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IAI RA Series Instruction Manual

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XSEL Controller
RA/SA Series
Extension Motion
Control Function
Instruction Manual
Second Edition
IAI Corporation

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Summary of Contents for IAI RA Series

  • Page 1 XSEL Controller RA/SA Series Extension Motion Control Function Instruction Manual Second Edition IAI Corporation...
  • Page 3 • This Instruction Manual is original. • The product cannot be operated in any way unless expressly specified in this Instruction Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. • Information contained in this Instruction Manual is subject to change without notice for the purpose of product improvement.
  • Page 4 ME0364-2B...
  • Page 5 Construction of Instruction Manual for Each Controller Model and This Manual XSEL-RA/SA Operation Pattern Extension Motion Control Feature • Positioner Function (This Manual) ME0346 • Synchronization Control Function Basic Specifications XSEL-RA/SA ME0359 and Their Functions Teaching Tool • PC Software PC Software ME0154 •...
  • Page 6 Table of Overall Contents Chapter 1 Outline of Extension Motion Control Feature In this chapter, explains the specifications of the product and supportive operations. Chapter 2 Installation and Wiring In this chapter, explains the connections to actuators and external devices Chapter 3 Basic Settings In this chapter, explains the settings necessary for operation.

  • Page 7: Table Of Contents

    Table of Contents Safety Guide ···································································································· 1 Precautions in Operation ···················································································· 8 Outline of Extension Motion Control Feature..............9 1.1. Supportive Operations....................10 1.2. Basic Specifications....................12 1.3. Teaching Tools and Instruction Manuals..............13 Installation and Wiring ....................15 2.1. Starting Procedures ....................15 2.2. Name and Function of Each Part Related to Extension Motion Control Feature ..16 2.3.
  • Page 8 Practical Settings...................... 111 5.1. Special Ways for Axes Use..................112 5.1.1. Standard Driver Control..................112 5.1.2. Drive Invalid Axis ....................114 5.2. Extension Motion Control Axis Status Extension Input Port Assignment ....115 5.3. How to Use Wrist Unit ..................... 118 5.3.1. Preparation Before Operation ................119 5.3.2.

  • Page 9: Safety Guide

    Safety Guide (Read before Use) “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.
  • Page 10 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 11 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 12 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 13 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 14 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 15 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 16: Precautions In Operation

    Precautions in Operation Take noise prevention measures on the electronic devices installed in the same equipment. RC controllers shall be connected to the same 24-VDC power as a general rule. Our PS24 products can be connected in parallel, but if commercially available DC power supply units are to be used, connect each controller’s power supply to common ground (0 V).

  • Page 17: Outline Of Extension Motion Control Feature

    32 control axes at maximum connected. As an extension motion control axis, MECHATROLINK-III type IAI-produced positioner controller (hereafter described as RC controller) axis is to be connected. Refer to 1.2 for the lineup of the RC controllers that supports connection with the extension motion control feature.

  • Page 18: Supportive Operations

    1.1. Supportive Operations The extension motion control axes are basically available for operations only with the SEL commands dedicated for the extension motion control (such as XMVP, XMVL, etc.). Operation cannot be made with the SEL commands for the standard motion control (such as MOVP, MOVL, PATH, etc.).
  • Page 19 The synchronization control function in (2) is a feature to make the extension motion control axes synchronize to the operation of a specified axis (master axis) as a slave axis. As it makes the axis synchronize to the master axis in real time, the slave axis tracks the positions of the master axis even when the speed or acceleration/deceleration of the master axis has changed.

  • Page 20: Basic Specifications

    1.2. Basic Specifications • Basic Specifications Item Contents Number of Controlled (Note 3) 32 axes max. Axes RC Controller Connection MECHATROLINK-Ⅲ (Standard servo profile) Single-axis type : SCON-CA/CB, PCON-CB, ACON-CB, Connectable Controller DCON-CB (Note 1) Multi-axis type : MCON-C Servo ON/OFF, Home-return, PTP Movement (Absolute, Positioner Function Relative), Linear Interpolation Movement (Absolute, Relative), Direct Indication Movement (Absolute, Relative)

  • Page 21: Teaching Tools And Instruction Manuals

    1.3. Teaching Tools and Instruction Manuals Prepare the following teaching tools and instruction manuals. Instruction Manual related to this product Name Control No. XSEL-RA/SA Controller for Instruction Manual ME0359 PC Software IA-101-X-MW/USBMW for Instruction Manual ME0154 RC PC Software RCM-101-MW/RCM-101-USB for Instruction ME0155 Manual MECHATROLINKⅢfor Instruction Manual...
  • Page 22 ME0364-2B...

  • Page 23: Installation And Wiring

    2. Installation and Wiring 2.1. Starting Procedures When using this product for the first time, refer to the processes shown below and make sure not to have any missing in checking or mistake in wiring. “PC” stated in this section means “RC PC software”.

  • Page 24: Name And Function Of Each Part Related To Extension Motion Control Feature

    : 2040008-2 (Manufactured by Tyco Electronics) Baud Rate 100Mbps Maximum 100m connection distance Dedicated for IAI RC Controller Connected Unit MECHATROLINK-Ⅲ Connection Type Connection Connection cable Dedicated cable (category 5e, STP) Name Function Sent data differential output positive side...

  • Page 25: Example For Emergency Stop System Construction

    2.3. Example for Emergency Stop System Construction XSEL Controller SCON Controller ACON/PCON Controller Caution : Configure the emergency stop by connecting the XSEL controller and each of RC controllers to the same system such that the emergency stop command is input to the XSEL controller and each RC controller at the same time.

  • Page 26: Cable Layout

    2.4. Cable Layout Connect XSEL-RA/SA and RC controllers with using MECHATROLINK-III dedicated cables. Refer to the instruction manual for each controller for the power supply to the controller and cable layout for actuators. MECHATROLINNK-III Dedicated Cable XSEL-RA/SA SCON-CB-ML3 PCON-CB-ML3 PCON-CB-ML3 ME0364-2B...

  • Page 27: Basic Settings

    3. Basic Settings Have the following basic settings established. * The procedures in this chapter are explained under an assumption that all the RC controllers and actuators to be connected are already prepared and such works as wiring and absolute reset are already finished.
  • Page 28 [Reference] Slave Address of RC Controller For the reason of MECHATROLINK-III protocol specifications, the slave station addresses are expressed in two-byte data (3 to FEEF For single-axis type RC controllers such as SCON, the node address converted in to the expression in the hexadecimal system is the slave address of the connected axis from the view of the master station.
  • Page 29 (2) Assignment of Extension Motion Control Axis Numbers Check how the RC controllers should be assigned to the extension motion control axes from No. 0 to 31. • Assign one axis of RC controller to one extension motion control axis number. •...

  • Page 30: How To Set Up

    3.2. How to Set Up Shown below is a flow of a basic way of setup. Make sure to establish the setting properly. (3.6. Operation Check is not a mandatory step. Conduct it as necessary.) Flow of Basic Setup (Reference: Main setup contents) •...

  • Page 31: Rc Controller Settings

    3.3. RC Controller Settings Establish the RC controller settings for those described below. • MECHATROLINK Communication Data Length • Node Address [Thing to Prepare] • RC PC software (For Single-axis Type RC Controller) • Gateway parameter setting tool (For Multi-axis Type RC Controller) [How to Set Up] Connect the cable enclosed in the RC PC software to the SIO port on the RC controller.

  • Page 32: Setup Of Xsel (Functions In Common)

    3.4. Setup of XSEL (Functions in Common) Establish the settings of XSEL for the followings. • Activation of Extension Motion Control Feature • Definition of Position Data Domain (UBM) for Extension Motion Control [Thing to Prepare] • SEL PC software Caution : Notice for Redefinition of Position Data Domain When a change is made to the definition of the position data domains (UBM) (I/O Parameter No.
  • Page 33 Establish the setting in I/O Parameter No. 530 , 532. The setting value should be the number of position data points for one axis. Set a number of points with enough margin. However, the maximum number of available position data points differs depending on the setting in I/O Parameter No.
  • Page 34 If Error No. 6A1 “UBM Data Construction Change Error” was occurred after the reboot, it is necessary to execute the initialization of the user data retaining memory from the menu in the SEL PC software. In case Error No. 6A2 “UBM Size Overflow Error” or Error No. 5B8 “Extension Motion Control Position Data Setting Error”...

  • Page 35: Setup Of Xsel (For Each Axis)

    3.5. Setup of XSEL (for Each Axis) Next, establish the setting of XSEL for the followings. • Activation of Axes • Slave Address Settings [How to Set Up] Open the extension motion control parameter edit window. ME0364-2B...
  • Page 36 Set Extension Motion Control Each Axis Parameter No. 1. Set to “1” when valid axes of the RC controller are to be assigned based on the extension motion control axis number assignment checked in 3.1., to “4” when the slave driver reserved axes are to be assigned, and “0”...
  • Page 37 Have the settings conducted on all the axes, transfer the parameters, write them in the flash ROM, and turn off the power to the XSEL controller once. Click Transfer button. 5) Set the RC controller to AUTO Mode, and then turn on the power to the RC controller and XSEL controller.

  • Page 38: Operation Check

    3.6. Operation Check Here shows an example for how to check the operation. Caution : Before starting axes operation, make sure there is no problem to make operation considering such condition as wiring and peripherals. Also, have the emergency stop stand by before operating axes. [How to Check] Open the extension motion control parameter edit window.
  • Page 39 Turn the servo on for the axes which are subject to. (Note) Release the emergency stop if it is activated. Servo ON Have the home-return operation conducted. (* if the subject axis is the incremental encoder type) Home Return Make JOG operation in the positive direction and negative direction on the subject axis to confirm that the axis is capable to move to the soft limit.
  • Page 40 ME0364-2B...

  • Page 41: Operation Program

    4. Operation Program 4.1. Support Function Following two functions are supported. * Controllers for SCARA Robot are not available to use (2) Synchronization Control Function. (1) Positioner Function (2) Synchronization Control Function 1) Electronic Shaft 2) Electronic CAM In (1) Positioner Function, it is available to perform positioning to the target position with the position data set in advance.

  • Page 42: Positioner Function

    4.2. Positioner Function The positioning operation using position data is provided. Linear interpolation movement is available as well as PTP. This operation uses the expansion motion board axis actuator control command to operate. 4.2.1. Position Data Count Position data is stored in the user data-hold memory within the main CPU board and specifies the number of position data using I/O parameter No.
  • Page 43 The Extension Motion Control Axis Position data edit window appears. Values in this column indicate position data numbers. Different from position data for standard motion control axis, the number starts from 0. Pos (target position) [mm] Values in this column indicate target positions to which you want to move the actuator. Absolute coordinate specification: Distance from actuator’s home Relative coordinate specification: Relative movement amount from the current position Whether the target position is specified as absolute or relative coordinate is determined by...

  • Page 44: Positioning Completion

    4) Acc (acceleration) [G] Values in this column indicate acceleration at which to make the actuator PTP move. If not to input or for acceleration at CP operation (interpolation movement), establish setting with SEL command ACC. Dcl (deceleration) [G] Values in this column indicate deceleration at which to make the actuator PTP move. If not to input or for deceleration at CP operation (interpolation movement), establish setting with SEL command DCL.

  • Page 45: Actuator Control Commands

    Caution : (1) If the position data’s position complete band is valid, the corresponding program exclusively holds the right to use axes until the XPED command is executed after executing the positioning command, the positioning command is executed by invalidating the position complete band, or until the program is ended.

  • Page 46: Electronic Shaft

    4.3. Electronic Shaft Synchronizes to the specified master axis, and it is a function that slave axis follows the specified gear ratio. Movement amount of slave axis is calculated by the formula below. Gear Ratio Numerator Slave Axis Movement Amount = Master Axis Movement Amount x Gear Ratio Denominator What is the electronic shaft function?

  • Page 47: Electronic Cam

    4.4. Electronic CAM This function calculates the moving amount of a slave axis with respect to the movement amount of the master axis and operates the slave axis. What is the electronic CAM function? Electronic CAM table This function controls of “slave axis”...
  • Page 48 • CAM table CAM table is a collection of point data of which horizontal axis is set as phase of the master axis and vertical axis is set as displacement of the slave axis (herein after referred to as “displacement data.”) Phase/displacement is not a physical quantity, but indicates the ratio relative to the maximum value.

  • Page 49: Combination Of Master Axes And Slave Axes

    4.4.1. Combination of Master Axes and Slave Axes This section explains combination of slave axes allowed for the main axis setting. The table below shows combination of slave axes that can be controlled in a given setting. * Assignment of main and slave axes is specified in programs (XCAS commands, or XCTM Command (when time axis is master axis)).
  • Page 50 3) When main axis is drive disabled axes [Refer to 4.5.5 Section XCTM command]. A single (1 axis) slave axis may be controlled by a drive disabled axes (virtual master axes). * Multiple-axis synchronization control cannot be performed. Extension motion control axis RC controller Slave axis...

  • Page 51: Synchronized Electronic Cam Operation

    4.4.2. Synchronized Electronic CAM Operation A slave axis operates according to the CAM tables while synchronizing to the specified master axis. [1] Synchronous movement type It is possible to select either “immediate start” or “start at master axis arriving at specified position”...
  • Page 52 Caution: If “start at master axis arriving at specified position” is specified, synchronization is not started unless the master axis arrives at the specified position. If the encoder resolution of the master axis is low, even when the position is moved toward the specified position as the target, a master axis may not be able to arrive at the specified position.
  • Page 53 [2] Synchronous movement repetition type For synchronous electronic CAM movement, there are “1 cycle execution” and “repetitive execution,” and the following is the description of each movement. 1 cycle execution While master axis moves back and forth within synchronous start position ± stroke range, slave axis synchronizes to master axis and continues the movement.
  • Page 54 Repetitive execution Each time master axis conducts the movement of specified stroke, returns to synchronous starting phase and repeats synchronous movement setting the current position as origin. Synchronization is finished if the following factors to stop synchronization occur. When synchronization end command is executed (XSYE command) At servo OFF At emergency stop At occurrence of error more serious than operation cancellation level error...

  • Page 55: Independent Electronic Cam (Virtual Master) Operation

    4.4.3. Independent Electronic CAM (virtual master) Operation In this operation, a slave axis follows the specified CAM table and performs positioning (synchronous movement for a single cycle only by establishing a drive disabled axes (virtual master) as the master axis. Displacement Phase Synchronization time (1 cycle)

  • Page 56: Reciprocal Movement And Feed Movement

    4.4.4. Reciprocal Movement and Feed Movement Operation of slave axes are classified into “reciprocal operation” and “feed operation” by the difference of CAM table shape. [1] Reciprocal Operation If the start point displacement (displacement at phase 0) and the end point displacement (displacement at the maximum phase) are the same, the slave axis performs “reciprocal operation.”...
  • Page 57 [2] Feed Operation If the start point displacement (displacement at phase 0) and the end point displacement (displacement at the maximum phase) are different, the slave axis performs “feed operation” by setting the end point displacement as the feed distance. Displacement Phase Master axis stroke (1 cycle)

  • Page 58: Editing Of Electronic Cam Data

    4.4.5. Editing of Electronic CAM Data CAM tables are created using the PC Software. Open the Edit CAM Table window following the procedure below. Displacement data Toolbar Information control table Section definition data CAM curve display setting CAM curve characteristic graph Extension motion control setting (Online data, CAM curve display example ME0364-2B...
  • Page 59 (1) Selection of initial device No. and Table No. Select Controller, Ex Motion Control Board (X), and then CamTable (T). (2) Selection of device No. and table No. to be created Select “0” for the top and “127” for the bottom. After making the setting, click the OK button.
  • Page 60 (3) Selection of table No. to be created Specify electronic CAM table numbers. From 0 to 127 can be selected. (4) Setting of the number of decimals It is possible to set the number of decimals. Make the setting as necessary. The setting range is 0 to 7.
  • Page 61 (5) Setting of the maximum phase Set the maximum phase for a single cycle of master axis. Input range: 0 to 99999999 Maximum Phase (6) Setting of the number of partitions Set the number of partitions to be used (number of displacement data). Allowable setting range: 1 to 65535 * The maximum value varies depending on the table size.
  • Page 62 (8) Setting of section definition data Specify the section points (phases/displacements) and CAM curve type for the sections (up to 32 points). (Refer to 2.3.2 “CAM Curve Types” for the explanation of types of CAM curves.) It is not necessary to set this item if you set displacement data manually. •...
  • Page 63 If a value exceeding the maximum phase is set, the value is automatically corrected to the maximum phase. Example: If the maximum phase is 200.0 Caution: Set a value that makes the displacement width (maximum displacement - minimum displacement) as large as possible. If the displacement width is small, the influence of rounding error of displacement data becomes large.
  • Page 64 (9) Generation of displacement data Click the Create Displacement button in the Phase tab and generate displacement data. Displacement data is generated in phase partition width from phase 0 to the maximum phase, according to the defined section points and CAM curve. It is possible to create displacement data in the following three methods.
  • Page 65 2) Write displacement data directly. Write values directly. 3) Paste data from Microsoft Excel. It is possible to paste data by right-clicking and then click Paste. Caution : It is not allowed to paste displacement data from phase 0. A warning Start pasting from No. 00001. ME0364-2B...
  • Page 66 (10) Confirmation of CAM curve graph The section definition data and displacement data are displayed in graphs. Data of up to 8 tables from the CAM curve display setting is displayed. Select the check boxes. CAM curve graph CAM curve graph (with no 100% display) (with 100% display setting for both phase and displacement)

  • Page 67: Cam Curve Types

    4.4.6. CAM Curve Types CAM polarity types and their characteristics (speed and acceleration) are explained below. 0: Straight line (Vm = 1.000, Am = ±0.000) Displacement Velocity Acceleration/Deceleration 変 位 速 度 加 速 度 -2.0 -4.0 -6.0 -8.0 Displacement Velocity Acceleration/Deceleration 1: Constant acceleration (Vm = 2.000, Am = ±4.000)
  • Page 68 4: Modified trapezoid (Vm = 2.000, Am = ±4.888) Displacement Velocity Acceleration/Deceleration 変 位 速 度 加 速 度 -2.0 -4.0 -6.0 -8.0 5: Modified sine (Vm = 1.760, Am = ±5.528) Displacement Velocity Acceleration/Deceleration 変 位 速 度 加 速 度 -2.0 -4.0 -6.0...
  • Page 69 9: Trapecloid (Vm = 2.182, Am = ±6.710) 変 位 速 度 加 速 度 Displacement Velocity Acceleration/Deceleration -2.0 -4.0 -6.0 -8.0 10: One-dwell cycloid m=1 (Vm = 1.760, Am = ±5.528) Displacement Velocity Acceleration/Deceleration 変 位 速 度 加 速 度 -2.0 -4.0 -6.0...
  • Page 70 14: One-dwell modified trapezoid m=2/3 (Vm = 1.943, Amp = 5.526, Amm = -3.684) 変 位 速 度 加 速 度 Displacement Velocity Acceleration/Deceleration -2.0 -4.0 -6.0 -8.0 15: One-dwell modified sine (Vm = 1.660, Am = ±5.215) Displacement Velocity Acceleration/Deceleration 変位...
  • Page 71 19:NC2 (Vm=1.786, Amp=5.892, Amm=-4.207) 変位 速度 加 速度 Displacement Velocity Acceleration/Deceleration -2.0 -4.0 -6.0 -8.0 20: Double harmonic motion (Vm = 2.041, Amp = 5.552, Amm = -9.870 Displacement 変 位 Velocity 速 度 Acceleration/Deceleration 加 速 度 -2.0 -4.0 -6.0 -8.0 -10.0...

  • Page 72: Sel Commands Used In Extension Motion Control Features

    4.5. SEL Commands Used in Extension Motion Control Features 4.5.1. List of SEL Commands in Extension Motion Control Features This section shows a list of program language (SEL language) commands related to extension motion control. For the explanation related to programing for overall XSEL controllers and for SEL commands not stated in the table below, refer to SEL Programing Manual provided separately.
  • Page 73 Applicable Models XSEL- Division Command Operand 1 Operand 2 Function XSEL- RAX/SAX RA/SA RAXD/SAXD Extension motion control XSON Prohibited Prohibited ○ ○ axis servo ON Extension motion control XSOF Prohibited Prohibited ○ ○ axis servo OFF Extension motion control XHOM Prohibited Prohibited ○...

  • Page 74: Relation Of Other Sel Commands With Extension Motion Control Features

    4.5.2. Relation of Other SEL Commands with Extension Motion Control Features Shown in the list below is the relation of the SEL commands not for the extension motion control with the extension motion control axes. Table: Relation of Existing SEL Commands with Extension Motion Control Axes Influence on extension motion control Command category Command...
  • Page 75 Influence on extension motion control Command category Command board function ACHZ, ATRG, OFPZ, BGPA, EDPA, PASE, PAPT, PAPS, PAPN, PSLI, PAPI, ARCH, Palletize PACH, PMVP, PMVL, PTNG, Invalid PINC, PDEC, PSET, PAPG, PCHZ, PTRG, OFAZ, PEXT, AEXT, PARG, PAST Valid only when “Axis Use Method = Zone WZNA, WZNO, WZFA, WZFO Standard Driver Control”...

  • Page 76: Extension Motion Control Axis Position Operation Commands

    4.5.3. Extension Motion Control Axis Position Operation Commands XPGT (extension motion control axis position data read) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2...
  • Page 77 XPCR (extension motion control axis position data delete) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XPCR Axis No. Variable No.
  • Page 78 XPRD (extension motion control axis current command position read) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XPRD Position No.
  • Page 79 XPVL (extension motion control axis speed data write) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XPVL Axis No. Position No.
  • Page 80 XPDC (extension motion control axis deceleration data write) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XPDC Axis No. Position No.
  • Page 81 XGVL (extension motion control axis speed data read) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XGVL Axis No. Position No.
  • Page 82 XGIP (extension motion control axis position complete band data read) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XGIP Axis No.

  • Page 83: Extension Motion Control Axis Actuator Control Declaration Command

    4.5.4. Extension Motion Control Axis Actuator Control Declaration Command XAXS (extension motion control board axis pattern setting) (0 to 15 axes)) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd...
  • Page 84 XA16 (extension motion control board axis pattern setting) (16 to 31 axes)) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Axis pattern Axis pattern Optional...
  • Page 85 XACZ (extension motion control axis arch motion Z-axis declaration) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 declaration (output/flag) (LD, A, O, AB, OB) Optional Optional XACZ Axis number Prohibited [Function] Indicate the axis number in the arch motion Z-axis when operation is made with XACH Command.
  • Page 86 XAEX (extension motion control axis arch motion composition setting) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 declaration (output/flag) (LD,A,O,AB,OB) (Position Optional Optional XAEX Prohibited number) [Function] Establish the arch motion composition setting when operation is made with XACH Command.

  • Page 87: Extension Motion Control Axis Actuator Control Command

    4.5.5 Extension Motion Control Axis Actuator Control Command XSON (extension motion control axis servo ON) Command, declaration Output part Extension Input condition operation Command, condition (I/O/flag) Operand 1 Operand 2 type declaration (LD, A, O, AB, OB) (output/flag) N, Cnd Cmnd Operand1 Operand2...
  • Page 88 XHOM (extension motion control axis home return) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XHOM Prohibited Prohibited [Function] Perform home return on extension motion control axis specified in the XAXS or XA16 command.
  • Page 89 XMPI (extension motion control axis position relative move) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XMPI Position No. Prohibited [Function] Move extension motion control axis specified in the XAXS or XA16 command for the...
  • Page 90 XMVL (extension motion control board axis position specification interpolation move) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XMVL Position No.
  • Page 91 XMLI (extension motion control axis position relative interpolation move) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XMLI Position No.
  • Page 92 XMVD (extension motion control axis direct value specification absolute position move) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XMVD Axis No.
  • Page 93 XMDI (extension motion control axis direct value specification relative position move) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XMDI Axis No.
  • Page 94 (extension motion control axis jog movement) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Input, output, Optional Optional Prohibited flag No. [Function] It is possible to move the extension motion control control axis specified by the XAXS command forward/backward by turning ON/OFF input port or output port specified by...
  • Page 95 XPED (wait for extension motion control axis positioning completion during local program use) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional...
  • Page 96 XWIP (Wait for extension motion control axis positioning complete status ON) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XWIP Prohibited...
  • Page 97 XCAS (extension motion controlaxis synchronous electronic CAM (master axis specification) synchronization start) Command, declaration Output part Extension Input condition operation type condition Command, (I/O/flag) Operand 1 Operand 2 declaration (output/flag) (LD, A, O, AB, OB) N, Cnd Cmnd Operand1 Operand2 Optional Optional XCAS...
  • Page 98 Variable Data name Description Master axis type Master axis Settign Description (n+1) synchronization start Master axis synchronization start position storage position (storage position No. position No.) (Note) Specify position No. of standard motion control master axis (0 to maximum position * Valid only when “master axis No.)
  • Page 99 Synchronization type (variable No. n) Description Setting value Synchronization start type Synchronous movement repeat type Immediate One cycle only Immediate Repeat Master axis arriving specified One cycle only synchronization position Master axis arriving specified Repeat synchronization position When Stroke Type (n+4): 0 When Stroke Type (n+4): 1 Electronic Cam Table No.
  • Page 100 Caution (1) If there are any errors in synchronous electronic CAM movement settings, which are specified in variables of operand 2, error No. 4B4 “Extension motion control board synchronous electronic CAM movement setting error” occurs. Info.2 of the error list indicates the variable number of the invalid setting (hexadecimal display).
  • Page 101 (6) When the shortcut turn control valid axis passes the position of 0deg (360deg), the command position (and current position) will switch between 0deg and 360deg. In case the master axis of the synchronizing operation makes such operation, it is necessary to set master axis stroke and the profile of the cam table so the displacement matches at the position of 0deg and 360deg.
  • Page 102 [Example] This program example immediately starts synchronization to the main axis of the standard motion control axis. It is executed repeatedly until the main axis reaches the stroke end. A program is required for each slave axis. Set “synchronization type = 1 (immediate start/repetitive movement)”...
  • Page 103 XCTM (extension motion control axis individual electronic CAM (time specification) move) Command, declaration Output part Extension condition Input condition operation type Command, (LD, A, O, AB, OB) (I/O/flag) Operand 1 Operand 2 declaration (output/flag) N, Cnd Cmnd Operand1 Operand2 Optional Optional XCTM Slave axis No.
  • Page 104 Caution: (1) If there are any errors in individual electronic CAM movement settings, which are specified in variables of operand 2, error No. 4B5 “Extension motion control board individual electronic CAM movement setting error” occurs. Info.1 of the error list indicates the variable number of the invalid setting (hexadecimal display).
  • Page 105 XSFS (extension motion control axis electronic shaft synchronization start) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Slave axis Optional Optional XSFS Variable No.
  • Page 106 (4) While moving according to the master axis, speed and/or acceleration and deceleration may occur, leading to an error. In this case, change the speed, acceleration/deceleration, and gear ratio of the master axis to set speed and acceleration/deceleration permitted to the axis.
  • Page 107 XSYE (extension motion control synchronous movement end) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2 Optional Optional XSYE Slave axis No. (End type) [Function] End synchronous movement of slave axes specified in operand 1.
  • Page 108 [Example] This program example immediately starts synchronization to the main axis of the standard motion control axis. It is executed one cycle until the main axis reaches the stroke end. A program is required for each slave axis. Set “synchronization type = 1 (immediate start/move one cycle only)”...
  • Page 109 XPTH (extension motion control axis pass operation) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration Start position End position Optional Optional XPTH number number [Function] Move continuously from the position specified in operand 1 to the position specified in operand 2 (CP Movement).
  • Page 110 XACH (extension motion control axis arch motion) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration Position Position Optional Optional XACH number number [Function] Arch Motion gets performed from the current position to the target position. •...
  • Page 111 * When the operation is resumed after a pause, depending on the position where the operation is resumed the locus may follow “*” mark (dotted line) in the figure in the previous page for the composite section from ascent to horizontal movement or from horizontal movement to descent.

  • Page 112: Extension Motion Control Axis Status Acquisition Commands

    4.5.6. Extension Motion Control Axis Status Acquisition Commands XAST (extension motion control board axis status acquisition) Command, declaration Output part Extension Input condition Command, operation type condition (I/O/flag) Operand 1 Operand 2 (output/flag) (LD, A, O, AB, OB) declaration N, Cnd Cmnd Operand1 Operand2...
  • Page 113 [Example] XAST Acquire the status of Axis No. 10 to Variable 200. Assuming 8212 (decimal number) was in Variable 200 after this command was executed; 8212 (decimal number) → 10 0000 0001 0100 (binary number) (Bits) and the status of home-return complete (bit 2), servo-on (bit 4) and zone 1 (bit 13) should be on.

  • Page 114: Sample Programs

    4.6. Sample Programs 4.6.1. Positioning Using Position Data Program example Set 200 mm/s for speed. Set 0.3G for acceleration. Set 0.3G for deceleration. XAXS 00000011 11111111 It indicates Extension Motion Control Axis No. 0 to 9. XSON It turns on the servo on the indicated axis. XMVP It makes the master axis and slave axes have PTP movement operation conducted to the synchronizing...

  • Page 115: Electronic Shaft Synchronizing Operation

    4.6.2. Electronic Shaft Synchronizing Operation [Condition] Master axis Extension motion control axis No.0 Slave axis Extension motion control axis No.1, 2, 3 Shaft gear ratio 1 : 1 [Program example] Set 100 mm/s for speed. Set 0.1G for acceleration. Set 0.1G for deceleration. XAXS 00000000 00001111...

  • Page 116: Electronic Cam Synchronizing Operation

    4.6.3. Electronic Cam Synchronizing Operation [Condition] Master axis Standard motion control axis No.2 Slave axis extension motion control axis No.0, 1 Electronic CAM table No.5 Stroke type 1 (Stroke End Position Indication) 2 (Starts after reaching synchronizing start position, Synchronization type executed only for one cycle) [Program example] It makes the movement speed of the master axis...

  • Page 117: Sample Programs

    4.7. Sample Programs 4.7.1. Pausing (1) The HOLD command is valid for axes of extension motion control axis, but the servo is not turned off even if servo OFF type is specified. (2) When the servo OFF type temporary stop is performed for the master axis for the synchronous movement, an error No.

  • Page 118: Others

    If the synchronous movement is performed close to the software limit for the slave axes, an Error No. 4B4 “Synchronization Servo Command Position Soft Limit Over Error” might occur. This error occurs under the circumstance that the axes would not stop within the software limit even when they are decelerated at the specified “Deceleration Speed at Synchronous Movement Completion”...

  • Page 119: Practical Settings

    5. Practical Settings In this chapter, describes in detail for the settings regarding the extension motion control features. Also, it is described the main practical settings as shown in the table below. Setting Sections to Refer to To have an axis connected to XSEL unit operated as a slave 5.1.1 axis for the electronic shaft or electronic cam To use a virtual axis instead of a physical axis as the master...

  • Page 120: Special Ways For Axes Use

    5.1. Special Ways for Axes Use 5.1.1. Standard Driver Control An axis connected to the XSEL unit which should be ordinary treated as a standard motion control axis can be changed to an extension motion control axis. By this way of use, the XSEL unit axis can be operated as a slave axis for electronic shaft synchronization and electronic cam synchronization.
  • Page 121 [How to Set Up Standard Driver Control] Perform the following settings instead of the parameter setting procedures (from (2) to (3)) in 3.5. 2) Set “2” in Extension Motion Control Each Axis Parameter No. 1 for the extension motion control axis number which is to be used for the standard driver control. [Extension Motion Control Each Axis Parameter] Name Axis Use Method...

  • Page 122: Drive Invalid Axis

    5.1.2. Drive Invalid Axis It is a way of use to control a virtual axis inside the controller instead of a physical axis. There are ways of use in such as to use it as a virtual master axis for synchronizing operation. [How to Set up Drive Invalid Axis Control] Perform the following settings instead of the parameter setting procedures (from (2) to (3)) in 3.5.

  • Page 123: Extension Motion Control Axis Status Extension Input Port Assignment

    5.2. Extension Motion Control Axis Status Extension Input Port Assignment The status of the extension motion control axis can be assigned to the indicated extension input port (Port No. 1000 to 3999). Status can be easily acquired without using XAST Command. (Refer to the section for XAST Command for the detail of status which can be acquired.) [How to Set Up] Extension Motion Control Axis Status Assignment Start Port Number (I/O Parameter No.
  • Page 124 Extension Motion Control Axis Status Assignment Axis Pattern (I/O Parameter No. 599) Indicate status of which axis should be assigned to an extension input port. Make the axis to be assigned to an extension input port to 1, and make the axis not to be assigned to 0 and express in the bit pattern, and convert it into hexadecimal numbers to set it in.
  • Page 125 Shown below is an example for parameter settings. Parameter Name Setting value Extension Motion Control Axis Status Assignment Start Port 2000 Number Extension Motion Control Axis Status Assignment Bit Pattern 7015 Extension Motion Control Axis Status Assignment Axis Patter FFFFFFFF The assignment of the extension input ports when the settings above are conducted is as shown below.

  • Page 126: How To Use Wrist Unit

    5.3. How to Use Wrist Unit Applicable Versions: Main Application of XSEL-RA/SA Controller V1.10 PC software (IA-101-X-MW) V13.02.04.00 and later TB-01 V1.70 and later TB-02 V1.70 and later TB-03 All versions By controlling the wrist unit in the extension motion control feature, combination of the wrist unit (extension motion control) and the cartesian robot (standard / extension motion control) can be controlled with one unit of controller.

  • Page 127: Preparation Before Operation

    5.3.1. Preparation Before Operation [1] Setting of Parameters When moving the wrist unit in the extension motion control, it is necessary to have the setting established (3 places) for the parameters in the table below for each of the wrist unit type and axis type (B-axis and T-axis).
  • Page 128 [2] Conduction of Absolute Reset Follow the procedures below for the absolute reset of the wrist unit on the controller side such as PCON and MCON. There is no problem of which T-axis or B-axis absolute reset should be conducted first. Also, when the absolute reset is to be conducted on both B and T-axes, skip Steps (8) to (11) for the first absolute reset, and skip Steps (1) to (4) for the next absolute reset.
  • Page 129 (4) After affixing the absolute reset fixture, release the emergency stop switch. (5) Open the position data edit window in the PC software and press Alarm button. (6) Press Servo button (7) Press Home button. At this moment, the home position gets established and the home position gets memorized.

  • Page 130: Caution

    5.3.2. Caution • About Operation of Wrist Unit • Turn the servo ON/OFF in either B or T-axis, and it turns ON/OFF in both B and T-axes at the same time. • It is not available to use B and T-axes in different programs at the same time. •...

  • Page 131: When Operating With Extension Motion Control Command

    5.3.3. When Operating with Extension Motion Control Command 1) Set the position in the extension motion control axis position data in the connection number of the wrist unit. [Refer to 4.2.2. Editing the Position Data] Position data is created using XSEL PC Software. Target position, speed, acceleration, deceleration, and position complete band can be set for each axis.

  • Page 132: When Operating With Information Of Cartesian Coordinates Gained From Camera

    5.3.4. When Operating with Information of Cartesian Coordinates Gained from Camera [1] Overview As the wrist unit operating with PCON and MCON is to be operated with the extension motion, it is necessary to set the position to the extension motion control axis position data in each axis coordinate system.
  • Page 133 The coordinate conversion command should be the extension command ECMD. Even though coordinate conversion is to be conducted via position data, considering the system construction below, it can be selected from standard and extension motion control position due to the command to be used.
  • Page 134 [2] Position Data There are two types in the coordinate conversion command, commands to make conversion in the standard motion control position data (ECMD 280 to 282) and ones to make conversion in the extension motion control position data (ECMD 290 to 292). •...
  • Page 135 (2) Extension Motion Control Position Data In a coordinate conversion command using the extension motion control position data, it is available to handle positions for six axes by using the position data of six axes in a row as one set. The top axis number (axis number of C1-axis for each axis coordinate system and X-axis for cartesian coordinate system) should be indicated in each coordinate conversion command.

  • Page 136: Coordinate Conversion Commands

    5.3.5. Coordinate Conversion Commands * 1 Refer to 5.3.8. Coordinate System for coordinate system. Refer to 5.3.9. Form for form. [1] ECMD 280/290 (Conversion from Each Axis Coordinates to Work Coordinates in Wrist Unit Equipped Robot) Command, declaration Output part Extension condition Input condition operational type...
  • Page 137 [2] ECMD 281/291 (Conversion from Work Coordinates to Each Axis Coordinates in Wrist Unit Equipped Robot) Command, declaration Output part Extension condition Input condition operational type Command, (LD, A, O, AB, OB) (I/O/flag) Operand 1 Operand 2 declaration (output/flag) Integer Optional Optional ECMD...
  • Page 138 [3] ECMD 282/292 (Conversion from Tool Coordinates to Work Coordinates in Wrist Unit Equipped Robot) Command, declaration Output part Extension condition Input condition operational type Command, (LD, A, O, AB, OB) (I/O/flag) Operand 1 Operand 2 declaration (output/flag) Integer Optional Optional ECMD 282/292...

  • Page 139: Settings In Common For Coordinate Conversion Commands

    5.3.6. Settings in Common for Coordinate Conversion Commands [1] Robot Combination Type 0 or 1 should be indicated in each coordinate conversion command for the combination type of the axes construct a robot equipped with a wrist unit. For each combination, it is necessary that the home position and coordinate directions of each axis are the same as the definition in the figures in 5.3.8.

  • Page 140: Caution

    5.3.7. Caution Pay attention to the followings when moving an actuator using the positions calculated in coordinate conversion commands. • As there is no software limit check performed on the coordinates calculated in coordinate conversion commands, there may be a case that an error (Error No. 73 “Target Track Soft Limit Exceeding Error”) would occur when operated actually with a movement command.
  • Page 141 • When the robot combination type = 0 (X-Y-Z-R-(B-T)), Z of ZR unit should be used in the home-reversed type. • When it is required to control such as RCP6 (high output) connected to MCON with the extension motion control, the connected axes may not be numbers in a row as it is necessary to assign a reserved axis between each connected axis for the reason of MECHATROLINK-Ⅲ...

  • Page 142: Coordinate System

    5.3.8. Coordinate System The coordinate system handled with the coordinate conversion commands are as shown below. Each axis coordinate system Coordinate Base coordinate system system Work coordinate system Cartesian coordinate Mechanical interface coordinate system system Tool coordinate system [1] Each Axis Coordinate System It is the coordinate system expressed with coordinates of each axis that constructs a robot (C1, C2, C3, R, B and T).
  • Page 143 [2] Cartesian Coordinate System The cartesian coordinate system should be the right-hand system as shown in the figure below, and each axis defines the direction of right-hand thread is the positive direction of revolution. Six values of coordinates below are to express the position and posture. •...
  • Page 144 [3] Base Coordinate System It is the cartesian coordinate system defined against the surface that a robot is installed on (Xb, Yb, Zb, Rxb, Ryb and Rzb). The coordinates in the base coordinate system are to express the position and posture of the center of the tool attachment face (tool tip when tool coordinate system is activated) of the T-axis (sixth axis).
  • Page 145 R-Axis (4 Axis) Rotary Axis R軸（第4軸）回転軸 Point P P点 - Direction + Direction +方向 -方向 -105° +105° B-Axis (5 Axis) Rotary Axis B軸（第5軸）回転軸 Home Position of B-Axis B軸原点 Base Coordinate Home Position Base Coordinate System Position When Located at Each Axis Coordinate System Home Position Base Coordinate System Position When Located at Each Axis Coordinate System Home Position *1 *2 Robot Combination Type...
  • Page 146 [4] Mechanical Interface Coordinate System It is the cartesian coordinate system with the center of the T-axis (sixth axis) tool attachment face as the datum (Xm, Ym, Zm, Rxm, Rym and Rzm). With the T-axis rotary axis defined as Zm-axis, a line joining the center of the tool attachment face and the positioning hole should be the Ym-axis.
  • Page 147 [5] Work Coordinate System The work coordinate system (Xw, Yw, Zw, Rxw, Ryw and Rzw) should be defined by the offset against the base coordinate system. If the offset is 0 for all, it should be the same as the base coordinate system.

  • Page 148: Form

    5.3.9. Form A robot equipped with a wrist unit can have two types of forms [Flip / Non Flip] to one position and posture (X, Y, Z, Rx, Ry and Rz) at the center of the tool attachment face (tool tip when tool coordinate system is activated).

  • Page 149: Troubleshooting

    5.3.10. Troubleshooting Error No. CC4 “SEL Data Error” will occur in case there is anything wrong in the setting of the conversion conditions in each coordinate conversion command. In this case, the wrong point can be specified from the contents of Info. 1 in the error list. (See table below) Cause of Coordinate Conversion Condition Setting Error Info.1 Cause of Error...
  • Page 150 ME0364-2B...

  • Page 151: Parameter Detail

    6. Parameter Detail 6.1. Extension Motion Control Parameter List 6.1.1. I/O Parameter Initial value Details Parameter Name Unit Input range (reference) section Extension Motion Control Position Data 0 to 512 6.2 [1] Max. Number of Used Points Extension Motion Control Position Data 0 to 31 6.2 [1] Defined Max.

  • Page 152: All Axes Parameter

    Initial value Details Parameter Name Unit Input range (reference) section Extension Motion Control 17 Axis Brake 6.2 [6] 0 to 3999 Compulsory Release Input Port Number Extension Motion Control 18 Axis Brake 6.2 [6] 0 to 3999 Compulsory Release Input Port Number Extension Motion Control 19 Axis Brake 6.2 [6]...

  • Page 153: Extension Motion Control Common Parameters

    6.1.4. Extension Motion Control Common Parameters Initial value Details Parameter Name Unit Input range (reference) section System reserved 0 to FFFFFFFF 00000000 Electronic Cam Table Area Assignment 0 to FFFFFFFF 64026402 6.2 [8] System reserved 1 to 999 Max. JOG Velocity at Home-Return 6.2 [9] mm/s 1 to 250...
  • Page 154 6.1.5. Extension Motion Control Each Axis Parameters Initial value Details Parameter Name Unit Input range (reference) section Axis Use Method 0 to 4 6.2 [13] System reserved 0 to 2 System reserved 0 to 1 Slave address 0 to FEEF 00000000 6.2 [14] Number of pulses per one encoder...
  • Page 155 Initial value Details Parameter Name Unit Input range (reference) section Servo ON completion check time 100msec 1 to 999 6.2 [21] Home return completion check time 1 to 9999 6.2 [22] Positioning completion check time 100msec 1 to 999 6.2 [23] System reserved 1 to 5000 Home return completion status OFF...

  • Page 156: Details Of Extension Motion Control Parameter

    6.2. Details of Extension Motion Control Parameter Caution : It is necessary to conduct the software reset after making a change to a parameter in order to reflect the settings. Extension Motion Control Position Data Max. Number of Used Points (I/O Parameter No.530) Extension Motion Control Position Data Defined Max.
  • Page 157 Max. Number of Max. Number of Max. Number of Position Max. Number of Position Extension Motion Extension Motion Data per Axis Data per Axis Control Axes Control Axes [2] Extension Motion Control Synchronizing Command Master Axis Position Type (I/O Parameter No.533) Initial value Parameter Name...
  • Page 158 Also, this parameter is valid only when the synchronizing master axis is a standard motion control axis or an extension motion control axis of the standard driver control. When the synchronizing control is to be conducted with an extension motion control axis of the slave driver control as the master axis, the type of the position for synchronizing should always be “current command position”.
  • Page 159 [5] Extension Motion Control Axis Status Assignment Axis Pattern (I/O Parameter No.599) Initial value Parameter Name Unit Input range (reference) Extension Motion Control Axis Status Assignment Axis 0 to FFFFFFFF Pattern Indicate the status of which axis should be assigned the extension input port. Make the axis to be assigned to the port to 1, and make the one not to be assigned to 0 and express in the bit pattern, and convert it into hexadecimal numbers to set it in.
  • Page 160 [7] Extension Motion Control Feature Select (All Axes Parameter No. 151) Initial value Parameter Name Unit Input range (reference) Extension Motion Control Feature Select to FFFFFFFF Indicate valid/invalid of the extension motion control feature in bit 0 to 3. The setting at delivery is 0 (invalid) Setting to 1 (valid), and the extension motion control feature becomes available.
  • Page 161 [9] Maximum Jog Speed when Home Return not Completed (Extension motion control common parameter No. 4) Initial value Parameter Name Unit Input range (reference) Maximum Jog Speed when Home Return not mm/sec 1 to 250 Completed This parameter sets the maximum jog speed (mm/sec) when home return has not been completed.
  • Page 162 [13] Axis Use Method (Extension Motion Control Each Axis Parameter No. 1) Initial value Parameter Name Unit Input range (reference) Axis Use Method 0 to 4 Establish the setting as shown below based on the way to use the subject axis. Setting Use Method value...
  • Page 163 [Caution] Establish the slave addresses following the rules below. 1) Make sure not to have the slave addresses (extension addresses + station addresses) duplicated with other slaves. 2) Station addresses should be within the available range (03 to EF ) for setting. 3) Extension addresses should be within the available range (00 to FE ) for setting.
  • Page 164 [16] Software limit margin (Extension Motion Control Each Axis Parameter No. 9) Initial value Parameter Name Unit Input range (reference) Software limit margin 0.001 mm 0t o 9999 This parameter sets the exceeded amount from software limit at which an error is detected while synchronous movement is being performed.
  • Page 165 [18] VLMX Speed (Extension Motion Control Each Axis Parameter No.16) Initial value Parameter Name Unit Input range (reference) VLMX speed mm/sec 1 to 9999 This parameter sets the actuator movement speed when the VLMX speed is specified (VLMX command execution) in a SEL program (unit: mm/sec). VLMX speed = maximum speed. However, if the VLMX speed exceeds the maximum speed (output channel parameter No.
  • Page 166 [22] Home return completion check time (Extension Motion Control Each Axis Parameter No.32) Initial value Parameter Name Unit Input range (reference) Home return completion check time 1 to 9999 This parameter sets time-out for the home return completion signal from the slave driver. When having a long stroke axis for the slave driver control, the time spent for home-return operation may exceed the initial value (150sec) and could cause Error No.

  • Page 167: Relation With Existing Parameters

    6.3. Relation with Existing Parameters • Operation Related Parameters Effective to Extension Motion Control Axes The parameters below are effective also to the extension motion control axes. Type Name Remarks All axis Override Initial Values All axis Safety Speed in Manual Mode Valid for Cartesian controllers All axis Linear Axis Safety Speed in Manual Mode...
  • Page 168 [Selection of Output Functions] Name Input function Extension motion control board function Input function selection 300 No influence Error Input function selection 301 No influence Output shows the emergency stop status of Input function selection 302 Emergency Stop XSEL Input function selection 303 AUTO Mode / Automatic Operation Output shows the status of XSEL All Valid Axes Home Position / All Valid...

  • Page 169: List For Degrees Of Indispensability For Parameter Settings (Reference)

    6.4. List for Degrees of Indispensability for Parameter Settings (Reference) A : Setting Mandatory B : Adjustment Recommended Depending on Operational Conditions of Axis C : Adjustment Available for Way of Use - : Setting No Necessary 1. Common setting Importance of Item Parameter name...
  • Page 170 ME0364-2B...

  • Page 171: Details Of Features

    7. Details of Features 7.1. Details Related to Operation 7.1.1. Safety Speed of Extension Motion Control Axis For the safety speed setting of the extension motion axes, the following parameters are effective in the same way as for the standard motion control axes. The RC controller safety speed parameter value will not affect.

  • Page 172: Transmission Cycle Of Mechatrolink Communication

    7.2. Transmission Cycle of MECHATROLINK Communication The cycle of message sending and receiving between master and slaves in the MECHATROLINK communication is called the transmission cycle. The transmission cycle of the MECHATROLINK communication in the extension motion control feature is 1ms or 2ms. When communication is performed in 1ms of transmission cycle, improvement of operation performance could be expected in the ways of tracking accuracy and response speed of an axis to the movement commands compared to 2ms of transmission cycle.
  • Page 173 [Reference Case] (A) When establishing cascading connection with 32 units of single-axis type RC controllers (with one time of retry); The number of axes available for control in 1ms of transmission cycle is ordinary approximately 23 axes. In order to have more axes controlled, it is necessary to set to 2ms for the transmission cycle.
  • Page 174 ME0364-2B...

  • Page 175: Troubleshooting

    8. Troubleshooting 8.1. Notes Related to Generally for Errors • Refer to the instruction manual of each controller for contents of each error, countermeasures and general troubleshooting of controllers. • In order to check the conditions of the RC controller (alarm list, parameters, etc.), it is necessary to prepare an RC teaching tool.

  • Page 176: Process In Trouble Occurrence

    8.2. Process in Trouble Occurrence In case of trouble occurred, take an action following the procedures below for the purpose of prompt recovery and recurrence prevention. Check of Status Display LED on XSEL and RC Controllers • Status of XSEL MECHATROLINK LED Lamps Color Status Meaning...
  • Page 177 Phenomenon Cause/Action Alarm reset cannot be conducted on RC Cause: 1) An error with higher level than cold start axis has been occurred on the RC controller. 2) The operation mode of the RC controller prohibits launching PIO. Countermeasure: 1) If an error with higher level than cold start has been occurred, remove the cause of the error and turn off and on the power to the RC controller.
  • Page 178 Phenomenon Cause/Action Error No. 4B3 “Extension Motion Control [Content and cause] Axis Pattern Unestablished Error” occurs The extension motion control axis pattern is not established. [Countermeasure] Execute the axis pattern setting commands (XAXS and XA16) to set the valid axis patterns. Error No.
  • Page 179 Phenomenon Cause/Action Error No. 4BE “Synchronizing Slave Axis [Content and cause] Operation Complete Error” occurs The slave axis operation program finished during the synchronizing operation. It also occurs when the slave axis operation got cancelled due to an error occurrence except for axis-related during the synchronizing operation.
  • Page 180 Phenomenon Cause/Action Error No. 5A6 “Extension Motion Control [Detail and Cause] Fieldbus Command Complete Timeout Completion of the command issued to the slave could not be Error” occurs confirmed within the allowable time duration. The following things can be concerned; 1) A slave not in support is connected.
  • Page 181 3) Check the caution notes regarding the slave address setting and revise the setting. If there is no problem to the points above, and the phenomenon occurs after rebooting the power, please contact IAI. Error No. 5B1 “Extension Motion Control [Content and cause] Fieldbus Interface Error”...
  • Page 182 Check the alarm code generated before Alarm Code 080, and then take a counteraction. Please contact IAI if there is no alarm except for this alarm can be found in the RC controller, and this problem occurs often. Error No. D8B “Axis Feature Definition [Content and cause] Parameter Error”...

  • Page 183: Change History

    Change History Revision Date Description of Revision 2016.06 First edition 2016.08 1B edition P12, 14, 19, 20, 22, 27, 89, 102, 03, 133 to 135, 139, 143 are description corrected 2016.09 1C edition Change a Figure 2016.12 1D edition MECHATROLINK Communication Specifications “in default”...
  • Page 186 825, PhairojKijja Tower 7th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 website:www.iai-robot.co.th The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2019. Apr. IAI Corporation. All rights reserved. 19.04.000...

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