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IAI SEL Instruction Manual

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SEL CONTROLLER
Teaching Pendant
SEL-T, SEL-TD, SEL-TG
Instruction Manual Eleventh Edition
IAI Corporation

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  • Page 1 SEL CONTROLLER Teaching Pendant SEL-T, SEL-TD, SEL-TG Instruction Manual Eleventh Edition IAI Corporation...
  • Page 3 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 5 XSEL-RX /SX V1.12 XSEL-RXD /SXD V1.12 (Note 1) V1.16 (Note 1) On the model code label for SEL-T/TD/TG that are applicable for TTA, it is indicated a number 2 or higher as shown below. [Model Code Label] MODEL SEL-T SERIAL No.000009942...

  • Page 7: Table Of Contents

    XSEL-R/S/RX/SX/RXD/SXD ..................30 5.4. TTA ..........................31 5.5. Caution ........................32 Mode Transition Diagram..................33 6.1. X-SEL K, P/Q, R/S, TT, TTA Controller ..............33 6.2. X-SEL KX Controller ....................38 6.3. X-SEL PX/QX, RX/SX, RXD/SXD Controller ............43 6.4. SSEL, ASEL or PSEL Controller ................48 6.4.1.
  • Page 8 Teac (Teaching) ..................110 10.2.2. Example of Teaching Input ..............121 10.3. Teaching for SCARA axis: 1st to 4th Axes of X-SEL-KX, PX/QX or RX/SX controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD controller ....126 10.3.1.
  • Page 9 12. Coordinate System Data Editing of the SCARA Axis: 1st to 4th Axes of XSEL-KX, PX/QX or RX/SX controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD controller ......173 12.1. Editing of work coordinate system data ..............174 12.2.
  • Page 10 16.14. Procedures for Resetting Absolute-Battery Voltage-Down Warning Error for orthogonal axis : 5th and 6th Axes of X-SEL-K, P/Q or PX/QX controller, 5th to 8th Axes of R/S or RX/SX controller or SSEL, ASEL or PSEL controller .........261 16.15. Time setting ......................263 16.16.

  • Page 11: 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 12 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 13 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 14 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 15 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 16 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 17 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 19: Forward

    1. Forward Thank you very much for purchasing our X-SEL, TT, TTA, SSEL, ASEL and PSEL Controller Teaching Pendant. Improper usage or mishandling may result in a product not only being unable to deliver full functions but also produce unexpected troubles or shorten the product’s life. Please read this Manual carefully, and operate the product properly by paying attention to its handling.

  • Page 20: Warranty Period And Scope Of Warranty

    4. Warranty Period and Scope of Warranty The Teaching Pendant you purchased has been delivered upon completion of our strict shipping test. We shall warrantee this product as follows. 1. Warranty Period The warranty term shall be either of the following terms, whichever is reached first. ▪...

  • Page 21: Connection To Controller

    Connection to Controller 5. Connection to Controller 3.1. Connection to SEL-T, TD Mode Switch M cable X-SEL-K Type Controller...
  • Page 22 Relay Box SEL-TD (ANSI-compliant Teaching Box) Driver Power AC Power Cut-off Control Supply Circuit Noise Filter Class D Grounding Work (Protective PIO Power Ground) Supply (24V DC) Example of Connection to X-SEL-KT/KET Type Controller...
  • Page 23 Emergency Stop Switch Enable Switch Teaching Pendant Type Selection Switch (P only) Mode Switch X-SEL-P (Q) Type Controller Caution ▪ Set the teaching pendant type selection switch of the X-SEL-P type to the left.
  • Page 24 Teaching Pendant Mode Switch * Figure shows example of TT. Table Top Actuator (TT) Table Top Actuator (TT, TTA)
  • Page 25 SCARA Mode Switch X-SEL-KX Type Controller...
  • Page 26 Emergency Stop Switch Enable Switch Teaching Pendant Type Selection Switch (PX only) SCARA Mode Switch 2-axis 1-axis X-SEL-PX (QX) Type Controller Caution ▪ Set the teaching pendant type selection switch of the X-SEL-PX type to the left.
  • Page 27 Emergency Stop Switch （Note）SEL-T-JS: Teaching Pendant with Enable Replacement Switch Cable Dedicated for SSEL-CS Replacement Cable SSEL-C : CB-SEL-SJ002 SSEL-CS : CB-SEL-SJS002 Mode Switch Panel Unit 1-axis 2-axis SSEL Type Controller...
  • Page 28 Host System Replacement Panel Unit Cable Teaching ASEL-C : CB-SEL-SJ002 （Note）SEL-T-JS: Teaching Pendant ASEL-CS : CB-SEL-SJS002 Pendant with Replacement Cable Dedicated for ASEL-CS Emergency Stop Switch Enable Switch Power Supply ASEL Type Controller...
  • Page 29 Host System Replacement Panel Unit Cable Teaching PSEL-C : CB-SEL-SJ002 （Note）SEL-T-JS: Teaching Pendant PSEL-CS : CB-SEL-SJS002 Pendant with Replacement Cable Dedicated for PSEL-CS Emergency Stop Switch Enable Switch Power Supply PSEL Type Controller 11 11...

  • Page 30: Connection Between Sel-Tg And The Controller

    Model Teaching Pendant This shows an example of the ASE Controller. Dummy Plug CAUTION : When the teaching pendant SEL-TG is not to be connected, make sure to insert the dummy plug DP-4 into the adaptor for the teaching pendant.
  • Page 31 This shows an example of the ASE Controller. Dummy Plug DP-4S Replacement Cable CB-SEL-SJS002 CAUTION : When the teaching pendant SEL-TD is not to be connected, make sure to insert the dummy plug DP-4S into the adaptor for the teaching pendant.
  • Page 32 This shows an example of the ASE Controller. Dummy Plug DP-4S Connector Replacement Cable Set CB-CVTG-LBS002 CAUTION : When the teaching pendant SEL-TG is not to be connected, make sure to insert the dummy plug DP-4S into the adaptor for the teaching pendant.
  • Page 33 When the SEL-TG teaching pendant is used as the teaching pendant with the dead-man switch, connect it to the controller as shown in the following diagram. [Connection of the SEL-TG and IA-LB-TG] Controller Adaptor for the Teaching Pendant Only when the XSEL-J controller...
  • Page 34 When the SEL-TD teaching pendant is used as the teaching pendant with the dead-man switch, connect it to the controller as shown in the following diagram. [Connection of the SEL-TD and IA-LB-TGS] Controller Adaptor for the Teaching Pendant Only when the XSEL-J controller...
  • Page 35 When the SEL-TG teaching pendant is used as the teaching pendant with the dead-man switch, connect it to the controller as shown in the following diagram. [Connection of the SEL-TG and IA-LB-TGS] Controller Adaptor for the Teaching Pendant Only when the XSEL-J controller...

  • Page 36: Teaching Pendant Connection Procedure

    3.3. Teaching Pendant Connection Procedure 1. Connect actuators, I/O 24VDC power source, and system I/O to the controller first. Then connect the cable connector of the teaching pendant to the controller’s teaching connector when the main power supply of the controller is OFF. 2.
  • Page 37 When the X-SEL controller K type executes “OPEN 1” (channel 1 shared for the teaching pendant) within the SEL program in the MANU (manual) mode, the right of use of the serial port channel 1 is forcefully moved to the SEL program and communication with the teaching pendant is disconnected.

  • Page 38: Teaching Pendant Function And Specifications

    6. Teaching Pendant Function and Specifications General Specifications Item Specification Compliance with UL and CE Standards Compliant Working Ambient Temperature Temperature: 0 ～ 40°C, Humidity: 10 ～ 90% (No Humidity condensation) Protection Code IP54 (Excluding cable connectors) Working Ambient Atmosphere No corrosive gas Weight Approx.

  • Page 39: Main Operation Keys And Functions

    Main Operation Keys and Functions 1. LCD Displays the edit or teaching description of each set value up to 4 lines of 20 characters. 2. EMERGENCY STOP Push-button Switch Executes emergency stop. 3. LED • When this LED is lit, jog operation is possible with 1-, 2-, 3-, 4-, ALL-, 1+, 2+, 3+, 4+ or ALL+.
  • Page 40 4. F1 F2 F3 F4 (Function keys) Correspond to each item in the LCD display (function key section). The LED is lit when the relevant key is operable. 5. SF key (Shift key) If there are more than 5 selectable functions (“→“ will be displayed at right side of the function key area), it will change the display items in the function key area.) When the key is operable, its LED is lit.
  • Page 41 13. MOVE key Enables actuator movement or continuous operation. The LED of MOVE is lit. (It is valid in the Teac (teach) mode area.) When you press a jog key such as 1+ and 1- after enabling movement or continuous operation, movement action starts.
  • Page 42 If you press the ESC key, the mode selection screen will be displayed and operation will become possible in the mode not requiring servo ON even in the switch OFF condition. ◎When the switch is OFF, the panel window 7-segment LED of the X-SEL-K or KX controller displays “dsf.”...

  • Page 43: How To Save Data

    Transmit Position backup Flash write memory memory Battery SEL global data Transmit backup (content 3) memory Error list * Encoder parameters are not stored within the controller but in the EEPROM of the actuator’s encoder itself. They are read into the controller at power-on or software-reset time.
  • Page 44 Content 1: Parameters excluding content 2 below and encoder parameter Content 2: Driver card, IO slot card (electric power type card) parameter (X-SEL-K, KX, TT) : IO slot card (electric power type card) parameter (X-SEL-P/Q, PX/QX, SSEL, ASEL, PSEL)
  • Page 45 For the X-SEL-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)) Save the data during the...

  • Page 46: Set-Up At Shipment Without System Memory Backup Battery

    Content 1: Parameters excluding content 2 below and encoder parameter Content 2: Driver card, IO slot card (electric power type card) parameter (X-SEL-K, KX, TT) : IO slot card (electric power type card) parameter (X-SEL-P/Q, PX/QX, SSEL, ASEL, PSEL) Content 3: Flag, Variable, and String 5.2.
  • Page 47 For the X-SEL-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=0 (System memory backup battery unequipped)) Save the data during the...

  • Page 48: Xsel-R/S/Rx/Sx/Rxd/Sxd

    Main CPU RAM memory Programs Parameters (other than slave Flash write card parameters) Symbols Transmit Positions (axis positions in X-SEL) (Nos. 10001 to 20000 (second half)) Reset read Position comment (axis positions in X-SEL) (Nos. 1 to 10000) Slave card parameters Flash write...

  • Page 49: Tta

    Error list Maintenance Information (Note) The positions (No. 1 to 10000), SEL global data, error list and maintenance information are backed up to the retaining memory (FRAM) in standard with no use of the battery. As the positions (No. 1 to 10000) are stored in the retaining memory, it is not necessary to...

  • Page 50: Caution

    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 X-SEL-P/Q and PX/QX controllers for the increased memory capacity (with gateway function).

  • Page 51: Mode Transition Diagram

    Mode Transition Diagram X-SEL K, P/Q, R/S, TT, TTA Controller Power ON Communications established Select position No. and Function key Function key Function key Function key press return 1-axis - 4-axis Mode Position data Posi Edit (Velocity selection (Manual input)
  • Page 52 Select the Select the step No. program No. and press return and press return Function key Prog Mdfy Step data (Program) (Modify) input * After writing data with [WRT], move to the next step * Move to the symbol edit mode with “Sym” Copy (Copy/Move) (Clear)
  • Page 53 Function key Moni (Monitor) (Input port) (Output port) GFlg (Global flag) Function key GVar (Integer (Global variable) variable) Real (Real variable) (String variable) Function key 1-axis - 4-axis 5-axis, 6-axis Posi Posi ASts (Current (Current (Axis status) position) position) Srvo (Servo status) Snsr (Sensor input...
  • Page 54 Function key [ESC] SSts Mode (System (System status) mode) (System error) Sts1 (System status 1) Sts2 (System status 2) Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key [ESC] Main (Version) (CTL main) (Driver) (Teaching pendant) (for P/Q type only) (Mount SIO) FPGA...
  • Page 55 * Displayed only when manual operation classification parameter=edit/start up selection (with password). * You will need to input the password to change setting. (PIO start (Refer to the Supplement and section 8 “Manual Operation” in the X-SEL Controller Instruction prohibit select) Manual.) (Selection of two * X-SEL-P/Q main application Ver.

  • Page 56: X-Sel Kx Controller

    6.2. 8.2. X-SEL KX Controller Power ON Communications established Select position No. Function key Function key Function key Function key and press return Mode Position data selection (Edit) (Position) (Manual input) input (Velocity input) * After writing data with [WRT],...
  • Page 57 Select the Select the program No. step No. and Function key and press return press return Prog Mdfy Step data (Program) (Modify) input * After writing data with [WRT], move to the next step Copy * Move to the symbol edit mode with “Sym” (Copy / movement) (Clear)
  • Page 58 Function key (Monitor) (Input port) (Output port) (Global flag) Function key (Global variable) (Integer variable) (Real variable) (String variable) Function key (Current position) (Axis status) (Servo status) (Sensor input status) (Encoder status) (Axis-related error) (Coordinate system select No.)
  • Page 59 Function key (System status) (System mode) (System error) (System status 1) (System status 2) (System status 3) (System status 4) (Error list) Function key (Version) (CTL main) (Driver) (Teaching pendant)
  • Page 60 * It is required to enter the password at setting change time. (PIO start (Refer to the Supplement of “List of Parameters” and “8. Manual Operation Types” in the prohibit select) X-SEL Controller Instruction Manual.) ▪ Flow at Error Occurrence Error occurs Message...

  • Page 61: X-Sel Px/Qx, Rx/Sx, Rxd/Sxd Controller

    6.3. X-SEL PX/QX, RX/SX, RXD/SXD Controller Power ON Communications established Select position No. and press return Function key Function key Function key Function key 1-axis - 4-axis (SCARA axis) [ESC] [ESC] [ESC] [ESC] [ESC] Mode Edit Posi Position data (Manual...
  • Page 62 Select the Select the progrum No. step No. and Function key and press return press return [ESC] [ESC] [ESC] Prog Mdfy Step data (Program) (Modify) input * After writing data with [WRT], move to the next step Copy * Move to the symbol edit mode with “Sym” (Copy / movement) (Clear)
  • Page 63 Function key Moni (Monitor) (Input port) (Output port) GFlg (Global flag) Function key GVar (Global variable) (Integer variable) Real (Real variable) (String variable) Function key 1-axis - 4-axis 5-axis, 6-axis (SCARA axis) (Orthogonal axis) ASts Posi Posi (Axis status) (Current position) (Current position) Srvo (Servo status)
  • Page 64 Function key [ESC] SSts Mode (System (System status) mode) (System error) Sts1 (System status 1) Sts2 (System status 2) Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key [ESC] Main (Version) (CTL main) (Driver) (Teaching pendant) (Mount SIO) FPGA (FPGA)
  • Page 65 (PIO start * You will need to input the password to change setting. prohibit select) (Refer to the Supplement and section 8 “Manual Operation” in the X-SEL Controller Instruction Manual.) * X-SEL-P/Q main application Ver. 0.17 or later (Selection of two...

  • Page 66: Ssel, Asel Or Psel Controller

    8-4. SSEL, ASEL or PSEL Controller 6.4. SSEL, ASEL or PSEL Controller In the case of the SSEL, ASEL or PSEL controller, 2-type selection is possible between the In the case of the SSEL, ASEL or PSEL controller, 2-type selection is possible between the program mode and positioner mode.
  • Page 67 Select the Select the step No. program No. Function key and press return and press return Step data Prog Mdfy input (Program) (Modify) * After writing data with [WRT], move to the next step Copy * Move to the symbol edit mode with “Sym” (Copy/Move) (Clear) Select the symbol type with the function key...
  • Page 68 Function key (Monitor) (Input port) (Output port) (Global flag) Function key (Global (Integer variable) variable) (Real variable) (String variable) Function key 1-axis, 2-axis (Current (Axis status) position) (Servo status) (Sensor input status) (Encoder status) (Axis-related error)
  • Page 69 Function key SSts Mode (System (System status) mode) (System error) Sts1 (System status 1) Sts2 (System status 2) Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key Main (Version) (CTL main) (Driver) (Teaching pendant) FPGA CTbl (Control constant)
  • Page 70 MtsK (Selection of two or more programs start prohibition/ permission)

  • Page 71: Positioner Mode

    6.4.2. Positioner Mode 8-4-2. Positioner Mode (Note) In the positioner mode, “program edit” or “symbol edit” is unavailable. “Two or more (Note) In the positioner mode, “program edit” or “symbol edit” is unavailable. “Two or more programs start prohibition” (MTsk) operation cannot be performed, either. programs start prohibition”...
  • Page 72 Select the parameter type with the function key Para Parameter (Parameter) input * After writing data with [WRT], move to the next parameter No. Function key Exec Play (Positioner (Program mode operation) execution) Stop (Positioner mode stop) Function key Moni (Input port) (Monitor) (Output port)
  • Page 73 Function key SSts Mode (System (System status) mode) (System error) Sts1 (System status 1) Sts2 (System status 2) Sts3 (System status 3) Sts4 (System status 4) ErrL (Error list) Function key Main (Version) (CTL main) (Driver) (Teaching pendant) Posi (Positioner (Teaching management pendant)
  • Page 74 Function key Flsh Ctrl (Flash ROM (Controller) writing) SRst (Software reset) ERst (Error reset) Function key MClr GVar (Memory (Global clear) variable) Cnct (Reconnection) Baud (Baud rate change) RPwr (Driving power recovery request) RAct (Action restart request) RAbs (Absolute reset) * When the manual operation type parameter equals edit and start selection (with password), it SVel is required to enter the password at setting change time.

  • Page 75: Simple Operation Procedure

    Orthogonal Axis: 5th and 6th Axes of XSEL-K, P/Q or PX/QX Controller, 9-1. Orthogonal Axis: 5th and 6th Axes of X-SEL-K, P/Q or PX/QX - TT, SSEL, 5th to 8th Axes of R/S or RX/SX Controller or TT, TTA, SSEL, ASEL or...

  • Page 76: Creation Of Position Data

    9.1.1. 7.1.1. Creation of Position Data Input 6 points position data which can draw pentagon as the following position data list. Connect the teaching pendant to the controller and turn on MODE switch to MANU side. Supply the power to the controller. Display the version of the teaching pendant and move to the mode selection screen.
  • Page 77 Mode Selection Screen This is the basic screen for all operations. Press the F1 key (Edit). * If you make a wrong selection or input, press the ESC key and return to the previous screen. Then, you can continue operation. You can return to the basic screen by pressing the ESC key several times from any screen.
  • Page 78 Position (Position Data) Edit Screen Press the F1 key (Mdi). Position No. Input Mode Position No. Axis No. displayed The cursor is placed at position No. Second axis data First axis data If there is no data, x.xxx will be displayed. Press the return key and place the cursor at first axis position data.
  • Page 79 * In the case of the 5th and 6th axes of X-SEL-PX/QX, press the F4 (Axis) key to select the 5th and 6th axes. * In the case of the 5th to 8th axes of X-SEL-RX/SX, press the F4 (Axis) key to select the 5th to 8th axes.
  • Page 80 The cursor moves to the second axis position data. Input 100 and press return key. Transmit the data with the WRT key and move to position No. 3. ③ Data input for the third point Input 100 for the first axis position data and press the return key.
  • Page 81 ④ Data input for the fourth point Input 100 for the first axis position data and press the return key. Input 0 for the second position data and press the return key. Transmit the data with the WRT key and move to position No.
  • Page 82 Transmit the data with the WRT key and move to position No. 6. ⑥ Data input for the sixth point Input 0 for the first axis position data and press the return key. Input 50 for the second axis position data and press the return key.
  • Page 83 Return to the position edit screen by pressing the ESC key. The edit mode screen will be appear by pressing the ESC key once more. The Flash ROM writing screen will be appear by pressing the ESC key again. To write the data to Flash ROM, press the F1 (Yes) key.
  • Page 84 Return to the edit mode screen by pressing the ESC key. That’s all for inputting basic position data.

  • Page 85: Programming (Excluding The Positioner Mode Of The Ssel, Asel And Psel Controller)

    Here, make a program by changing the position of the position data created in section 9.1.1. 7.1.1. Application Program List This is the X-SEL program that was created in this chapter. For the details of each command, please refer to the operating manual that comes with the controller.
  • Page 86 Select the F1 key (Edit) at the mode selection screen. Select the F2 key (Prog) at the Edit Mode screen. Select the F1 key (Mdfy) on the program edit and new creation screen. Program No. Step No. Change to the program No. input mode screen. The cursor is located at the program No.
  • Page 87 The Cursor moves to the appropriate step No. Press the return key. Input commands. Commands are displayed in the function key area. How to search the command ① When the cursor is located at commands input locations, commands displayed alphabetical order by pressing SF key. They are displayed in reverse order by pressing key.
  • Page 88 The cursor moves to operation 1. Input 11 and press the return key. When you redo an input Move the cursor where you want to redo an input by pressing the key and return key. Write over or delete with BS (backspace) key. Or redo from step No.
  • Page 89 Here, input the velocity* as 100, and press the return key. * Check the maximum velocity listed in the catalogs. When velocity is input into position data, priority is given there. Transmit the data to the controller by pressing the WRT key.
  • Page 90 Input 1 on position No. and press the return key. Transmit the data to the controller by pressing the WRT key. The cursor moves to step No.4. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid.
  • Page 91 Transmit the data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. Finish editing the program and write the data to Flash ROM.
  • Page 92 Press the ESC key. To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait..” blinks. * Never shut off the power to the controller during Flash ROM writing. Flash ROM writing is complete.

  • Page 93: Changing Application Program (Excluding The Positioner Mode Of The Ssel, Asel And Psel Controller.)

    7.1.3. Changing Application Program 9-1-3. Changing Application Program (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Change the program you made in the previous section (7.1.2). Change the program you made in the previous section (9-1-2).
  • Page 94 Select the F1 key (Mdfy) on the program edit and new creation screen. Change to the program edit and new creation screen. Press the return key once and position the cursor at the step No. Insert a 1 line step between step No. 2 and 3. Input 3 by pressing “3”...
  • Page 95 Select the F1 key (TAG) and press the return key. Input 1 into operation 1 and press the return key. Transmit the data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid.
  • Page 96 Press the F2 key (Del). Press the F1 key (Del) one more time. (If you wish to cancel deleting, press the ESC key.) Press the return key. Display “GOTO” by using the in the 10 key, SF key or key. Select the F2 key (GOTO) and press the return key.
  • Page 97 Input the same value you input at “TAG” operation 1 on operation 1. Here, input 1 and press the return key. Transmit the data to the controller by pressing the WRT key. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid.

  • Page 98: Scara Axis: 1St To 4Th Axes Of Xsel-Kx, Px/Qx Or Rx/Sx Controller Or 1St To 4Th Axes Or 5Th To 8Th Axes Of Rxd/Sxd Controller

    7.2. SCARA Axis: 1st to 4th Axes of XSEL-KX, PX/QX or RX/SX Controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD Controller 9-2. Simple Operating Procedures Create a program and position data. Create a program and position data. Position Data (①...

  • Page 99: Creation Of Position Data

    7.2.1. Creation of position data 9.2.1.reation of position data Input the position data of 3 points as shown in the position data list below Input the position data of 3 points as shown in the position data list below. Connect the Teaching Pendant to the controller and flip the MODE switch to MANU. Turn on the power to the controller.
  • Page 100 Mode Selection screen This screen becomes the basic screen for all operations. Press the F1 (Edit) key. * If you make a wrong selection or input, press the ESC key and return to the previous screen. Then, you can continue operation. You can return to the basic screen by pressing the ESC key several times from any screen.
  • Page 101 Axis No. at the cursor location ① Data input for 1st point Enter a numerical value of 0 and press the return key. 0.000 is displayed, the axis No. changes to 2, and the cursor moves to the section for the Y-axis position data.
  • Page 102 When the data is transferred with the WRT key, the position No. is incremented by 1 and becomes 2. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid. Position No.
  • Page 103 Transfer the data with the WRT key and advance the position No. to 3. ③ Data input for 3rd point Press the return key since the X-axis position data is left blank. Press the return key since the Y-axis position data is also left blank.
  • Page 104 Complete position editing and write the data in Flash ROM. Pressing the ESC key moves the cursor to the location of the position No. Pressing the ESC key returns the screen to the Edit-Posi screen. Pressing the ESC key again moves to the Edit mode screen.
  • Page 105 The message “Please wait…” flashes during Flash ROM writing. * Never turn off the power to the Controller at this time. Flash ROM writing is completed. Return to the edit mode screen by pressing the ESC key. With the above, input of the basic position data is completed.

  • Page 106: Creation Of Program

    The program to move the position data created in 9.2.1. is created. Application Program List In this section, the X-SEL program is input. For further information on the meaning and usage of each command, refer to the Instruction Manual attached to the controller.
  • Page 107 Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key on the Edit mode screen. Select the F1 (Mdfy) key on the Edit-Prog (program edit and new creation) screen. Program No. Step No. The screen changes to the program No. input mode screen.
  • Page 108 The cursor has moved to the location of the step Press the return key. Enter commands. Commands are displayed in the function key section. Command search method ① When the cursor is at the location for command Command with an initial letter of A input, pressing the SF key displays commands in alphabetical order.
  • Page 109 The cursor moves to operation 1. Set 50% of the maximum PTP acceleration. Enter 50 and press the return key. To reattempt input: Move the cursor to the change location with the or return key. Overwrite the data or delete it with the BS key. Or, reattempt from the step No.
  • Page 110 Set 50% of the maximum PTP deceleration. Enter 50 and press the return key. Press the WRT key to transfer the data to the controller. The step No. advances to 3. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid.
  • Page 111 Set 100% of the maximum PTP velocity. Enter 100 and press the return key. Press the WRT key to transfer the data to the controller. The step No. advances to 4. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid.
  • Page 112 Press the WRT key to transfer the data to the controller. The step No. advances to 5. Display MOVP with of the 10 key. Select the F3 (MOVP) key. Press the return key. The cursor moves to operation 1. Enter 1 of the position No. 1 and press the return key.
  • Page 113 Press the WRT key to transfer the data to the controller. The step No. advances to 6. Input the program data of MOVP 2, MOVP 3, MOVP 2 and MOVP 1 for the steps No. 6 to No. 9 according to the same procedures and transfer the data to the controller.
  • Page 114 Complete the program editing and write the data in Flash ROM. Press the ESC key. (The cursor moves to the location for step No.) Press the ESC key. (The cursor moves to the location for program No.) Press the ESC key. Return to the Edit-Prog screen.
  • Page 115 To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during Flash ROM writing. * Never turn off the power to the controller at this time. Flash ROM writing is completed.

  • Page 116: Change Of Application Program

    7.2.3. Change of application program 9.2.3. Change of application program The program created in the preceding section (7.2.2) is changed. The program created in the preceding section (9-2-2) is changed. A program step is inserted or deleted to allow the same operation to be repeated. Step No.
  • Page 117 Select the F1 (Mdfy) key on the Edit-Prog and new creation screen. The display changes to the Edit-Prog and new creation screen. Press the return key once to move the cursor to the location for step No. Insert one-line step between the program steps No. 4 and No.
  • Page 118 Select the F4 (TAG) key and press the return key. Enter a numerical value of 1 for operation 1 and press the return key. Press the WRT key to transfer the program data to the controller. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid.
  • Page 119 Press the F2 (Del) key. Press the F1 (Del) key again. (When canceling deletion, press the ESC key.) Press the return key to move the cursor to the location of commands. Display “GOTO” with 9 of the 10 key, SF key or key.
  • Page 120 Enter the same numerical value as the one input for “TAG” operation 1 for operation 1. Enter 1 here and press the return key. Press the WRT key to transfer the program data to the controller. * When the screen is changed with the PAGE UP and PAGE DOWN keys or ESC key before data transfer, the input data becomes invalid.

  • Page 121: Program Execution

    10. Program Execution Program Execution (Excluding the positioner mode of the SSEL, ASEL and (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) PSEL controller.) Execute the program made in “9-1. Orthogonal Axis” in the previous chapter. Execute the program made in “7.1. Orthogonal Axis” in the previous chapter. You can execute the You can execute the program made in “9-2.
  • Page 122 Move to the operation mode selection screen. Select step by step execution or the continuance operation. Operation Mode Selection Start the operation by Start the continuance pressing the F2 (Step) operation by pressing key. the F1 (Strt) key. Continuance Operation Mode Step Operation Mode Display the current executing program After...

  • Page 123: Setting Of Brake Point

    8.2. Setting of Brake Point 10-2. Setting of Brake Point Brake point can be set with the continuance operation. Press the F4 (Brk) key in the operation rake point can be set with the continuance operation. Press the F4 (Brk) key in the operation mode selection screen or the operation mode screen.

  • Page 124: Monitor Under Operation

    8.3. Monitor under Operation 10-3. Monitor under Operation The current position of the actuators and data in the local area can be monitored during continuous operation or step operation. Press the SF (shift) key at the continuance operation mode screen or the step operation mode screen.
  • Page 125 (3) Local Variable Displays the contents of the local variables and the local strings. Moreover, values can be substituted for a local variable and the character sequence can be substituted for a local string. Select the F3 (LVar) key on the operation mode screen. 3 kinds of local variables are displayed: F1 (Itg): Integer...

  • Page 126: Execute Or Stop The Positioner Mode Of The Ssel, Asel And Psel Controller

    11. 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. Press the F2 (Play) key from the mode selection screen and move to the play mode screen.

  • Page 127: Position Edit

    12. Position Edit 12.1. 10.1. Mdi (Manual Direct Input) The input value of the position data can be entered with the 10 key. For inputting input data for a coordinate position by using the 10 key, please refer to “9. Simple Operation Procedures.”...

  • Page 128: Teaching Of The Orthogonal Axis: 5Th And 6Th Axes Of Xsel-K, P/Q Or

    10.2. Teaching of the orthogonal axis: 5th and 6th Axes of XSEL-K, P/Q or PSL controller of X-SEL-K, P/Q and PX/QX PX/QX Controller, 5th to 8th Axes of R/S or RX/SX Controller or TT, TTA, SSEL, ASEL or PSEL Controller 12-2-1.
  • Page 129 (1) Teaching Screen There is the position No. selection screen and each-axis data input screen for the teaching screen. Execute teaching of all axes simultaneously (take in current position · clear) on the position No. selection screen. Execute teaching of each axis at each-axis data input screen.) Description of the function key ①...
  • Page 130 Description of the function key ② Each-axis Data Input Screen F1(Disp): Switch the input data screen to the current position display. F2(Scan): Take the current position of the axis at which the cursor is located into the input screen. F3(Canc): Clear the input data. F4(Axis): Switch the 1st to 4th axes display screen to the 5th and 6th axes...
  • Page 131 For incremental specification, it is required to execute homing after supplying power or software reset before you start teaching. For Spurious Absolute Type, it is necessary to conduct a home-return operation before the teaching after the power is turned ON. Turn the servo ON condition by pressing the SERVO key and then the ALL+ key in the teaching screen condition..
  • Page 132 (2) Movement of an actuator ① Jog Operation Turn the servo ON by pressing the SERVO key and then the ALL+ key in the teaching screen condition. Execute the all-axis servo OFF command when there is any axis in the servo ON status, and execute the all-axis servo OFF command when all axes are in the servo OFF status.
  • Page 133 ② Inching Operation Inching distance 0.1mm Set the inching distance. (the moving distance each time pressing jog key.) Input the value on Dis (inching distance) at the jog velocity change screen and press the return key. Value input range is 0.001~1.000 (unit: mm). Return to the teaching screen with the ESC key and execute the inching operation.
  • Page 134 (3) Take in the current position as a data Take the selected actuator’s location as position data into the teaching screen. Input the position No. into which data is taken with 10 keys on the position No. select screen and press the return key.
  • Page 135 (5) I/O Monitor · Location Confirmation During teaching operation, you can monitor the input and output 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 Select In or Out from the function keys in the teaching screen condition.
  • Page 136 ③ Continuous movement Move the actuator continuously to the location of the position data transmitted to the controller. Select the position No. to move first in the teaching Position No. you’d like to move first screen condition and press return key. Turn the servo ON by pressing the SERVO key and then the ALL+ key.
  • Page 137 (6) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Select UsrO among the function keys in a teaching screen condition. (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.) (B) Current position and servo ON/OFF...
  • Page 138 ① Setting of user-specified output port parameters For the operation method for parameter setting, refer to “16. Parameter Edit.” The first port No. and the number of ports are set with the following parameters: ▪ Number of ports I/O parameter No. 74 “Qnt Prt Usr Out” (Number of output ports used by TP user [hand, etc.]) ▪...

  • Page 139: Example Of Teaching Input

    10.2.2. Example of Teaching Input 12-2-2. Example of Teaching Input Entering the data into position No.10 using the jog and into position No.11 by manual operation Entering the data into position No.10 using the jog and into position No.11 by manual operation with Servo OFF status.
  • Page 140 Move the actuator to the designated position by pressing the jog keys, 1-, 1+, 2-, and 2+. Switch the display to the current position screen with the F1 (Disp) key. Take in the current position data of the axis No. to the input screen where the cursor is located by pressing the F2 (Scan) key.
  • Page 141 Turn the servo OFF condition by pressing the F: Servo OFF SERVO key and ALL- key. N: Servo ON Press the F1 (Disp) key to confirm the servo OFF status. Move each axes to the designate position via manual mode. Pressing the EMERGENCY STOP button switches the display to the emergency stop screen.
  • Page 142 Transmit position data to the controller by pressing the WRT key. The Position No. moves to 12. * If you change the screen with the PAGE UP · PAGE DOWN or ESC keys before transmitting the data, the input data will be invalid. Finish the position data input by teaching.
  • Page 143 To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait..” blinks. * Never shut off the power to the controller during Flash ROM writing. Return to the edit mode screen with the ESC key.

  • Page 144: Teaching For Scara Axis: 1St To 4Th Axes Of X-Sel-Kx, Px/Qx Or Rx/Sx

    10.3. Teaching for SCARA axis: 1st to 4th Axes of X-SEL-KX, PX/QX or RX/SX controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD controller 12-3. Teaching for SCARA axis: 1 axis – 4 axis of X-SEL-KX, PX/QX controller 10.3.1.
  • Page 145 In the case of the XSEL-RX/SX, or RXD/SXD Controller, the Axis No. to be connected to the SCARA Axis is displayed. Axis No. to be connected to the SCARA Axis １-４ １． ２． ３． ４． Change the SCARA Axis for the XSEL-RXD/SXD Controller using the following procedure. Press the SF key to display the Axis No.
  • Page 146 (1) Teaching screen The teaching screen consists of two screens including 'position No. selection screen' and 'axis-specific data input screen.’ (Refer to the diagram on the previous page [p.116].) [p.120]. On the position No. selection screen, teaching (current-position incorporation/clear) is given to all axes simultaneously.
  • Page 147 In the case of the XSEL-RX/SX or RXD/SXD Controller, the arm system setting is available. １-４ １-４ １． １． ２． ２． ３． ３． ４． ４． １-４ F1 (EArm) : １． ２． The Arm System Data is set in this section. ３．...
  • Page 148 Function key descriptions ② Axis-specific data input screen F1(Disp): It switches the display between the input data screen and the current position display. F2(Scan): It incorporates current positions of all axes onto the screen. F3(Canc): It clears the all-axis data of the position No.
  • Page 149 In the case of the XSEL-RX/SX or RXD/SXD Controller, the arm system setting is available. １-４ １． ２． ３． ４． １-４ F1 (EArm) : １． ２． The Arm System Data is set in this section. ３． ４． EArm...

  • Page 150: Jog Movement Direction And Coordinate System

    10.3.2. 12.3.2. Jog movement direction and coordinate system (1) Jog keys 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 151 ② Jog movement on work coordinate system Example) The jog keys 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. Origin of work coordinate system No.
  • Page 152 ③ Jog movement on tool coordinate system Example) The jog keys 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. D-cut surface Tool tip Jog movement on tool...
  • Page 153 ④ Jog movement on each axis system (jog movement on each arm) Each arm, jog keys 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 To change the coordinate system for...
  • Page 154 (2) Selection of coordinate system No. Use the SF key to display Crd# on the teaching screen. Press the F1 (Crd#) key. Enter the work coordinate system No. Enter the tool coordinate system No. This is a screen displayed when the work coordinate system No.

  • Page 155: Actuator Operation

    Operate the actuator on the teaching screen. Mode flow to teaching screen: X-SEL-PX/QX is Edit-Posi-TchL In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Edit - Posi - TchL (1) Jog operation Turn the servo ON by pressing the SERVO key and then the ALL+ key in the teaching screen condition.
  • Page 156 Change of jog velocity The actuator movement velocity under jog operation is changed. Display “Jvel” (jog velocity) in the function key section on the teaching screen and press the corresponding function key. (“Jvel” is not displayed without pressing the SF key depending on the screen condition.) Jog velocity: 50 mm/sec Enter Vel (velocity), Acc (acceleration), and Dcl...
  • Page 157 Mode flow: Set the inching distance (travel made every time the JOG key is pressed once). In case of X-SEL-PX/QX, RX/SX, RXD/SXD: X-SEL-PX/QX is Edit-Posi-TchS-JVel Enter a numerical value for Dis (inching distance) Edit - Posi - TchS - JVel with the 10 key and press the return key on the jog Inching distance: 0.1 mm...
  • Page 158 Mode flow to teaching screen: X-SEL-PX/QX is Edit-Posi-TchS In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Edit - Posi - TchS Press the SF key to display “Arm” in the function key section. Turn the servo ON by pressing the SERVO key and then the ALL+ key.
  • Page 159 X-SEL-PX/QX Edit-Posi-TchS–Crd#) In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Edit - Posi - TchS - Crd# ) The selected actuator’s location is incorporated as position data onto the teaching screen. Enter the position No. into which data is incorporated with the 10 key on the position No. selection screen, and press the return key.
  • Page 160 F2 (Scan) key incorporates the current position data for all axes. On the axis-specific data input screen, pressing the Each-axis data input screen F2 (Scan) key incorporates the current position data of the axis over which the cursor is located. (The data is incorporated on an axis basis.
  • Page 161 In: Input ports Out: Output ports Mode flow: Edit - Posi - Teac - In Mode flow: Edit - Posi - Teac - Out In case of X-SEL-PX/QX, RX/SX, RXD/SXD: In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Mode flow: Mode flow:...
  • Page 162 The actuator is moved to the location of the position data transferred to the controller. (Check the location of the teaching position data.) Mode flow to teaching screen: In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Edit - Posi - TchS X-SEL-PX/QX is Edit-Posi-TchS Position No. to move Select the position No.
  • Page 163 The actuator is continuously moved to the location of the position data transferred to the controller. Mode flow to teaching screen: In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Edit - Posi - TchS X-SEL-PX/QX is Edit-Posi-TchS Position No. to move first Select the position No.
  • Page 164 (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 165 Press the SF key to display “Jump” in the function key section. Press the SF key to display “Jump” in the function key section. In case of X-SEL-PX/QX, RX/SX, RXD/SXD: Edit - Posi - TchS Press the F2 (Jump) key.
  • Page 166 (11) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Select UsrO among the function keys in a teaching screen condition. Mode flow: (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 the specified ports from the left.) (B) Current position and servo ON/OFF display...
  • Page 167 ① Setting of user-specified output port parameters For the operation method for parameter setting, refer to “14. Parameter Edit.” The first port No. and the number of ports are set with the following parameters: ▪ Number of ports I/O parameter No. 74 “Qnt Prt Usr Out” (Number of output ports used by TP user [hand, etc.]) ▪...
  • Page 168 (12) Arm System seting In the case of the XSEL-RX/SX, or RXD/SXD Controller, the arm system data can be set on the position data. Mode Change to Teaching Window : Edit - Posi - TchS Position No. selection section Arm System Data for Axis 1 to 5 Selection Section Arm System Data for Axis 5 to 8 Selection Section Function key display section Only for XSEL-RXD/SXD, Axis 5 to 8 Arm System Scanning Selection Item is displayed.

  • Page 169: Teaching Input Example

    12.3.4. Teaching input example 10.3.4. Data is input for the position No. 10 by jog operation and for the position No. 11 by manual operation under servo OFF. Select the F1 (Edit) key on the Mode Selection screen. Select the F1 (Posi) key. Select the F2 (Teac) key.
  • Page 170 Press the jog key 1- 1+ ～ 4- 4+ to move the robot to any given position. Pressing the F2 (Scan) key incorporates the current position of the axis No. over which the cursor is located onto the input screen. Change the screen over to the data input screen with the F1 (Disp) key.
  • Page 171 Press the SERVO key and then ALL+ key to turn the servo ON. Pressing the EMERGENCY STOP button switches the display to the emergency stop screen. Press the ESC key to return from the Emergency Stop input screen to the teaching screen. Danger Be sure to perform manual teaching while the EMERGENCY STOP button is being pressed.
  • Page 172 Pressing the F2 (Scan) key incorporates the current position of the axis No. over which the cursor is located onto the input screen. Press the return key to move the cursor to the next axis, and press the F2 (Scan) key. Incorporate the data of the Z-axis and R-axis in the same way.
  • Page 173 Complete the position data input by teaching. Press the ESC key. Press the ESC key. Press the ESC key. Press the ESC key. To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key.
  • Page 174 The message “Please wait…” flashes during Flash ROM writing. * Never turn off the power to the Controller at this time. Flash ROM writing is completed. Return to the edit mode screen by pressing the ESC key.

  • Page 175: Copy And Movement Of Position Data

    10.4. Copy and movement of position data 12.4. Copy and movement of position data The following operating instructions are to copy or move the position data to another position No. The following operating instructions are to copy or move the position data to another position No. Select the F1 (Edit) key on the Mode Selection screen.

  • Page 176: Deletion Of Position Data

    10.5. Deletion of position data 12-5. Deletion of position data The following operating instructions are to delete the position data. The following operating instructions are to delete the position data. Select the F1 (Edit) key on the Mode Selection screen. Select the F1 (Posi) key.

  • Page 177: Program Edit

    13. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 13.1. 11.1. How to Input Program How to input Expansion Condition (E), Input Condition (N·Cnd), and Output (Pst) The sequence of program inputs for the teaching pendant is different from the program edit screen of the PC software.
  • Page 178 Select the F1 (Edit) key on the mode selection screen. Select the F2 (Prog) key on the edit mode screen. Select the F1 (Mdfy) key on the program edit and new creation screen. Input the program No. by using the 10 keys and press the return key.
  • Page 179 Input section of Cmnd Press the key. Input section of E Press the key or return key. Input section of N·Cnd Input “601” by using the 10 keys and press the return key. Transmit the data of step No.1 to the controller by pressing the WRT key.
  • Page 180 Select the F2 (CPGE) key and press return. Input section of Operand 1 Input 200 by using the10 keys and press return. When designating an indirect variable at Operand 1, select the F3(*) key first. Input section of Operand 2 (Indirect variable designation) Select the F3 (*) key first.
  • Page 181 Input section of N·Cnd Select the F3 (N) key first. Input “600” by using the 10 keys and press the return key. Transmit the data of step No. 2 to the controller by pressing the WRT key. Step No. moves to 3. * If you change the screen with the PAGE UP ·...
  • Page 182 Input section of Operand 2 (Indirect string designation) Select the F4 (‘) key first. Then input 1234 by using the 10 keys and select the F4 (‘) key and then press the return key. When you input a string at Operand 2, press the F4 (’) key.

  • Page 183: Symbol Input During Program Edit

    13.2. 11.2. Symbol Input during Program Edit Symbol can be input when the cursor is located at Operand 1 · 2 (operation 1· 2), Pst (output) and Cnd (input condition) in the “Sym” state displayed in the function key area. Example: Input symbol of the program step below.
  • Page 184 The 10 keys become alphabet inputs. Input “TAIKIITI.” For the input procedure, please refer to the section “15. Symbol Edit.” Transmit the symbol data to the controller by pressing the WRT key. Return to the edit screen. The letter, S indicates symbol is used.

  • Page 185: Single Line Comment Input

    13.3. 11.3. Single Line Comment Input Turns a step from a program into a comment (invalid step) and you can input numbers, alphabets and signs (* · _). Mode Transition: Program No. return Move the cursor to the step No. for comment input. Press the F3 (Cmnt) key.
  • Page 186 Input numerical value Display “Num” in the F1 key area. Input the numerical value by using the 10 keys. The diagram on the left is an example for inputting “1.” After finishing the comment input, press the return key again. Transmit the input data to the controller by pressing the WRT key.

  • Page 187: Program: Copy Or Move

    13.4. Program: Copy or Move 11.4. The following operating instructions are to copy or move a program to another program No. Select the F1 (Edit) key on the mode selection screen. Select the F2 (Prog) key. Select the F2 (Copy) key. Input the program No.

  • Page 188: Program: Clear

    13.5. Program: Clear 11.5. The following operating instructions are to clear a program. Select the F1 (Edit) key on the mode selection screen. Select the F2 (Prog) key. Select the F3 (Clr) key.
  • Page 189 Program No. to clear Input the program No. to clear by using the 10 keys and press the return key. ① To clear a single program, press the F2 (Clr) key in the example diagram at the left. The execution confirmation screen will be displayed.

  • Page 190: Flash Rom Writing

    13.6. Flash ROM Writing 11.6. 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.

  • Page 191: Coordinate System Data Editing Of The Scara Axis

    12. Coordinate System Data Editing of the SCARA Axis: 1st to 4th Axes of XSEL-KX, PX/QX or RX/SX controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD controller As the coordinate system data of the IX series, there are the work coordinate system data, tool coordinate system data and simple interference check zone.

  • Page 192: Editing Of Work Coordinate System Data

    14.1. 12.1. 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) Origin of work coordinate system No.
  • Page 193 The cursor is located at the Y-axis offset value data. Enter 200 and press the return key. The cursor is located at the Z-axis offset value data. Enter 0 and press the return key. The cursor is located at the R-axis offset value data. Enter 30 and press the return key.
  • Page 194 Pressing the ESC key returns the cursor to the coordinate system data selection screen. Coordinate system data selection screen Pressing the ESC key again returns to the Flash ROM writing screen. (Return by 3 screens) To write the data in Flash ROM, press the F1 (Yes) key.

  • Page 195: Editing Of Tool Coordinate System Data

    14.2. 12.2. 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 Tool tip Tool tip D-cut surface Tool mounting surface center The offset values from the tool coordinate system No.
  • Page 196 The cursor is located at the Y-axis offset value data. Enter 35 and press the return key. The cursor is located at the Z-axis offset value data. Enter -10 and press the return key. The cursor is located at the R-axis offset value data. Enter 45 and press the return key.
  • Page 197 Pressing the ESC key returns the cursor to the coordinate system data selection screen. Coordinate system data selection screen Pressing the ESC key again returns to the Flash ROM writing screen. (Return by 3 screens) To write the data in Flash ROM, press the F1 (Yes) key.

  • Page 198: Editing Of Simple Interference Check Zone

    14.3. 12.3. 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.) ▪...
  • Page 199 Input of base coordinate values of Ⓐ The cursor is located at the X-axis data. Enter 475 and press the return key. The cursor is located at the Y-axis data. Enter -50 and press the return key. The cursor is located at the Z-axis offset value data. Enter 150 and press the return key.
  • Page 200 Input of base coordinate values of Ⓖ Enter the base coordinate values of Ⓖ in the same way as A. Set the output port/global flag and error type during zone invasion Press the F4 (P/E) key. Output port/global flag No. and error type input screen Press the return key.
  • Page 201 Transfer the data with the WRT key. The screen advances to the edit screen for the simple interference check zone No. 2. When the axial pattern of Ⓐ does not agree with that of Ⓖ, the “9FO” error occurs. When the axial pattern of Ⓐ and Ⓖ is 0, the “9F1” error occurs if the output port or error type is specified.
  • Page 202 To write the data in Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during Flash ROM writing. * Never turn off the power to the Controller at this time. Flash ROM writing is completed.

  • Page 203: Symbol Edit

    15. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) Symbol (Names) can be applied to variables, input ports, flags, position, etc., in SEL controller. Select the F1 (Edit) key. Select the F3 (Sym) key. 15-1.

  • Page 204: Input Example: Symbolize Local Integer Variable

    15.2. 13.2. Input Example: Symbolize Local Integer Variable Symbolize Variable No. 5 of program No. 3 to “Cnt5.” Press the F2 (Var) key. Mode Transition: Select an integer or real number. Press the F1 (Itg) key. (Itg: Integer, Real: Real number) The cursor is located at program No.
  • Page 205 Press several times to display “n.” Press the return key. Press the (10 keys) several times to display “t.” Then press the return key. The F1 key area display changes to Num by pressing the F1 (Alph) key. It becomes a numerical input.
  • Page 206 After determining symbol name, the cursor moves to the top letter. If it’s before determination, you can correct the letters one by one with the BS key. After determination, the name is corrected by overwriting all the characters. Transmit the symbol data to the controller by pressing the WRT key.
  • Page 207 Return to the edit mode screen with the ESC key.

  • Page 208: Symbol Edit Screen Of Each Items

    15.3. 13.3. Symbol Edit Screen of Each Items (1) Constant Number Select the F1 (Cnst) key on the constant number symbol edit item screen. Mode Transition: Selection of Integer Type · Real Number Type Constant Number Select an integer or real number. F1 (ltg): Integer F2 (Real): Real Number...
  • Page 209 (3) Program Select the F3 (Prog) key on the symbol edit item screen. Mode Transition: Program No. Symbol Edit Screen Input alphabet and number. Input program No. by the PAGE UP · PAGE DOWN keys or 10 keys. (4) Position Select the F4 (Posi) key on the symbol edit item screen.
  • Page 210 (6) Output Port Select the F2 (Out) key on the symbol edit item screen. Mode Transition: Output Port No. Symbol Edit Screen Input alphabet and number. Input output port No. by the PAGE UP · PAGE DOWN keys or 10 keys. (7) Flag Select the F3 (Flag) key on the symbol edit item screen.
  • Page 211 (9) Tag Select the F1 (Tag) key on the symbol edit item screen. Mode Transition: Tag No. Symbol Edit Screen Input program No. since tag No. is in the local area. Input alphabet and number. Input tag No. by the PAGE UP · PAGE DOWN keys or 10 keys.
  • Page 212 (11) All Clear Select the F4 (Aclr) key on the symbol edit item screen. Mode Transition: Edit–Sym-Aclr All Clear Screen To clear all symbols, select the Yes key. To cancel them, select the No key. If the Yes key is selected, all the symbol data will be cleared and “Complete!”...

  • Page 213: Flash Rom Writing

    13.4. Flash ROM Writing 15.4. Flash ROM Writing The edit data will be cleared by restoring power and executing software reset, only if the symbol The edit data will be cleared by restoring power and executing software reset, only if the symbol edit data was transmitted to the controller.

  • Page 214: Parameter Edit

    16. Parameter Edit You can change the parameters corresponding to your system. When you change the parameters by yourself, please note the parameter contents. Note: In the case of SSEL, ASEL or PSEL in the positioner mode, parameter transfer cannot be performed when the controller is executing.

  • Page 215: Input Example: Edit Each-Axis Parameter

    16.2. 14.2. Input Example: Edit Each-Axis Parameter Set the soft limit + for the first and second axis of each-axis parameter No.7, 300mm and 200mm. Select the F3 (Axis) key on the parameter edit screen. Mode Transition: The cursor is located at the parameter No. Input 7 by using the10 keys and press the return key.
  • Page 216 Input data of axis No. 2 The display screen moves to parameter No. 8. Axis No. 2 of parameter No. 7 is not edited yet, so, return to the parameter No. 7 edit screen with the PAGE DOWN key. Change the axis No. to 2 by using the F4 (Dev+) key.
  • Page 217 To write the data to Flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. During Flash ROM writing, “Please Wait..” blinks. * Never shut off the power to the controller during Flash ROM writing. After writing the data to Flash ROM, the screen changes to the software reset screen.

  • Page 218: Monitor

    17. Monitor Monitor each status, global variable, port status, etc. Select the F3 (Moni) key from The mode selection screen. 15.1. 17.1. Monitor Items Monitor items will be displayed in the function key area. Each time by pressing the SF key, items will be shifted and displayed. Monitor Items Screen Input port Out:...

  • Page 219: Input Port

    17.2. 15.2. Input Port Display the ON/OFF status of input port. Select the F1 (In) key on the monitor items screen. Mode Transition: 1: ON, 0: OFF Each time the PAGE UP · PAGE DOWN keys are pressed, the 20 port numbers are scrolled. 17.3.

  • Page 220: Global Variable

    17.5. 15.5. 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. Select the F4 (GVar) key on the monitor items screen. Mode Transition: 3 kinds of global variables are displayed: Itg: Integer Type (No.

  • Page 221: Axis Status

    17.6. 15.6. 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 F1 (ASts) key from the monitor items screen. Mode Transition: Posi: Current Position Srvo: Servo Status Snsr:...
  • Page 222 (2) Servo status Mode Transition: Axis No. can be switched with the PAGE UP · PAGE DOWN keys. Axis No. Servo ON axis in use Homing Servo Moving Command Normal End Over Push Limit Error (System Reservation) (System Reservation)
  • Page 223 (3) Sensor Input Status Mode Transition: Axis No. can be switched with the PAGE UP Axis No. · PAGE DOWN keys. Creep Sensor Overrun Sensor Home Sensor (System Reservation) Orthogonal axis Axis No. (System Reservation) (System Reservation) (System Reservation) (System Reservation) SCARA axis...
  • Page 224 (4) Encoder Status Mode Transition: Axis No. can be switched with the PAGE UP Axis No. · PAGE DOWN keys. Over Speed Full Absolute Status Count Error Multi-rotation Error Battery Error Battery Alarm...
  • Page 225 Error Code Axis No. (5) Axis Related Error Mode Transition: Axis No. can be switched with the PAGE UP · Error code Axis No. PAGE DOWN keys. Program No. Step No. Axis No. Position No. Information 1 Information 2 Information 3 Information 4 Time from the last software reset or power reconnection to error occurrence...

  • Page 226: System Status

    17.7. 15.7. System Status Display system status. The status items may vary depending on the model. Select the F2 (SSts) key on the monitor items screen. Mode Transition: Mode: System Mode Err: System Error Sts1: System Status 1 Sts2: System Status 2 Sts3: System Status 3 Sts4:...
  • Page 227 (3) System Status 1 (4) System Status 2 Mode Transition: Mode Transition: Application Data Flash ROM Write Status Operation Mode SW Status Slave Parameter Write Status TP Enable SW Status Safety Gate Status Servo Interlock Status I/O Interlock Status Emergency Stop SW Status Program Execution Status Power Abnormality Status Wait for Reset Status...
  • Page 228 (5) System Status 3 Mode Transition: Power Down Status System Drive Status System Ready Status Function select flag request status (System Reservation) (System Reservation) (System Reservation) (System Reservation) (6) System Status 4 Mode Transition: System status 4 is all reserved. (System Reservation)

  • Page 229: Error Detail Information

    17.8. 15.8. Error Detail Information Displays the error detail information. Select the F3 (ErrL) key on the monitor items screen. Mode Transition: List No. can be switched with the PAGE UP · PAGE DOWN keys. List No. Error Code Error Message Program No.

  • Page 230: Version Information

    17.9. 15.9. Version Information Displays version information. Select the F4 (Ver) key on the monitor items screen. Mode Transition: Main: Main Drv: Driver Teaching Pendant SIO: Mount SIO FPGA: FPGA CTbl: Control Constant Table Management Information Posi: Positioner Mode Management Information Selectable items vary depending on the model.
  • Page 231 (4) Mount SIO (Controller P/Q, and PX/QX, R/S, RX/SX, RXD/SXD type only) (4) Mount SIO (Controller P/Q and PX/QX type only) Mode Transition: Channel 1 Version Channel 2 Version * “Nonuse” is displayed for the channel with the I/O parameters No. 201 and No. 213 set to “Nonuse.”...
  • Page 232 (7) Positioner Mode Management Information for SSEL, ASEL or PSEL Controller in Positioner Mode Mode Transition: Moni-Ver-Posi *Only for the SSEL, ASEL and PSEL controllers in the positioner mode Displays the positioner mode ID specified by the current parameter ID. Info 1, Info 2 Displays system...

  • Page 233: Maintenance Information Window

    15.10. Maintenance Information Window This mode displays the number of actuator movement and distance. It displays as XSEL-R/S, RX/SX, RXD/SXD controller, TTA. Press F3 key (MntI) in the monitor window. Then, Press F1 key (Axis). Mode Transfer: Moni - MntI - Axis Axis No.

  • Page 234: Virtual Input/Output Port

    15.11. Virtual Input/Output Port It shows the status on/off of the TTA virtual input and output ports. [Refer to SEL Language Programing Manual for assignment of the virtual input and output ports] It is available to switch on/off the virtual output port.

  • Page 235: Controller

    RFls: Flash ROM writing data recovery (one MTsk: Selection of two or more programs start generation before) prohibition/permission * X-SEL-P/Q main application Ver. 0.36 or later only - X-SEL-PX/QX main application Ver. 0.17 or later - SSEL, ASEL, PSEL Ver. 0.01 or later Ｔ...

  • Page 236: Flash Rom Writing

    18.2. 16.2. Flash ROM Writing After clearing the data from Flash ROM, write data which is saved in controller memory to Flash ROM. Select the F1(Flsh) key on the controller item screen. Mode Transition: To write the data to Flash ROM, press the F1 (Yes) key.

  • Page 237: Software Reset

    18.3. 16.3. Software Reset Executes software reset of the controller. The data which is not written to Flash ROM will be cleared. Select the F2 (SRst) key on the controller item screen. Mode Transition: To execute a software reset, press the F1 (Yes) key. If not, press the F2 (No) key.

  • Page 238: Memory Clear

    16.5. Memory Clear 18-5. Memory Clear 16.5.1. Groval Variable Zero clears the global variable. 18-5. Memory Clear Select the F4 (MClr) key on the controller item screen. Zero clears the global variable. Mode Transition: Select the F4 (MClr) key on the controller item screen. Press the F2 (Gvar) key.

  • Page 239: Baud Rate Change

    16.7. 18.7. Baud Rate Change Changes the communication baud rate between the controller and the teaching pendant. Select the F2 (Baud) key on the controller item screen. Mode Transition: Input values corresponding to the baud rate by using the 10 keys and press the return key. 0: 9.6 2: 38.4 5: 115.2 [kbps] To change the baud rate, press the F1 (OK) key.

  • Page 240: Driver Power Recovery Request

    16.9. 18.9. Driver Power Recovery Request Requests to recover driver power to the controller. Select the F3 (RPwrl) key on the controller item screen. Mode Transition: To execute driver power recovery request, press the F1 (Yes) key. Return to the previous screen. If not, press the F2 (No) key.

  • Page 241: Driver Power Recovery Request (Rpwr) And Action Pause Release Request (Ract)

    16.11. 18.11. Driver Power Recovery Request (RPwr) and Action Pause Release Request (RAct) 16.11.1. 18.11.1. 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 242: In The Case Of Ssel, Asel Or Psel Controller

    18.11.2. In the case of SSEL, ASEL or PSEL Controller 16.11.2. (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 243: Selection Of Two Or More Programs Start Prohibition/Permission

    Select the F1 (MTsk) key on the controller screen. Mode Transition: Ctl–MTsk * This function is valid only for the following models: ▪ X-SEL-P/Q (main application Ver. 0.36 or later) ▪ X-SEL-PX/QX (main application Ver. 0.17 or later) • XSEL-R/S, RX/SX, RXD/SXD ▪...

  • Page 244: Absolute Reset

    16.13.1. Absolute Reset of the orthogonal axis: 5th and 6th Axes of XSEL-K, P/Q or PX/QX Controller, 18.13.1. Absolute Reset of the orthogonal axis: X-SEL-K, P/Q, 5 axis and 6 axis of PX/QX, 5th to 8th Axes of R/S or RX/SX Controller or SSEL or ASEL Controller TT, SSEL, ASEL and PSEL controller Executes absolute data reset.
  • Page 245 ③ Servo ON F1 (OK) key. ④ Homing F1 (OK) key. ⑤ Servo OFF After executing absolute reset, be sure to reset software or reconnect the power. Do not press the F1 (OK) key but press the PAGE UP key. Then move to “⑥...
  • Page 246 Return to the axis No. input screen. To execute absolute reset on other axes, input axis No. here and press the F1 (OK) key. Repeat ①~⑥. To finish absolute reset, press the ESC key. Move to the software reset screen. Press F1 (Yes) key to execute software reset.

  • Page 247: Absolute Reset Of The Orthogonal Axis: Psel Controller

    16. 13. 2. Absolute Reset of the orthogonal axis: PSEL controller Executes absolute data reset. Select the F1 (RAbs) key on the controller item screen. Mode Transition: To execute absolute reset, press the F1 (Yes) key. If not, press the F2 (No) key. Return to the previous screen.
  • Page 248 ③ Simple ABS Unit Status Initialization Press the F1 (OK) key. ④ Clear Complete Excitation Detection Status Press the F1 (OK) key. ⑤ Servo ON Press the F1 (OK) key. ⑥ Home return Press the F1 (OK) key. ⑦ Absolute Reset Press the F1 (OK) key.
  • Page 249 Return to the axis No. input screen. To execute absolute reset on other axes, input axis No. here and press the F1 (OK) key. Repeat ①~⑧. To finish absolute reset, press the ESC key. Move to the software reset screen. Press F1 (Yes) key to execute software reset.

  • Page 250: Absolute Reset Of The Scara Axis: 1St To 4Th Axes Of Xsel-Kx

    16.13.3. Absolute Reset of the SCARA axis: 1st to 4th Axes of XSEL-KX, PX/QX or RX/SX Controller or 1st to 4th Axes or 5th to 8th Axes of RXD/SXD Controller 18.13.2. Absolute Reset of the SCARA axis: X-SEL-K, P/Q, 5 axis and 6 axis of PX/QX, TT, SSEL, ASEL and PSEL controller...
  • Page 251 An absolute reset is performed on the following 3 types: arm 1, arm 2 and Z-axis + R-axis. (1) Absolute reset on arm 1 and arm 2 Select the F1 (RAbs) key on the controller item screen. Mode flow: When performing an absolute reset, press the F1 (Yes) key.
  • Page 252 ③ Servo ON Press the F1 (OK) key. ④ Jog movement Jog the arm to the vicinity of the basic position (see the “Standard Posture Drawing” on the following page) and press the F1 (OK) key. ⑤ Servo OFF Press the F1 (OK) key. ⑥...
  • Page 253 Check that the EMERGENCY STOP button has been pressed. When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at the reference position. In that case, arm 2 may be moved. When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at the reference position.
  • Page 254 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. Arm 1 (Arm length 250/300/350) Positioning mark label for arm 1...
  • Page 255 Absolute reset jig (Pin) Positioning mark label for arm 1 Positioning mark label for arm 2 Arm 1 (Arm length 120/150/180) Absolute reset jig (Pin) Arm Length 120 /150/180 Reference Position *1: When an absolute reset is performed for arm 1 (arm length: 120) Adjust both arm 1 and 2 Arm 2 (Arm length 150/180)
  • Page 256 ⑦ Encoder multi-rotation data reset Press the F1 (OK) key. ⑧ Home preset value auto refresh Press the PAGE UP key and do not press the F1 (OK) key. ▪ Do not execute the item of “Home preset value auto refresh.” (Be careful especially when performing an absolute reset without a jig.) ▪...
  • Page 257 Press the ESC key. Restart the controller. Press the F1 (Yes) key. The screen returns to the Mode Selection screen. Be careful not to perform reset using an incorrect sequence, since it may cause the NOTE: arm position to become offset. Execute “home preset value auto refresh”...
  • Page 258 (2) Absolute reset on Z-axis + R-axis Select the F1 (RAbs) key on the controller item screen. Mode flow: When performing an absolute reset, press the F1 (Yes) key. When not performing an absolute reset, press the F2 (No) key. The display returns to the previous screen.
  • Page 259 ③ Servo ON Press the F1 (OK) key. ④ Temporary standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home position. ⑤ Jog movement Move the R-axis to the vicinity of the basic position with jog keys (see the “Standard Posture Drawing”...
  • Page 260 Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the standard posture as shown below, press the F1 (OK) key. Inputting emergency stop displays the screen at the left.
  • Page 261 The top face of the stopper should align with the bottom face of arm 2 so that clearance will be approx. 4 mm. D-cut surface Contact the jig with the pin lightly. Positioning mark label for rotation axis D-cut surface (Bottom view) Arm Length 250/300/350 Reference Position Warning...
  • Page 262 Absolute reset jig (Plate) Absolute reset jig (Pin) Set the plate so that a hole of φ 3 will be placed on the opposite Turn and press the side of the D-cut surface. rotation axis so that no clearance will be made. (Bottom view) Arm Length 120 Reference Position...
  • Page 263 Absolute reset jig (Plate) Absolute reset jig (Pin) Set the plate so that a hole of φ Turn and press the 3 will be placed on the opposite rotation axis so that side of the D-cut surface. no clearance will be made.
  • Page 264 ⑧ Encoder multi-rotation data reset (2) Press the F1 (OK) key. ⑨ Home preset value auto refresh Press the F1 (OK) key. ⑩ Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake.
  • Page 265 ⑬ Servo OFF Press the F1 (OK) key. ⑭ Encoder multi-rotation data reset (3) Press the F1 (OK) key. ⑮ Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. Note: If “Write Flash ROM?” is displayed, exit the screen with “No.”...

  • Page 266: Perform Absolute Reset On Zr Unit (Absolute Type)

    16.13.3 Perform Absolute Reset on ZR Unit (Absolute Type) 16.13.4. 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 267 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 268 Servo ON Press the F1 (OK) key. Temporary standard posture standby Press the F1 (OK) key. Note: The vertical axis returns to the home position. Jog movement Move the rotation axis to the vicinity of the basic position with jog keys (see the “Standard Posture Drawing”...
  • Page 269 Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the adjusting jig as shown in the standard position figure, press the F1 (OK) key. Inputting emergency stop displays the screen at the left.
  • Page 270 Jig Attachment Procedure D-shaped surface Shaft Insert the ball screw spline shaft into the jig hole from the lower side. Put the D-cut surface of the ball screw spline shaft onto the surface “a”. Put the ball screw spline shaft side surface onto the surface “b”. Fasten the screw “c”...
  • Page 271 Encoder multi-rotation data reset (2) Press the F1 (OK) key. Home preset value auto refresh Press the F1 (OK) key. 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.
  • Page 272 Servo OFF Press the F1 (OK) key. Encoder multi-rotation data reset (3) Press the F1 (OK) key. Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. If “Write Flash ROM?” is displayed, exit the screen with “Yes.”...

  • Page 273: Perform Ball Screw Spline Shaft Adjusting On Zr Unit (Incremental Type)

    16.13.5. Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) 16.13.4 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 274 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 rotartion 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 275 Temporary standard posture standby Press the F1 (OK) key. Note: The vertical axis returns to the home position. Move to home position Press the F1 (OK) key. Note: The rotation axis returns to the home position. Jog movement Move the rotation axis to the vicinity of the basic position with jog keys (see the “Standard Posture Drawing”...
  • Page 276 Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the adjusting jig as shown in the standard position figure, press the F1 (OK) key. Inputting emergency stop displays the screen at the left.
  • Page 277 Jig Attachment Procedure D-shaped surface Shaft Insert the ball screw spline shaft into the jig hole from the lower side. Put the D-cut surface of the ball screw spline shaft onto the surface “a”. Put the ball screw spline shaft side surface onto the surface “b”. Fasten the screw “c”...
  • Page 278 Home preset value auto refresh Press the F1 (OK) key. 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. Press the F1 (OK) key. Return to the previous screen with the ESC key.

  • Page 279: Procedures For Resetting Absolute-Battery Voltage-Down Warning Error

    : X-SEL-K, P/Q, 5 axis and 6axis of PX/QX, TT, SSEL, ASEL and PSEL : 5th and 6ht Axes of X-SEL-K, P/Q or PX/QX contrller, 5th to 8th Axes of controller R/S or RX/SX controller or SSEL, ASEL or 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 280 ⑥ To continue the encoder error reset, press the F1 (OK) key. To cancel the encoder error reset, press the F2 (Canc) key. ⑦ Press the PAGE UP/PAGE DOWN key several times to display “7. Encoder Err Reset” screen. ⑧ To reset the encoder error, press the F1 (OK) key. (To cancel the encoder error reset, press the F2 (Canc) key.) Even if the F1 (OK) key is pressed, the screen...

  • Page 281: Time Setting

    16.15. Time setting In the case of the XSEL-R/S, RX/SX or RXD/SXD Controller, TTA, set the clock. The time displayed in the Error Detailed Data window is the error occurrence time. Press F2 key (Time) in the controller window. Mode Transfer: Ctl - Time “E”...

  • Page 282: Flash Rom Writing Data Recovery (One Generation Before)

    16.16. Flash ROM writing data recovery (one generation before) For TTA, the flash ROM writing data can be recovered to the writing data of one generation before. Press F3 key (RFls) in the controller window. Mode Transfer: Ctl - RFls To recover the program data, press F2 (Pro9).
  • Page 283 (2) Recovery of Symbol To have a recovery, press F1 (Yes). R F l s - S y m To cancel the operation, press F2 (No). S y m b o l w i l l r e c o v e r d ? Y e s If the recovery process is finished, the display changes R F l s - S y m...

  • Page 284: Gateway Function Associated

    • Editing of the RC Position Data in X-SEL • RC-axis Monitoring The Gateway Function Associated is applied to the SEL-T/TD version V1.02 and later. 17.1. Editing of the RC Position Data in X-SEL 17.1.1.
  • Page 285 The cursor is on the position of the “Axis No.” When there is no data, the position (Pos) is displayed as “X. XX”. * The “Axis No.” and “Position No.” are both started from “0” unlike the Position Data in X-SEL. (A) Position Data Input Input the following items.
  • Page 286 Axis No. Select the Axis No. and press the key. * The selection of the Axis No. is performed using the ten-key or key. Position No. Select the Position No. and press the key. * The selection of the Position No. is performed using the ten-key or key.
  • Page 287 In the case of the pressing operation, input the Pressing Current Limit Value (%) and press key. (The left figure shows the example where “0” has been input). * When the Pressing Current Limit Value is set to “0”, the normal positioning operation is performed, and it is set to “1”...

  • Page 288: 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 jogging/inching operation and manual operation with the servo-motor turned OFF.
  • Page 289 The teaching operation for the RC actuator is performed mainly in the RC teaching screen. The mode change to the RC teaching window: RC - Edit - Posi - Teac Function Key Description Axis No. Transfers to the inching distance setting mode.
  • Page 290 (1) Servo ON/OFF Operation Using this operation, the RC actuator servo-motor is turned ON/OFF. The actuator applicable to this operation is one with a single axis. Place the cursor on the Axis No. and select the RC actuator using the ten-key or Press the key.
  • Page 291 (3) Actuator Movement ① Jogging Operation Perform the jogging operation of the RC actuator. The actuator applicable to this operation is one with a single axis. Place the cursor on the Axis No. and select the RC actuator using the ten-key or Turn the servo-motor ON.
  • Page 292 ② Inching Operation Perform the RC actuator inching operation. The actuator applicable to this operation is one with a single axis. Place the cursor on the Axis No. and select the RC actuator using the ten-key or Press the key (Inc). Set the inching distance (travel distance for each pressing of the JOG key).
  • Page 293 ③ Manual Movement with the servo-motor turned OFF Perform the emergency stop operation of the RC actuator. Move the actuator to any position manually. The status of servo-motor ON/OFF is confirmed in Servo ON the Axis Status Display Section (When “S” is Current Position displayed, the servo-motor is turned ON and it is not displayed, the servo-motor is turned OFF).
  • Page 294 (4) Current Position captured as the Data The chosen RC actuator position is taken in the teaching window as the position data. Select the Axis No. as the destination of the captured current position data and press the key. CAUTION : In order to capture the current position data in the target position data section, the home return operation has to be completed.
  • Page 295 (5) Data Transfer to the Controller The captured data is transferred to the controller. Press the key and write the input position data in the controller. CAUTION : Unless the key is pressed, the input data writing in the controller is not performed. When the writing is completed, the screen is switched to the display for the next Position No.
  • Page 296 (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 297 ② Continuous Movement The RC actuator automatically follows the position corresponding to the position data transferred to the controller. Axis No. Select the Axis No. to be moved and press the key. * The selection of the Axis No. is performed using the ten-key or key.
  • Page 298 Turn the servo-motor ON. Perform the home return operation. Press the key. When the key is pressed after the MOVE LED is turned ON, the axis movement is started. When it is stopped on the way, press the key. * When the key is pressed, the “processing for the stop operation”...

  • Page 299: Rc Position Data Deletion

    17.1.3. RC Position Data Deletion Position Data with the selected Axis No. and Position No., is deleted. The following is an example where the position data with the Position No. 100 through No. 127 in each No. 0 through No. 2 axes, is all deleted. Press the key.
  • Page 300 Head Axis No. Last Axis No. for for the Position the Position Data Data to be deleted to be deleted Input the Head Axis No. and press the key. When all the position data items are to be deleted: press the (AClr) key.
  • Page 301 When the data is to be cleared, press the (Yes) key. When the data clearing operation is completed, the completion message is displayed. Press the key. Press the key. Press the key. Press the key.
  • Page 302 When the data is to be written in the flash ROM, press the (Yes) key and when it is not to be written, press the (No) key. When the data is being written in the flash ROM, the message in the left figure is displayed. CAUTION : Never turn OFF the power to the controller when the data is written into the flash ROM.

  • Page 303: Rc Actuator Monitoring

    17.2. RC Actuator Monitoring The RC actuator’s status, current position and alarm code are displayed. RC Actuator Monitor Mode Change: RC - Moni - Stat Select the RC actuator using the ten-key or key. Axis No. Status display Current Position/Alarm Code Display When the (AClr) key is pressed, the mode is transferred to the RC alarm reset mode.

  • Page 304: Rc Actuator Alarm Reset

    19 System Rsv 18 (System Reservation) 20 System Rsv 19 (System Reservation) 21 System Rsv 20 (System Reservation) 22 System Rsv 21 (System Reservation) 23 System Rsv 22 (System Reservation) 24 System Rsv 23 (System Reservation) 25 RC axis lnk stat RC-axis Linking Status 26 RC axis busy RC-axis Busy...

  • Page 305: User Data Hold Memory Initialization

    (3) Change the I/O parameter Nos. 502 and 503 settings. (4) Initialize the user data hold memory. (5) Transfer the RC-axis position data file saved in Step (2) to the X-SEL controller. Refer to “Instruction Manual for the Personal Computer Application Software for X-SEL”, for the...

  • Page 306: Operation Procedure

    17.4.2. Operation Procedure Press the key (Clr). Press the key (MClr). Press the key. Press the key (UBM). Press the key (Yes).
  • Page 307 When data clearing is completed, the completion message is displayed. Press the key. Press the key. When the data is to be written in the flash ROM, press the (Yes) key and when it is not to be written, press the (No) key.

  • Page 308: Supplement

    * Supplement Orthogonal Axis Synchro Specification Absolute Reset : X-SEL-K, P/Q, 5 axis and 6 axis of PX/QX, TT, SSEL, ASEL and PSEL 5th and 6th Axes of XSEL-K, P/Q or PX/QX Controller, 5th to 8th Axes of controller R/S or RX/SX Controller or SSEL Controller The following are descriptions about the absolute reset methods for synchro specification axes.
  • Page 309 Supplement 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 310 Press the ESC key several times to move to the Flash ROM writing screen. Write the data to Flash ROM. Press the F1 (Yes) key. Execute restart (software reset). Press the F1 (Yes) key. (3) Execute an absolute reset according to the following special procedure (forced operation by ignoring the screen steps): Mode Transition: ①...
  • Page 311 Supplement Press the F1 (RAbs) key to return to the absolute reset mode. ② Execute an absolute reset for the master axis according to the screen steps. Input the axis No. of the mater axis and press the return key. Press the F1 (OK) key.
  • Page 312 Press the PAGE UP key to advance the screen, without pressing the F1 (OK) key. Press the F1 (OK) key. ③ Execute the “encoder multi-rotation data reset 1” for the slave axis again. Input the axis No. of the slave axis again and press the return key.
  • Page 313 Supplement Return the slave-axis value for the “each-axis parameter No. 83 ABS synchro slave axis coordinate initialization cancel” to the original value. Mode Transition: Slave axis Press the WRT key to transfer the data. Advance to the next parameter screen. Move to the Flash ROM writing screen with the ESC key.
  • Page 314 (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 315 Supplement Write the data to Flash ROM. Press the F1 (Yes) key. Restart the controller. Press the F1 (Yes) key. (7) Display the current positions on the teaching screen. After turning the servo ON, execute action check by jogging. (Master axis operation) Mode Transition: To switch the current position screen to the input data screen, press the F3 (Disp) key.

  • Page 316: About Error Level Management

    About Error Level Management...

  • Page 317: X-Sel Teaching Pendant Error List (Application Part)

    Supplement...

  • Page 321: Change History

    Change History t p i First Edition 2008.04 Second Edition 2008.11 Third Edition 2010.06 2011.01 Sixth Edition 2012.12 Seventh Edition Eighth Edition to 17 2014.02 Tenth Edition...
  • Page 324 825, 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. May IAI Corporation. All rights reserved. 19.05.000...

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