Keyboard button to show the touch panel keyboard.
  • Page 237 The cursor is located at the Y-axis data. Touch Keyboard button to show the touch panel keyboard to input -50 and touch ENT. The cursor is located at the Z-axis data. Touch Keyboard button to show the touch panel keyboard to input 150 and touch ENT. The cursor is located at the R-axis data.
  • Page 238 Once the input of coordinate data is finished (the input for R-axis is confirmed), the cursor moves to the input port/flag input box. Touch Keyboard button to show the touch panel keyboard to input 311 and touch ENT. The cursor moves to the Error Type input area. Touch Keyboard button to show the touch panel keyboard to input 1 and touch ENT.
  • Page 239 To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 240 Screen after Touching Clear Button...

  • Page 241: Symbol Edit

    12. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL Controller.) Symbol (Names) can be applied to variables, ports, flags, position, etc. Touch Edit button in the menu screen. Touch Symbol button in the edit screen. Touch Edit button.

  • Page 242: Symbol Edit Items

    12.1 Symbol Edit Items Next Prev. Symbol Select Menu (some models excluded) (1) The items object to editing is as stated below; * Editing is available on the input and output port numbers in the input and output port applicable models.

  • Page 243: Input Example: Symbolize Local Integer Variable No

    12.2 Input Example: Symbolize Local Integer Variable No. Assuming Variable No. 5 in Program No. 3 is symbolized as ‘Cnt5’. Touch Integer Variables No. button. The cursor is located at program No. box Input the local area program No. (To symbolize global area, leave 0.) Touch Keyboard button to show the touch panel numeric keys.
  • Page 244 Input 5 and touch ENT. The cursor moves to the Symbol box. Touch Keyboard button to show the touch panel numeric keys. To input ‘C’, touch SHIFT and then touch C. The keyboard automatically returns to small letter input. Continue to type in n t 5, and touch ENT. Once the input is confirmed, the cursor disappears.
  • Page 245 Touch Back button or Cancel button to go to Flash ROM writing screen. To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed.

  • Page 246: Symbol Edit Screen Of Each Items

    12.3 Symbol Edit Screen of Each Items (1) Constant Number Integer Type Constant Number Symbol Edit Screen Real Type Constant Number Symbol Edit Screen Input alphabet and Input constant value. Remained available number. registrations Example for input of integer constants: Define 1000 to the symbol name ‘Const1’...
  • Page 247 Input Const1 and touch ENT. Input SHIFT C o n s t 1 . The cursor moves to the Value input box. Touch Keyboard button to show the touch panel numeric keys. Input 1000 and touch ENT. After input, touch the Write button to transfer the symbol data to the controller.
  • Page 248 (2) Program Number Indicative Definition Data Integer variable number, real variable number, flag number, tag number and subroutine number Flag Number Symbol Edit Screen Tag Number Symbol Edit Screen Number Input Box: Program Number Input Box: As the integer variable Symbol Input Box: Input values with numbers, real variable numbers...
  • Page 249 (3) Program Number Non-indicative Definition Data Input port No., Output port No., Input/Output port No. (for applicable models only), Program No., Position No. Axis No. Number Input Box: Symbol Input Box: Input values with Input values with numeric keys, touch panel keyboard. Page UP and Page Dn buttons.

  • Page 251: Parameter Edit

    13. Parameter Edit You can change the parameters corresponding to your system. When you change the parameters by yourself, please note the parameter contents. The parameter will be effective after flash ROM writing is finished and performing a software reset or power reboot. Caution: In the case of SSEL, ASEL or PSEL in the positioner mode, parameter transfer cannot be performed when the controller is executing.

  • Page 252: Parameter Edit Items

    13.1 Parameter Edit Items In some controllers, "I/O Slot Card" changes to names of "I/O System Device". Also, the contents to be displayed differ depending on the controllers. Parameter No. Input Area Parameter No. Display Area Parameter Info. Definition Value For Device Independent Parameters (figure shows example of I/O parameter) Parameter No.

  • Page 253: Input Example: Edit Specific-Axis Parameter

    13.2 Input Example: Edit Specific-Axis Parameter Establish the setting in specific-axis parameter No. 7 soft limit + to axis 1 = 300mm, axis 2 = 200mm. Have the cursor displayed in the parameter number input column. (If not, touch the parameter number input column so the cursor goes there.) Touch Keyboard button to show the touch panel numeric keys.
  • Page 254 Touch the place you would like to edit (1st axis in No. 7) in order to move the cursor. Touch the keyboard button after the cursor has been moved to show the touch panel numeric keys. Input 300000 on the touch panel numeric keys and touch ENT.
  • Page 255 Touch Write button to transfer the parameter data to the controller. Caution: In the data setter, only the data in the displayed range is to be retained in the memory. Therefore, writing (transfer to a controller) is necessary to be conducted one by one for each displayed screen.
  • Page 256 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset.

  • Page 257: Monitor

    14. Monitor Monitor each status, global variable, port status, etc. Touch Monitor button in the menu screen. 14.1 Monitor Items Next Prev. * The types and the positions of the buttons shown on the screen differ depending on the model types.

  • Page 258: Input Port

    Input Port : Displays the input port monitor screen Output Port : Displays the output port monitor screen Input/Output port : Displays the input/output port monitor screen (for applicable models only) Global Flag : Displays the global flag monitor screen Global Variable : Displays the select screen in the global variable monitor Axis Status...

  • Page 259: Output Port

    14.3 Output Port As shown in the figure in the top right, it is available to switch ON/OFF the output port that the cursor is placed on when the cursor is in the output port data box. 1: ON, 0: OFF To move the cursor from a port number box to an output port data box, touch the output port data box.

  • Page 260: Global Flag

    14.5 Global Flag Displays the ON/OFF status of global flag. Also, it can switch the ON/OFF status of the global flags. 1: ON, 0: OFF To move the cursor from a flag number box to a flag data box, touch a flag data box. To switch ON/OFF at the cursor place, touch ON or OFF button in the touch panel.

  • Page 261: Global Variable

    14.6 Global Variable Displays the contents of global variable and global string. Also, a numerical value can be substituted for a global variable and letter string can be substituted for a global string. There are three types of global variables. Touch each button to show each monitor screen.
  • Page 262 2) Global Real Variables When the global real variables screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys is also available. The cursor moves to the data box.
  • Page 263 Touch in a character strings display and input box to show the cursor in it, and input of character strings is available. Touch Keyboard button to show the touch panel keyboard to input. In order to move the cursor among the character string displays, input columns and data columns, touch a place where you would like to show the cursor.

  • Page 264: Axis Status

    14.7 Axis Status Displays the current position of each axis, servo status, sensor status, etc. The status items may vary depending on the model. Select the item to be displayed on the monitor using the buttons on the right side of the monitor screen. Position : Displays the current position Servo...
  • Page 265 (2) Servo status It is available to switch the axis number with Page Up and Page Dn buttons. The status of ON/OFF is displayed with (ON) (OFF). (3) Sensor Input Status SCARA Axis Linear Axis (4) Encoder Status * The items displayed on each status screen differ depending on the models.
  • Page 266 (5) Axis Related Error Axis No. Switch the axis number (6) Selected Coordinate System (XSEL-KX, PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL-PCX/PGX only) The coordinate system number currently selected in displayed. XSEL-KX, PX/QX, RX/SX, RAX/SAX XSEL-RXD/SXD, RAXD/SAXD MSEL-PCX/PGX (Shown as Axis No.

  • Page 267: System Status

    14.8 System Status Display system status. The status items may vary depending on the model. Select the item to be displayed on the monitor using the buttons on the right side of the monitor screen. Mode/Error : Displays the current operation mode and error number Status1 : Displays System Status 1 Status2...
  • Page 268 System Status (1) System Status (2) System Status (3)

  • Page 269: Error List

    14.9 Error List Select Error List in the monitor items. The younger the number is, the newer the error. Generated Time shows the time after Error Code the power started to be supplied to the controller or after the software reset. Error Message For XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD TTA and MSEL-...
  • Page 270 (1) Error Detail Information Error Message Time after power started to be supplied to controller or after software reset Information 1 to 4 are the information for IAI to analyze the cause of an error. (The content differs depending on the error number.) Touch Back button to return to the error list display screen.
  • Page 271 (2) Delete Error List Touch All Clr button to show the confirmation screen to clear the error list. Touch Yes button when you want to clear the error list. If you do not want to delete, touch No button. Image after Completing to Delete...

  • Page 272: Version Information

    14.10 Version Information Displays version information. The items available to select and display in each screen, may differ depending on the model. Depending on the controller, the [I/O] button may be changed to the [Field Bus] button. (1) Main Main : Controller application version MainCore : Controller core version...
  • Page 273 (2) Driver The driver CPU version is displayed. (3) Data Setter The version of this product is shown. TP-Ver : Application version TPCore: Core version (4) I/O Version of extension I/O module is displayed (5) Encoder Version of encoder CPU is displayed...

  • Page 274: Control Constant Table Management Information

    14.11 Control Constant Table Management Information (for applicable models only) It is available to check the version of the control constant table for the encoder and monitor.

  • Page 275: Maintenance Information

    14.12 Maintenance Information (for applicable models only) Displays the number of actuator movement and distance. [Items Shown in Maintenance Information Screen] 1) Axis No. 2) Total moved count 3) Total run distance [km] * Clear PairID button is displayed only when the battery-less absolute encoder is connected and the pairing I.D.
  • Page 276 [Output Timing (Threshold) Setting of Signals] 1) Axis. No. 2) Threshold for total moved count 3) Threshold for total run distance [km] 1) Axis No. It shows the axis number. 2) Threshold for total moved count It shows the threshold for the total number of the movements. 3) Threshold for total run distance [km] It shows the threshold for the total number of the travelled distance.

  • Page 277: Actuator Replacement

    14.12.1 Actuator Replacement When the actuator is replaced, the total operation times and total operation distance can be initialized (cleared). Touch Replace Act button. The password input window appears. Input 5119 on the keyboard. * Once the password is input, it is effective until getting out of the maintenance information window.

  • Page 278: Pairing Id Clear

    Once the process is completed, the screen changes to the figure shown in the left. Touch OK button. When the battery-less absolute encoder is connected and the pairing ID clear feature is activated, the pairing ID clear execution confirmation window appears continually. Refer to 14.12.2 Pairing ID Clear to conduct the pairing ID clear if necessary.
  • Page 279 The password input window appears. Input 5119 on the keyboard. * Once the password is input, it is effective until getting out of the maintenance information window. Touch Yes button when the paired ID is to be cleared. Touch No button when the paired ID is not to be cleared.

  • Page 280: Servo Additional Data Monitor

    14.13 Servo Additional Data Monitor (for applicable models only) The servo additional data should be monitored in the display. The contents available to monitor differ depending on the model. 1) Monitor Type Box 2) Data Display Area 1) Monitor Type Box Show and select the monitoring type to be displayed in the data display area.

  • Page 281: Controller

    15. Controller How to execute operation related to the controller such as a software reset and an error reset. Touch Controller button in the menu screen. 15.1 Controller Items Next Next * The types and the positions of the buttons shown on the screen differ depending on the model types.
  • Page 282 Flash ROM Writing : Conducts flash ROM writing Software Reset : Conducts software reset on controller Error Reset : Resets the controller error Memory Clear : Clears each memory on controller Re-Connection : Conducts reconnection of the controller Baud Rare Change : Changes the baud rate for communication with the controller Request Power Recovery : Demands the drive source recovery to the controller Request Release Pause : Demands the cancellation of pause to the controller...

  • Page 283: Flash Rom Writing

    15.2 Flash ROM Writing After clearing the data from Flash ROM, write data which is saved in controller memory to Flash ROM. To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed.

  • Page 284: Software Reset

    15.3 Software Reset Executes software reset of the controller. The data which is not written to Flash ROM will be cleared. Touch Yes button when you want to have a software reset. When the software reset is not necessary, touch No button .

  • Page 285: Error Reset

    15.4 Error Reset Executes error reset of the controller. Reset the message-level and action-release-level errors. If the cause of an error is already removed, the background color is changed from orange to white which shows in normal condition. The background color is orange when an error is being generated.

  • Page 286: Memory Clear

    15.5 Memory Clear 15.5.1 Memory Initialization Items Example for Memory Initializing Menu Screen (XSEL-RXD/SXD) Example for Memory Initializing Menu Screen (TTA) (2nd page in the same section) * The types of buttons to be displayed will differ depending on models. Global Variable : Conducts Zero-Clear to global variables User Data Hold Memory...

  • Page 287: Global Variable

    Program Data (restore prev data) : Recover the flash ROM writing data for the program data to the writing data of one generation before. (TTA and MSEL- PCX/PGX/PC/PG/PCF/PGF only) Symbol Data (restore prev data) : Recover the flash ROM writing data for the symbol data to the writing data of one generation before.

  • Page 288: User Data Hold Memory

    15.5.3 User Data Hold Memory Refer to “17.3 User Data Hold Memory Initialization”. 15.5.4 Position Data (XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA and MSEL-PCX/PGX/PC/PG/PCF/PGF Only) Position data is cleared. Initialize the position data by using this function in case 6BD “Position Data Construction Change Error”...
  • Page 289 To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 290 Once the software reset is complete, the display returns to the main menu screen.

  • Page 291: Coordinate System Data (Xsel-Rx/Sx, Rxd/Sxd, Rax/Sax, Raxd/Saxd And Msel-Pcx/Pgx Only)

    15.5.5 Coordinate System Data (XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL-PCX/PGX Only) All the coordinate system definition data is cleared. Initialize the coordinate system definition data by using this function in case D40 “Coordinate System Data Control Area Sum Check Error”, D41 “Coordinate System Control Area ID Error” or D42 “Coordinate System Data Sum Check Error”...
  • Page 292 The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen.

  • Page 293: The Value Of This Parameter At The Factory

    15.5.6 The value of this parameter at the factory (SSEL, ASEL, PSEL, XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA AC Servo Type / High-Resolution Type and MSEL High- Resolution Type) Set the parameters back to the condition of delivery from the production plant. The password input window appears.
  • Page 294 To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 295 The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen.

  • Page 296: Program Data (Restore Prev Data)

    15.5.7 Program Data (Restore Prev Data) The flash ROM writing data in the program data is recovered to the writing data of one generation before. Touch Yes button when you want to set the program data one generation before. When it is not necessary to set the program data one generation before, touch No button.
  • Page 297 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. Flash ROM writing is complete. Touch OK button to return to the edit menu screen.

  • Page 298: Symbol Data (Restore Prev Data)

    15.5.8 Symbol Data (Restore Prev Data) The flash ROM writing data in the symbol data is recovered to the writing data of one generation before. Touch Yes button when you want to set the symbol data one generation before. When it is not necessary to set the symbol data one generation before, touch No button.

  • Page 299: Position Data (Restore Prev Data)

    15.5.9 Position Data (Restore Prev Data) The flash ROM writing data in the position data is recovered to the writing data of one generation before. Also, Position Data No. 1 to 10000 cannot be recovered. Touch Yes button when you want to set the position data one generation before.

  • Page 300: Parameter Data (Restore Prev Data)

    15.5.10 Parameter Data (Restore Prev Data) The flash ROM writing data in the Parameter data is recovered to the writing data of one generation before. Touch Yes button when you want to set the parameter data one generation before. When it is not necessary to set the parameter data one generation before, touch No button.
  • Page 301 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the software reset screen. To activate the parameters that you had changed, it is necessary to have a software reset.

  • Page 302: Re-Connection

    15.6 Re-Connection Re-connect to the controller. Touch Yes button when you want to reconnect the controller. When it is not necessary to reconnect the controller, touch No button. Once you touch Yes button, the reboot of this data setter starts. The screen shown on the left is displayed after IAI logo mark is shown.

  • Page 303: Baud Rate Change

    15.7 Baud Rate Change Changes the communication baud rate between the controller and the data setter. Touch a button for the baud rate of change. Touch OK button when you change the baud rate. When change of the baud rate is not necessary, touch CANCEL button.

  • Page 304: Safety Velocity

    15.8 Safety Velocity Switches the safety velocity limit status at manual mode. Safety Velocity Limit does not Effect… There is no safety speed limitation Safety Velocity Limit Effect… There is safety speed limitation (No matter what the settings are for the programs and parameters, the maximum velocity for linear axis is 250mm/sec or less, CP operation 250mm/sec or less for SCARA and PTP operation...

  • Page 305: Action Pause Release Request

    15.10 Action Pause Release Request Requests to release action pause to the controller. To demand the cancellation of the operation pause, touch Yes button. The display returns to the previous screen. When it is not necessary to demand the cancellation of the operation pause, touch No button.
  • Page 306 When you select to forbid the simultaneous operation of multiple programs, the confirmation screen will be displayed. To establish the setting, touch Yes button. When it is not necessary to establish the setting, touch No button. When you select to allow the simultaneous operation of multiple programs, the confirmation screen will be displayed.

  • Page 307: Driver Power Recovery Request And Action Pause Release Request

    15.12 Driver Power Recovery Request and Action Pause Release Request 15.12.1 In the Case of Controller Other Than SSEL, ASEL and PSEL Controllers (1) Driver Power Recovery Request 1) Case which requires executing Driver Power Recovery Request Only the following case requires executing Driver Power Recovery Request: •...

  • Page 308: In The Case Of Ssel, Asel Or Psel Controller

    15.12.2 In the Case of SSEL, ASEL or PSEL Controller (1) Driver Power Recovery Request 1) Case which requires executing Driver Power Recovery Request Only the following case requires executing Driver Power Recovery Request: • When you specify any input port for the driver power cut-off release input signal (dedicated function), driver power cut-off occurs →...

  • Page 309: Time Setting

    15.13 Time Setting Time setting should be established in the controller. The time displayed in the Error Detailed Data screen is the error occurrence time. * This function is valid only for the following models : • XSEL-R/S, RX/SX, RXD/SXD (MAIN Application from Version 0.01) •...
  • Page 310 The display turns to the confirmation screen when the controller clock setting is finished. Touch OK button to return to the clock display screen. The display returns to this screen. Touch Back button to return to Controller Menu screen.

  • Page 311: Pairing Id Clear

    15.14 Pairing ID Clear The controller possesses a feature to output an absolute error when it checks the encoder ID and detects it is wrong. In case replacement is conducted with an actuator which the absolute reset has been executed, it is necessary to clear the existing ID (pairing ID). This feature is available only when the battery-less absolute encoder is connected and the pairing ID clear feature is activated.
  • Page 312 Touch Yes button when the paired I.D. is to be cleared. Touch No button when the paired I.D. is not to be cleared. Once the process is completed, the screen changes to the figure shown in the left. Touch OK button to go back to axis number select screen.

  • Page 313: Absolute Reset

    16. Absolute Reset 16.1 Absolute Reset of the Linear Axis : XSEL-K, P/Q, or 5th and 6th Axes of PX/QX Controller, XSEL-R/S or 5th to 8th Axes of RX/SX Controller, or SSEL, ASEL Controller When the controller is applicable to the “battery-less absolute reset”, the procedure is different.
  • Page 314 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. 4) Returning Home Touch OK button.
  • Page 315 5) Servo-OFF Touch OK button. 6) Encoder Rotation Data Reset 2 Touch OK button. Return to the axis No. input screen. When you want to have another axis conduct absolute reset, input the axis number and touch OK button. To finish absolute reset, touch Re-Start controller button.

  • Page 316: Absolute Reset Of The Scara Axis

    16.2 Absolute Reset of the SCARA Axis 16.2.1 How to Conduct Absolute Reset on 1st to 4th Axes of XSEL-KX and PX/QX, 1st to 4th Axes for XSEL-RX/SX and XSEL-RXD/SXD Controllers Absolute Reset Preparation The following jigs are required to perform an absolute reset: Absolute Reset Adjustment jigs.
  • Page 317 There are three types of absolute reset, Arm1, Arm2 and Z-axis + R-axis. (1) Absolute Reset on Arm1 and Arm2 Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes button. When not to have an absolute reset, touch No button.
  • Page 318 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. 4) Jog Movement Move the actuator with jog to a point near the standard posture (refer to the figures for standard posture in the following pages), and touch OK button.
  • Page 319 5) Servo-OFF Touch OK button. 6) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig. Fix at the datum posture described in the next page, and touch OK button. Inputting emergency stop displays the screen at the left.
  • Page 320 Check that the EMERGENCY STOP button has been pressed. When performing an absolute reset for Arm1, set an adjustment jig (pin) in Arm1 to fix the arm at the reference position. In that case, Arm2 may be moved. When performing an absolute reset for Arm2, set an adjustment jig (pin) in Arm2 to fix the arm at the reference position.
  • Page 322 Warning: Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death.
  • Page 323 7) Encoder Rotation Data Reset 2 Touch OK button. 8) Home pos. automatic update Touch Page Up button. Make sure not to touch OK button • Do not execute the item of “Home pos. automatic update” (Be careful especially when performing an absolute reset without a jig.) •...
  • Page 324 The display returns to the first screen. Touch CANCEL button. Touch Re-Start controller button. Restart the controller. Touch Yes button. The display returns to the main menu when the reboot is finished. Caution: Be careful not to perform reset using an incorrect sequence, since it may cause the arm position to become offset.
  • Page 325 (2) Absolute reset on Z-axis + R-axis Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes button. When not to have an absolute reset, touch No button. The display returns to the previous screen. Axis No. input Input 3 on the touch panel numeric keys to indicate the axis number to have the absolute reset conducted, and touch ENT for confirmation.
  • Page 326 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button.
  • Page 327 4) Temp. standard posture standby Touch OK button. Caution: The Z-axis returns to the home position. 5) Jog Movement Move the R-axis with the jog button to a place around the standard posture (refer to the figures of standard posture in the next page and after), and touch OK button.
  • Page 328 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. Fix at the datum posture described in the next page, and touch OK button. Inputting emergency stop displays the screen at the left.
  • Page 329 Place the adjusting jig plate and pin as shown below and fix the standard posture. • After checking that the EMERGENCY STOP switch has been pressed, set the jig. • Set the jig by referring to the positioning mark. • Adjust the level so that the top surface of the stopper approximately agrees with the under surface of the Arm2.
  • Page 330 Warning: Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death.
  • Page 332 Warning: • Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. • Pay attention to the orientation of the D-cut surface of the plate jig.
  • Page 333 8) Encoder Rotation Data Reset 2 Touch OK button. 9) Home pos. automatic update Touch OK button. 10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP button. Touch OK button.
  • Page 334 12) Standard posture standby Touch OK button. Caution: The Z-axis returns to the home position. 13) Servo-OFF Touch OK button. 14) Encoder Rotation Data Reset 3 Touch OK button. 15) Home pos. automatic update Touch OK button.
  • Page 335 The display returns to the first screen. Touch CANCEL button. The display returns to the previous screen. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed.
  • Page 336 The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen.

  • Page 337: How To Conduct Absolute Reset On Xsel-Rax/Sax/Raxd/Saxd Scara Axes

    16.2.2 How to Conduct Absolute Reset on XSEL-RAX/SAX/RAXD/SAXD SCARA Axes Absolute Reset on SCARA Axes: Follow the procedures below to conduct the absolute reset on 1st to 4th Axes of XSEL-RAX/SAX and 1st to 4th Axes and 5th to 8th Axes of RAXD/SAXD. There are some types as shown below for the absolute reset.
  • Page 338 4) Emergency stop and Positioning jig mounting Press the EMERGENCY STOP button, and then attach the positioning tool. Affix to the standard posture (refer to figure of standard posture in 16.2 (1)), and then touch OK button. * After touching OK, Encoder Multi-Rotation Data Reset 2 and Home Position Preset Automatic Update should be conducted.
  • Page 339 7) Touch Yes button to start flash ROM writing. 8) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 9) Once the flash ROM writing is finished, the screen changes to the screen for software reset.
  • Page 340 (2) Absolute reset on Z-axis + R-axis 1) Input the axis number to the axis number box using the touch panel numeric keys, and then touch Next button. * Input the axis number of the Z-axis (either 3 or 2) Encoder Rotation Data Reset 1 (Rc, Zc) to Temp.
  • Page 341 4) Emergency stop input and Positioning pin set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. Affix to the standard posture (refer to figure of standard posture in 16.2 (2)), and then touch OK button. * After touching OK, the process will be carried out in order from Encoder Multi-Rotation Data Reset 2 (Rc) to Home preset value automatic...
  • Page 342 7) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 8) Touch Yes button to start flash ROM writing. 9) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time.

  • Page 343: Perform Absolute Reset On Zr Unit (Absolute Type)

    16.3 Perform Absolute Reset on ZR Unit (Absolute Type) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required.
  • Page 344 [2] Absolute Reset Procedures For absolute reset for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 345 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. 4) Temp. Standard posture standby Touch OK button. Caution: The vertical axis returns to the home position.
  • Page 346 5) Jog Movement Move the rotary axis with the jog button to a place around the standard posture (refer to the figures of standard posture in the next page and after), and touch OK button. 6) Servo-OFF Touch OK button. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 347 Jig Attachment Procedure D-shaped surface Shaft 1) Insert the ball screw spline shaft into the jig hole from the lower side. 2) Put the D-cut surface of the ball screw spline shaft onto the surface “a”. 3) Put the ball screw spline shaft side surface onto the surface “b”. 4) Fasten the screw “c”...
  • Page 348 8) Encoder Rotation Data Reset 2 Touch OK button. 9) Home pos. automatic update Touch OK button. 10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP button. Touch OK button.
  • Page 349 12) Standard posture standby Touch OK button. Caution: The vertical axis returns to the home position. 13) Servo-OFF Touch OK button. 14) Encoder Rotation Data Reset 3 Touch OK button. 15) Home pos. automatic update Touch OK button.
  • Page 350 Touch CANCEL button. Touch Re-Start controller button. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 351 After flash ROM writing is complete, the display changes to the software reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. The screen shown on the left is displayed during the software reset.

  • Page 352: Perform Ball Screw Spline Shaft Adjusting On Zr Unit (Incremental Type)

    16.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) Normally, adjustment of the ball screw spline shaft adjusting is not required. Perform it only when the combination of the main unit and the controller is changed because the ZR unit or controller is changed.
  • Page 353 [2] Ball Screw Spline Shaft Adjusting Procedure For ball screw spline shaft adjusting for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 354 1) Reset Controller Error Touch OK button. 2) Servo-ON Touch OK button. 3) Temp. Standard posture standby Touch OK button. Caution: The vertical axis returns to the home position. 4) Returning Home Touch OK button. Caution: The rotation axis returns to the home position.
  • Page 355 5) Jog Movement Move the rotation axis to the vicinity of the standard position with jog button (see the “Standard Posture Drawing” on the next page). Touch OK button. 6) Servo-OFF Touch OK button. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 356 Jig Attachment Procedure D-shaped surface Shaft 1) Insert the ball screw spline shaft into the jig hole from the lower side. 2) Put the D-cut surface of the ball screw spline shaft onto the surface “a”. 3) Put the ball screw spline shaft side surface onto the surface “b”. 4) Fasten the screw “c”...
  • Page 357 8) Home pos. automatic update Touch OK button. 9) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Touch OK button. Touch CANCEL button.
  • Page 358 Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 360: Linear Axis Synchro Specification Absolute Reset

    16.5 Linear Axis Synchro Specification Absolute Reset 5th and 6th Axes of XSEL-K, P/Q or PX/QX Controller, 5th to 8th Axes of R/S or RX/SX Controller, or SSEL Controller The following are descriptions about the absolute reset methods for synchro specification axes. The products ordered as the synchro specification are shipped after setting parameters to the synchro specification.

  • Page 361: Location Adjustment Of Synchro Axes Sliders

    Example 2) When standard procedure is executed for 2-axis controller: 16.5.2 Location Adjustment of Synchro Axes Sliders Align the synchro axes sliders. (Physical parallel adjustment) (1) Adjust the relative locations between the sliders of the master and slave axes and connect them while the axes are not connected to the controller via cables (controller main power OFF).

  • Page 362: Special Procedure Absolute Reset

    16.5.3 Special Procedure Absolute Reset In the case of “Specific-axis parameter No. 38 encoder ABS/INC type”: master axis = 1 and slave axis = 1: (1) Record the current value of the “Specific-axis parameter No. 83 ABS synchro slave axis coordinate initialization cancel”...
  • Page 363 Touch Back button several times to go to Flash ROM writing screen. Write the data to Flash ROM. Touch Yes button. Conduct the reboot (software reset) on the controller. Touch Yes button. (3) Execute an absolute reset according to the following special procedure (forced operation by ignoring the screen steps): When the controller is applicable to the “battery-less absolute reset”, the procedure is different.
  • Page 364 Touch OK button. Touch CANCEL button. Make sure not to touch OK button. Get out of Absolute Reset Mode now. 2) Execute an absolute reset for the master axis according to the screen steps. Input the axis number of the master axis by using the touch panel numeric keys, and then touch ENT to confirm the input.
  • Page 365 Touch OK button. Touch OK button. Returning Home Touch OK button. Servo-OFF Touch Page Up button to forward the screen. Make sure not to touch OK button.
  • Page 366 Touch OK button. 3) Execute the “Encoder Rotation Data Reset 1” for the slave axis again Input the axis number of the slave axis by using the touch panel numeric keys, and then touch ENT to confirm the input. Touch Next button. Touch OK button.
  • Page 367 Touch Re-Start controller button. Restart the controller. Touch Yes button.
  • Page 368 4) Return the slave-axis value for the “specific-axis parameter No. 83 ABS synchro slave axis coordinate initialization cancel” to the original value. Display Transition: Edit → Parameter → Specific Axis Input 1 on the touch panel numeric keys, and then touch ENT to confirm the input.
  • Page 369 (5) Set the preset home value to uniform the coordinate values of the master and slave axes. 1) If the controller 7 segment display is “rdy” while the servo is OFF, read the displayed current positions of the master and slave axes. (If the error No.
  • Page 370 3) Input the calculation result in 2) above to the “Specific-axis parameter No. 12 preset home value” for the slave axis. After touching ENT, touch Write button to transfer the data to the controller. Use Back button to go to Flash ROM writing screen.
  • Page 371 (6) Display the current positions on the teaching screen. After turning the servo ON, execute action check by jogging. (Master axis operation) Display Transition: Edit → Position → Teach (Linear) Use Disp button to switch to the Cur Pos.. To turn the servo ON/OFF, use the SERVO ON/OF, Axis 1 JOG-, Axis 1 JOG+, Axis 2 JOG-, Axis 2 JOG+, Axis 3 JOG-, Axis 3 JOG+, Axis 4 JOG- and...

  • Page 372: Standard Procedure Absolute Reset

    16.5.4 Standard Procedure Absolute Reset In the case of “Specific-axis parameter No. 38 encoder ABS/INC type”: master axis = 1 and slave axis = 0: After “2. Location Adjustment of Synchro Axes Sliders,” execute a normal absolute reset only for the master axis.

  • Page 373: How To Perform Pressing Absolute Reset On Ix-1000/1200

    16.6 How to Perform Pressing Absolute Reset on IX-1000/1200 Have “Pressing Absolute Reset” conducted in case the absolute data is lost in Ultra Large SCARA Robot IX-NNN10040/IX-NNN12040. Also, in the following cases, have “Stopper Pressing Position Acquirement” before conducting the absolute reset to change the initial posture.
  • Page 374 [Initial posture] Arm1, Arm2  Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. When the product is delivered, it is set to the right arm system. In case the arm interferes with the peripheral in the right arm system, set it to the left arm system in advance, conduct “Push stopper position acquisition”...

  • Page 375: How To Acquire Stopper Pressing Position

    16.6.1 How to Acquire Stopper Pressing Position Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) Select Absolute Reset from Controller Menu.
  • Page 376 16.6.1.1 Procedures for All Axes in Batch 1) Either touch 1-4 or 5-8 button, and touch Next button. * There is 5-8 button equipped in XSEL- RXD/SXD and RAXD/SAXD only. 2) Remove user tool In case there is a concern of interference during operation, detach the user tool in the emergency stop condition.
  • Page 377 5) Moving to Initial Posture 1. If using JOG operation to align to initial posture To avoid interference, use JOG operation to align each axis to the initial posture. Touch OK button. 2. If aligning to initial posture manually Turn on the emergency stop. Align each axis to the initial posture manually.
  • Page 378 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time.
  • Page 379 16.6.1.2 Procedures for Individual Axis (1) Arm1 and Arm2 1) Input either 1 or 2 (5 or 6) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that Arm1 on the 1st SCARA in XSEL- RXD/SXD is selected.
  • Page 380 4) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 16.6. How to Perform Pressing Absolute Reset on IX-1000/1200) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo ON.
  • Page 381 7) Selection for Moving Direction of Arm1 (2) 1. If conducting with motor drive Touch the radio button for motor drive. Touch OK button. 2. If conducting manually Touch the radio button for manual (hand) . Touch OK button. Note: Touch CANCEL button to finish the absolute reset.
  • Page 382 10) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 11) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 12) Touch Yes button to start flash ROM writing.
  • Page 383 13) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 14) Once the flash ROM writing is finished, the screen changes to the sceen for software reset. Touch Yes button to reflect the pressing position.
  • Page 384 (2) Vertical Axis + Rotation Axis 1) Input either 3 or 7 (7 for XSEL-RXD/SXD and RAXD/SAXD only) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that vertical axis + rotation axis on the 1st SCARA in XSEL-RXD/SXD are selected.
  • Page 385 5) Moving to Initial Posture 1. If using JOG operation to align to initial posture To avoid interference, use JOG operation to align the vertical axis and rotary axis to the initial posture. Touch OK button. 2. If aligning to initial posture manually Turn ON the emergency stop.
  • Page 386 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time.

  • Page 387: How To Conduct Stopper Pressing Absolute Reset

    16.6.2 How to Conduct Stopper Pressing Absolute Reset Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) Select Absolute Reset from Controller Menu.
  • Page 388 16.6.2.1 Procedures for All Axes in Batch 1) Touch 1-4 or 5-8 button, and touch Next button. * There is 5-8 button equipped in XSEL- RXD/SXD and RAXD/SAXD only. 2) Encoder Rotation Data Reset / Reset Controller Error Touch OK button. 3) Remove user tool In case there is a concern of interference during operation, detach the user tool in the...
  • Page 389 5) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 16.6. How to Perform Pressing Absolute Reset on IX-1000/1200) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo on.
  • Page 390 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen.
  • Page 391 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button.
  • Page 392 16.6.2.2 Procedures for Individual Axis (1) Arm1 and Arm2 1) Input either 1 or 2 (5 or 6) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that Arm1 on the 1st SCARA in XSEL- RXD/SXD is selected.
  • Page 393 4) Emergency stop release If the emergency stop is conducted in the previous section, cancel the emergency stop. (The screen for emergency stop is shown in the figure on the left.) Touch OK button. 5) Align the arm to the initial posture with JOG operation or manually.
  • Page 394 7) Stopper Pressing Absolute Reset on Indicated Axis Touch OK button. Arm1 (2) moves for stopper pressing. 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears.
  • Page 395 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button.
  • Page 396 (2) Vertical Axis + Rotation Axis 1) Input either 3 or 7 (7 for XSEL-RXD/SXD and RAXD/SAXD only) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that vertical axis + rotation axis on the 1st SCARA in XSEL-RXD/SXD are selected.
  • Page 397 5) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 16.6. How to Perform Pressing Absolute Reset on IX-1000/1200) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo ON.
  • Page 398 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen.
  • Page 399 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button.

  • Page 400: How To Home Adjustment / Absolute Reset On Msel-Pcx/Pgx/Pc/Pg/Pcf/Pgf And Psel

    16.7 How to Home Adjustment / Absolute Reset on MSEL-PCX/PGX/PC/PG/PCF/PGF and PSEL Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) 1) Select Calibration Home / Absolute Reset from Controller Menu.
  • Page 401 It is available to perform operation on SCARA Robot without having anything special as an absolute reset has already been conducted before delivered out from our factory. It is necessary to have an absolute reset when an absolute error generates or the robot is dismantled for such a reason as motor replacement work.

  • Page 402: Scara J1, J2 And R Axes

    16.7.1 SCARA J1, J2 and R Axes 16.7.1.1 How to Calibration Home / Absolute reset Have the absolute reset and home adjustment (home preset automatic update) conducted with the following steps for SCARA J1, J2 and R axes. 1) Input a number in Axis No. box with using the software numeric keys, and then touch Next button.
  • Page 403 3) Jog -> Standard posture Align the indicated axis to the vicinity of the datum position with JOG operation. (Refer to the figure in Step 6) for the datum position.) After finished, touch OK button. * After touching OK, the indicated axis turns off automatically.
  • Page 404 6) Fixture Set for Home Adjustment Set the fixture (positioning pin) for home adjustment. After setting is complete and fixed at the datum posture, touch OK button. * After touching OK, home preset gets automatically updated. [Datum position] J1 axis Home-Position Adjusting Tool (4) Home-Position...
  • Page 405 7) Removal of Fixture for Home Adjustment and Cancel of Emergency Stop Remove the fixture for home adjustment (positioning jig) if it is attached. After releasing the EMERGENCY STOP button, touch OK button. * After touching OK, the screen automatically returns to the axis select screen.
  • Page 406 11) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. Once the software reset is complete, the screen automatically returns to the main menu screen.

  • Page 407: Scara Z-Axis, Battery-Less Absolute Type Additional Axes And Linear Axes

    16.7.2 SCARA Z-Axis, Battery-less Absolute Type Additional Axes and Linear Axes 16.7.2.1 How to Absolute Reset For SCARA Z-axis, the battery-less absolute type additional axes and the linear axes, have the absolute reset conducted with the following steps. 1) Input a number in Axis No. box with using the software numeric keys, and then touch Next button.
  • Page 408 3) Complete! Touch OK button. After touching OK, the screen automatically returns to the axis select screen. 4) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. (Reference) Flash ROM writing can be conducted at once after absolute reset completes on each axis.
  • Page 409 7) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. Once the software reset is complete, the screen automatically returns to the main menu screen.

  • Page 410: How To Conduct Absolute Reset For Battery-Less Absolute Type

    16.8 How to Conduct Absolute Reset for Battery-less Absolute Type Make sure to have a backup before conducting it so the parameters can be set back any time. (Go to File - Backup - Parameter from the main menu to open the parameter backup screen to save a file.) 16.8.1 How to Conduct Absolute Reset for Battery-less Absolute Type...
  • Page 411 4) Touch Re-Start Controller button. Flash ROM writing confirmation screen opens. 5) Touch Yes button. 6) While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 412: Special Procedurce: How To Conduct Absolute Reset Battery-Less Absolute Synchronizing Type

    16.8.2 Special ProcedurCe: How to Conduct Absolute Reset Battery-less Absolute Synchronizing Type Synchronizing Type Absolute Reset: For XSEL-P/Q (V1.52 or later), XSEL-R/S, 5th to 8th axes in RX/SX (V1.23 or later), XSEL-RA/SA, 5th to 8th axes in RAX/SAX (V0.57 or later), SSEL (V0.57 or later) and ASEL (V0.45 or later), conduct the absolute reset for the synchronizing type in the following procedures.
  • Page 413 2) Conduct the absolute reset on the master axis. Input the axis number of the master axis using the touch panel numeric keys, and then touch Next button. Touch OK button. After touching OK, the process is carried out in order from Encoder Multi-Rotation Data Reset 1 till it stops.
  • Page 414 Touch OK button. Touch OK button. After touching OK, the screen automatically goes back to the axis select screen. Touch Re-Start Controller button. Flash ROM writing confirmation screen opens. Touch Yes button.
  • Page 415 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the Software Reset screen. Touch Yes button.

  • Page 416: How To Conduct Absolute Reset On Pulse Motor Type Tta

    16.9 How to Conduct Absolute Reset on Pulse Motor Type TTA Make sure to have a backup before conducting it so the parameters can be set back any time. (Go to File - Backup - Parameter from the main menu to open the parameter backup screen to save a file.) 16.9.1 How to Conduct Absolute Reset on Pulse Motor Type TTA...
  • Page 417 4) Touch Re-Start Controller button. Flash ROM writing confirmation screen opens. 5) Touch Yes button. 6) While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 418: Procedures For Resetting Absolute-Battery Voltage-Down Warning Error For

    16.10 Procedures for Resetting Absolute-Battery Voltage-Down Warning Error for Linear Axis: XSEL-K, P/Q, 5th and 6th Axes of PX/QX, XSEL-R/S, 5th to 8th Axes of RX/SX, XSEL-RA/SA, 5th to 8th Axes of RAX/SAX, SSEL, ASEL and PSEL Controller When the absolute-encoder-battery voltage-down warning error (error code A03) occurs or a battery with no error occurring is replaced, the encoder error and software are reset.
  • Page 419 4) Axis No. Input Input a number on the touch panel numeric keys to indicate the axis number to have the encoder error reset conducted, and touch ENT for confirmation. 5) Once the input is confirmed, the cursor disappears. If you want to redo the input, touch the axis number input box.

  • Page 420: Home Adjust / Absolute Reset For Wrist Unit: Msel-Pc/Pg/Pcf

    16.11 Home Adjust / Absolute Reset for Wrist Unit: MSEL-PC/PG/PCF/PGF Absolute reset for the wrist unit should be conducted on the B-axis and T-axis in a series of operations. As you will need to operate the robot in the process of adjustment, make sure that there is nothing to interrupt the robot movement in the actuator working area.
  • Page 421 3) Input a number in Axis No. box with using the software numeric keys, and then touch Next button. 4) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake.
  • Page 422 5) Adjusting jig removal and Emergency stop release Remove the adjusting jig. Turn off the brake release switch to enable the brake. Release the EMERGENCY STOP button, before touching OK button. * After touching OK, the process is carried out from the Servo-ON to the coordinate origin association data update (B, T) in order.
  • Page 423 9) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 10) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset.

  • Page 425: Gateway Function Associated

    17. Gateway Function Associated In the case of the XSEL-P/Q/PX/QX, XSEL-R/S/RX/SX/RXD/SXD controllers with the RC gateway function, the following operations are available. • Editing of the RC Position Data in XSEL • RC-axis Monitoring 17.1 Editing of the RC Position Data in XSEL 17.1.1 RC Position Data Creation The RC position data to be set in the XSEL controller is edited.
  • Page 426 Touch Teach button in the RC edit menu screen. Select the RC axis number to have the position edit by touching the appropriate button. The display returns to the RC edit menu screen if you touch Back button. [Items Displayed in RC Teach Screen] 2) Current Position 3) Axis Status 1) Axis No.
  • Page 427 Incremental coordinate specification : Relative amount (movement amount) from current position It is determined by the command in SEL language if the target position is indicated in absolute coordinates or relative coordinates (*). (e.g.: RMVP Command → Absolute coordinates indication, RMP Command → Relative...
  • Page 428 [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) Caution: The position data starts from No.
  • Page 429 Then, input values for Vel (mm/s), Acc (G), Push (%) and Range (mm). [Caution] In the TB-03, the input range check is not performed. Confirm the specifications for the RC actuator in using, and input the data. When you want to erase the data that is already input, touch CLR ENT on the touch panel numeric keys to delete what you want.
  • Page 430 [Data Transfer] After data input is complete, touch Write button on the touch pane to transfer the data to the controller. [Caution] The input data would not be written to the controller unless the operation above is conducted. In case the position number is changed without the operation above being conducted, the data remains the same as before change.
  • Page 431 Touch Yes button on the touch panel and the data gets transferred to the controller. Once the clear is succeeded, the data in the same position number (after cleared) is displayed. [Alarm Reset] If you want to have an alarm reset on the RC axis in edit, touch AL button.
  • Page 432 When you want to have an alarm reset only on the indicated axis, touch One Axis button. When you want to have an alarm reset on all the RC axes, touch All Axes button. Touch Yes button. Touch No button, to return to the RC alarm reset screen.

  • Page 433: Rc Position Data Input Using The Teaching Operation

    17.1.2 RC Position Data Input Using the Teaching Operation One of the methods for the RC position data input is the teaching operation (The RC actuator is moved to any position and the RC actuator current position is captured as the data). The methods for moving the RC actuator to any position are the jog operation •...
  • Page 434 (1) Servo ON/OFF Operation Using this operation, the RC actuator servo-motor is turned ON/OFF. This operation is available only in the single axis. Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the 0th axis servo-on button to turn the servo on.
  • Page 435 (3) Actuator Movement 1) Jog operation Perform the jog operation of the RC actuator. This operation is available only in the single axis. Turn the servo-motor ON. Touch Axis 0 JOG + or Axis 0 JOG - button to move the actuator to the specific position. (“+”...
  • Page 436 Set the positioning band (to set how much in front of the inching movement amount the positioning should complete). Show the cursor to the input part beside "Inp" and touch Keyboard button to open the touch panel numeric keys to input a value and touch ENT. The numerical value input range is from 0.01 to 9999.99 (Unit: mm).
  • Page 437 3) Manual Movement (direct teaching) with the servo-motor turned OFF Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the Axis 0 SERVO OFF button to turn the servo off. The condition of servo-on/off can be checked on the axis status display “SV”, which turns on when the servo is on and turns off when the servo is off.
  • Page 438 (4) Current Position captured as the Data The chosen RC actuator position is taken in the teaching window as the position data. Set the position number from which the current position is to be loaded. Touch Scan button to load the current position to the target position from with the data is loaded.
  • Page 439 (5) Data Transfer to the Controller After data input is complete, touch Write button on the touch panel keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 440 (6) Position Check When the RC actuator is moved to the place corresponding to the taught position data, the position check can be performed. 1) Movement Move the RC actuator to the position corresponding to the position data transferred to the controller.
  • Page 441 2) Continuous Movement The RC actuator automatically follows the position corresponding to the position data transferred to the controller. Touch Cont. button to switch to the continuous operation mode. Set the position number you want to move to first. Turn the servo-motor ON. Perform the home return operation.

  • Page 442: Rc Position Data Deletion

    17.1.3 RC Position Data Deletion Position Data with the selected Axis No. and Position No., is deleted. Touch RC button in the menu screen. Touch Edit button. Touch Clear button.
  • Page 443 Input the axis number to have the position delete and the range of the position number, and touch Clear button. When you want to delete all the position data, touch All Clear button. If you touch Cancel button, the display returns to the RC edit menu screen.
  • Page 444 Touch Yes button. Touch No button, to return to the RC position clear screen. The display shows this screen when the position clear is finished. Touch OK button, to return to the RC position clear screen. Touch Cancel button. Touch Back button.
  • Page 445 Touch Back button. To write the data to the flash ROM, touch Yes button. When it is not necessary to write the data to the flash ROM, touch No button. “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time.

  • Page 446: Rc Actuator Monitoring

    17.2 RC Actuator Monitoring The RC actuator’s status, current position and alarm code are displayed. Touch RC button in the menu screen. Touch Monitor button. Select the RC axis number to monitor by touching the appropriate button. The display returns to the RC menu screen if you touch Back button.
  • Page 447 1) The current position [mm] is displayed. 2) The status of the actuator is displayed. : Turns on when the servo is on MOVE : Turns on during operation PEND : Turns on when positioning is finished HEND : Turns on when home-return operation is finished EMG : Turns on during emergency stop 3) An alarm code is displayed.
  • Page 448 [Alarm Reset] If you want to have an alarm reset on the axis in display, touch AL button. When you want to have an alarm reset on the RC axes you want to choose, touch Alarm Reset button. If you want to have an alarm reset on all the axes, touch All Axes Rst button.

  • Page 449: User Data Hold Memory Initialization

    Caution: When the user data hold memory is initialized, all the RC-axis position data items are cleared. Backup the RC position data items using the personal computer (PC) application software for XSEL or TB-03. 17.3.2 Operation Procedure Touch Controller button.
  • Page 450 Touch User Data Hold Memory button. Touch Yes button. Touch No button, to return to the memory initialization menu screen. The display shows this screen when the initializing in the user data retaining memory is finished. Touch OK button, to return to the memory initialization menu screen.
  • Page 451 To write the data to the flash ROM, touch Yes button. When it is not necessary to write the data to the flash ROM, touch No button. “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time The display shows this screen when the flash ROM writing is finished.

  • Page 453: Extended Motion Control Function

    18. Extended Motion Control Function In the case of the XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, the following operations are available.  Extended Motion Control Position Data Editing  Extended Motion Control Axis Monitoring 18.1 Extended Motion Control Position Data Editing 18.1.1 Extended Motion Control Position Data Creation The extended motion control position data is to be edited.
  • Page 454 Touch Teach button in the Ex Motion Edit menu screen. Select the extended motion control axis number to have the position edit by touching the appropriate button. The display returns to the Ex Motion Edit menu screen if you touch Back button. [Display Items in the Extended Motion Teaching Screen] 2) Current Position 3) Axis Status 1) Axis No.
  • Page 455 4) Alarm An alarm code is displayed. RC : RC-Axis Alarm Code (Alarm code for the alarm generated in the RC controller is displayed). AX : Axis Related Alarm Code (Alarm code for the alarm generated in the XSEL controller is displayed). 5) Position No.
  • Page 456 [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) Caution: The position data starts from No.
  • Page 457 Then, input values for Vel (mm/s), Acc (G), Push (%) and Range (mm). Caution: In the TB-03, the input range check is not performed. Confirm the specifications for the axis to be used, input the data. When you want to erase the data that is already input, touch CLR ENT on the touch panel numeric keys to delete what you want.
  • Page 458 [Data Transfer] After data input is complete, touch Write button on the touch pane to transfer the data to the controller. Caution: The input data would not be written to the controller unless the operation above is conducted. When the position No. is changed without performing the above operation, the input data is cleared.
  • Page 459 Once the clear is succeeded, the data in the same position number (after cleared) is displayed.

  • Page 460: Extended Motion Control Position Data Input Using The Teaching Operation

    18.1.2 Extended Motion Control Position Data Input using the Teaching Operation One of the extended motion control position data input method, is teaching (moving the extended motion control axis to the appropriate position and such extended motion control axis current position is captured as data).
  • Page 461 (1) Servo ON/OFF Operation Using this operation, the extended motion control axis servo-motor is turned ON/OFF. This operation is available only in the single axis. Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the Axis 0 SERVO ON button to turn the servo on.
  • Page 462 (3) Actuator Movement 1) Jogging Operation Perform the jog feeding operation for the extended motion control axis. This operation is available only in the single axis. Turn the servo-motor ON. Touch Axis 0 JOG + or Axis 0 JOG - button to move the actuator to the specific position.
  • Page 463 2) Inching Operation Perform the inching operation for the extended motion control axis. This operation is available only in the single axis. Touch Inc button directly to make Inc button selected. Set the inching distance (travel distance for each touching of the JOG button). Show the cursor to the input part beside "Inc"...
  • Page 464 3) Manual Movement with the servo-motor turned OFF Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the Axis 0 SERVO OFF button to turn the servo off. The condition of servo-on/off can be checked on the axis status display “SV”, which turns on when the servo is on and turns off when the servo is off.
  • Page 465 (4) Current Position captured as the Data The chosen RC actuator position is taken in the teaching window as the position data. Set the position No. for the import destination. Touch Scan button to load the current position to the target position from with the data is loaded. Caution: •...
  • Page 466 (5) Data Transfer to the Controller After data input is complete, touch Write button on the touch panel keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 467 (6) Position Check When the extended motion control axis is moved to the place corresponding to the taught position data, the position check can be performed. 1) Movement Move the extended motion control axis to the position corresponding to the position data transferred to the controller.
  • Page 468 2) Continuous Movement The RC actuator automatically follows the position corresponding to the position data transferred to the controller. Touch Cont. button to switch to the continuous operation mode. Set the position number you want to move to first. Touch MOVE button. Perform the home return operation.

  • Page 469: Extended Motion Control Axis Position Data Deletion

    18.1.3 Extended Motion Control Axis Position Data Deletion Delete the position data within the designated range. Touch Ex Motion button in the menu screen. Touch Edit button. Touch Clear button. Input the axis number to have the position delete and the range of the position number, and touch Clear button.
  • Page 470 If you touch in the input area on “Axis No.” or “Position No.”, the cursor will be shown on the touched item. Input the position number by displaying the numeric keys on the touch panel by touching Keyboard button. Touch on the numeric part if you want to input on the touch panel numeric keys. The contents of input will be shown in the box above the touch panel numeric keys.

  • Page 471: Extended Motion Control Axis Monitoring

    18.2 Extended Motion Control Axis Monitoring The extended motion control axis’s status, current position and alarm code are displayed. Touch Ex Motion button in the menu screen. Touch Monitor button. Select the extended motion control axis No. to be monitored, by means of touching the corresponding button.
  • Page 472 1) Axis No. The axis No. that is being monitored is displayed. 2) Current position The actuator current position (mm) is displayed. 3) Axis Status The status of the actuator is displayed. : Turns on when the servo is on MOVE : Turns on during operation PEND : Turns on when positioning is finished HEND : Turns on when home-return operation is finished...

  • Page 473: User Data Hold Memory Initialization

    Caution: When the user data hold memory is initialized, all the extended motion control axis position data items are cleared. Backup the extended motion control axis position data items using the personal computer (PC) application software for XSEL or TB-03. 18.3.2 Operation Procedure...

  • Page 475: Data Backup

    19. Data Backup Data is transferred between the SD Memory Card in the data setter and the controller. [Type of Stored Data] • Position • Program (individual, total) • Symbol • Parameter • All data backup • Global data • Error list •...

  • Page 476: Data Backup Of The Controller

    19.1 Data Backup of the Controller The data in the controller is transferred to the SD Memory Card for backup. Touch File button in the menu screen. Touch Backup Data button in the file menu screen. Select the data type that you want to store by touching the appropriate button.
  • Page 477 When you store the data stated below, it is necessary to select the range of file storage after the data type to store is selected. (i) Position (ii) Program (iii) Positions for RC axes (i) Position Input the position number range for backup and touch OK button.
  • Page 478 (ii) Program Touch the program number to have a backup. If you touch CANCEL button, the display returns to the backup menu screen. Touch Save All button, and all the programs in the controller can be stored at once as one file. * A program number with 0 for number of steps cannot be indicated.
  • Page 479 After the file storage range is selected, the display goes to the file name indication screen. (When data other than programs, positions and RC axis positions is to be stored, the display immediately goes to the file name indication screen after the file data select.) Input the stored file name, and touch Save button.
  • Page 480 When all the data backup files are to be stored, the following screen will be shown to designate the backup file names. Input the stored file name, and touch Save button. (The way to input the file name is the same as the way to save other data.) If you touch CANCEL button, the display returns to the backup menu screen.
  • Page 481 Check the storage file name, and touch Yes button. Touch No button, to return to the backup file name indication screen. When the same file name already exists, the screen below will be shown. Touch Yes button. Touch No button, to return to the backup file name indication screen.
  • Page 482 The display shows this screen when the data transfer is finished. Touch OK button, to return to the backup menu screen. [Remark] When the backup file for all the data and the data file for the RC axis positions are stored together, the select screen for the RC axis number to be stored opens after the backup file for all the data is stored.

  • Page 483: Restore To Controller

    19.2 Restore to Controller Data in the SD Memory Card is transferred to the controller. Touch File button in the menu screen. Touch Restore Data button in the file menu screen. Select the data type that you want to transfer by touching the appropriate button.
  • Page 484 Touch ▲ and ▼ to select a file to transfer to the controller from the file list in a SD Memory Card. Touch Transfer button. If you touch Cancel button, the display returns to the restore menu screen. * In case the name of the file name exceeds 38 characters in half-size font and the extension is in 3 characters, the short file name (8.3 Format) should be shown in the file list.
  • Page 485 After selecting the file to be transferred, set the controller transfer range. (When the symbol files and backup file for all the data are transferred, the transfer range select screen will not be shown. The data stored in the file are all transferred.) (i) Position Input the position number range for the transfer to the controller and touch OK button.
  • Page 486 (ii) Program (individual) Touch the transferred program number. If you touch Cancel button, the display returns to the restore file name indication screen. (iii) Program (total) Touch the program number to be transferred individually. If you touch Cancel button, the display returns to the restore file name indication screen.
  • Page 487 (iv) Parameter Touch the parameter type to be transferred to put a check mark. Select the transferred parameter type individually and touch OK button. If you touch CANCEL button, the display returns to the restore file name indication screen. * The controller basic unit dependent parameters are transferred only when a check mark is on “Transfer controller unit dependent parameters”.
  • Page 488 (vi) Coordinate system definition data Touch on the coordinate system definition data types that you want to transfer, to put a check mark. After finishing selecting the transferred coordinate system definition data types, touch OK button. If you touch CANCEL button, the display returns to the restore file name indication screen.
  • Page 489 Check the contents of transfer, and touch Yes button. If you touch No button, the display goes back to the previous screen. Data transfer screen will be shown. The display shows this screen when in the data transfer is finished. If you touch OK button, the display returns to the restore menu screen.
  • Page 490 “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time. The display shows this screen when the flash ROM writing is finished. If you touch OK button, the display returns to the restore menu screen.

  • Page 491: Environment Setting

    20. Environment Setting Settings are established for the language, touch operation sound, sleep timer, clock and display. Touch Environment Set button in the menu screen. The environment setting screen appears. [Language] Language can be selected and changed. 1. Select Chinese, Japanese or English and touch. 2.
  • Page 492 When the writing process is finished, the confirmation screen opens. Touch OK button to return to the environment setting screen. If the language is set to English, it shows "Complete!". [Touch Operation Sound Setting] Setting can be established whether to output the touch sound or not. 1.
  • Page 493 [Sleep Timer] Timer setting can be established for the screen to go to the sleep mode when no operation is held. 1. Touch in the input box (highlighted in a square) at “DimDispTime”. 2. Input a value to set on the keyboard. 3.
  • Page 494 [Time Setting] Clock setting can be established on TB-03. It is also available to set the TB-03 clock to the controller clock when a model that supports the controller clock is connected. Touch Time button. Touch Time button. TB-03 clock is displayed.
  • Page 495 Touch Back button to return to the environment setting screen. It is available to set the TB-03 clock to the controller clock if you touch Write to Cont. button either in the clock display screen or the clock edit screen.
  • Page 496 [Display] Adjustment of contrast and brightness of the screen, position tuning for touch panel and LCD screen check can be performed Touch Display button. Display Setting menu screen is displayed. Select Display Setting menu. Touch Menu button to return to the menu screen.
  • Page 497 ● Change the Contrast/Brightness Touch Contrast/Brightness. Touch - and + under Contrast to adjust the contrast of the screen. Touch - and + under Brightness to adjust the brightness of the screen. Touch Menu button to return to the menu screen. ●...
  • Page 498 ● LCD Check LCD Display can be checked in the order of color pattern, White only and Black only. Touch LCD check button. Color Pattern is displayed. Touch any point on the screen. White only is displayed. Touch any point on the screen. Black only is displayed.

  • Page 499: Appendix

    21. Appendix 21.1 Screenshot It is possible to save the image on the current screen (screenshot) into SD memory card. When you want to capture a screenshot, press the lower right portion on the screen for about 2 seconds longer than usual on condition that SD memory card is inserted. After a short sound is heard, saving the screenshot starts.

  • Page 500: Teaching Update

    SD memory card. 3. Insert the SD memory card to TB-03. Refer to "2.4 How to Set in/out SD Memory Card". (Note) Update cannot be conducted if there are two or more update files in the root folder.

  • Page 501: Updating Process When Controller Unconnected Error Shows Up

    21.2.3 Updating Process when Controller Unconnected Error Shows up Follow the procedures below to make an update in case of a SEL system controller and it displays Controller Unconnected Error (Message No. DEE) after the power gets turned on. Touch Connectable model button.

  • Page 503: Warranty

    22. Warranty 22.1 Warranty Period One of the following periods, whichever is shorter: ▪ 18 months after shipment from our company ▪ 12 months after delivery to the specified location 22.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 504: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    22.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 511: Change History

    Change History Revision Date Revision Description September 2017 First Edition November 2017 Edition 1B ・Product Check: Model code corrected in Program Controller Cable ・2.12 Specifications Related to Battery Charge: Descriptions revised ・3.12 Data Setter Connection Procedure: Description related to BE1 Alarm display deleted ・Correction made to screenshots unmatched to what should be actually displayed...

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