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IAI SEL TB-01 Instruction Manual

Touch panel teaching, applicable for program controller
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Table of Contents

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Touch Panel Teaching
TB-01, TB-01D, TB-01DR
Applicable for Program Controller
Instruction Manual Fourth Edition

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Summary of Contents for IAI SEL TB-01

  • Page 1 Touch Panel Teaching TB-01, TB-01D, TB-01DR Applicable for Program Controller Instruction Manual Fourth Edition...

  • Page 3: Please Read Before Use

     This instruction manual is an original document dedicated for this product.  This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
  • Page 4 Support Models This instruction manual states the details for those for program controller. For how to handle the position controllers (ERC2/ERC3/ACON/DCON/PCON/SCON/MCON/MSCON/RCP6S/RACON/RPCON/ASEP/DSEP/ PSEP/MSEP/AMEC/PMEC), refer to “Instruction Manual for Touch Panel Teaching to Apply for TB-01, TB-1D, TB01DR Position Controllers” provided separately. Shown below is the list of the supported models.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ..........................1 Caution in Handling ........................8 International Standards Compliances ..................8 Product Check .......................... 9 Forward ........................... 11 Warranty .......................... 12 Warranty Period ........................12 Scope of Warranty ........................ 12 Honoring the Warranty ......................12 Limited Liability ........................
  • Page 6 XSEL-RA/SA/RAX/SAX/RAXD/SAXD .................. 45 TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF ................46 Caution ..........................47 Mode Transition Diagram ....................48 XSEL-J/K, P/Q, R/S, RA/SA, TT/TTA Controller ..............48 XSEL-JX/KX Controller ......................54 XSEL-PX/QX, RX/SX, RAX/SAX Controller ................. 59 XSEL-RXD/SXD, RAXD/SAXD Controller ................65 MSEL-PCX/PGX/PC/PG/PCF/PGF Controller ..............71 SSEL, ASEL, PSEL Controller .....................
  • Page 7 12.3 Editing of Simple Interference Check Zone ................221 13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL Controller.) ....228 13.1 Symbol Edit Items .......................229 13.2 Input Example: Symbolize Local Integer Variable No............230 13.3 Symbol Edit Screen of Each Items ..................234 14.
  • Page 8 17. Absolute Reset ....................... 298 17.1 Absolute Reset of the Orthogonal Axis: XSEL-JK, P/Q, or 5th and 6th Axes of XSEL-PX/QX Controller, XSEL-R/S or 5th to 8th Axes of XSEL-RX/SX Controller, SSEL or ASEL Controller ....................298 17.2 Absolute Reset of the SCARA Axis: XSEL-JX/KX, 1st to 4th Axes of XSEL-PX/QX or 1st to 4th Axes of XSEL-RX/SX, RAX/SAX Controller, or XSEL-RXD/SXD, XSEL-RAXD/SAXD Controller ....................302 17.3 Perform Absolute Reset on ZR Unit (Absolute Type) ............325...
  • Page 9 21. Environment Setting ...................... 493  About Error Level Management ..................504 Change History ........................508 ME0325-4A...
  • Page 10 ME0325-4A...

  • 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”...
  • 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 Inspection well with each other to ensure the safety of the workers. ●...

  • Page 17: Alert Indication

    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 18: Caution In Handling

    The life of the touch panel is 1,000,000 times of pressing on the same spot (in environment of 25degC). Caution: This touch-panel teaching pendant TB-01/TB-01D/TB-01DR is exclusively designed for use with IAI controllers. Never connect it to other equipment. Failure may occur. International Standards Compliances This product comply with the following international standards:...

  • Page 19: Product Check

    Product Check This product, if adopting a standard configuration, consists of the parts listed below. 1. Component (excluding options) Product name Model number Remarks Refer to "How to Read Model Nameplate" and Teaching pendant “How to Read Model Number". Accessories when model C Cable for Position Controllers CB-TB1-C050...
  • Page 20 3. How to Read Model Nameplate Model number Serial number 4. How to Read Model Number Standard type TB–01 – N – ENG – CE <Model number> Oversea Standards < > TB-01 : Standard type Not complied with CE Not specified : Complied with CE <Language>...

  • Page 21: Forward

    1. Forward Thank you very much for purchasing our XSEL, TT/TTA, SSEL, ASEL, PSEL and MSEL 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 22: Warranty

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

  • Page 23: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

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

  • Page 24: Specifications Check

    3. Specifications Check Basic Specifications Item TB-01/ TB-01D/ TB-01DR type Body Black Display Colors 65536 colors (16-bit colors) Backlight Type White LED backlight Touch Panel Display 3.5 inch TFT color LCD QVGA Touch Detection Type 4-wire resistive type Hardware Keys 40-key input with jog, function keys, etc.

  • Page 25: Environmental Specifications

    Item TB-01/ TB-01D/ TB-01DR type Communication Based on RS232C Standard Transmission Speed Communication 9,600bps/19,200bps/38,400bps/57,600bps/115,200bps Conditions /230,400bps Communication Protocol Dedicated format Connector D sub 25 pin Number of Connectable Depends on controller to be connected Controllers Japanese Bitmap Font: Gothic Font Fonts supplied by LIM Corporation Ltd.

  • Page 26: External Dimensions

    External Dimensions 88.6 Externals 3.4.1 TB-01 (Standard) Externals Emergency Stop Button Wall-mounting Hook Operation Screen Application Label Secure Digital Card Cover Operation Switches Operation Switches Strap Securing Part Strap Securing Part Operation External Cable Connection Switches Model Number Label Touch Pen Eight Seal ME0325-4A...

  • Page 27: Tb-01D (With Deadman Switch Type) Externals

    3.4.2 TB-01D (With Deadman Switch Type) Externals Emergency Stop Button Wall-mounting Hook Operation Screen Application Label Secure Digital Card Cover Deadman Switch Operation Switches Operation Switches Strap Securing Part Strap Securing Part Operation External Cable Connection Switches Model Number Label Touch Pen Eight Seal 3.4.3...

  • Page 28: Explanation Of Each Part

    Explanation of Each Part ① ⑩ ⑫ ④ ⑤ ⑪ ⑭ ⑥ ⑬ ⑦ ⑮ ⑧ ⑨ ③ ② 1) LED • : When this LED is lit, jog operation is possible with 1-, 2-, 3-, 4-, ALL-, 1+, 2+, 3+, 4+ or ALL+ keys.
  • Page 29 8) 1 to 9 or . keys (Numeric keys) You can input number, alphabet, and sign. When the cursor is at any item requiring the input of characters other than “0” to “9” (such as hexadecimal and character strings), the input mode selection is displayed in the function key area. (Alph: alphabet symbol input, Num: numerical value input) key (Return key) Confirms the input data and moves the cursor position forward .
  • Page 30 16) Touch-panel operation display screen The screen consists of a TFT Color LCD Type and a touch panel. Various settings that have been edited or taught are displayed. To operate the screen, use a finger or the touch pen to touch desired parts of the touch panel. *1 In a use of the LCD display for a long term, the brightness may drop.
  • Page 31 20) Wall-mounting hook This hook is used to mount the touch panel on a wall. 21) Touch pen This touch pen is used to touch the touch-panel operation display screen. 22) SD memory card slot The SD memory card is inserted into this slot. Open the lid and insert the SD memory card. •...
  • Page 32 [Releasing] 1) Using the back of the touch pen, press the SD memory card in until a click is heard. 2) When the touch pen is pulled forward, the SD memory card will be released. ■ When removing with fingers is difficult 1) From the state with the SD memory card mounted, press the SD memory card and release it.

  • Page 33: Life Of Touch Panel Lcd

    The nominal life of the button battery CR2032 that the manufacturer states is approximately five years (in ambient temperature at 25°C). The replacement of the battery cannot be held at customer’s site. Please contact IAI when you require a replacement. Optional Items ■...

  • Page 34: Connection With The Controller

    4. Connection with the Controller XSEL-J/K Type Controller Mode Switch Cable for Program Controller For XSEL-J: CB-TB1-XJ050 For XSEL-K: CB-TB1-X050 ME0325-4A...

  • Page 35: Xsel-Kt/Ket Type Controller

    XSEL-KT/KET Type Controller Touch Panel Teaching Complied with ANSI TB-01D, TB-01DR Relay Box Cable for Program Controller CB-TB1-X050 Driver Power Cut-off Controll Circuit AC Power Supply Noise Filter 24VIN Class D Grounding work (Protective Ground) PIO Power Supply 24V DC ME0325-4A...

  • Page 36: Xsel-P/Q, R/S, Ra/Sa Type Controller

    XSEL-P/Q, R/S, RA/SA Type Controller EMG 1 EMGin EMG 1 Emergency Stop Switch EMGin ENB 1 ENBin ENB 1 Enable Switch ENBin Teaching Pendant Type Selection Switch (P Only) Mode Switch Cable for Program Controller CB-TB1-X050 Caution: Set the teaching pendant type selection switch of the XSEL-P type to the left. ME0325-4A...

  • Page 37: Xsel-Jx/Kx Type Controller

    XSEL-JX/KX Type Controller SCARA Mode Switch Cable for Program Controller For XSEL-JX: CB-TB1-XJ050 For XSEL-KX: CB-TB1-X050 ME0325-4A...

  • Page 38: Xsel-Px/Qx, Rx/Sx, Rxd/Sxd, Rax/Sax, Raxd/Saxd Type Controller

    XSEL-PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD Type Controller EMG 1 EMGin Emergency EMG 1 Stop Switch EMGin ENB 1 ENBin ENB 1 Enable ENBin Switch Teaching Pendant Type SCARA Selection Switch (PX Only) Mode Switch Cable for Program Controller CB-TB1-X050 Caution: Set the teaching pendant type selection switch of the XSEL-PX type to the left.

  • Page 39: Tt/Tta Type Controller

    TT/TTA Type Controller Mode Switch Cable for Program Controller CB-TB1-X050 ME0325-4A...

  • Page 40: Ssel Type Controller

    SSEL Type Controller EMG S1 Emergency EMG S2 Stop Switch EMG + EMG - Enable Switch Conversion Cable Cable for Program Controller For SSEL-C: CB-SEL-SJ002 CB-TB1-X050 For SSEL-CS: CB-SEL-SJS002 Mode Switch MANU/AUTO Panel Unit 1 Axis 2 Axis ME0325-4A...

  • Page 41: Asel Type Controller

    ASEL Type Controller Host System Panel Unit Conversion Cable Cable for Program Controller For ASEL-C: CB-SEL-SJ002 CB-TB1-X050 For ASEL-CS: CB-SEL-SJS002 Emergency Stop Switch Enable Switch DC24V 0V Power Supply ME0325-4A...

  • Page 42: Psel Type Controller

    PSEL Type Controller Host System Conversion Cable Panel Unit Cable for Program Controller For PSEL-C: CB-SEL-SJ002 CB-TB1-X050 For PSEL-CS: CB-SEL-SJS002 Emergency Stop Switch Enable Switch DC24V 0V Power Supply ME0325-4A...

  • Page 43: Msel Type Controller

    4.10 MSEL Type Controller Cable for Program Controller Conversion Cable CB-TB1-X050 CB-SEL-SJS002 Actuator (IXP) Safety Circuit (Note 1) (Enable) Emergency Stop (Note 1) Actuator Series (RCP Power Supply (Single-phase Fieldbus AC100~230V) Host Device (Note 1) Contact for Cutoff (Note 1) (when supplying / cutting off power source externally) Note 1 Please prepare separately.

  • Page 44: Safety Category Compliant (Connection To The Ia-Lb-Tgs)

    4.11 Safety Category Compliant (Connection to the IA-LB-TGS) To make the system complied with Safety Category 4, it is necessary to establish the safety circuit by connecting TB-01D/TB-01DR with the TP adapter for program controller. * XSEL-KT/KET, XSEL-Q/QX/QCT, XSEL-S/SX/SXD and XSEL-SA/SAX/SAXD are applicable for Safety Category 4 with using the system IO terminals, with using no TP adapter.

  • Page 45: Connection Cable

    4.12 Connection Cable The cables stated below are required for connection to the program controllers. 4.12.1 Cable for Program Controller (XSEL-J and XSEL-JX Excluded) Model Code CB-TB1-X050 Controller Connection Cable for TB-01 Name (for XSEL-K/P/Q/R/S/RA/SA types and TT/TTA) Connector Code on Controller Side E25-403N-140 (Manufactured by TECNICAL ELECTRON) Connector Code on TB-01 Unit Side RP13A-12PH-20SC (71) (Manufactured by HIROSE)

  • Page 46: Xsel-J, Xsel-Jx Dedicated Cable

    4.12.2 XSEL-J, XSEL-JX Dedicated Cable The cables stated below are required for connection to XSEL-J and XSEL-JX. Model Code CB-TB1-XJ050 Controller Connection Cable for TB-01 Name (for XSEL-J and XSEL-JX types) Connector Code on Controller Side E25-403N-140 (Manufactured by TECNICAL ELECTRON) Connector Code on TB-01 Unit Side RP13A-12PH-20SC (71) (Manufactured by HIROSE) IKC-S AWG28×2P+AWG28×16C (KANEKO CORD) Cable Diameter: φ6.0 ×...

  • Page 47: Teaching Pendant Connection Procedure

    4.13 Teaching Pendant Connection Procedure 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. After you flip the mode switch to MANU side, supply power to the controller.
  • Page 48  The following message may appear on some controllers such as XSEL-K Controller when the power is turned on. Either touch Return button or press ESC key to show the main menu window, and operations that do not require servo-on in the condition of switched off can be performed. ME0325-4A...

  • Page 49: How To Save Data

    5. How to Save Data Since the Controller adopts flash memory, there is a storage area by battery backup and a storage area by flash memory according to the data to be stored. In addition, even if data is transferred from the PC software or Teaching Pendant, the data is only to be written in memory as shown in the chart below and the data is erased by power-off or controller reset.
  • Page 50 Since the program, parameter, and symbol will be read from flash memory at restart time, the data in memory becomes the original data before editing unless the data is written in flash memory. The controller always operates according to the data in memory (within the dotted box) excluding parameters.
  • Page 51 For the XSEL-P/Q and PX/QX controllers with the gateway function, the position Nos. 10001 to 20000 data memory and user hold memory (RC axis position in XSEL) have been added. (Other parameter No.20=2 (System memory backup battery equipped)) Save the data during the Edit data with PC or power is on and delete Save data even after the power OFF...

  • Page 52: Set-Up At Shipment Without System Memory Backup Battery (Table Top Actuator (Tt), Ssel, Asel, Psel)

    Set-up at Shipment without System Memory Backup Battery (Table Top Actuator (TT), SSEL, ASEL, PSEL) (Other parameter No.20=0 (System memory backup battery unequipped)) Save the data during the Edit data with PC or power is on and delete Save data even after the power OFF Teaching Pendant the data by reset Program...
  • Page 53 For the XSEL-P/Q and PX/QX controllers with the gateway function, the position Nos. 10001 to 20000 data memory and user hold memory (RC axis position in XSEL) have been added. (Other parameter No.20=0 (System memory backup battery unequipped)) Save the data during the Edit data with PC or power is on and delete Save data even after the power OFF...

  • Page 54: Xsel-R/S/Rx/Sx/Rxd/Sxd

    XSEL-R/S/RX/SX/RXD/SXD An example of 20,000 positions is given below. Save the data during the Edit data with PC or Save data even after the power is on and delete Teaching Pendant power OFF the data by reset Main CPU RAM memory Main CPU flash memory Flash write Transmit...

  • Page 55: Xsel-Ra/Sa/Rax/Sax/Raxd/Saxd

    XSEL-RA/SA/RAX/SAX/RAXD/SAXD Data is retained while Data edited on the PC or Data is retained even after the power is ON, teaching pendant the power is turned OFF but cleared upon reset Main CPU RAM memory Main CPU flash memory Programs Parameters (other than Write to flash memory slave parameters)

  • Page 56: Tta, Msel-Pcx/Pgx/Pc/Pg/Pcf

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

  • Page 57: Caution

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

  • Page 58: Mode Transition Diagram

    6. Mode Transition Diagram XSEL-J/K, P/Q, R/S, RA/SA, TT/TTA Controller Power ON Communications Established Select Item Select Item Select Item Back Back Back Edit Position Manual input *Conduct edit after inputting position number Main Menu (Modify) (Edit) (Position) (Position number input is available also on PageUp/Dn) *After data writing by “Write”...
  • Page 59 (Main Menu) (Edit) Select Item Select Item Back Back Symbol Edit Integer Variable No. (Symbol) (Modify) (VarItg) Real Variable No. (VarReal) Integer Constants (ConstItg) Real Constants (ConstReal) Flag No. (Flag) Input port No. (InPort) Output Port No. (OutPort) InOut Port No. *For applicable models only (InOut) Program No.
  • Page 60 (Main Menu) Select Item Select Number Select Item Back Cancel Back Play Select Program Program Error Execution (Play) (Select ) (PrgErr) *Operation in Stop In port Continuous Operation (Start) (InPort) Operation Stopped (Stop) Out port Start/Stop (OutPort) InOut Port *For applicable models only (InOut) Continuous Operation Operation Paused...
  • Page 61 (Main Menu) (Edit) Select Item Selection Screen Axis Status Current Position (AxisSts) (Position) Servo Status (Servo) Sensor Input Sts. *Display switched with PageUp/PageDn (Sensor) Encoder Status (Encoder) Axis Related Error (Error) Select Item Selection Screen System Status Mode/Error (SystemSts) (Mode/Err) Status1 (Status1) Status2...
  • Page 62 (Main Menu) Select Item Select Item Back To File Menu File Backup Data Position (File) (Backup) (Position) Program (Program) Symbol (Symbol) Parameter (Para) All Data (All Data) Global Data (Global) Error List (ErrList) RC Axis Position *For applicable models only (RC Pos) *For applicable models only Ex Motion Position...
  • Page 63 (Main Menu) Select Item Select Item Select Number Back Back Back *Conduct edit after inputting position number Edit Teach ExMotion Teach (Position number input is available also on (Edit) (Teach) (Ex Motion) PageUp/Dn) *For applicable *Data writing by “Write” models only Clear (Clear) Jog Velcity...

  • Page 64: Xsel-Jx/Kx Controller

    XSEL-JX/KX Controller Power ON Communications Established Select Item Select Item Select Item Back Back Back Edit Position Manual input *Conduct edit after inputting position number Main Menu (Edit) (Position) (Modify) (Position number input is available also on PageUp/Dn) *After data writing by “Write” , go to next position Clear (Clear)
  • Page 65 (Main Menu) (Edit) Select Item Select Item Back Back Symbol Edit Integer Variable No. (Symbol) (Modify) (VarItg) Real Variable No. (VarReal) Integer Constants (ConstItg) Real Constants (ConstReal) Flag No. (Flag) Input Port No. (InPort) Output Port No. (OutPort) Program No. (Program) Tag No.
  • Page 66 (Main Menu) Select Item Select Number Select Item Back Cancel Back Play Select Program Program Error (Play) (Select ) Execution (PrgErr) *Operation in Stop In port Continuous Operation (Start) (InPort) Operation Stopped (Stop) Out port Start/Stop (OutPort) G-Flag Continuous Operation Operation Paused (GFlag) (Cont)
  • Page 67 (Main Menu) (Edit) Select Item Selection Screen System Status Mode/Error (SystemSts) (Mode/Err) Status1 (Status1) Status2 (Status2) Status3 (Status3) Select Item Status4 (Status4) Back/Cancel Controller Flash ROM Writing (Control) (FROM) Software Reset (S Reset) Error Reset (E Reset) Memory Clear Global Variable (M Clear) (GVar) Re-connection...
  • Page 68 (Main Menu) Select Item Back Time Environment (Time) (Env) Select Item Display (Display) Contrast/ Brightness Touch *Return to Top Menu when Finish/Cancel calibration LCD check LED&KEY TEST *It is available also on the function keys when you select items. (TEST) *ESC key is also available to return to the previous screen.

  • Page 69: Xsel-Px/Qx, Rx/Sx, Rax/Sax Controller

    XSEL-PX/QX, RX/SX, RAX/SAX Controller Power ON Communications Established Select Item Select Item Select Item Back Back Back Edit Position Manual input * Conduct edit after inputting position number Main Menu (Modify) (Edit) (Position) (Position number input is available also on PageUp/Dn) * After data writing by “Write”...
  • Page 70 (Main Menu) (Edit) Select Item Select Item Back Back Symbol Edit Integer Variable No. (Symbol) (Modify) (VarItg) Real Variable No. (VarReal) Integer Constants (ConstItg) Real Constants (ConstReal) Flag No. (Flag) Input Port No. (InPort) Output Port No. (OutPort) InOut Port No. *For applicable models only (InOut) Program No.
  • Page 71 (Main Menu) Select Item Select Number Select Item Back Cancel Back Play Select Program Error Program Execution (Play) (Select ) (PrgErr) *Operation in Stop In port Continuous Operation (Start) (In Port ) Operation Stopped (Stop) Out port Start/Stop (Out Port ) Task Status (TStatus ) *For applicable models only...
  • Page 72 (Main Menu) (Monitor) Select Item Selection Screen System Status Mode/Error (SystemSts) (Mode/Err) Status1 (Status1) Status2 (Status2) Status3 (Status3) Status4 Select Item (Status4) Back/Cancel Controller Flash ROM Writing (Control) (FROM) Software Reset (S Reset) Error Reset (E Reset) Memory Clear Global Variable (M Clear) (GVar) User Data...
  • Page 73 (Main Menu) (File) Select Item To File Menu Restore data Position (Restore) (Position) Program (Program) Symbol (Symbol) Parameter (Para) All Data (All Data) Global Data (Global) Coodinate system definition (Coordinate) RC Axis Position *For applicable models only (RC Pos) *For applicable models only Ex Motion Position (ExMtn Pos) Select Item...
  • Page 74 (Main Menu) Select Item Select Number Select Item Back Back Back *Conduct edit after inputting position number ExMotion Edit Teach Teach (Position number input is available also on (Ex Motion) (Edit) (Teach) PageUp/Dn) *For applicable *Data writing by “Write” models only Clear (Clear) Jog Velcity...

  • Page 75: Xsel-Rxd/Sxd, Raxd/Saxd Controller

    XSEL-RXD/SXD, RAXD/SAXD Controller Power ON Communications Established Select Item Select Item Select Item Back Back Back Edit Position Manual input * Conduct edit after inputting position number Main Menu (Edit) (Position) (Position number input is available also on PageUp/Dn) (Modify) * After data writing by “Write”...
  • Page 76 Main Menu Edit Select Item Select Item Back Back Symbol Edit Integer Variable No. (Symbol) (Modify) (VarItg) Real Variable No. (VarReal) Integer Constants (ConstItg) Real Constants (ConstReal) Flag No. (Flag) Input Port No. (InPort) Output Port No. (OutPort) InOut Port No. *For applicable models only (InOut) Program No.
  • Page 77 Main Menu Select Item Select Number Select Item Back Cancel Back Play Select Program Error Program Execution (Play) (Select ) (PrgErr) *Operation in Stop In port Continuous Operation (Start) (InPort) Operation Stopped (Stop) Out port Start/Stop (OutPort) InOut port *For applicable models only Continuous Operation Operation Paused (InOut)
  • Page 78 Main Menu Monitor Select Item Selection Screen Axis Status Current Position (AxisSts) (Position) Servo Status (Servo) Sensor Input Sts. *Display switched with PageUp/PageDn (Sensor) Encoder Status (Encoder) Axis Related Error (Error) Coordinate Sys. (Crd#) Select Item Selection Screen System Status Mode/Error (SystemSts) (Mode/Err)
  • Page 79 Main Menu Select Item Select Item Back To File Menu File Backup Data Position (File) (Backup) (Position) Program (Program) Symbol (Symbol) Parameter (Para) All Data (All Data) Global Data (Global) Error List (ErrList) Coodinate system definition (Coordinate) RC Axis Position *For applicable models only (RC Pos) Ex Motion Position...
  • Page 80 (Main Menu) Select Item Select Item Select Number Back Back Back *Conduct edit after inputting position number Edit Teach ExMotion Teach (Position number input is available also on (Edit) (Teach) (Ex Motion) PageUp/Dn) *For applicable *Data writing by “Write” models only Clear (Clear) Jog Velcity...

  • Page 81: Msel-Pcx/Pgx/Pc/Pg/Pcf/Pgf Controller

    MSEL-PCX/PGX/PC/PG/PCF/PGF Controller Power ON Communications Established Select Item* Select Item* Select Item* Back* Back* Back* Edit Position Manual input * Conduct edit after inputting position number Main Menu (Modify) (Edit) (Position) (Position number input is available also on PageUp/Dn) * After data writing by “Write”*, go to next position Clear (Clear) When escaping the mode with “Back”*,...
  • Page 82 (Main Menu) (Edit) Select Item* Select Item* Back* Back* Symbol Edit Integer Variable No. (Symbol) (Modify) (VarItg) Real Variable No. (VarReal) Integer Constants (ConstItg) Real Constants (ConstReal) Flag No. (Flag) Input Port No. (InPort) Output Port No. (OutPort) InOut Port No. (InOut) Program No.
  • Page 83 (Main Menu) Select Item* Select Number Select Item* Back* Cancel* Back* Play Select Program Program Error Execution (Play) (Select ) (PrgErr) *Operation in Stop In port Continuous Operation (Start) (InPort) Operation Stopped (Stop) Out port Start/Stop (OutPort) InOut port (InOut) Continuous Operation Operation Paused (Cont)
  • Page 84 (Main Menu) (Monitor) Select Number List Display* Error Detail Error List (ErrList) Information Select Item* Back* Version Main (Version) (Main) Driver (Driver) Teaching Box (TP) Other *For applicable models only (Other) (I/O) Encoder *For applicable models only (Encoder) Select Item* Back* Maintenance info.
  • Page 85 (Main Menu) Select Item* Select Item* Back* To File Menu* File Backup Data Position (File) (Backup) (Position) Program (Program) Symbol (Symbol) Parameter (Para) All Data (All Data) Global Data (Global) Error List (ErrList) Coodinate system definition *For applicable models only (Coordinate) Select Item* To File Menu*...

  • Page 86: Ssel, Asel, Psel Controller

    SSEL, ASEL, PSEL Controller In the case of the SSEL, ASEL or PSEL controller, 2-type selection is possible between the program mode and positioner mode. Set the selection to the other parameter No. 25 “Operation mode type.” For details, refer to the operating manual of the SSEL, ASEL or PSEL controller. 6.6.1 Program Mode Power ON...
  • Page 87 (Main Menu) (Edit) Select Item Select Item Back Back Symbol Edit Integer Variable No. (Symbol) (Modify) (VarItg) Real Variable No. (VarReal) Integer Constants (ConstItg) Real Constants (ConstReal) Flag No. (Flag) Input port No. (InPort) Output Port No. (OutPort) Program No. (Program) Tag No.
  • Page 88 (Main Menu) Select Item Back Monitor Input Port (Monitor) (InPort ) Output Port (OutPort ) Global Flag (GFlag) Select Item Back Global Variable Integer Variable (GVar) (Itg) Real Variable (Real) String Variable (String) Select Number List Display Error List Error Detail (ErrList) Select Item Back...
  • Page 89 (Main Menu) Select Item Back/Cancel Controller Flash ROM Writing (Control) (FROM) Software Reset (S Reset) Error Reset (E Reset) Memory Clear Global Variable (M Clear) (GVar) Re-connection *Password (5119) input required at execution. Parameter (ReCon) of Shipping (Ship-Para) Baud Rate Change (Baud) •Flow at Error Occurrence Request Power...
  • Page 90 (Main Menu) Select Item Back Environment Time (Time) (Env) Select Item Display (Display) Contrast/ Brightness Touch calibration *Return to Top Menu when Finish/Cancel LCD check *It is available also on the function keys when you select items. LED&KEY TEST (TEST) *ESC key is also available to return to the previous screen.

  • Page 91: Positioner Mode

    6.6.2 Positioner Mode (Note) In the positioner mode, “Program edit” or “Symbol edit” is unavailable. “Two or more programs start prohibition” (MTsk) operation cannot be performed, either. Power ON Communications Established Select Item Select Item Select Item Back Back Back Edit Position * Conduct edit after inputting position number...
  • Page 92 (Main Menu) Select Item Back Monitor Input Port (Monitor) (InPort ) Output Port (OutPort ) Global Flag (GFlag) Select Item Back Global Variable Integer Variable (GVar) (Itg) Real Variable (Real) String Variable (String) Select Number List Display Error List Error Detail (ErrList) Information Select Item...
  • Page 93 (Main Menu) Select Item Back/Cancel Controller Flash ROM Writing (Control) (FROM) Software Reset (S Reset) Error Reset (E Reset) Memory Clear Global Variable (M Clear) (GVar) Parameter *Password (5119) input required at execution. Re-Connection of Shipping (ReCon) (Ship-Para) Baud Rate Change (Baud) Flow at Error Occurrence •...
  • Page 94 (Main Menu) Select Item Back Time Environment (Time) (Env) Select Item Display (Display) Contrast /Brightness Touch *Return to Top Menu when Finish/Cancel calibration LCD check LED&KEY TEST (TEST) *It is available also on the function keys when you select items. *ESC key is also available to return to the previous screen.

  • Page 95: Menu Selection

    7. Menu Selection There are six menus in Menu that you can select and touch. The screen changes to the touched menu. Menu list  Edit To edit position data, programs, symbols, parameters and coordinate system definition data  Play To execute programs ...

  • Page 96: Execute Or Stop The Positioner Mode Of The Ssel, Asel And Psel Controller

    8. Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller. When the SSEL, ASEL or PSEL controller is in the positioner mode, execute or stop the positioner mode. Touch Positioner Mode button in the Menu screen or press F2 (Play) key.

  • Page 97: Position Edit

    9. Position Edit There are two ways to input the position data. (1) Numerical input ꞏ It is the way to input numbers directly on the numeric keys in the touch panel in the position edit screen or the numeric keys on the hardware. (2) Teaching ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 98 Touch Manual input button in Position menu screen or press F1 (Modify) key. Edit Position screen will appear. * Example shown on the left is for XSEL-PX/QX, RX/SX, RAX/SAX and MSEL-PCX/PGX (for 3- axis SCARA + additional axis type). * When there is no Scara or orthogonal axis, the applicable buttons will not be shown.
  • Page 99 3) Velocity • Acceleration/Deceleration Indicate the velocity. The range available to indicate is from 1 to 9999. However, when the controller is XSEL-J/K, P/Q, R/S, RA/SA, SSEL, PSEL, ASEL, TT, TTA or MSEL-PC/PG/PCF/PGF and All Axes Common Parameter No. 20 “Max. Operation Velocity Check” is set to 0, the range is from 1 to All Axis Common Parameter No.

  • Page 100: Basic Operation

    9.1.1 Basic Operation [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) Input the position number by displaying the numeric keys on the touch panel by touching...
  • Page 101 [Input of Axis Data (Axes 1 to 8), Vel (Velocity), Acc (Acceleration) and Dcl (Deceleration)] Show the cursor to the input area for the item which is desired for inputting. To show the cursor in the input area for the item which is desired for inputting is to touch in that area (white area in the background, or an area framed in red for Axis1).
  • Page 102 When you want to erase the data that is already input, touch CLR ENT on the touch panel numeric keys to delete what you want. On the hardware numeric keys, data already input can be deleted with BS key and key to remove.
  • Page 103 [Input Comment] * Function dedicated only for XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX and RAXD/SAXD Have the cursor displayed in the comment input box. To show the cursor, touch the white area in the background beside “Comment” (an area framed in red). With the cursor being displayed, touch Keyboard button to show the touch panel keyboard to input words.
  • Page 104 [Position Output Operation Data Input] * Feature available only when position output operation feature is valid Place the cursor on the output function box. To place the cursor, touch the blank area with white background (area marked with red highlight) beside “OutFn”. If the cursor is placed in the output function box, F2 (Cfg.OutFn) will be displayed in the function key.
  • Page 105 When you would like to input 331 in Output Ports / Flag Numbers, touch the Keyboard button to show the touch panel numeric keys and touch 3 3 1 ENT on the touch panel numeric keys. If the data is received properly, the screen goes back to the position output operation data setting window, and the cursor moves to the input area for the next item.
  • Page 106 [Data Transfer] After data input is complete, either touch Write button on the touch panel or press WRT key on the hardware keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 107 [Data Clear] When you want to delete the data in the position number being displayed, touch Clear button in the touch panel, or press F3 (Clear) key on the hardware keys. Press Yes button in the touch panel or press F1 (Yes) key on the hardware keys to transfer the data to the controller.

  • Page 108: Flash Rom Writing

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

  • Page 109: Teaching Of The Orthogonal Axis: Xsel-J/K, P/Q, Or 5Th And 6Th Axes Of

    Teaching of the Orthogonal Axis: XSEL-J/K, P/Q, or 5th and 6th Axes of XSEL-PX/QX Controller, XSEL-R/S, or 5th to 8th Axes of XSEL-RX/SX Controller, XSEL-RA/SA, or 5th to 8th Axes of XSEL-RAX/SAX Controller, Additional Axes on 3-axis SCARA Type MSEL-PCX/PGX Controller, MSEL-PC/PG/PCF/PGF, TT, TTA, SSEL, ASEL or PSEL Controller 9.2.1...
  • Page 110 Touch Position button on the Edit screen or press F1 (Position) key. * Example shown on the left is for XSEL-J/K, P/Q, R/S, RA/SA, TT, TTA, SSEL, ASEL, PSEL and MSEL-PC/PG/PCF/PGF. Touch Teach (Linear) button in Position menu screen, or press Teach or TeachL keys. (To show TeachL, press SF key.) For Input and Output Ports ME0325-4A...
  • Page 111 Explanation for each Display Area Position No. : Currently displayed position number Axis1-4 : Position data for Axes 1 to 4 (There are also Axes 5 to 6 for XSEL-PX/QX Controllers, Axes 5 to 8 for XSEL-R/S, RX/SX, RA/SA and RAX/SAX Controllers and Axis 4 for MSEL- PCX/PGX Controllers) (Figure above is an image for 3-axis type) : Velocity...
  • Page 112 For incremental encoder specification, it is required to execute homing after supplying power or software reset before you start teaching. Turn the servo ON condition by pressing the SERVO key and then the ALL+ key in the Teaching screen condition. To check if servo is turned ON or OFF, either touch Cur Pos.
  • Page 113 (1) Movement of an actuator 1) Jog Operation Turn the servo ON condition 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 ON command when all axes are in the servo OFF status.
  • Page 114 Jog velocity Input Vel (velocity), Acc (acceleration), and Dcl (deceleration) at the time of the jog operation with the numeric keys and press the return key. Set Inc (inching distance) 0.000. (To open the touch panel numeric keys, touch Keyboard button.) You can also set the inching distance from this screen.
  • Page 115 3) Manual Movement with Servo OFF Status (Direct Teaching) In the teaching screen, press SERVO key and then press ALL- key to turn the servo OFF. To check if servo is turned ON or OFF, either touch Cur Pos. button or press F1 (Disp) key. Move the actuators to the designated position via manual mode.
  • Page 116 (2) Take in the current position as a data The determined actuator position is uploaded to the teaching screen as the position data. Touch in the position number input box to show the cursor and input a value either on the hardware numeric keys or touch panel numeric keys.
  • Page 117 (3) Transmit to the Controller Transmit the taken-in data to the controller. In Teaching screen, either touch Write button or press WRT key. The loaded data is stored in the memory in the controller. Once the transfer to the controller is complete, the position number is incremented by one.
  • Page 118 (4) I/O Monitor • Position Confirmation During teaching operation, you can monitor various ports. You can also confirm the location by moving an actuator to a to the location of the position data with teaching. 1) Input/Output Monitor Either touch IN or OUT button in Teaching screen or select “In” or “Out” in the function keys. For models applicable for input and output ports, monitoring of the input and output ports is available by either touching InOut button or selecting InOut in the function keys.
  • Page 119 2) Moving Move the actuator to the location of the position data transmitted to the controller. Position No. to move Select position No. to move in the Teaching screen condition. Press SERVO key and then press ALL+ key to turn the servo ON. To check if servo is turned ON or OFF either touch Cur Pos.
  • Page 120 3) Continuous movement Move the actuator continuously to the location of the position data transmitted to the controller. Position No. you’d like to move first In Teaching screen, select the position number to operate first. Press SERVO key and then press ALL+ key to turn the servo ON.
  • Page 121 The actuator (in all axes) starts continuous movement by pressing the MOVE key and then the ALL+ or ALL- key, in the case of all-axis movement. Press the 1-, 1+, 2-, 2+, 3-, 3+, 4- and 4+ keys in the case of each axis movement. During continuous movement, the display changes to the current position display.
  • Page 122 (5) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Teaching screen or select UserOutput button or UserOut in the function keys. When function key (UserOut) is pressed When UserOutput button is touched (A) User-specified output port status The conditions of user-specified output ports are displayed as ‘1’...
  • Page 123 (C) User-Specified Output Port Operation Panel Window It is a panel window to perform the operation to turn ON/OFF the user-specified output ports. Assignment is made for the number of specified ports in the order of ‘Usr1’, ‘Usr2’, ‘Usr3’ … from the top of the user-specified output ports.

  • Page 124: Example Of Teaching Input

    9.2.2 Example of Teaching Input Entering the data into position No. 10 using the jog and into position No. 11 by manual movement (direct teaching) with Servo OFF status. Operation Touch Edit button. Or, Select the F1 (Edit) key. Touch Position button. Or, Select the F1 (Position) key.
  • Page 125 Operation Press SERVO key and then press ALL+ key to turn the servo ON. Press the jog keys 1-, 1+, 2-, 2+, 3- and 3+ to move the robot to a desired position. Either touch Scan button or press F2 (Scan) key to load the axis number current position where the cursor is to the input...
  • Page 126 Operation Load the data also for the 3rd axis. 10 Either touch Write button If the screen is switched with Page Up button or or press WRT key to Page Dn button before the transfer the position data to the controller. data is transferred, the input The position moves to data will become invalid.
  • Page 127 Operation 13 Either touch Cur Pos. button or press F1 (Disp) Servo OFF key to confirm that the servo is OFF. It turns to light blue Move each axis manually when the servo is to a desired position. turned ON. 14 Either touch Scan button or press F2 (Scan) key to load the axis number...
  • Page 128 Operation 17 Finish the position data If the cursor is not in the input with teaching. position number, move to the position number with Touch Back button or ESC key. Press ESC key press ESC key. again to return to the menu screen.
  • Page 129 Operation 21 While in writing process Never shut off the power to flash ROM, the display to the controller during ‘Flash ROM writing...’ Flash ROM writing. flashes. 22 The flash ROM writing process is finished. Touch OK button or press ESC key. The screen returns to Edit menu.

  • Page 130: Teaching For Scara Axis: Xsel-Jx/Kx, Px/Qx, Or 1St To 4Th Axes Of

    Teaching for SCARA axis: XSEL-JX/KX, PX/QX, or 1st to 4th Axes of XSEL-RX/SX, RAX/SAX Controller, 1st to 4th Axes or 5th to 8th Axes of XSEL-RXD/SXD, RAXD/SAXD Controller or 1 to 4 Axes on MSEL- PCX/PGX Controller (1 to 3 Axes for 3-axis SCARA Type) 9.3.1 Teaching Teaching is one way to input position data (moving the actuator to an arbitrary position and getting...
  • Page 131 Touch Position button on the Edit screen or press F1 (Position) key. * Example shown on the left is for XSEL-JX/KX, PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL-PCX/PGX. * There is no coordinate system buttons shown when a controller other than above is connected. Touch Teach(Scara) button in Position menu screen, or press Teach or TeachS keys.
  • Page 132 Explanation for each Display Area Position No. : Currently displayed position number Axis1-4 : SCARA Axis position data (There are also Axes 5 to 8 for XSEL-RXD/SXD, RAXD/SAXD Controllers and Axes 1 to 3 for 3-axis SCARA type MSEL-PCX/PGX Controllers) : Velocity : Acceleration : Deceleration...

  • Page 133: Jog Movement Direction And Coordinate System

    9.3.2 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 134 2) Jog operation 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. 30°...
  • Page 135 3) Jog operation 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. (For 3-axis SCARA type, Roft will not be taken into account) 45°...
  • Page 136 4) Jog operation on each axis system (jog operation 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 Switchover of the coordinate system for jog operation is to be...
  • Page 137 (2) Selection of coordinate system No. Touch Crd. Sys button, or press F1 (Crd#) key. (When Crd# is not shown, use SF key to make it appear.) Displayed only for XSEL-RXD/SXD and RAXD/SAXD. The axis number displayed in Teach screen is shown. Enter the work coordinate system No.
  • Page 138 The coordinate values displayed indicate the tool tip position of the tool coordinate system No. 1 on the work coordinate system No. 1. ME0325-4A...

  • Page 139: Actuator Operation

    9.3.3 Actuator Operation Jog the actuator or move it to the input (transferred) position data by using the Teaching Pendant. Operate the actuator on the Teaching screen. How to Open to Teaching Screen Go to Edit → Position → Teach (SCARA) in touch panel operation For XSEL-RXD/SXD, RAXD/SAXD, go to Edit →...
  • Page 140 Change of jog velocity The actuator movement velocity under jog operation is changed. Touch JVel button in Teaching screen or have ‘JVel’ (Jog Velocity) displayed in the function key box and press the applicable function key. (‘JVel’ is not displayed without pressing the SF key depending on the screen condition.) It is displayed in XSEL-RXD/SXD and RAXD/SAXD only.
  • Page 141 (2) Inching operation Set the inching distance (travel made every time the JOG key is pressed once). In the jog velocity change screen, input a number in Inc (inching distance) on the hardware numeric keys or touch panel numeric keys and press the return key.
  • Page 142 (4) Arm system change Change the current arm system over to the opposite arm system (Right arm → left arm, left arm → right arm). The 1st arm does not move and the 2nd arm moves in such a way that it becomes straightened with the 1st arm.
  • Page 143 (5) Load Current Position as Data Check the work coordinate system No., tool coordinate system No., and arm system currently selected in advance. Display Change：Go to Edit → Position → Teach (SCARA) → Crd. Sys in touch panel operation For XSEL-RXD/SXD, RAXD/SAXD, go to Edit → Position → Teach (Axes1-4) or Teach (Axes5-8) → Crd.
  • Page 144 In the case of the XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD or MSEL-PCX/PGX controller, it can be selected as to whether or not the arm system is scanned and the data is set on the position data. Arm System Data for Axes 1 to 4 Scanning Selection Arm System Data for Axes 5 to 8 Scanning Selection...
  • Page 145 (7) I/O Monitor 1) Input/Output Monitor Either touch IN or OUT button in Teaching screen or select In or Out in the function keys. For models applicable for input and output ports, monitoring of the input and output ports is available by either touching InOut button or selecting InOut in the function keys.
  • Page 146 (8) Movement The actuator is moved to the location of the position data transferred to the controller. (Check the location of the teaching position data.) Position number to move Select the position number you want to move in a Teaching screen condition. Press the SERVO key and then the ALL+ key to turn the servo ON.
  • Page 147 (9) Continuous movement The actuator is continuously moved to the location of the position data transferred to the controller. Position No. to move first In Teaching screen, use the numeric keys, Page Up and Page Dn button to select the position number to operate first.
  • Page 148 Press MOVE key, and then press ALL+ or ALL- to have the actuator start the continuous operation. ME0325-4A...

  • Page 149: Current Position

    (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 150 Displayed only in XSEL-RXD/SXD and RAXD/SAXD, axis number in teach window To set the jump operation valid/invalid, touch in the check box at JumpMotion, or press F1 (On/Off) key to put or remove a check mark. Enter the Z-axis offset value. Enter the offset value (mm) from the Z-axis target position coordinate and press the return key.
  • Page 151 (11) User-specified output port operation The output ports set in the parameter can easily be turned ON/OFF. In Teaching screen (or the current position display screen in Teaching), select UserOut in the function keys or touch UserOutput button. When in Teaching screen, it automatically changes to the current position display screen. When function key (UserOut) is pressed When UserOutput button is touched (A) User-specified output port status...
  • Page 152 (C) User-Specified Output Port Operation Panel Window It is a panel window to perform the operation to turn ON/OFF the user-specified output ports. Assignment is made for the number of specified ports in the order of ‘Usr1’, ‘Usr2’, ‘Usr3’ … from the top of the user-specified output ports.
  • Page 153 (12) Arm System setting In the case of the XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD or MSEL-PCX/PGX Controller, the arm system data can be set on the position data. The arm system settings for Axes1 to 4 (Axes 1 to 3 for 3-axis SCARA) or Axes5 to 8 (Axes5 to 8 are for XSEL-RXD/SXD and RAXD/SAXD only) that is currently shown can be established.

  • Page 154: Example Of Teaching Input

    9.3.4 Example of Teaching Input Entering the data into position No. 10 using the jog and into position No. 11 by manual movement (direct teaching) with Servo OFF status. Operation Touch Edit button. Or, Select the F1 (Edit) key. Touch Position button. Or, Select the F1 (Position) key.
  • Page 155 Operation Press SERVO key and then press ALL+ key to turn the servo ON. Press the jog keys 1-, 1+, 2-, 2+, 3-, 3+, 4- and 4+ to move the robot to a desired position. When the jog coordinate Either touch Scan button system is each axis or press F2 (Scan) key to system “A”...
  • Page 156 Operation Also, load the data for Z- axis and R-axis in the same manner. 10 Either touch Write button If the screen is switched with Page Up button or or press WRT key to Page Dn button before the transfer the position data to the controller.
  • Page 157 Operation 13 Either touch Cur Pos. button or press F1 (Disp) Servo OFF key to confirm that the servo is off. It turns to light blue Move each axis manually when the servo is to a desired position. turned ON. 14 Either touch Scan button or press F2 (Scan) key to load the axis number...
  • Page 158 Operation 17 Either touch Write button If the screen is switched with Page Up button or or press WRT key to transfer the position data Page Dn button before the to the controller. data is transferred, the The position moves to No. input data will become invalid.
  • Page 159 Operation 21 To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key. 22 While in writing process to Never shut off the power flash ROM, the display to the controller during ‘Flash ROM writing…’...

  • Page 160: Copy And Movement Of Position Data

    Copy and Movement of Position Data It is a way to copy or move the position data to another position number. Touch Edit button in the Menu screen or press F1 (Edit) key. Touch Position button on the Edit screen or press F1 (Position) key.
  • Page 161 Touch Keyboard button to show the touch panel keyboard. If the cursor is not on From No. First No., touch on From No. First No. to show the cursor. * It is available to input on the hardware numeric keys without using the touch panel keyboard. Input a value in From No.
  • Page 162 Input a value in To No. First No. in the same manner. After completing the input, To No. Last No. will be shown. When you want to copy, touch Copy button or press F3 (Copy) key. When you want to move, touch Move button or press F4 (Move) key.

  • Page 163: Deletion Of Position Data

    Deletion of Position Data The following operating instructions are to delete the position data. Touch Edit button in the Menu screen or press F1 (Edit) key. Touch Position button on the Edit screen or press F1 (Position) key. Touch Clear button on the Position screen or press F4 (Clear) key.
  • Page 164 Touch Keyboard button to show the touch panel keyboard. If the cursor is not on the top number, touch the top number to show the cursor. * It is available to input on the hardware numeric keys without using the touch panel keyboard. Input the First No.
  • Page 165 If you want to delete, touch Yes button or press F1 (Yes) key. If delete is not necessary, touch No button or press F2 (No) key. Touch OK button or press ESC key to go back to the previous screen. When you want to write in the flash ROM, go back to Flash ROM Writing screen by touching Back button and so on.

  • Page 166: Program Edit

    10. Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 10.1 How to Input Program Input the program step below as an example. Program No. 2 Cmnd Operand1 Operand2 Comment CPGE *201 Compare Data SCPY ‘1234 Input only the Input Condition at step No.
  • Page 167 Either touch Modify button in the Program screen or press F1 (Modify) key. Program names created in symbol edit Touch the number you want to edit, or input the program number you want to edit on the hardware numeric keys if the cursor in the number box below. (Touch Page Up and Page Dn buttons and the displayed program numbers go up and down by eight items.)
  • Page 168 [Items Shown in Program Step Edit Screen] Program No.: Displayed Program Number Step No. : Displayed Stem Number Step Data : Input an extension condition. : Input the reversion of input condition. : Input the input condition. Cmnd : Input a SEL command language. Operand1 : Input Operation 1 (Operand 1).
  • Page 169 Condition of Touch Panel Keyboard Displayed When you use the touch panel keyboard, also input 601 and touch ENT. The touch panel keyboard closes and 601 is input in Cnd. Either touch Write button or press WRT key to transfer the data in Step No. 1 to the controller. The step proceeds to No.
  • Page 170 Touch Keyboard button to show the touch panel keyboard, input A and touch ENT button. When you want to input with the function keys, press F2 (A) key and then press the return key for confirmation. Either press F2 (N) key and then the return key for confirmation, or touch Keyboard button to show the touch panel keyboard, input ‘N’...
  • Page 171 The cursor moves to the Cnd input area. Input 600 on the hardware numeric keys and then press the return key, or input 600 on the touch panel keyboard and then touch ENT button. (Touch panel keyboard will close.) Example for input on touch panel keyboard The cursor moves to the Cmnd input area.
  • Page 172 Touch Keyboard button to show the touch panel keyboard, input CPGE and touch ENT button. When you want to use the hardware keys, press 7 three times. (Every time you press 7 key, the letter changes in the order of A → B → C.) Commands start with C will be displayed in the function box.
  • Page 173 Touch Keyboard button to show the touch panel keyboard, input 200 and touch ENT button. Or, use the hardware numeric key, input 200 and then press the return key. The cursor moves to the Operand 2 input area. Touch Keyboard button to show the touch panel keyboard.
  • Page 174 Touch *. The letters displayed on the keyboard return to normal. Input * followed by 201, and then touch ENT. ME0325-4A...
  • Page 175 The touch panel keyboard closes and the cursor moves to Pst box. When you want to use the hardware numeric keys for input, press F3 (*) key, input 201 on the numeric keys and then the return key. Touch Keyboard button to show the touch panel keyboard, input 900 and touch ENT button.
  • Page 176 The cursor moves to the Comment input area. Touch Keyboard button to show the touch panel keyboard. Any alphabetical and numerical letters can be used for input. If you touch SHIFT button, buttons with capital letters show up, and go back to small letters once a letter in input.
  • Page 177 Either touch in Cmnd input box, or use ► key or the return key to move the cursor to Cmnd input box. Touch Keyboard button to show the touch panel keyboard. Input SCPY and touch ENT. The touch panel keyboard closes and SCPY is displayed in Cmnd box.
  • Page 178 When you want to use the hardware keys, press 1. (Every time you press 1 key, the letter changes in the order of S→T→U.) Commands start with S will be displayed in the function box. By using SF key (for next command) or ・ key (for previous command), you can search for commands.
  • Page 179 The touch panel closes and the cursor moves to Operand 2. Touch Keyboard button to show the touch panel keyboard. Input ‘1234 and touch ENT button. When you want to use the hardware keys, press F4 (’) key and then F1 key to switch to Num input, and input 1234 on the numeric keys.
  • Page 180 Either touch Write button or press WRT key to transfer the data in Step No. 3 to the controller. The step proceeds to No. 4. When the screen is changed with the Page Up and Page Dn buttons, ESC key, Back button before data transfer, the input data becomes invalid.

  • Page 181: Symbol Input During Program Edit

    10.2 Symbol Input During Program Edit Symbol input is available when the cursor is on Operand 1 or 2 (Operation 1 or 2) or Pst (output). Method 1: Read out the symbol edit screen to have symbol registration and it becomes available. Method 2: In case symbol registration has already been conducted, direct input is available from the touch panel keyboard.
  • Page 182 Either touch Position No. button or press function (Position) key. * The position of the button may differ depending on the connected controller. (1) When Symbol Not Defined Touch Keyboard button to show the touch panel numeric keys, or input 10 on the hardware numeric keys and press the return key.
  • Page 183 With the cursor being in the symbol input box, touch Keyboard button. Input ‘TAIKIITI’ on the touch panel keyboard and touch ENT button. (If you touch CAP button, the keyboard changes to capital-letter input. If you touch CAP button again, it goes back to small-letter input.) Without showing the touch panel keyboard, it is available to input on the hardware numeric keys.
  • Page 184 (2) When There is Symbol Definition Either input directly a number with using the touch panel keyboard or hardware keys, or switch over the display with using PageUp and PageDn buttons or PAGE UP and PAGE DOWN keys to display the symbols (‘TAIKIITI’ in this case) that you may want to input.

  • Page 185: Input With Touch Panel And Keyboard

    10.2.2 Input with Touch Panel and Keyboard With the cursor being in Operand 1 box, touch Keyboard button to show the touch panel keyboard. Input ‘TAIKIITI’ and touch ENT button. * It is not available to use the hardware numeric keys to directly input the symbols.

  • Page 186: Single Line Comment Input

    10.3 Single Line Comment Input Turns a step from a program into a comment (invalid step) and you can input numbers, alphabets and signs. The step number for commentating gets displayed. Either touch Comment button or press F3 (Comment) key. ‘Cmnt’...
  • Page 187 Input desirable letters on the keyboard. Shown in the figure on the left is an example for when Palette1 is input. (To input capital letters, touch CAP key or SHIFT key to switch the mode.) Touch ENT for confirmation. It is also available to input on the hardware numeric keys without displaying the touch panel keyboard.

  • Page 188: To Change Program Steps

    10.4 To Change Program Steps Program No. 4 It is assumed the programs listed below are already input. Cmnd Operand 1 Operand 2 Comment HOME MOVL MOVL MOVL MOVL MOVL MOVL EXIT Cmnd Operand 1 Operand 2 Comment HOME MOVL MOVL MOVL MOVL...
  • Page 189 When 3 is displayed with Page Up function as shown in the figure on the left, either touch Insert button or press F1 (Ins) key. In the figure in the left, when 3 is input in the step number to show it, the cursor moves to the ‘E’ box. If you want to have the function keys to get in the insertion mode, either touch in the step number box or press ESC key to show the cursor in the...
  • Page 190 Touch in Cmnd input box or use ► key to show the cursor in Cmnd box. Touch Keyboard button to show the touch panel keyboard. Input TAG and touch ENT. When you want to input on the function keys, without using the touch panel keyboard, press 1 on the hardware numeric keys two times.
  • Page 191 Input 1 and touch ENT. Either touch Write button or press WRT key to transfer the program data to the controller. When the screen is changed with the Page Up and Page Dn buttons, ESC key, Back button before data transfer, the input data becomes invalid.
  • Page 192 Inactivate MOVL5 next. Either touch in the step number input box or press ESC key one time to show the cursor in the step input box, and input 8 on either the touch panel numeric keys or the hardware numeric keys. Or, use Page UP button to show MOVL5.
  • Page 193 When the screen is changed with the Page Up and Page Dn buttons, ESC key, Back button before data transfer, the input data becomes invalid. The step proceeds to No. 9. Delete Step No. 9 next. Either touch Delete button or press F2 (Del) key. Either touch Yes button or press F1 (Del) key.
  • Page 194 Touch Keyboard button to show the touch panel keyboard. Input GOTO on the touch panel keyboard and then touch ENT. Hardware numeric keys and function keys are also available for input. Input in Operand 1 box the value same as what was input in Operand 1 box in ‘TAG’.
  • Page 195 Input 1 and touch ENT. Either touch Write button or press WRT key. When the screen is changed with the Page Up and Page Dn buttons, ESC key, Back button before data transfer, the input data becomes invalid. Touch Back button or Cancel button to go to the flash ROM writing screen.
  • Page 196 To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 197: Program: Copy Or Move

    10.5 Program: Copy or Move The following operating instructions are to copy or move a program to another program No. Operation on touch panel : Touch Edit → Program → Copy/Move. Operation on Function keys : Press F1 (Edit) → F2 (Program) → F2 (Copy/Move). ME0325-4A...
  • Page 198 Copy/Origin Program Number Copy/Destination Program Number Touch Keyboard button and input the program number on the touch panel keyboard, or input the program number on the hardware numerical keys. If the cursor is in From or To box, touch the No. column in the table and the number you touched gets input in the box.

  • Page 199: Program: Clear

    10.6 Program: Clear Either touch Clear button or press F3 (Clear) key in the program menu screen. Refer to Section 10.5 for how to go to the program menu screen. Top number to be deleted Last number to be deleted Input the program number to be deleted either on the touch panel numeric keys or the hardware numeric keys.
  • Page 200 Touch All Clear button or press F4 (All Clr) key in the program number select screen to delete all the programs. To execute, touch Yes button or press F1 (Yes) key. To cancel, touch No button or press F2 (No) key.

  • Page 201: Flash Rom Writing

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

  • Page 202: Program Execution

    11. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 11.1 Operation Confirmation Either touch Play button or press F2 (Play) key in the main menu. Also, in the program edit menu, there is Play button. There are three items in the program operation menu.
  • Page 203 Input the program number that you want to have the program operation conducted in on the hardware numeric keys and press the return key, or touch the number column (the circled area in the left) in the table. To show No. 9 and further, use Page Up and Page Dn buttons to change the display.
  • Page 204 Once a program is selected in the program select screen, the display is switched to the following screen. (Figure below is the case Program No. 1 is selected.) Select whether to operate one step by one or have the continuous operation. Touch Step button or press F2 Touch Start button or press F1 (Step) key to start step operation.
  • Page 205 Example of Screen When Connecting Model Applicable for Input and Output Ports ME0325-4A...

  • Page 206: Setting Of Brake Point

    11.2 Setting of Brake Point Brake point can be set with the continuance operation. Either touch Break button or press F4 (Brk) key in the operation mode select screen or operation mode screen. Either directly input the step number to set the brake point on the touch panel numeric keys or the hardware numeric keys, or select the step number with using Page Up and Page Dn buttons.

  • Page 207: Monitoring In Program Operation

    11.3 Monitoring in Program Operation The current position of the actuator and the data in the local and global domains can be monitored during the continuous operation or step operation. To show the function keys, press SF key in the screen for the continuous operation mode or step operation mode.
  • Page 208 (2) Local Flag This is the local flag ON/OFF display. It can be switched ON/OFF. Touch L-Flag button in the operation mode screen. For the function keys, press F2 (LFlag) key. When the cursor is in the flag data box as the figure on the top right shows, switchover of ON/OFF is available for the flag which the cursor is placed on.
  • Page 209 (3) Local Variables Displays the contents of the local 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. Touch L-Var button in Operation Mode screen. For function keys, press F3 (LVar) key. There are three types of local variables.
  • Page 210 2) Local Real Variables When the Local Real Variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys or hardware numeric keys is also available. The cursor moves to the data box.
  • Page 211 Character strings display and input box Touch in a character strings display and input box to show the cursor in it, and input of character strings is available. Touch Keyboard button to show the touch panel keyboard, or use the hardware numeric keys to input.
  • Page 212 (5) Global Variables There are three types of global variables. Touch each button to show each monitor screen. The function keys are assigned as stated below. F1 (Itg) : Integer Variables F2 (Real) : Real Variables F3 (String) : String Variables 1) Global Integer variables When the Global Integer Variable screen is opened, the cursor should be placed in a number box.
  • Page 213 2) Global Real Variables When the Global Real Variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys or hardware numeric keys is also available. The cursor moves to the data box.
  • Page 214 (6) Input Port Touch IN port button. For function keys, press F2 (InPort) key. When InPort function is not shown, use SF key to make it appear. (Press SF key three times from the initial screen to show it up.) Touch Keyboard button to open the touch panel numeric keys, input a port number that you want to show, and touch ENT button for confirmation.
  • Page 215 (8) Input/Output Port (for applicable models only) The way to operate is the same as (7) Output Port. ME0325-4A...

  • Page 216: Coordinate System Data Editing Of The Scara Axis

    12. Coordinate System Data Editing of the SCARA Axis XSEL-JX/KX and 1st to 4th Axes of XSEL-PX/QX, 1st to 4th Axes of XSEL-RX/SX, RAX/SAX, 1st to 8th Axes of XSEL-RXD/SXD, RAXD/SAXD, 1st to 4th Axes of MSEL-PCX/PGX (1 to 3 axis when using 3-aixs SCARA) Either touch Edit button or press F1 (Edit) key.

  • Page 217: Editing Of Work Coordinate System Data

    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) 30°...
  • Page 218 Edit Screen for XSEL-RX/SX and RAX/SAX Edit Screen for XSEL-RXD/SXD and RAXD/SAXD With the cursor being on the X-axis offset data, touch Keyboard button to shown the touch panel keyboard. Or, input 150 and press return on the hardware numeric keys. ME0325-4A...
  • Page 219 Input 150 and touch ENT button. The cursor is placed on the Y-axis offset data. Touch Keyboard button to show the touch panel keyboard. Or, input 200 and press return on the hardware numeric keys. Input 200 and touch ENT button. ME0325-4A...
  • Page 220 The cursor is placed on the Z-axis offset data. As the offset of Z-axis remains at 0, either press the return key or touch in the R-axis offset input box. R-axis offset input box The cursor is placed on the R-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 221 Either touch Write button or press WRT key to transfer the data to the controller. The position moves to Work Coordinate Offset No. 2. Touch Back button or Cancel button to go to the flash ROM writing screen. Or press ESC key several times to go to the flash ROM writing screen.
  • Page 222 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. Flash ROM writing is completed. Either touch OK button or press ESC key to return to the edit menu screen.
  • Page 223 Example of Screen after Touching Clear Button ME0325-4A...

  • Page 224: Editing Of Tool Coordinate System Data

    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 Roft1=45° Tool End Yoft1=35 Tool End Xoft1=45 D-cut Surface Tool Mounting Surface Center Zoft1=10...
  • Page 225 Edit Screen for XSEL-RX/SX and RAX/SAX Edit Screen for XSEL-RXD/SXD and RAXD/SAXD With the cursor being on the X-axis offset data, touch Keyboard button to shown the touch panel keyboard. Or, input 45 and press return on the hardware numeric keys. ME0325-4A...
  • Page 226 Input 45 and touch ENT button. The cursor is placed on the Y-axis offset data. Touch Keyboard button to show the touch panel keyboard. Or, input 35 and press return on the hardware numeric keys. Input 35 and touch ENT button. ME0325-4A...
  • Page 227 The cursor is placed on the Z-axis offset data. Touch Keyboard button to show the touch panel keyboard. Or, input -10 and press return on the hardware numeric keys. Input -10 and touch ENT button. The cursor is placed on the R-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 228 Input 45 and touch ENT button. * In 3-axis SCARA type, the offset of R-axis is not taken into account on the controller side. Either touch Write button or press WRT key to transfer the data to the controller. The position moves to Tool Coordinate Offset No.
  • Page 229 To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 230 Regarding Clear button and F1 (Clear) key in Tool Coordinate System Data Edit screen No matter where the cursor is placed, all the values in X, Y, Z and R-axes offset are set to 0. To transfer the data to the controller, either touch Write button or press WRT key.

  • Page 231: Editing Of Simple Interference Check Zone

    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.) • Output port No.
  • Page 232 Edit Screen for XSEL-RX/SX and RAX/SAX To switch the axis in XSEL-RXD/SXD and RAXD/SAXD, touch a radio button or press F3 (Axis) key. Axis Switchover Edit Screen for XSEL-RXD/SXD and RAXD/SAXD Input of base coordinate values of A. The cursor is located at the X-axis data. Touch Keyboard button to show the touch panel keyboard.
  • Page 233 Input 475 and touch ENT button. The cursor is located at the Y-axis data. Touch Keyboard button to show the touch panel keyboard to input -50 and touch ENT, or input -50 on the hardware numeric keys and then press the return key.
  • Page 234 The cursor is located at the R-axis data. Touch Keyboard button to show the touch panel keyboard to input 0 and touch ENT, or input 0 on the hardware numeric keys and then press the return key. The cursor moves to the other X-axis data. Enter the base coordinate values of G in the same way as A.
  • Page 235 Touch Keyboard button to show the touch panel keyboard to input 311 and touch ENT, or input 311 on the hardware numeric keys and then press the return key. The cursor moves to the Error Type input area. Touch Keyboard button to show the touch panel keyboard to input 1 and touch ENT, or input -1 on the hardware numeric keys and then press the return key.
  • Page 236 To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 237 Regarding Clear button and F1 (Clear) key in Simple interference check zone Data Edit screen No matter where the cursor is placed, all the coordinate values in X, Y, Z and R-axes are turned invalid and the output port/flag box and error type box are set to 0.

  • Page 238: Symbol Edit

    13. Symbol Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL Controller.) Symbol (Names) can be applied to variables, ports, flags, position, etc. Either touch Edit button in the Menu screen or press F1 (Edit) key. Either touch Symbol button in the Edit screen or press F3 (Symbol) key.

  • Page 239: Symbol Edit Items

    13.1 Symbol Edit Items Symbol Select Menu (some models excluded) (1) The items object to editing is as stated below; * Editing is available on the input and output port numbers (InOut) in the input and output port applicable models. Integer Variables No.: F1 (VarItg), Real Variables No.: F2 (VarReal), Integer Constants: F3 (ConstItg), Real Constants: F4 (ConstReal) Flag No.: F1 (Flag), Input port No.：F2 (InPort)

  • Page 240: Input Example: Symbolize Local Integer Variable No

    13.2 Input Example: Symbolize Local Integer Variable No. Assuming Variable No. 5 in Program No. 3 is symbolized as ‘Cnt5’. Either touch Integer Variables No. button or press F1 (VarItg) key. The cursor is located at program No. box Input the local area program No. (To symbolize global area, leave 0.) Touch Keyboard button to show the touch panel numeric keys.
  • Page 241 The cursor moves to the number box. Touch Keyboard button to show the touch panel numeric keys. Or, input 5 and press return on the hardware numeric keys. Input 5 and touch ENT. The cursor moves to the Symbol box. Touch Keyboard button to show the touch panel numeric keys.
  • Page 242 To input ‘C’, touch SHIFT and then touch C. The keyboard automatically returns to small letter input. Continue to type in n t 5, and touch ENT. Once the input is confirmed, the cursor disappears. If you want to input again, touch in the symbol input box.
  • Page 243 To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 244: Symbol Edit Screen Of Each Items

    13.3 Symbol Edit Screen of Each Items (1) Constant Number Integer Type Constant Number Symbol Edit Screen Real Type Constant Number Symbol Edit Screen Input alphabet and Input constant value. Remained available number. registrations Example for input of integer constants: Define 1000 to the symbol name ‘Const1’...
  • Page 245 Touch Keyboard button to show the touch panel numeric keys. Input 1000 and touch ENT. After finished inputting, either touch Write button or press WRT key to transfer the symbol data to the controller. After that, perform the Flash ROM writing referring to 13.2.
  • Page 246 (2) Program Number Indicative Definition Data Integer variable number, real variable number, flag number, tag number and subroutine number Flag Number Symbol Edit Screen Tag Number Symbol Edit Screen Number Input Box: Program Number Input Box: As the integer variable Symbol Input Box: Input values with numbers, real variable numbers...
  • Page 247 (3) Program Number Non-indicative Definition Data Input port No., Output port No., Input/Output port No. (for applicable models only), Program No., Position No. Axis No. Number Input Box: Symbol Input Box: Input values with Input values with touch panel keyboard numeric keys, Page and so on.

  • Page 248: Parameter Edit

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

  • Page 249: Parameter Edit Items

    14.1 Parameter Edit Items Every time you press SF key, the function items are shifted and displayed. In some controllers, "I/O Slot Card" changes to names of "I/O System Device". (The function name is changed from “IO Slot” to “IO Dev”.) ME0325-4A...

  • Page 250: Input Example: Edit Specific-Axis Parameter

    14.2 Input Example: Edit Specific-Axis Parameter Establish the setting in specific-axis parameter No. 7 soft limit + to axis 1 = 300mm, axis 2 = 200mm. The cursor is located at Parameter No. Touch Keyboard button to open the touch panel numeric keys to input 7 and then ENT.
  • Page 251 Input data of axis No. 2 The display screen moves to parameter No. 8. To edit Axis No. 2 in Parameter No. 7, either touch Page Dn button, or press PAGE DOWN key to show Parameter No. 7. Either touch Axis + button or press F4 (Axis+) key. Axis No.2 Input 200000 on the touch panel numeric keys and touch ENT.
  • Page 252 Either touch Write button or press WRT key to transfer the parameter data to the controller. To continue editing Specific Axis Parameter, move the cursor to Parameter No. and input the parameter number you want to edit. To finish editing Specific Axis Parameter, go back to the flash ROM writing screen with Back button or ESC key.
  • Page 253 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changes, it is necessary to have a software reset.
  • Page 254 Once the software reset is complete, the display returns to the main menu screen. ME0325-4A...

  • Page 255: Monitor

    15. Monitor Monitor each status, global variable, port status, etc. Touch Monitor in the menu screen or press F3 (Monitor) key. 15.1 Monitor Items * The types and the positions of the buttons shown on the screen differ depending on the motel types. ME0325-4A...

  • Page 256: Input Port

    Input Port : (InPort) : Displays the input port monitor screen Output Port : (OutPort) : Displays the output port monitor screen Input/Output port : (InOut) : Displays the input/output port monitor screen (applicable models only) Global Flag : (GFlag) : Displays the global flag monitor screen Global Variable : (GVar)

  • Page 257: Output Port

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

  • Page 258: Global Flag

    15.5 Global Flag Displays the ON/OFF status of global flag. Also, it can switch the ON/OFF status of the global flags. 1: ON, 0: OFF To move the cursor from a flag number box to a flag data box, either press the return key in the flag number box or touch a flag data box.
  • Page 259 1) Global Integer variables When the global Integer variables screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys or hardware numeric keys is also available. The cursor moves to the data box.
  • Page 260 3) Global String Variables When the global string variables screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys or hardware numeric keys is also available. The cursor moves to the data box.

  • Page 261: Axis Status

    15.7 Axis Status Displays the current position of each axis, servo status, sensor status, etc. The status items may vary depending on the model. Select the item to show on the monitor in the menu screen shown in the figure below. Current Position : F1 (Position) : Displays the current position Servo Status...
  • Page 262 (2) Servo status It is available to switch the axis number with Page Up and Page Dn buttons. The status of ON/OFF is displayed with (ON) (OFF). (3) Sensor Input Status Orthogonal axis SCARA axis (4) Encoder Status * The items displayed on each status screen differ depending on the models. ME0325-4A...
  • Page 263 (5) Axis Related Error Axis No. Switch the axis number (6) Selected Coordinate System (XSEL-JX/KX, PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL-PCX/PGX only) The coordinate system number currently selected in displayed. XSEL-JX/KX, PX/QX, RX/SX, RAX/SAX and XSEL-RXD/SXD and RAXD/SAXD MSEL-PCX/PGX (Shown as Axis No.

  • Page 264: System Status

    15.8 System Status Display system status. The status items may vary depending on the model. Select the item to show on the monitor in the menu screen shown in the figure below Mode/Error : F1 (Mode/Err) : Displays the current operation mode and error number Status1 : F2 (Status1) : Displays System Status 1...
  • Page 265 System Status (1) System Status (2) System Status (3) ME0325-4A...

  • Page 266: Error List

    15.9 Error List Select Error List in the monitor items. The younger the number is, the newer the error. Generated Time shows the time after the Error Code power started to be supplied to the controller or after the software reset. Error Message For XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA and MSEL-...
  • Page 267 Time after power started to be supplied to controller or after software reset Information 1 to 4 are the information for IAI to analyze the cause of an error. (The content differs depending on the error number.) Either touch Back or press ESC key to return to the error list display screen.
  • Page 268 (2) Delete Error List Either touch All Clear button or press F4 (All Clr) key to show the confirmation screen to clear the error list. Either touch Yes button or press F1 (Yes) key when you want to clear the error list. If you do not want to delete, either touch No button or press F2 (No) key.

  • Page 269: Version Information

    15.10 Version Information Displays version information. The items available to select and display in each screen, may differ depending on the model. Depending on the controller, the [I/O] button may be changed to the [Field Bus] button. (1) Main Main : Controller application version MainCore : Controller core version...
  • Page 270 (2) Driver The driver CPU version is displayed. (3) Teaching Pendant The version of this product is shown. TP-SEL : Application version for when SEL type controller is connected TP-CON : Application version for when CON type controller is connected TPCore : Core version (4) I/O Version of extension I/O module is displayed...

  • Page 271: Control Constant Table Administration Information

    (5) Encoder Version of encoder CPU is displayed 15.11 Control Constant Table Administration Information (applicable models only) It is available to check the version of the control constant table for the encoder and monitor. ME0325-4A...

  • Page 272: Maintenance Information

    15.12 Maintenance Information (applicable models only) Displays the number of actuator movement and distance. [Items Shown in Maintenance Information Screen] 1) Axis No. 2) Total number of movement 3) Total driving distance 1) Axis No. It shows the axis number. 2) Total number of movement Displays the total No.
  • Page 273 [Output Timing (Threshold) Setting of Signals] 1) Axis. No. 2) Threshold for total number of movements 3) Threshold for total travelled distance 1) Axis No. It shows the axis number. 2) Threshold for total number of movements It shows the threshold for the total number of the movements. 3) Threshold for total travelled distance It shows the threshold for the total number of the travelled distance.

  • Page 274: Actuator Replacement

    15.12.1 Actuator Replacement When the actuator is replaced, the total operation times and total operation distance can be initialized (cleared). Either touch Replace Act button or press F1 (ReplaceAct) key. The password input window appears. Input 5119 either on the keyboard or in the hardware keys. * Once the password is input, it is effective until getting out of the maintenance information window.
  • Page 275 Once the process is completed, the screen changes to the figure shown in the left. Touch OK button or press ESC key. When the battery-less absolute encoder is connected and the pairing I.D. clear feature is activated, the pairing I.D. clear execution confirmation window appears continually. Refer to 15.12.2 Pairing I.D.

  • Page 276: Pairing Id Clear

    15.12.2 Pairing ID Clear The controller possesses a feature to output an absolute error when it checks the encoder I.D. and detects it is wrong. In case replacement is conducted with an actuator which the absolute reset has been executed, it is necessary to clear the existing I.D. (pairing I.D.). This feature is available only when the battery-less absolute encoder is connected and the pairing I.D.
  • Page 277 Either touch Yes button or press F1 (Yes) key when the paired I.D. is to be cleared. Either touch No button or press F2 (No) key when the paired I.D. is not to be cleared. Once the process is completed, the screen changes to the figure shown in the left.

  • Page 278: Controller

    16. Controller How to execute operation related to the controller such as a software reset and an error reset. 16.1 Controller Items Touch Controller button or press F4 (Control) key. In the controller menu below, the available items to select from differ depending on the model. ME0325-4A...
  • Page 279 Flash ROM Writing : F1 (FROM) : Conducts flash ROM writing Software Reset : F2 (S Reset) : Conducts software reset on controller Error Reset : F3 (E Reset) : Resets the controller error Memory Clear : F4 (M Clear) : Clears each memory on controller Re-Connection : F1 (ReCon)

  • Page 280: Flash Rom Writing

    16.2 Flash ROM Writing After clearing the data from Flash ROM, write data which is saved in controller memory to Flash ROM. To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key.

  • Page 281: Software Reset

    16.3 Software Reset Executes software reset of the controller. The data which is not written to Flash ROM will be cleared. Either touch Yes button or press F1 (Yes) key when you want to have a software reset. When the software reset is not necessary, touch No button or press F2 (No) key.

  • Page 282: Error Reset

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

  • Page 283: Memory Clear

    16.5 Memory Clear 16.5.1 Memory Initialization Items Example for Memory Initializing Menu Screen (XSEL-RXD/SXD) Example for Memory Initializing Menu Screen (TTA) (2nd page in the same section) * The types of buttons to be displayed will differ depending on models. Global Variable : F1(GVar) : Conducts Zero-Clear to global variables...

  • Page 284: Global Variable

    Program Data (restore prev data) : F2 (Prg rstr) : Recover the flash ROM writing data for the program data to the writing data of one generation before. (TTA and MSEL- PCX/PGX/PC/PG/PCF/PGF only) Symbol Data (restore prev data) : F3 (Sym rstr) : Recover the flash ROM writing data for the symbol data to the writing data of one generation before.

  • Page 285: Position Data (Xsel-R/S, Rx/Sx, Rxd/Sxd, Ra/Sa, Rax/Sax, Raxd/Saxd, Tta And Msel-Pcx/Pgx/Pc/Pg/Pcf/Pgf Only)

    16.5.4 Position Data (XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA and MSEL-PCX/PGX/PC/PG/PCF/PGF Only) Position data is cleared. Initialize the position data by using this function in case 6BD “Position Data Construction Change Error” or 6BF “Position Data Sum Check Error” is occurred. Note) 22B “Position Data Comment Loss Error”...
  • Page 286 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the software reset screen. Either press Yes button in the touch panel or press F1 (Yes) key.
  • Page 287 Once the software reset is complete, the display returns to the main menu screen. ME0325-4A...

  • Page 288: Coordinate System Data (Xsel-Rx/Sx, Rxd/Sxd, Rax/Sax, Raxd/Saxd And Msel-Pcx/Pgx Only)

    16.5.5 Coordinate System Data (XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and MSEL-PCX/PGX Only) All the coordinate system definition data is cleared. Initialize the coordinate system definition data by using this function in case D40 “Coordinate System Data Control Area Sum Check Error”, D41 “Coordinate System Control Area ID Error” or D42 “Coordinate System Data Sum Check Error”...
  • Page 289 The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen. ME0325-4A...

  • Page 290: The Value Of This Parameter At The Factory

    16.5.6 The value of this parameter at the factory (SSEL, ASEL, PSEL, XSEL-R/S, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD, TTA AC Servo Type / High-Resolution Type and MSEL High-Resolution Type Only) Set the parameters back to the condition of delivery from the production plant. The password input window appears.
  • Page 291 To write the data to the flash ROM, touch Yes button or press F1 (Yes) key. If writing is not necessary, touch No button or press F2 (No) key. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 292 The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen. ME0325-4A...

  • Page 293: Program Data (Previous Value Restore)

    16.5.7 Program Data (Previous Value Restore) The flash ROM writing data in the program data is recovered to the writing data of one generation before. Either touch Yes button or press F1 (Yes) key when you want to set the program data one generation before.
  • Page 294 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. Either touch OK button or press ESC key to return to the edit menu screen. ME0325-4A...

  • Page 295: Symbol Data (Previous Value Restore)

    16.5.8 Symbol Data (Previous Value Restore) The flash ROM writing data in the symbol data is recovered to the writing data of one generation before. Either touch Yes button or press F1 (Yes) key when you want to set the symbol data one generation before.

  • Page 296: Position Data (Previous Value Restore)

    16.5.9 Position Data (Previous Value Restore) The flash ROM writing data in the position data is recovered to the writing data of one generation before. Also, Position Data No. 1 to 10000 cannot be recovered. Either touch Yes button or press F1 (Yes) key when you want to set the position data one generation before.

  • Page 297: Parameter Data (Previous Value Restore)

    16.5.10 Parameter Data (Previous Value Restore) The flash ROM writing data in the Parameter data is recovered to the writing data of one generation before. Either touch Yes button or press F1 (Yes) key when you want to set the parameter data one generation before.

  • Page 298: Re-Connection

    No button or press F2 (No) key. Once you either touch Yes button or press F1 (Yes) key, the reboot of this teaching pendant starts. The screen shown on the left is displayed after IAI logo mark is shown. “Confirming Connection …” flashes during reconnection process.

  • Page 299: Baud Rate Change

    16.7 Baud Rate Change Changes the communication baud rate between the controller and the teaching pendant. Either touch a button for the baud rate of change, or press a hardware numeric key that corresponds to the number 1 to 6 shown above the buttons. Either touch OK button or press F1 (OK) key when you change the baud rate.

  • Page 300: Safety Velocity

    16.8 Safety Velocity Switches the safety velocity limit status at manual mode. 0: Safety Velocity Limit does not Effect… There is no safety speed limitation 1: Safety Velocity Limit Effect… There is safety speed limitation (No matter what the settings are for the programs and parameters, the maximum velocity for orthogonal axis is 250mm/sec or less, CP operation 250mm/sec or less for SCARA and PTP...

  • Page 301: Action Pause Release Request

    16.10 Action Pause Release Request Requests to release action pause to the controller. To demand the cancellation of the operation pause, either touch Yes button or press F1 (Yes) key. The display returns to the previous screen. When it is not necessary to demand the cancellation of the operation pause, touch No button or press F2 (No) key.

  • Page 302: Simultaneous Operation Of Multiple Programs

    16.11 Simultaneous Operation of Multiple Programs Set whether to allow simultaneous operation of multiple programs or not at Manual Mode. When it is set to forbid, multiple programs cannot be executed at the same time. (Error No. 913 Multiple Program Simultaneous Operation Forbidden Error) * This function is valid only for the following models : •...
  • Page 303 When you select to allow the simultaneous operation of multiple programs, the confirmation screen will be displayed. To establish the setting, either touch Yes button or press F1 (Yes) key. When it is not necessary to establish the setting, touch No button or press F2 (No) key. ME0325-4A...

  • Page 304: Driver Power Recovery Request (Rpwr) And Action Pause Release Request (Ract)

    16.12 Driver Power Recovery Request (RPwr) and Action Pause Release Request (RAct) 16.12.1 In the Case of Controller Other Than SSEL, ASEL and PSEL Controllers (1) Driver Power Recovery Request 1) Case which requires executing Driver Power Recovery Request Only the following case requires executing Driver Power Recovery Request: •...

  • Page 305: In The Case Of Ssel, Asel Or Psel Controller

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

  • Page 306: Time Setting

    16.13 Time Setting In the case of the XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA or MSEL- PCX/PGX/PC/PG/PCF/PGF Controller, set the clock. The time displayed in the Error Detailed Data window is the error occurrence time. Either touch Time Setting button or press F1 (Set Time) key in Controller Menu screen.
  • Page 307 The display turns to the confirmation screen when the controller clock setting is finished. Either touch OK button or press ESC key to return to the clock display screen. The display returns to this screen. Either touch Back button or press ESC key to return to Controller Menu screen.

  • Page 308: Absolute Reset

    17 Absolute Reset 17.1 Absolute Reset of the Orthogonal Axis: XSEL-JK, P/Q, or 5th and 6th Axes of XSEL-PX/QX Controller, XSEL- R/S or 5th to 8th Axes of XSEL-RX/SX Controller, SSEL or ASEL Controller The procedures will differ if the controller is applicable for the battery-less absolute specifications.
  • Page 309 1) Encoder Rotation Data Reset 1 Touch OK button or press F1 (OK) key. 2) Reset Controller Error Touch OK button or press F1 (OK) key. 3) Servo-ON Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 310 4) Returning Home Touch OK button or press F1 (OK) key. 5) Servo-OFF Touch OK button or press F1 (OK) key. 6) Encoder Rotation Data Reset 2 Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 311 Return to the axis No. input screen. When you want to have another axis conduct absolute reset, input the axis number and touch OK button or press F1 (OK) key. To finish absolute reset, either touch Re-Start controller button or press ESC key. Restart the controller.

  • Page 312: Xsel-Raxd/Saxd Controller

    17.2 Absolute Reset of the SCARA Axis: XSEL-JX/KX, 1st to 4th Axes of XSEL-PX/QX or 1st to 4th Axes of XSEL-RX/SX, RAX/SAX Controller, or XSEL-RXD/SXD, XSEL- RAXD/SAXD Controller Absolute Reset Preparation The following jigs are required to perform an absolute reset: Absolute Reset Adjustment jigs Type Remarks...
  • Page 313 There are three types of absolute reset, Arm 1, Arm 2 and Z-axis + R-axis. (1) Absolute Reset on Arm 1 and Arm 2 Select Absolute Reset from Controller Menu. To have an absolute reset, either touch Yes button or press F1 (Yes) key. When not to have an absolute reset, either touch No button or press F2 (No) key.
  • Page 314 1) Encoder Rotation Data Reset 1 Touch OK button or press F1 (OK) key. 2) Reset Controller Error Touch OK button or press F1 (OK) key. 3) Servo-ON Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 315 4) Jog Movement Move the actuator with jog to a point near the datum posture (refer to the figures for datum posture in the following pages), and either touch OK button or press F1 (OK) key. 5) Servo-OFF Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 316 6) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig. Fix at the datum posture described in the next page, and either touch OK button or press F1 (OK) key. Inputting emergency stop displays the screen at the left Either touch Back button or press ESC key to go back to the previous screen.
  • Page 317 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 318 Arm 1 (Arm length 250/300/350) Positioning mark label for arm 1 Positioning mark label for arm 2 Arm 2 (Arm length 250/300/350) Arm length 250/300/350 Reference Position (Note) When performing an absolute reset for arm 1 of IX-NNN2515, rotate arm 2 slightly then set with an adjustment jig (pin) to set it.
  • Page 319 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 320 7) Encoder Rotation Data Reset 2 Touch OK button or press F1 (OK) key. 8) Home pos. automatic update Touch Page Up button or press PAGEUP key. Make sure not to touch OK button. Also, do not attempt to press F1 (OK) key. •...
  • Page 321 The display returns to the first screen. Either touch CANCEL button, or press F2 (Cancel) or ESC key. Touch Re-Start controller button or press ESC key. Restart the controller. Touch Yes button or press F1 (OK) key. The display returns to the main menu when the reboot is finished.
  • Page 322 (2) Absolute reset on Z-axis + R-axis Select Absolute Reset from Controller Menu. To have an absolute reset, either touch Yes button or press F1 (Yes) key. When not to have an absolute reset, either touch No button or press F2 (No) key. The display returns to the previous screen.
  • Page 323 1) Encoder Rotation Data Reset 1 Touch OK button or press F1 (OK) key. 2) Reset Controller Error Touch OK button or press F1 (OK) key. 3) Servo-ON Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 324 4) Temp. standard posture standby Touch OK button or press F1 (OK) key. Caution The Z-axis returns to the home position. 5) Jog Movement Move the R-axis with the jog key to a place around the basic posture (refer to the figures of basic posture in the next page and after), and either touch OK button or press F1 (OK) key.
  • Page 325 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. Fix at the datum posture described in the next page, and either touch OK button or press F1 (OK) key.
  • Page 326 Place the adjusting jig plate and pin as shown below and fix the standard posture. • After checking that the EMERGENCY STOP switch has been pressed, set the jig. • Set the jig by referring to the positioning mark. • Adjust the level so that the top surface of the stopper approximately agrees with the under surface of the arm 2.
  • Page 327 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: Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
  • Page 328 Absolute reset jig (Plate) Absolute reset jig (Pin) Set the plate so that a hole of 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 ME0325-4A...
  • Page 329 Absolute reset jig (Plate) Absolute reset jig (Pin) Set the plate so that a hole of 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 330 8) Encoder Rotation Data Reset 2 Touch OK button or press F1 (OK) key. 9) Home pos. automatic update Touch OK button or press 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 331 11) Servo-ON Touch OK button or press F1 (OK) key. 12) Standard posture standby Touch OK button or press F1 (OK) key. Caution: The Z-axis returns to the home position. 13) Servo-OFF Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 332 14) Encoder Rotation Data Reset 3 Touch OK button or press F1 (OK) key. 15) Home pos. automatic update Touch OK button or press F1 (OK) key. The display returns to the first screen. Either touch CANCEL button, or press F2 (Cancel) or ESC key.
  • Page 333 Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 334 The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen. ME0325-4A...

  • Page 335: Perform Absolute Reset On Zr Unit (Absolute Type)

    17.3 Perform Absolute Reset on ZR Unit (Absolute Type) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required.
  • Page 336 [2] Absolute Reset Procedures For absolute reset for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 337 1) Encoder Rotation Data Reset 1 Touch OK button or press F1 (OK) key. 2) Reset Controller Error Touch OK button or press F1 (OK) key. 3) Servo-ON Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 338 4) Temp. standard posture standby Touch OK button or press F1 (OK) key. Caution: The vertical axis returns to the home position 5) Jog Movement Move the rotary axis with the jog key to a place around the basic posture (refer to the figures of basic posture in the next page and after), and either touch OK button or press F1 (OK) key.
  • Page 339 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. Fix at the datum posture described in the next page, and either touch OK button or press F1 (OK) key.
  • Page 340 Jig Attachment Procedure D-shaped surface Shaft 1) Insert the ball screw spline shaft into the jig hole from the lower side. 2) Put the D-cut surface of the ball screw spline shaft onto the surface “a”. 3) Put the ball screw spline shaft side surface onto the surface “b”. 4) Fasten the screw “c”...
  • Page 341 8) Encoder Rotation Data Reset 2 Touch OK button or press F1 (OK) key. 9) Home pos. automatic update Touch OK button or press 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 342 11) Servo-ON Touch OK button or press F1 (OK) key. 12) Standard posture standby Touch OK button or press F1 (OK) key. Caution: The vertical axis returns to the home position 13) Servo-OFF Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 343 14) Encoder Rotation Data Reset 3 Touch OK button or press F1 (OK) key. 15) Home pos. automatic update Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 344 Either touch CANCEL button, or press F2 (Cancel) or ESC key. Touch Re-Start controller button or press ESC key. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. ME0325-4A...
  • Page 345 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the software reset screen. To activate the parameters that you had changes, it is necessary to have a software reset.
  • Page 346 ME0325-4A...

  • Page 347: Perform Ball Screw Spline Shaft Adjusting On Zr Unit (Incremental Type)

    17.4 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 348 [2] Ball Screw Spline Shaft Adjusting Procedure For ball screw spline shaft adjusting for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 349 1) Reset Controller Error Touch OK button or press F1 (OK) key. 2) Servo-ON Touch OK button or press F1 (OK) key. 3) Temp. standard posture standby Touch OK button or press F1 (OK) key. Caution: The vertical axis returns to the home position ME0325-4A...
  • Page 350 4) Returning Home Touch OK button or press F1 (OK) key. Caution: The rotation axis returns to the home position. 5) Jog Movement Move the rotation axis to the vicinity of the basic position with jog keys (see the “Standard Posture Drawing”...
  • Page 351 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. Fix at the datum posture described in the next page with using a fixture, and either touch OK button or press F1 (OK) key.
  • Page 352 Jig Attachment Procedure D-shaped surface Shaft 1) Insert the ball screw spline shaft into the jig hole from the lower side. 2) Put the D-cut surface of the ball screw spline shaft onto the surface “a”. 3) Put the ball screw spline shaft side surface onto the surface “b”. 4) Fasten the screw “c”...
  • Page 353 8) Home pos. automatic update Touch OK button or press F1 (OK) key. 9) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Touch OK button or press F1 (OK) key. Either touch CANCEL button, or press F2 (Cancel) or ESC key.
  • Page 354 Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 355 After flash ROM writing is complete, the display changes to the software reset screen. Reset software. Either press Yes button in the touch panel or press F1 (Yes) key. The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen.

  • Page 356: Orthogonal Axis Synchro Specification Absolute Reset 5Th And 6Th Axes Of Xsel-J/K, P/Q Or Px/Qx Controller, 5Th To 8Th Axes Of Xsel-R/S Or Rx/Sx Controller, Or Ssel Controller

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

  • Page 357: Location Adjustment Of Synchro Axes Sliders

    Example 2) When standard procedure is executed for 2-axis controller: 17.5.2 Location Adjustment of Synchro Axes Sliders Align the synchro axes sliders. (Physical parallel adjustment) (1) Adjust the relative locations between the sliders of the master and slave axes and connect them while the axes are not connected to the controller via cables (controller main power OFF).

  • Page 358: Special Procedure Absolute Reset

    17.5.3 Special Procedure Absolute Reset In the case of “Specific-axis parameter No. 38 encoder ABS/INC type”: master axis = 1 and slave axis = 1: (1) Record the current value of the “Specific-axis parameter No. 83 ABS synchro slave axis coordinate initialization cancel”...
  • Page 359 Touch Back button or press ESC key several times to go to the flash ROM writing screen. Write the data to Flash ROM. Touch Yes button or press F1 (Yes) key. Restart the controller. Touch Yes button or press F1 (Yes) key. (3) Execute an absolute reset according to the following special procedure (forced operation by ignoring the screen steps): When the controller is applicable to the “battery-less absolute reset”, the procedure is...
  • Page 360 Select Absolute Reset in the controller menu. 1) Execute the “Encoder Rotation Data Reset1” for the slave axis. Input the axis number of the slave axis by using the touch panel numeric keys or the hardware numeric keys, and then either touch ENT button or press the return key to confirm the input.
  • Page 361 2) Execute an absolute reset for the master axis according to the screen steps. Input the axis number of the master axis by using the touch panel numeric keys or the hardware numeric keys, and then either touch ENT button or press the return key to confirm the input.
  • Page 362 Touch OK button or press F1 (OK) key. Returning Home Touch OK button or press F1 (OK) key. Servo-OFF Touch PageUp button or PAGEUP key to forward the screen. Make sure not to touch OK button. ME0325-4A...
  • Page 363 Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 364 3) Execute the “Encoder Rotation Data Reset1” for the slave axis again Input the axis number of the slave axis by using the touch panel numeric keys or the hardware numeric keys, and then either touch ENT button or press the return key to confirm the input. Touch Next button or press F1 (OK) key.
  • Page 365 Touch Re-Start controller button or press ESC key. Restart the controller. Touch Yes button or press F1 (OK) key. ME0325-4A...
  • Page 366 4) Return the slave-axis value for the “specific-axis parameter No. 83 ABS synchro slave axis coordinate initialization cancel” to the original value. Display Transition: Edit → Parameter → Specific Axis Input 1 on the touch panel numeric keys or the hardware numeric keys, and then either touch ENT button or press the return key to confirm the input.
  • Page 367 (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 368 3) Input the calculation result in 2) above to the “Specific-axis parameter No. 12 preset home value” for the slave axis. After touching ENT button, either touch Write button or press WRT key to transfer the data to the controller. The hardware numeric keys are also available for input.
  • Page 369 (6) Display the current positions on the teaching screen. After turning the servo ON, execute action check by jogging. (Master axis operation) Display Transition: Edit → Position → Teach(Linear) Use F1 (Disp) key to switch to the current position. To turn the servo ON/OFF, use the SERVO, 1-, 1+, 2-, 2+, 3-, 3+, 4- and 4+ keys.

  • Page 370: Standard Procedure Absolute Reset

    17.5.4 Standard Procedure Absolute Reset In the case of “Specific-axis parameter No. 38 encoder ABS/INC type”: master axis = 1 and slave axis = 0: After “17.5.2 Location Adjustment of Synchro Axes Sliders,” execute a normal absolute reset only for the master axis.

  • Page 371: How To Perform Pressing Absolute Reset On Ix-1000/1200

    17.6 How to Perform Pressing Absolute Reset on IX-1000/1200 Have “Pressing Absolute Reset” conducted in case the absolute data is lost in Ultra Large SCARA Robot IX-NNN10040/NNN12040. Also, in the following cases, have “Stopper Pressing Position Acquirement” before conducting the absolute reset to change the initial posture.

  • Page 372: Vertical Axis

    [Initial posture] Arm1, Arm 2  Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. When the product is delivered, it is set to the right arm system. In case the arm interferes with the peripheral in the right arm system, set it to the left arm system in advance, conduct “Push stopper position acquisition”...

  • Page 373: How To Acquire Stopper Pressing Position

    17.6.1 How to Acquire Stopper Pressing Position Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) Select Absolute Reset from Controller Menu.
  • Page 374 17.6.1.1 Procedures for All Axes in Batch 1) Either touch 1-4 or 5-8 button, or press F3 (Axis 1-4) or F4 (Axis 5-8) key, and either touch Next button or press F1 (OK) key. * There is no 5-8 button and F4 (Axis 5-8) key equipped in XSEL-RXD/SXD and RAXD/SAXD.
  • Page 375 4) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 17.6.) 1. If using JOG operation to align to initial posture Either touch OK button or press F1 (OK) key to turn the servo ON.
  • Page 376 7) Acquirement of Stopper Pressing Position / Sensor Datum Position for All Axes Touch OK button or press F1 (OK) key. The axes shift in the order of vertical pressing position movement, rotation axis sensor datum position movement, vertical stopper pressing movement, Arm 2 stopper pressing movement and Arm 1 stopper pressing movement to acquire the pressing position.
  • Page 377 10) Either touch Yes button or press F1 (Yes) key to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the window for software reset.
  • Page 378 17.6.1.2 Procedures for Individual Axis 17.6.1.2 (1) Arm 1 and Arm 2 1) Input either 1 or 2 (5 or 6) in Axis No. box with using either the software numeric keys or hardware numeric keys, and then touch Next button or press F1 (OK) key.
  • Page 379 4) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 17.6.) 1. If using JOG operation to align to initial posture Either touch OK button or press F1 (OK) key to turn the servo ON.
  • Page 380 7) Selection for Moving Direction of Arm 1 (2) 1. If conducting with motor drive Either touch the radio button for motor drive or press 1 in the hardware numeric keys. Touch OK button or press F1 (OK) key. 2. If conducting manually Either touch the radio button for manual (hand) or press 2 in the hardware numeric keys.
  • Page 381 10) The screen goes back to the initial window once it is finished. Either touch CANCEL button, or press F2 (Cancel) or ESC key. 11) Touch Re-Start controller button or press ESC key. A confirmation window for the flash ROM writing appears.
  • Page 382 13) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 14) Once the flash ROM writing is finished, the screen changes to the window for software reset. Either touch Yes button or press F1 (Yes) key to reflect the pressing position.
  • Page 383 17.6.1.2 (2) Vertical Axis + Rotation Axis 1) Input either 3 or 7 (7 for XSEL-RXD/SXD and RAXD/SAXD only) in Axis No. box with using either the software numeric keys or hardware numeric keys, and then either touch Next button or press F1 (OK) key. Shown in the figure on the left is a condition that vertical axis + rotation axis are selected in XSEL-RX/SX.
  • Page 384 4) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 17.6.) 1. If using JOG operation to align to initial posture Either touch OK button or press F1 (OK) key to turn the servo ON.
  • Page 385 7) Acquirement of Stopper Pressing Position / Sensor Datum Position Touch OK button or press F1 (OK) key. The axes shift in the order of vertical pressing position movement, rotation axis sensor datum position movement, vertical stopper pressing movement and to acquire the pressing position. 8) The screen goes back to the initial window once it is finished.
  • Page 386 10) Either touch Yes button or press F1 (Yes) key to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the window for software reset.

  • Page 387: How To Conduct Stopper Pressing Absolute Reset

    17.6.2 How to Conduct Stopper Pressing Absolute Reset Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) Select Absolute Reset from Controller Menu.
  • Page 388 17.6.2.1 Procedures for All Axes in Batch 1) Either touch 1-4 or 5-8 button, or press F3 (Axis 1-4) or F4 (Axis 5-8) keys, and either touch Next button or press F1 (OK) key. * There is no 5-8 button and F4 (Axis 5-8) key equipped in XSEL-RXD/SXD and RAXD/SAXD.
  • Page 389 4) Emergency stop release If the emergency stop is conducted in the previous section, cancel the emergency stop. (Shown in the figure on the left is the screen for emergency stop) Touch OK button or press F1 (OK) key. 5) Align the arm to the initial posture with JOG operation or manually.
  • Page 390 7) Stopper Pressing Absolute Reset on All Axes Touch OK button or press F1 (OK) key. The axes shift in the order of vertical pressing position movement, rotation axis sensor datum position movement, vertical stopper pressing movement, Arm 2 stopper pressing movement and Arm 1 stopper pressing movement.
  • Page 391 10) Either touch Yes button or press F1 (Yes) key to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the window for software reset.
  • Page 392 17.6.2.2 Procedures for Individual Axis 17.6.2.2 (1) Arm 1 and Arm 2 1) Input either 1 or 2 (5 or 6) in Axis No. box with using either the software numeric keys or hardware numeric keys, and then touch Next button or press F1 (OK) key.
  • Page 393 4) Emergency stop release If the emergency stop is conducted in the previous section, cancel the emergency stop. (Shown in the figure on the left is the screen for emergency stop) Touch OK button or press F1 (OK) key. 5) Align the arm to the initial posture with JOG operation or manually.
  • Page 394 7) Stopper Pressing Absolute Reset on Indicated Axis Touch OK button or press F1 (OK) key. Arm 1 (2) moves for stopper pressing. 8) The screen goes back to the initial window once it is finished. Either touch CANCEL button, or press F2 (Cancel) or ESC key.
  • Page 395 10) Either touch Yes button or press F1 (Yes) key to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the window for software reset.
  • Page 396 17.6.2.2 (2) Vertical Axis + Rotation Axis 1) Input either 3 or 7 (7 for XSEL-RXD/SXD and RAXD/SAXD only) in Axis No. box with using either the software numeric keys or hardware numeric keys, and then either touch Next button or press F1 (OK) key. Shown in the figure on the left is a condition that vertical axis + rotation axis are selected.
  • Page 397 4) Emergency stop release If the emergency stop is conducted in the previous section, cancel the emergency stop. (Shown in the figure on the left is the screen for emergency stop) Touch OK button or press F1 (OK) key. 5) Align the arm to the initial posture with JOG operation or manually.
  • Page 398 7) Stopper Pressing Absolute Reset on Vertical and Rotation Axes Touch OK button or press F1 (OK) key. The axes shift in the order of vertical pressing end movement, rotation axis sensor datum position movement and vertical stopper pressing movement. 8) The screen goes back to the initial window once it is finished.
  • Page 399 10) Either touch Yes button or press F1 (Yes) key to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the window for software reset.

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

    17.7 How to Home Adjustment / Absolute Reset on MSEL-PCX/PGX/PC/PG /PCF/PGF and PSEL (*1) *1 When TB-01 (SEL system) application part version is Ver1.60 and later Refer to “17.8 Absolute Reset of the Orthogonal Axis: PSEL Controller” if the application part version is Ver1.60 or earlier.
  • Page 401 It is available to perform operation on SCARA Robot without having anything special as an absolute reset has already been conducted before delivered out from our factory. It is necessary to have an absolute reset when an absolute error generates or the robot is dismantled for such a reason as motor replacement work.

  • Page 402: Scara J1, J2 And R Axes

    17.7.1 SCARA J1, J2 and R Axes 17.7.1.1 How to Home Adjustment / Absolute Reset Have the absolute reset and home adjustment (home preset automatic update) conducted with the following steps for SCARA J1, J2 and R axes. 1) Input a number in Axis No. box with using either the software numeric keys or hardware numeric keys, and then either touch Next button or press F1 (OK) key.
  • Page 403 3) Jog -> Basic Position Align the indicated axis to the vicinity of the datum position with JOG operation. (Refer to the figure in Step 6) for the datum position.) After finished, either touch OK button or press F1(OK) key * After confirming OK, the servo off the indicated axis turns off automatically.
  • Page 404 6) Fixture Set for Home Adjustment Set the fixture (positioning jig) for home adjustment. After setting is complete and fixed at the datum posture, touch OK button or press F1 (OK) key. * After confirming OK, home preset gets automatically updated. [Datum position] J1 axis Home-Position...
  • Page 405 7) Removal of Fixture for Home Adjustment and Cancel of Emergency Stop Remove the fixture for home adjustment (positioning jig) if it is attached. After releasing the emergency button, touch OK button or press F1 (OK) key. * After confirming OK, the screen automatically returns to the axis select window.
  • Page 406 10) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 11) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changes, it is necessary to have a software reset.

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

    17.7.2 SCARA Z-Axis, Battery-less Absolute Type Additional Axes and Linear Axes 17.7.2.1 How to Absolute Reset For SCARA Z-axis, the battery-less absolute type additional axes and the linear axes, have the absolute reset conducted with the following steps. 1) Input a number in Axis No. box with using either the software numeric keys or hardware numeric keys, and then either touch Next button or press F1 (OK) key.
  • Page 408 3) Complete! Touch OK button or press F1 (OK) key. * After confirming OK, the screen automatically returns to the axis select window. 4) Touch Re-Start controller button or press ESC key. A confirmation window for the flash ROM writing appears. (Reference) Flash ROM writing can be conducted at once after absolute reset completes on each axis.
  • Page 409 6) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 7) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changes, it is necessary to have a software reset.

  • Page 410: Absolute Reset Of The Orthogonal Axis: Psel Controller

    17.8 Absolute Reset of the Orthogonal Axis: PSEL Controller This process is for when TB-01 with an old version is used. For TB-01 (SEL system) with the application part version Ver1.60 and later, conduct the absolute reset following “Appendix 3 Home Position Adjustment / Absolute Reset Procedures for MSEL- PCX/PGX/PC/PG/PCF/PGF and PSEL”...
  • Page 411 Once the input is confirmed, the cursor disappears. If you want to redo the input, touch the axis number input box or press ESC key. If you want to continue absolute reset, either touch Next button or press F1 (OK) key. When you cancel absolute reset, either touch Back button or press F2 (Cancel) key.
  • Page 412 3) The state of Simple Abs unit is initialized Touch OK button or press F1 (OK) key. 4) Excitation detection completion status clearness Touch OK button or press F1 (OK) key. 5) Servo-ON Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 413 6) Returning Home Touch OK button or press F1 (OK) key. 7) Absolute reset Touch OK button or press F1 (OK) key. 8) Absolute reset completion confirmation Touch OK button or press F1 (OK) key. ME0325-4A...
  • Page 414 Return to the axis No. input screen. When you want to have another axis conduct absolute reset, input the axis number and touch OK button or press F1 (OK) key. To finish absolute reset, either touch Re-Start controller button or press ESC key. Restart the controller.

  • Page 415: How To Conduct Absolute Reset For Battery-Less Absolute Type

    17.9 How to Conduct Absolute Reset for Battery-less Absolute Type Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) 1) Select Absolute Reset from Controller menu.

  • Page 416: How To Conduct Absolute Reset For Battery-Less Absolute Type

    17.9.1 How to Conduct Absolute Reset for Battery-less Absolute Type Absolute Reset on Cartesian Axes: For AC Servomotor Type TTA, XSEL-P/Q (V1.52 or later), XSEL- R/S, five to eight axes in RX/SX (V1.23 or later), XSEL-RA/SA, five to eight axes in RAX/SAX, SSEL (V0.57 or later) and ASEL (V0.45 or later), conduct the absolute reset in the following procedures.
  • Page 417 3) Complete! Touch OK button or press F1(OK) key * After touching OK, the screen automatically goes back to the axis select screen. 4) Touch Re-Start controller button or press ESC key. A confirmation window for the flash ROM writing appears. 5) Touch Yes button.
  • Page 418 6) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 7) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changes, it is necessary to have a software reset.

  • Page 419: Special Procedure: How To Conduct Absolute Reset Battery-Less Absolute Synchronizing Type

    17.9.2 Special Procedure: How to Conduct Absolute Reset Battery-less Absolute Synchronizing Type For SCARA Z-axis, the battery-less absolute type additional axes and the linear axes, have the absolute reset conducted with the following steps. This section describes only the corresponding section to (3) Special Procedure Absolute Reset in the “17.5.3 Special Procedure Absolute Reset”...
  • Page 420 Touch OK button or press F1 (OK) key. After confirming OK, the screen automatically returns to the axis select screen. 2) Conduct the absolute reset on the master axis. Input the axis number of the master axis by using the touch panel numeric keys or the hardware numeric keys, and then either touch ENT button or press the return key to confirm the input.
  • Page 421 Touch OK button or press F1 (OK) key. After confirming OK, the screen automatically returns to the axis select screen. 3) Conduct the absolute reset on the master axis. Input the axis number of the slave axis by using the touch panel numeric keys or the hardware numeric keys, and then either touch ENT button or press the return key to confirm the input.
  • Page 422 Touch OK button or press F1 (OK) key. After confirming OK, the screen automatically returns to the axis select screen. Touch Re-Start controller button or press ESC key. A confirmation screen for the flash ROM writing appears. Touch Yes button or press F1 (Yes) key. ME0325-4A...
  • Page 423 While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. Once the flash ROM writing is finished, the screen changes to the window for software reset. Either touch Yes button or press F1 (Yes) key to reflect the pressing position.

  • Page 424: How To Conduct Absolute Reset On Pulse Motor Type Tta

    17.10 How to Conduct Absolute Reset on Pulse Motor Type TTA Make sure to have a backup before conducting it so the parameters can be set back any time. (Go to File - Backup - Parameter from the main menu to open the parameter backup screen to save a file.) 17.10.1 How to Conduct Absolute Reset on Pulse Motor Type TTA For Pulse Motor Type TTA, conduct the absolute reset in the following procedures.
  • Page 425 3) Complete screen Touch OK button or press F1 (OK) key. After touching OK, the screen automatically goes back to the axis select screen. 4) Touch Re-Start controller button or press ESC key. Flash ROM writing confirmation screen opens. 5) Touch Yes button. ME0325-4A...
  • Page 426 6) While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. 7) After flash ROM writing is complete, the display changes to the Software Reset screen. Touch Yes button or press F1 (Yes) key.

  • Page 427: Procedures For Resetting Absolute-Battery Voltage-Down Warning Error For

    17.11 Procedures for Resetting Absolute-Battery Voltage-Down Warning Error for Orthogonal Axis: XSEL-J/K, P/Q, 5th and 6th Axes of XSEL-PX/QX, XSEL-RS, 5th to 8th Axes of XSEL-RX/SX, XSEL-RA/SA, 5th to 8th Axes of XSEL- RAX/SAX, SSEL, ASEL and PSEL Controller. When the absolute-encoder-battery voltage-down warning error (error code A03) occurs or a battery with no error occurring is replaced, the encoder error and software are reset.
  • Page 428 4) Axis No. Input Input a number on the touch panel numeric keys or hardware numeric keys to indicate the axis number to have the encoder error reset conducted, and either touch ENT button or press the return key for confirmation.
  • Page 429 7) Reset software. Touch Software Reset button or press F2 (S Reset) key. For the following operations, refer to “16.3. Software Reset.” ME0325-4A...

  • Page 430: Gateway Function Associated

    18. Gateway Function Associated In the case of the XSEL-P/Q/PX/QX,XSEL-R/S/RX/SX/RXD/SXD controllers with the RC gateway function, the following operations are available. • Editing of the RC Position Data in XSEL • RC-axis Monitoring 18.1 Editing of the RC Position Data in XSEL 18.1.1 RC Position Data Creation The RC position data to be set in the XSEL controller is edited.
  • Page 431 Either touch Teach button or press F2 (Teach) key in the RC edit menu screen. Select the RC axis number to have the position edit by touching the appropriate button. Also, when the cursor is placed in “Axis No.” box, it is available to select by inputting an RC Axis number on the hardware numeric keys and pressing...
  • Page 432 [Items Displayed in RC Teach Screen] 2) Current Position 3) Axis Status 1) Axis No. 4) Alarm 5) Position No. 6) Position Data 7) Inching setting 1) Axis No. The axis number in edit is displayed. 2) Current Position The current position [mm] of the actuator is displayed. 3) Axis Status The status of the actuator is displayed.
  • Page 433 6) Position Data Position (mm) The target position for the actuator to be moved is indicated. Absolute coordinate specification : Distance from home position of actuator Incremental coordinate specification : Relative amount (movement amount) from current position It is determined by the command in SEL language if the target position is indicated in absolute coordinates or relative coordinates (*).
  • Page 434 [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) [Caution] The position data starts from No.
  • Page 435 With the cursor shown in the appropriate area, touch Keyboard button to make the touch panel numeric keys appear on the screen to input a number, or input a number on the hardware numeric keys. If you want to input 100 to Position (mm), touch Keyboard button to show the touch panel numeric keys, and touch 1 0 0 ENT on the touch panel numeric keys.
  • Page 436 When you want to erase the data that is already input, touch CLR ENT on the touch panel numeric keys to delete what you want. On the hardware numeric keys, data already input can be deleted with BS and to remove. [Data Transfer] After data input is complete, either touch Write button on the touch panel or press WRT key on...
  • Page 437 [Data Clear] When you want to delete the data in the position number being displayed, touch Clear button in the touch panel, or press F1 (Clear) key on the hardware keys. Press Yes button in the touch panel or press F2 (Yes) key on the hardware keys to transfer the data to the controller.
  • Page 438 [Alarm Reset] If you want to have an alarm reset on the RC axis in edit, touch AL button. When you want to have an alarm reset on the RC axes you want to choose, either touch Alarm Reset button or press F4 (Alm Reset) key. When you want to have an alarm reset only on the indicated axis, set the axis number.
  • Page 439 Either touch Yes button or press F1 (Yes) key. Either touch No button, or press F2 (No) or ESC key to return to the RC alarm reset screen. The display shows this screen when the alarm reset is finished. Either touch OK button, or press ESC key or key to return to the RC alarm reset screen.

  • Page 440: Rc Position Data Input Using The Teaching Operation

    18.1.2 RC Position Data Input Using the Teaching Operation One of the methods for the RC position data input is the teaching operation (The RC actuator is moved to any position and the RC actuator current position is captured as the data). The methods for moving the RC actuator to any position are the jog operation, inching operation and manual movement (direct teaching) with the servo-motor turned OFF.
  • Page 441 (2) Home Return Operation In the case of the incremental encoder applicable RC actuator, it is required to perform the home return operation after the power is turned on, or after the software reset and before the teaching operation. This operation is available only in the single axis. Turn the servo-motor ON.
  • Page 442 2) Inching Operation Perform the RC actuator inching operation. This operation is available only in the single axis. Either touch Inc button directly or press F3 (Inc) to make Inc button selected. Set the inching distance (travel distance for each pressing of the JOG key).
  • Page 443 Turn the servo-motor ON. The condition of servo-on/off can be checked on the axis status display “SV”, which turns on when the servo is on and turns off when the servo is off. Press the 1- or 1+ key to move the actuator to any position.
  • Page 444 3) Manual Movement (direct teaching) with the servo-motor turned OFF Press the SERVO key. Press 1- key after the LED for SERVO is turned on to make the servo turned off. The condition of servo-on/off can be checked on the axis status display “SV”, which turns on when the servo is on and turns off when the servo is off.
  • Page 445 (4) Current Position captured as the Data The chosen RC actuator position is taken in the teaching window as the position data. Set the position number from which the current position is to be loaded. Either touch Scan button or press F2 (Scan) key to load the current position to the target position from with the data is loaded.
  • Page 446 (5) Data Transfer to the Controller After data input is complete, either touch Write button on the touch panel or press WRT key on the hardware keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 447 Turn the servo-motor ON. Perform the home return operation. Press the MOVE key. When the 1- or 1+ key is pressed after the MOVE LED is turned ON, the axis movement is started. When it is stopped on the way, press the STOP key.
  • Page 448 Turn the servo-motor ON. Perform the home return operation. Press the MOVE key. When the 1- or 1+ key is pressed after the MOVE LED is turned ON, the axis movement is started. When it is stopped on the way, press the STOP key.

  • Page 449: Rc Position Data Deletion

    18.1.3 RC Position Data Deletion Position Data with the selected Axis No. and Position No., is deleted. Either touch RC button or press SF (->) → F2 (RC) keys in the menu screen. Either touch Edit button or press F1 (Edit) key. Either touch Clear button or press F4 (Clear) key.
  • Page 450 Input the axis number to have the position delete and the range of the position number, and either touch Clear button or press F2 (Clear) key. When you want to delete all the position data, touch All Clear button or press F3 (All Clr). If you touch Cancel button or press ESC key, the display returns to the RC edit menu screen.
  • Page 451 Either touch Yes button or press F1 (Yes) key. Either touch No button, or press F2 (No) or ESC key to return to the RC position clear screen. The display shows this screen when the position clear is finished. Either touch OK button, or press ESC or to return to the RC position clear screen.
  • Page 452 Either touch Back button or press ESC key. Either touch Back button or press ESC key. To write the data to the flash ROM, either touch Yes button or press F1 (Yes) key. When it is not necessary to write the data to the flash ROM, touch No button, or press F2 (No) or ESC key.
  • Page 453 “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time. The display shows this screen when the flash ROM writing is finished. Either touch OK button, or press ESC or to return to the RC menu screen.

  • Page 454: Rc Actuator Monitoring

    18.2 RC Actuator Monitoring The RC actuator’s status, current position and alarm code are displayed. Either touch RC button or press SF (->) → F2 (RC) keys in the menu screen. Either touch Monitor button or press F2 (Monitor) key. Select the RC axis number to monitor by touching the appropriate button.
  • Page 455 1) The current position [mm] is displayed. 2) The status of the actuator is displayed. : Turns on when the servo is on MOVE : Turns on during operation PEND : Turns on when positioning is finished HEND : Turns on when home-return operation is finished EMG : Turns on during emergency stop 3) An alarm code is displayed.
  • Page 456 [Alarm Reset] If you want to have an alarm reset on the axis in display, either touch AL button. When you want to have an alarm reset on the RC axes you want to choose, either touch Alarm Reset button or press F1 (Alm Reset) key. If you want to have an alarm reset on all the axes, either touch All Axes Rst button or press F3 (AllAlm Rst) key.
  • Page 457 The display shows this screen when the alarm reset is finished. Either touch OK, or press ESC or key to return to the RC monitor reset screen. ME0325-4A...

  • Page 458: User Data Hold Memory Initialization

    18.3 User Data Hold Memory Initialization 18.3.1 Description (6A1) “UBM Data Construction Change Error” will be generated if changes are made in I/O Parameter No. 502 “RC Gateway Position Data Definition Max. Axis Number” and 503 “RC Gateway Position Data Definition Position Data Points”, and software reset is held after the flash ROM writing. When the error occurs, the initialization of the user data hold memory is required.
  • Page 459 Either touch User Data Hold Memory button or press F2 (UBM) key. Either touch Yes button or press F1 (Yes) key. Either touch No button, or press F2 (No) or ESC key to return to the memory initialization menu screen. The display shows this screen when the initializing in the user data retaining memory is finished.
  • Page 460 Either touch Back button or press ESC key. Either touch Menu button or press ESC key. To write the data to the flash ROM, either touch Yes button or press F1 (Yes) key. When it is not necessary to write the data to the flash ROM, touch No button, or press F2 (No) or ESC key.
  • Page 461 “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time The display shows this screen when the flash ROM writing is finished. Either touch OK button, or press ESC or to return to the main menu screen.

  • Page 462: Extended Motion Control Function Related Associated

    19. Extended Motion Control Function Related Associated In the case of the XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, the following operations are available.  Extended Motion Control Position Data Editing  Extended Motion Control Axis Monitoring 19.1 Extended Motion Control Position Data Editing 19.1.1 Extended Motion Control Position Data Creation The extended motion control position data is to be edited.
  • Page 463 Either touch Teach button or press F2 (Teach) key in the Ex Motion Edit menu screen. Select the extended motion control axis number to have the position edit by touching the appropriate button. Also, when the cursor is placed in “Axis No.” box, it is available to select by inputting an extended motion control axis number on the hardware numeric keys and pressing...
  • Page 464 3) Axis Status The status of the actuator is displayed. : Turns on when the servo is on MOVE : Turns on during operation PEND : Turns on when positioning is finished HEND : Turns on when home-return operation is finished 4) Alarm An alarm code is displayed.
  • Page 465 [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) [Caution] The position data starts from No.
  • Page 466 When the target position (mm) is to be input, touch the section inside the red frame. With the cursor shown in the appropriate area, touch Keyboard button to make the touch panel numeric keys appear on the screen to input a number, or input a number on the hardware numeric keys.
  • Page 467 If the input is accepted, the cursor moves to the input box for Vel (mm/s). Then, input values for Vel (mm/s), Acc (G), Push (%) and Range (mm). [Caution] In the TB-01, the input range check is not performed. Confirm the specifications for the axis in using, and input the data.
  • Page 468 [Data Transfer] After data input is complete, either touch Write button on the touch panel or press WRT key on the hardware keys to transfer the data to the controller. [Caution] The input data would not be written to the controller unless the operation above is conducted. When the position No.
  • Page 469 [Data Clear] When you want to delete the data in the position number being displayed, touch Clear button in the touch panel, or press F3 (Clear) key on the hardware keys. Press Yes button in the touch panel or press F2 (Yes) key on the hardware keys to transfer the data to the controller.

  • Page 470: Extended Motion Control Position Data Input Using The Teaching Operation

    19.1.2 Extended Motion Control Position Data Input using the Teaching Operation One of the extended motion control position data input method, is teaching (moving the extended motion control axis to the appropriate position and such extended motion control axis current position is captured as data).
  • Page 471 (1) Servo ON/OFF Operation Using this operation, the RC actuator servo-motor is turned ON/OFF. This operation is available only in the single axis. Press the SERVO key Presses the 1+ key after the SERVO LED is turned ON to turn ON the servo-motor. (When the servo-motor is to be turned OFF, press the SERVO key and after the SERVO LED is turned ON, press the 1- key).
  • Page 472 (3) Actuator Movement 1) Jogging Operation Perform the jog feeding operation for the extended motion control axis. This operation is available only in the single axis. Turn the servo-motor ON. Press the 1- or 1+ key to move the actuator to any position.
  • Page 473 2) Inching Operation Perform the inching operation for the extended motion control axis. This operation is available only in the single axis. Either touch Inc button directly or press F3 (Jog/Inc) to make Inc button selected. Set the inching distance (travel distance for each pressing of the JOG key).
  • Page 474 Press the 1- or 1+ key to move the actuator to any position. (“+” means the movement to the plus direction on the coordinates and “-“means the movement to the minus direction on the coordinates). ME0325-4A...
  • Page 475 3) Manual Movement (direct teaching) with the servo-motor turned OFF Press the SERVO key. Press 1- key after the LED for SERVO is turned on to make the servo turned off. The condition of servo-on/off can be checked on the axis status display “SV”, which turns on when the servo is on and turns off when the servo is off.
  • Page 476 (4) Current Position captured as the Data The chosen extension motion control axis position is taken in the teaching window as the position data. Set the position No. for the import destination. Either touch Scan button or press F2 (Scan) key to load the current position to the target position box.
  • Page 477 (5) Data Transfer to the Controller After data input is complete, either touch Write button on the touch panel or press WRT key on the hardware keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 478 (6) Position Check When the extended motion control axis is moved to the place corresponding to the taught position data, the position check can be performed. 1) Movement Move the extended motion control axis to the position corresponding to the position data transferred to the controller.
  • Page 479 2) Continuous Movement Have the extension control axis moved in link to the point of the position data transferred to the controller. Either touch Cont. button or press SF (->) → F1 (Cont) keys to switch to the continuous operation mode.

  • Page 480: Extended Motion Control Axis Position Data Deletion

    19.1.3 Extended Motion Control Axis Position Data Deletion Position Data with the selected Axis No. and Position No., is deleted. Either touch Ex Motion button or press SF (->) → F2 (Ex Motion) keys in the menu screen. Either touch Edit button or press F1 (Edit) key. Either touch Clear button or press F4 (Clear) key.
  • Page 481 Input the axis number to have the position delete and the range of the position number, and either touch Clear button or press F2 (Clear) key. When you want to delete all the position data, touch All Clear button or press F3 (All Clr). If you touch Cancel button or press ESC key, the display returns to extension motion edit menu screen.
  • Page 482 Either touch Yes button or press F1 (Yes) key. Either touch No button, or press F2 (No) or ESC key to return to the extension motion control position data clear screen. The display shows this screen when the position clear is finished. Either touch OK button, or press ESC or to return to the extension motion control position data clear screen.

  • Page 483: Extended Motion Control Axis Monitoring

    19.2 Extended Motion Control Axis Monitoring The extended motion control axis’s status, current position and alarm code are displayed. Either touch Ex Motion button or press SF (->) → F2 (Ex Motion) keys in the menu screen. Either touch Monitor button or press F2 (Monitor) key.
  • Page 484 1) Axis No. The axis No. that is being monitored is displayed. 2) Current position The actuator current position (mm) is displayed. 3) Axis Status The status of the actuator is displayed. : Turns on when the servo is on MOVE : Turns on during operation PEND : Turns on when positioning is finished HEND : Turns on when home-return operation is finished...

  • Page 485: User Data Hold Memory Initialization

    19.3 User Data Hold Memory Initialization 19.3.1 Description When the I/O Parameter No. 531 “Extended Motion Control Position Data Defined Max. Axis No.”, and 532 “No. of Defined Extended Motion Control Position Data Items” are changed and software is reset after the Flash ROM writing, (6A1) “UBM Data Configuration Change Error”...

  • Page 486: Data Backup

    20. Data Backup Data is transferred between the Secure Digital memory card in the touch panel teaching pendant and the controller. [Type of Stored Data] • Position • Program (individual, total) • Symbol • Parameter • All data backup • Global data •...

  • Page 487: Data Backup Of The Controller

    20.1 Data Backup of the Controller The data in the controller is transferred to the Secure Digital memory card for backup. Either touch File button or press SF (->)→ F1 (File) keys in the menu screen. Either touch Backup Data button or press F1 (Backup) key in the file menu screen.
  • Page 488 (i) Position Input the position number range for backup and touch OK button or press F3 (OK) key. If you touch CANCEL button or ESC key, the display returns to the backup menu screen. [Selected Range] : Only the position data in the range input in “First No.” and “Last No.” is stored. [Full Range] : All the position data in the controller is stored.
  • Page 489 (ii) Program Touch the program number to have a backup, or input a value in the input area at “No.” on the hardware numeric keys and press key. (Touch the input area at “No.” and the cursor will appear.) If you touch CANCEL button or ESC key, the display returns to the backup menu screen.
  • Page 490 Input the stored file name, and touch Save button or press F2 (Save) key. Touch CANCEL button or ESC key, and the display returns to the previous screen. * The number of letters available to input in the stored file name is 31 at maximum with half-size font characters.
  • Page 491 When you want to use the hardware keys for input, letters on the top of a hardware numeric key is what is to be input. If you look at the hardware numeric key “7”, the letters change in order of A-B-C-a-b-c. Press on a letter that you desire to confirm.
  • Page 492 Check the storage file name, and touch Yes button or press F1 (Yes) key. Either touch No button, or press F2 (No) or ESC key to return to the backup file name indication screen. When there is the same file name already exists, the screen below will be shown.
  • Page 493 The display shows this screen when the initializing in the data transfer is finished. Either touch OK button, or press ESC or to return to the backup menu screen. [Remark] When the backup file for all the data and the data file for the RC axis positions are stored together, the select screen for the RC axis number to be stored opens after the backup file for all the data is stored.

  • Page 494: Restore To Controller

    20.2 Restore to Controller Data in the Secure Digital card is transferred to the controller. Either touch File button or press SF (->) → F1 (File) keys in the menu screen. Either touch Restore Data button or press F2 (Restore) key in the file menu screen. Select the data type that you want to store either by touching the appropriate button or press from F1 to F4 keys.
  • Page 495 Touch ▲ and ▼ to select a file to transfer to the controller from the file list in a Secure Digital card. Either touch Transfer button or press F2 (Transfer) key. If you touch CANCEL button or ESC key, the display returns to the restore menu screen.
  • Page 496 After selecting the file to be transferred, set the controller transfer range. (When the symbol files and backup file for all the data are transferred, the transfer range select screen will not be shown. The data stored in the file are all transferred.) (i) Position Input the position number range for the transfer to the controller and touch OK button or press F3...
  • Page 497 (ii) Program (individual) Touch the program number that the data is to be transferred to, or input the program number that you want to transfer the data to in the input area at “No.” on the hardware numeric keys and press key.
  • Page 498 * The controller basic unit dependent parameters are transferred only when a check mark is on “Transfer controller unit dependent parameters”. Do not attempt to put a check mark on this in normal use. This setting is to be conducted in following cases. •...
  • Page 499 (vii) RC position data Touch on the axis numbers that you want to transfer to put a check mark. After finished to select the transferred axis numbers, either touch OK button or press F3 (OK) key. If you touch CANCEL button or ESC key, the display returns to the restore file name indication screen.
  • Page 500 Check the contents of transfer, and touch Yes button or press F1 (Yes) key. If you touch No button or press ESC key, the display goes back to the previous screen. Data transfer screen will be shown. The display shows this screen when the initializing in the data transfer is finished.
  • Page 501 To write the transferred data to the flash ROM, either touch Yes button or press F1 (Yes) key. When it is not necessary to write the data to the flash ROM, touch No button, or press F2 (No) or ESC key. * This screen would not be shown when the flash ROM writing is not necessary (in such cases as global data file transfer).
  • Page 502 [Remark] When the backup file for all the data, the data file for the RC axis positions and the data file for the extension motion positions are stored together, the select screen for the axis numbers for the RC axes and the extension motion control axes to be stored to the controller opens after the backup file for all the data is stored.

  • Page 503: Environment Setting

    21. Environment Setting Settings are established for the language, touch operation sound, sleep timer, clock and display. Also, it is available to have an operation check on the LED lamps and hardware keys. Either touch Environment Set button or press F3 (Env) key in the menu screen.
  • Page 504 When the writing process is finished, the confirmation screen opens. Either touch OK button or press ESC key to return to the environment setting screen. [Touch Operation Sound Setting] Setting can be established whether to output the touch sound or not. 1.
  • Page 505 [SleepTimer] Timer setting can be established for the screen to go to the sleep mode when no operation is held. 1. Touch in the input box (highlighted in a square) at DimDispTime. 2. Input a value to set on the keyboard or hardware keys.
  • Page 506 [Time Setting] Clock setting can be established on TB-01. It is also available to set the TB-01 clock to the controller clock when a model that supports the controller clock is connected. Either touch Time button or press F2 (Time) key. Either touch Time button or press F2 (Time) key.
  • Page 507 When the TB-01 clock edit is finished, the confirmation screen opens. Either touch OK button or press ESC key to return to the clock display screen. The display returns to this screen. Either touch OK button or press ESC key to return to the environment setting screen.
  • Page 508 [Display] Adjustment of contrast and brightness of the screen, position tuning for touch panel and LCD screen check can be performed Touch Display button or press F3 (Display) key. Display Setting menu Window is displayed. Select Display Setting menu. Either touch Menu button or press F1 key to return to the menu screen.
  • Page 509 ● Change the Contrast/Brightness Touch Contrast/Brightness. Touch - and + under Contrast to adjust the contrast of the screen. Touch - and + under Brightness to adjust the brightness of the screen. Either touch Menu button or press F1 key to return to the menu screen.
  • Page 510 ● Touch calibration A calibration for the position detection of the touch panel is performed. Touch Touch calibration. Touch ■ in the order of 1, 2, 3 and 4. After finished, the display automatically returns to the menu screen. * The process can be cancelled any time by pressing ESC key.
  • Page 511 ● LCD Check LCD Display can be checked in the order of color pattern, White only and Black only. Touch LCD check button. Color Pattern is displayed. Touch any point on the screen. White Only is displayed. Touch any point on the screen. ME0325-4A...
  • Page 512 Black Only is displayed. Touch any point on the screen. After the color patterns are displayed again, the display automatically returns to the menu screen. ME0325-4A...
  • Page 513 [Operation Check on LED Lamps and Hardware Keys] Operation check can be held to see the LED lamps turn on and the hardware keys reacts with no failure. 1) LED operation check buttons 2) Hardware key operation display panel 1) LED Operation Check Buttons Operation can be checked on the LED lamps.
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  • Page 518: Change History

    Change History Revision Date Revision Description 2013.11 First Edition 2014.07 Second Edition • Made applicable for MSEL-PCX/PGX • Cables and related added in Product Check 1. Component • 4.13 Teaching Pendant Connection Procedure added • 9.1.2 Flash ROM Writing added •...

This manual is also suitable for:

Sel tb-01dSel tb-01dr

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