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IAI TB-03 Instruction Manual

Program controller wired link
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Table of Contents

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Touch Panel Teaching Pendant
Program Controller Wired Link
Instruction Manual Eighth Edition
This instruction manual describes the contents for Program (SEL system)
Controllers Wired Link.
For how to use the ELECYLINDER wireless link, refer to the following instruction manual.
"Touch Panel Teaching Pendant TB-03 ELECYLINDER Wireless Link Instruction Manual" (ME0375)
ME0375
For how to use the position (CON/SEP/MEC system) controllers, refer to the following instruction
manual.
"Touch Panel Teaching Pendant TB-03 Position Controller, ELECYLINDER Wired Link Instruction
Manual" (ME0376)
For details of applicable controllers, refer in the section for the supported models.
ME0376
T T B B - - 0 0 3 3

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Summary of Contents for IAI TB-03

  • Page 1 Controllers Wired Link. For how to use the ELECYLINDER wireless link, refer to the following instruction manual. "Touch Panel Teaching Pendant TB-03 ELECYLINDER Wireless Link Instruction Manual" (ME0375) ME0375 For how to use the position (CON/SEP/MEC system) controllers, refer to the following instruction manual.

  • 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: Supported Models

    For details on handling the position controller (ERC3, ERC2, ACON, PCON, SCON, SCON2, DCON, RACON, RPCON, MSCON, MCON, RCON, ASEP, PSEP, DSEP, MSEP, AMEC, PMEC, RCP6S, RCM-P6PC,RCM-P6AC, RCM-P6DC), refer to the separate “Touch Panel Teaching Pendant TB-03 Applicable for Position Controller Wired Link Instruction Manual (ME0376)”.
  • Page 5 ELECYLINDER Supported Model List Support Started ELECYLINDER Model Name Version (Note 1) EC-S6□, EC-S7□, EC-R6□, EC-R7□, EC-S6□CR, EC-S7□CR, EC-S6□H, EC-S7□H, EC-RR6□, EC-RR7□, EC-R6□W, EC-R7□W, EC-RP4□, EC-GS4□, EC-GD4□, EC-TC4□, EC-TW4□, EC-RR6□H, EC-RR7□H, EC-S6□AH, EC-S7□AH, EC-RR6□AH, EC-RR7□AH, EC-S3□, EC-S4□, EC-S6□R, EC-S7□R, EC-S6□AHR, V3.40 EC-S7□AHR, EC-RR3□, EC-RR4□, EC-RR6□R, EC-RR7□R, EC-RR6□AHR, EC-RR7□AHR, EC-S3□CR, EC-S4□CR,...

  • Page 6: Table Of Contents

    Table of Contents Safety Guide ........................Intro-1 Caution in Handling ......................Intro-8 International Standards Compliances ................Intro-8 Introduction ........................1-1 Specifications Check ...................... 2-1 Product Check ........................2-1 2.1.1 Component (excluding options) .................. 2-1 2.1.2 Instruction manual related to this product ..............2-2 2.1.3 How to Read Model Nameplate ..................
  • Page 7 3.12 XSEL2-T Type Controller ....................3-12 3.13 XSEL2-TX Type Controller ....................3-13 3.14 Connection Cable ......................3-14 3.14.1 Program Controller Connection Cable ..............3-14 3.15 Teaching Pendant Connection Procedure ............... 3-15 How to Save Data ......................4-1 Set-up at Shipment with System Memory Backup Battery ..........4-1 Set-up at Shipment without System Memory Backup Battery (Table Top Actuator (TT), SSEL, ASEL, PSEL) ..............
  • Page 8 Symbol Input During Program Edit ................... 9-14 9.2.1 When Symbol Not Defined ..................9-14 9.2.2 When There is Symbol Definition ................9-16 Single Line Comment Input ....................9-18 To Change Program Steps ....................9-20 Other Editing Features ..................... 9-26 Program: Copy or Move ....................9-31 Program: Clear .........................
  • Page 9 14.14 Monitor Data Output Display ..................14-36 14.14.1 Monitor Data (Power Supply Unit Status) Window ..........14-37 14.14.2 Monitor Data (Axis Status) Window ................ 14-38 15. Controller ........................15-1 15.1 Controller Items ........................ 15-1 15.2 Flash ROM Writing ......................15-3 15.3 Software Reset .........................
  • Page 10 16.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) ....16-45 16.5 Linear Axis Synchro Specification Absolute Reset ............16-53 16.5.1 Synchro Axes ......................16-53 16.5.2 Location Adjustment of Synchro Axes Sliders ............16-55 16.5.3 Special Procedure Absolute Reset ................. 16-56 16.5.4 Standard Procedure Absolute Reset ..............
  • Page 11 19.3 Monitor ..........................19-6 19.3.1 Monitor Window (ELECYLINDER) ................19-7 19.3.2 Monitor Window (ROBO PUMP) ................19-8 19.3.3 Maintenance Information Window ................19-9 19.3.3.1 Maintenance Information Window (ELECYLINDER) ........19-9 19.3.3.2 Maintenance Information Window (ROBO PUMP) ........19-12 19.4 Simple Data Setting (Position Editing) ................19-14 19.4.1 Positioning Operation....................
  • Page 12 21. Environment Setting ..................... 21-1 22. Error Display ......................... 22-1 22.1 RSEL and XSEL2-T/TX System ..................22-1 22.1.1 Display at Occurrence (Except for Those in Display for ELECYLINDER, ROBO PUMP Operation) ... 22-1 22.1.2 Error List for Teaching Pendant (Except for Those in Display for ELECYLINDER, ROBO PUMP Operation) ... 22-2 22.1.3 Display at Occurrence (Those in Display for ELECYLINDER, ROBO PUMP Operation)......

  • Page 13: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 14 Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader”...
  • Page 15 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 16 Operation Description Description Installation (4) Safety Measures and Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...

  • Page 17: Operation Description

    Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear who Operation is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
  • Page 18 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate Inspection well with each other to ensure the safety of the workers. ●...

  • Page 19: 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 20: Caution In Handling

    • Refer to [Section 21 Environment Setting [Language]] for how to change it. ● Do not attempt to give mechanical shock on TB-03 as it may cause malfunction. ● When operating TB-03, be sure to hold the teaching pendant to prevent the cables from receiving unnecessary tensile loads.

  • Page 21: Introduction

    When operating the TB-03, always keep this Manual at hand and read the relevant items as required. For the actuator and controller to be used, be sure to refer to the Instruction Manuals attached to the products.
  • Page 22 ME0377-8A...

  • Page 23: Specifications Check

    2. Specifications Check 2.1 Product Check This product, if adopting a standard configuration, consists of the parts listed below. 2.1.1 Component (excluding options) Product name Model number Number Remarks Refer to [How to Read Model Touch Panel Teaching Nameplate] and [How to Pendant Read Product Number].

  • Page 24: Instruction Manual Related To This Product

    2.1.2 Instruction manual related to this product Name Control number Instruction manual for touch panel teaching pendant TB-03 program ME0377 controller wired link Instruction manual for XSEL-J/K controller ME0116 Instruction manual for XSEL-JX/KX controller ME0119 Instruction manual for XSEL-KT/KET controller...

  • Page 25: How To Read Model Nameplate

    2.1.3 How to Read Model Nameplate Model number Serial number 2.1.4 How to Read Product Number T B - 0 3 - S C N - E - E N G <Language option> Not specified : Screens are displayed in Japanese. (Display can be changed to other languages) : Screens are displayed in English.
  • Page 26 Model Model Code of Enclosed AC Adapter For use in Japan, North For use in Japan, North America, America, Mexico and TB-03-<Enclosed Cable Type> Mexico and Thailand : UN318-5928 Thailand For use in China TB-03-<Enclosed Cable Type>-C For use in China : UNZ318-5928 For use in Europe TB-03-<Enclosed Cable Type>-E...

  • Page 27: Specifications

    2.2 Specifications 2.2.1 Basic Specifications Item Specifications 24V DC ±10% (Supplied from controller) Rated Voltage 5.9V DC (5.7 to 6.3V) (Supplied from AC adapter) 150mA (24V DC : Supplied from controller) Power Current 2.8A (5.9V DC : Supplied from AC adapter) Insulation Resistance Between GND and FG 500V DC 10MΩ...

  • Page 28: Environmental Specifications

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

  • Page 29: Explanation Of Each Part

    2.3 Explanation of Each Part 1) STOP Switch 2.3.1 Front and Side Surface 2) Touch Pen / Touch Pen Storage 4) SD Memory Card Slot Cover (In state of close) 5) AC Adapter Joint 6) Display and Touch Panel Parts 7) Cable Joint 1) STOP Switch Press it to stop the operation.

  • Page 30: Back

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

  • Page 31: Cable Joint

    2.3.4 Cable Joint Front Side Pin number : 24 Pin number : 1 Back Side Connector name : ST60-24P (30) (HIROSE) Pin number Signal name Explanation EMG1+ Stop Switch Line 1 EMG1- EMG2+ Stop Switch Line 2 EMG2- ENB1+ Enable Signal Line 1 To be short-circuited internally ENB1- ENB2+...

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

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

  • Page 33: How To Take Out Sd Memory Card

    2.4.2 How to Take out SD Memory Card Press the SD memory card softly and release, and the card comes out slightly. Pull it out straight. ME0377-8A 2-11...

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

    2.5 How to Set in/out Battery Unit 2.5.1 How to Take Out Battery Unit 1) Push the tab towards the battery cover and the pull up batter cover. Connector Position 2) Pull out the connector and take out the battery unit. ME0377-8A 2-12...

  • Page 35: How To Attach Battery Unit

    2.5.2 How to Attach Battery Unit 1) Set the battery unit in. Connector Position 2) Join the connector. 3) Attach the battery cover. Pay attention not to get the cable pinched. Caution : When a battery is taken off and then put back on, the power would not turn on even with the power supply switch being pressed.

  • Page 36: External Dimensions

    You will get notified with a message “AD7 RTC Backup Battery Voltage Drop (“327 Calendar Feature Error” when RSEL or XSEL2 connected) once the voltage of the battery gets low. As the battery cannot be replaced at a customer's site, make a request to IAI. ME0377-8A...

  • Page 37: Ac Adapter

    2.9 AC Adapter 2.9.1 Common Specifications for AC Adapter Item Specifications Power Input Voltage Range Single-Phase 100 to 240V AC ±10% Power Current 0.4Amax. Power Frequency Range 50/60Hz ±5% In-Rush Current 50A (at 25°C) Output Voltage 5.9V DC (5.7 to 6.3V) Output Current 2.8Amax.
  • Page 38 [For use in China : UNZ318-5928] [For use in Europe : UNE318-592] [For use in Korea : UNR318-5928] ME0377-8A 2-16...

  • Page 39: Optional Items

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

  • Page 40: Spiral Cord (Sic-1)

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

  • Page 41: Specifications Related To Battery Change

    Due to the voltage characteristics of NiMH battery electrical discharge, the duration of the battery remained display should not be constant. (Duration of battery full or remained small should be short) TB-03 Device Battery Discharge Characteristics It should be taken as a reference for...
  • Page 42 ME0377-8A 2-20...

  • Page 43: Connection With The Controller

    3. Connection with the Controller 3.1 XSEL-K Type Controller (Note) It cannot be connected to XSEL-J type controllers. ME0377-8A...

  • Page 44: Xsel-Kt/Ket Type Controller

    3.2 XSEL-KT/KET Type Controller ME0377-8A...

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

    3.3 XSEL-P/Q/R/S/RA/SA Type Controller Caution: Set the Teaching Pendant Type Selection Switch of the XSEL-P type to the left. ME0377-8A...

  • Page 46: Xsel-Kx Type Controller

    3.4 XSEL-KX Type Controller (Note) It cannot be connected to XSEL-JK type controllers. ME0377-8A...

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

    3.5 XSEL-PX/QX/RX/SX/RXD/SXD/RAX/SAX/RAXD/SAXD Type Controller Caution: Set the Teaching Pendant Type Selection Switch of the XSEL-PX type to the left. ME0377-8A...

  • Page 48: Tt/Tta Type Controller

    3.6 TT/TTA Type Controller ME0377-8A...

  • Page 49: Ssel Type Controller

    3.7 SSEL Type Controller ME0377-8A...

  • Page 50: Asel Type Controller

    3.8 ASEL Type Controller ME0377-8A...

  • Page 51: Psel Type Controller

    3.9 PSEL Type Controller ME0377-8A...

  • Page 52: Msel Type Controller

    3.10 MSEL Type Controller Note 1 Please prepare separately ME0377-8A 3-10...

  • Page 53: Rsel Type Controller

    3.11 RSEL Type Controller Touch Panel Teaching Pendant Cable for Program Controller TB-03 CB-TB3-S050 Minimum Bending Radius 45mm Conversion cable CB-SEL-SJS002 Minumum Bending Radius 26mm USB Cable (Cable to be prepared by user) Fieldbus Cable (Cable to be prepared by user)

  • Page 54: Xsel2-T Type Controller

    CB-SEL-SJS002 Motor Cable Minimum Bending Radius 26mm Encoder Cable Touch Panel Teaching TB-03 Cable for Program Controller CB-TB3-S050 Minimum Bending Radius 45mm Note 1 Please prepare separately. Note 2 For an actuator equipped with a brake, it is necessary to supply +24V power for brake to the controller.

  • Page 55: Xsel2-Tx Type Controller

    26mm 24V DC Brake Power Supply Note 1, Note 2 Power Supply Touch Panel Teaching TB-03 Cable for Program Controller CB-TB3-S050 Minimum Bending Radius 45mm Note 1 Please prepare separately. Note 2 For an actuator equipped with a brake, it is necessary to supply +24V power for brake to the controller.

  • Page 56: Connection Cable

    CB-TB3-S050 Name Program Controller Connection Cable E25-403N-140 Connector Model on Controller Side (Manufactured by TECHNICAL ELECTRON) Connector Model on TB-03 Unit Side ST60-24P (30) (HIROSE) Mass 285g approx. (5m) Minimum cable bending radius 45mm For ASEL, PSEL, SSEL, MSEL, RSEL and XSEL2, the following conversion cable is also necessary.

  • Page 57: Teaching Pendant Connection Procedure

    3.15 Teaching Pendant Connection Procedure 1) Connect actuators, I/O 24V DC power source, and system I/O to the controller first. Then connect the cable connector of the teaching pendant to the controller’s teaching connector when the main power supply of the controller is OFF. 2) After you flip the mode switch to MANU side, supply power to the controller.
  • Page 58 ME0377-8A 3-16...

  • Page 59: How To Save Data

    4. How to Save Data Since the Controller adopts flash memory, there is a storage area by battery backup and a storage area by flash memory according to the data to be stored. In addition, even if data is transferred from the PC software or 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 60 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 61 For the XSEL-P/Q and PX/QX controllers with the gateway function, the position Nos. 10001 to 20000 data memory and user hold memory (RC axis position in XSEL) have been added. (Other parameter No.20=2 (System memory backup battery equipped)) * Encoder parameters are not stored within the controller but in the EEPROM of the actuator’s encoder itself.

  • Page 62: Set-Up At Shipment Without System Memory Backup Battery (Table Top Actuator (Tt), Ssel, Asel, Psel)

    4.2 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)) Since the program, parameter, symbol, and position 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.
  • Page 63 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)) Since the program, parameter, symbol, and position 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.

  • Page 64: Xsel-R/S/Rx/Sx/Rxd/Sxd

    4.3 XSEL-R/S/RX/SX/RXD/SXD An example of 20,000 positions is given below. ME0377-8A...

  • Page 65: Xsel-Ra/Sa/Rax/Sax/Raxd/Saxd

    4.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD ME0377-8A...

  • Page 66: Tta, Msel-Pcx/Pgx/Pc/Pg/Pcf

    4.5 TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF Positions (No. 1 to 10000), SEL global data, error list, maintenance information and SCARA coordinate system data are stored in the battery-less backup memory (FRAM). It is not necessary to have a flash ROM writing. ME0377-8A...

  • Page 67: Rsel

    4.6 RSEL The RSEL has a storage area by holding memory and a storage area by flash memory. In addition, even if data is transferred from the PC teaching 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 68: Xsel2-T/Tx

    4.7 XSEL2-T/TX In XSEL controller, there is a storage domain with saving memory and a storage domain with flash memory. Also note that even if you transfer data to your controller via the PC software or teaching pendant, the data is only written to the temporary memories and will be cleared once the power is turned OFF or controller is reset, as shown below.

  • Page 69: Caution

    4.8 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 (XSEL-P/Q, PX/QX controller) 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).
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  • Page 71: Mode Transition Diagram

    5. Mode Transition Diagram 5.1 XSEL-K/P/Q/R/S/RA/SA, TT, TTA Controller ME0377-8A...
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    5.2 XSEL-KX Controller ME0377-8A...
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  • Page 82: Xsel-Px/Qx/Rx/Sx/Rax/Sax Controller

    5.3 XSEL-PX/QX/RX/SX/RAX/SAX Controller ME0377-8A 5-12...
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  • Page 88: Xsel-Rxd/Sxd/Raxd/Saxd Controller

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  • Page 94: Msel-Pcx/Pgx/Pc/Pg/Pcf/Pgf Controller

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  • Page 99: Ssel, Asel Or Psel Controller

    5.6 SSEL, ASEL or PSEL Controller In the case of the SSEL, ASEL or PSEL controller, 2-type selection is possible between the program mode and positioner mode. Set the selection to the other parameter No. 25 “Operation mode type.” For details, refer to the [Operating Manual of the SSEL, ASEL or PSEL Controller]. 5.6.1 Program Mode ME0377-8A...
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  • Page 104: Positioner Mode

    5.6.2 Positioner Mode (Note) In the positioner mode, “Program edit” or “Symbol edit” is unavailable. “Two or more programs start prohibition” operation cannot be performed, either. ME0377-8A 5-34...
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  • Page 108: Rsel Controller

    5.7 RSEL Controller The menu construction should differ in the case of “When 6-axis Cartesian Robot is not connected” and “when 6-axis Cartesian Robot is connected” in RSEL Controller. 5.7.1 When 6-axis Cartesian Robot is not connected ME0377-8A 5-38...
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  • Page 114: When 6-Axis Cartesian Robot Is Connected

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  • Page 120: Xsel2-T Controller

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  • Page 127: Xsel2-Tx Controller

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  • Page 135: Menu Selection

    6. Menu Selection There are several items in the menu as shown below. Select one of them and touch it. (For switchover between Menu and Menu 2, touch Next/Prev. buttons.) Screen switches to an item you touched. Menu list  Edit : Editing of the positions, programs, symbols, parameters and coordinate systems, status display of the actuator and manual operation (teaching) can be performed.
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  • Page 137: Execute Or Stop The Positioner Mode Of The Ssel, Asel And Psel Controller

    7. Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller When the SSEL, ASEL or PSEL controller is in the positioner mode, execute or stop the positioner mode. Touch Positioner Mode button in the Menu screen. There are two items in the Positioner Mode screen.
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  • Page 139: Position Edit

    8. Position Edit There are two ways to input the position data. (1) Numerical input ꞏꞏꞏ It is the way to input numbers directly on the numeric keys in the touch panel in the position edit screen. (2) Teaching ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ The way to set on the target position by manual movement (direct teaching) of either JOG operation or inching operation with the servo being off, and to indicate to read that position (current position) in the position table.
  • Page 140 When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group window should appear after you touch the Manual Input button. Touch an axes group number button to select the axes group number that is to be subject to.
  • Page 141 [Items Shown in Edit Position Screen] 1) Position No. Input Area 4) Target Arm System 2) Position No. 5) Velocity • Display Area Acceleration/ Deceleration 6) Output Function 3) Axis Data 7) Comment 1) Position No. Input Area 4) Target Arm System 2) Position No.
  • Page 142 1) Position No. Input Area Input position No. Displayed range will differ depending on the input value. 2) Position No. Display Area It shows the Position No. 3) Axis Data It is shown for the number of axes actually installed. Axes 1 to 4 Indicate the positions of Axes 1 to 4.
  • Page 143 5) 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, MSEL-PC/PG/PCF/PGF or XSEL2-T and All Axes Common Parameter No. 20 “Max. Operation Velocity Check Timing” is set to 0, the range is from 1 to All Axis Common Parameter No.

  • Page 144: Basic Operation

    8.1.1 Basic Operation [Addition and Change of Position Data] First, indicate the position number that an addition or a change is required. When the screen is opened for the first time, a cursor is flashing in the position number input box. (When no flashing is confirmed, touch in the position number input box.) Input the position number by displaying the numeric keys on the touch panel by touching...
  • Page 145 If you want to input 100 to Axis1 (1 axis), touch Keyboard button to show the touch panel numeric keys, and touch 1 0 0 ENT on the touch panel numeric keys. If it is accepted correctly, the focus moves onto Axis2.
  • Page 146 [Input of Target Arm System Data (Arm1 or Arm), (Arm2)] * Arm1 (Arm) is a function dedicated only for XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD or MSEL-PCX/PGX or XSEL2-TX. Arm2 is a function dedicated only for XSEL-RXD/SXD or RAXD/SAXD. Show the cursor to the input area for the item which is desired for inputting. To show the cursor in the input area for the item which is desired for inputting is to touch in that area (white area in the background, or an area framed in red for Arm1).
  • Page 147 Initial Screen SHIFT key being touched Use the keyboard shown in the figure above to input a comment. When you want to input a capital letter, either touch SHIFT key or touch CAP key to show the capital letters. (Figure on top right) SHIFT key gets released every time after a letter is input while CAP key is remained on until it is touched again.
  • Page 148 Select the output functions. Touch the radio buttons that you would like to select (figure in left, area marked with red highlight). Input Output Ports / Flag Numbers, Parameter1 and Parameter2. Touch an input part where you would like to input contents (area marked with red highlight for Output Ports / Flag Numbers) to show the cursor.
  • Page 149 The selected output functions will be displayed in the output function column (OutFn). [Position Type Input] * Feature available when 6-axis cartesian activated only Touch a button in the position type column. Button display in the position type column switches over. Also, the display in the following item boxes switches along the selection of the position type.
  • Page 150 [Wrist Form Input] * Feature available when orthogonal 6-axis cartesian activated only Show the cursor in the wrist form box. In order to show the cursor, touch the input part (background in white, the position where circled in red) of the wrist form. The wrist form is available for input only when the position type is the orthogonal coordinates.
  • Page 151 [Data Transfer] After inputting data, touch Write button on the touch panel to transfer the data to the controller. Once the transfer to the controller is complete, the background color in the position number display column will turn to the normal condition. Only transferring the data to a controller by touching Write button will lose the edit data when the power gets rebooted or the software reset is conducted* .
  • Page 152 [Data Clear] When you would like to delete the position data, touch Edit button on the position data that you would like to delete. The edit window opens. Touch Clear button in the edit window. The edit window closes. The position data was deleted, and the background color of the position number display column turns to orange, which shows that it is being edited (controller writing not yet done).
  • Page 153 [Copy and move of data] When you would like to copy (or move) the position data, touch the Edit button on the position data that you would like to copy (or move) from. The edit window opens. Touch the Copy button in the edit window when you would like to copy the data.
  • Page 154 The position data was copied (or moved), and the background color of the position number display column turns to orange, which shows that it is being edited (controller writing not yet done). (Shown in the figure one the left is an example of copying.) Touch the Write button on the touch panel to transfer the data to the controller.

  • Page 155: Flash Rom Writing

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

  • Page 156: Teaching Of The Orthogonal Axis

    Teaching of the Orthogonal Axis XSEL-J/K/P/Q/R/S/RA/SA, XSEL2-T, XSEL2-TX (Axis 5 to 8 in Axis Group No. 1 and all axes in Axis Group No. 2) 5th to 6th Axes of XSEL-PX/QX, 5th to 8th Axes of XSEL-RX/SX, 5th to 8th Axes of XSEL-RAX/SAX , Additional Axes on 3-axis SCARA Type MSEL-PCX/PGX, MSEL-PC/PG/PCF/PGF, TT, TTA, SSEL, ASEL or PSEL Controller and RSEL Orthogonal Axis...
  • Page 157 Touch Position button on the Edit screen. * Example shown on the left is for XSEL-J/K, P/Q, R/S, RA/SA, TT, TTA, SSEL, ASEL, PSEL, MSEL-PC/PG/PCF/PGF, XSEL2-T and XSEL2-TX (axes group No. 2). Touch Teach (Linear) button in Position menu screen. For Input and Output Ports When you can find Teach button in the position menu screen, touch the Teach button to move to the teach window, and touch the Switch Axis button in the teach window to switch the screen over to the...
  • Page 158 Teach window appears. Touch the Switch Axis button to switch the screen over to the teach window that includes the axis you would require to operate. When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group window should appear after you touch the Teach button.
  • Page 159 Explanation for each Display Area Position No. : Currently displayed position number Axis1-4 (Axis5-8) : Position data for the axes from Axis 1 to 4 or Axis 5 to 8. (Only the valid cartesian axes should be shown.) : Velocity : Acceleration : Deceleration OutFn...
  • Page 160 For incremental encoder specification, it is required to execute homing after supplying power or software reset before you start teaching. Turn the servo ON condition by touching the SERVO ON/OFF button and then the Servo all axes ON button in the Teach screen condition.
  • Page 161 (1) Movement of an actuator 1) Jog Operation Turn the servo ON condition by touching the SERVO ON/OFF button and then the Servo all axes ON button in the Teaching screen condition. Execute the all-axes servo OFF command when there is any axis in the servo ON status, and execute the all-axes servo ON command when all axes are in the servo OFF status.
  • Page 162 2) Inching Operation Inching distance Set the inching distance. (the moving distance each time touching jog button.) In the jog velocity change screen, input a number in Inc (Inching Distance). (To open the touch panel numeric keys, touch Keyboard button.) Value input range is 0.001 to 1.000 [unit: mm].
  • Page 163 (2) Take in the current position as a data The determined actuator position is uploaded to the teaching screen as the position data. Touch in the position number input box to show the cursor and input a value on the touch panel numeric keys.
  • Page 164 (4) I/O Monitor • Position Confirmation During teaching operation, you can monitor various ports. You can also confirm the location by moving an actuator to a to the location of the position data with teaching. 1) Input/Output Monitor Either touch In or Out button in Teaching screen. For models applicable for input and output ports, monitoring of the input and output ports is available by either touching InOut button.
  • Page 165 2) Moving Move the actuator to the location of the position data transmitted to the controller. Position No. to move Select position No. to move in the Teaching screen condition. Touch SERVO ON/OFF button and then touch Servo all axes ON button to turn the servo ON. To check if servo is turned ON or OFF touch Cur Pos.
  • Page 166 3) Continuous movement Move the actuator continuously to the location of the position data transmitted to the controller. Position No. you’d like to move first In Teaching screen, select the position number to operate first. Touch SERVO ON/OFF button and then touch Servo all axes ON button to turn the servo ON.
  • Page 167 (5) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Touch UserOutput button in the Teaching screen condition. When UserOutput button is touched (A) User-specified output port status The conditions of user-specified output ports are displayed as ‘1’ (=ON) and ‘0’ (=OFF). (The conditions are displayed from the first specified port for the number of specified ports from the left.) (B) User-Specified Output Port Operation Panel Window...
  • Page 168 (6) Changing Position Movement Type (for applicable models only) An operation type (CP/PTP) for position movement can be indicated. Touch the Chg button in the "Position Movement Type" label before the movement starts to select the operation type for the next movement. Change cannot be made during movement or continuous movement.
  • Page 169 The brake operation button and the status of an effective axis should be displayed. To release an axis in brake lock status compulsorily, touch the Release button in the brake operation column. As the screen shifts to the confirmation window, confirm the contents and touch the OK button when having a compulsory release, and touch the Cancel button when cancel.

  • Page 170: Example Of Teaching Input

    8.2.2 Example of Teaching Input Entering the data into position No. 10 using the jog and into position No. 11 by manual movement (direct teaching) with Servo OFF status. Operation Touch Edit button. Touch Position button. Touch Teach (Linear) button. Either use Page Up button and Page Dn button in the touch panel...
  • Page 171 Operation Touch the jog buttons Axis 1 JOG-, Axis 1 JOG+, Axis 2 JOG-, Axis 2 JOG+, Axis 3 JOG- and Axis 3 JOG+ to move the robot to a desired position. Touch the Scan button to load the current position of the axis No., where there is the cursor, to the input screen.
  • Page 172 Operation 12 Press the EMERGENCY Warning: STOP button. Be sure to execute Touch Back button. manual movement when the EMERGENCY STOP button is pressed. To have manual operation on Z-axis, it is necessary to release the brake. As a result, the Z-axis may drop by the weight of such as a hand installed on the end when the brake is released.
  • Page 173 Operation 17 Finish the position data input with teaching. Touch Back button. 18 Touch Back button. The figures shown hereafter are in the condition of the emergency stop being cancelled. 19 Touch Back button. 20 To write the data to the flash ROM, touch Yes button.
  • Page 174 Operation ME0377-8A 8-36...

  • Page 175: Teaching For Scara Axis

    Teaching for SCARA Axis XSEL-JX/KX/PX/QX/RX/SX/RAX/SAX, 1st to 4th Axes of XSEL2-TX (Axes Group No. 1), 1st to 4th Axes or 5th to 8th Axes of XSEL-RXD/SXD/RAXD/SAXD, 1st to 4th Axes on MSEL-PCX/PGX (*1 1st to 3rd Axes for 3-axis SCARA Type) 8.3.1 Teaching Teaching is one way to input position data (moving the actuator to an arbitrary position and getting...
  • Page 176 Touch Position button on the Edit screen. * Example shown on the left is for XSEL-KX, PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD, MSEL-PCX/PGX and XSEL2-TX. * There is no coordinate system buttons shown when a controller other than above is connected. Touch Teach (Scara) button in Position menu screen.
  • Page 177 Explanation for each Display Area Position No. : Currently displayed position number Axis1-4 (Axis5-8) : Position data for the SCARA axes for the 1st unit or 2nd unit (Only the valid SCARA axes should be shown.) : Velocity : Acceleration : Deceleration : Target Arm (for XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD, MSEL- PCX/PGX and XSEL2-TX Controllers only)

  • Page 178: Jog Movement Direction And Coordinate System

    8.3.2 Jog Movement Direction and Coordinate System (1) Jog buttons and movement directions The movement direction during jog operation changes according to the coordinate system No. selected. The status before shipment is the base coordinate system (work coordinate system No. 0) and tool coordinate system No.
  • Page 179 2) Jog operation on work coordinate system Example) The jog buttons and movement directions on the work coordinate system No. 1 are as shown below. The offset values from the work coordinate system No. 1 become Xofw1 = 150, Yofw1 = 200, Zofw1 = 0, and Rofw1 = 30. 30°...
  • Page 180 3) Jog operation on tool coordinate system Example) The jog buttons and movement directions on the tool coordinate system No. 1 are as shown below. The offset values from the tool coordinate system No. 1 become Xoft1 = 45, Yoft1 = 35, Zoft1 = -10, and Roft1 = 45. (For 3-axis SCARA type, Roft will not be taken into account) 45°...
  • Page 181 4) Jog operation on each axis system (jog operation on each arm) Each arm, jog buttons and movement directions are as shown below. In the case of each axis system, the position display on the teaching screen cannot be incorporated. Jog movement on each axis system Switchover of the coordinate system for jog operation is to be...
  • Page 182 (2) Selection of coordinate system No. Touch Crd. Sys button. Displayed only for XSEL-RXD/SXD or RAXD/SAXD. The axis number displayed in teach screen is shown. Enter the work coordinate system No. Enter the tool coordinate system No. This is a screen displayed when the work coordinate system No.

  • Page 183: Actuator Operation

    8.3.3 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 184 Change of jog velocity The actuator movement velocity under jog operation is changed. Touch JVel button. It should be shown only for XSEL-RXD/ SXD and RAXD/SAXD. The axis number displayed in the teach window should be displayed. Input the Vel (velocity), Acc (acceleration) and Dcl (deceleration) in the jog operation on the touch panel numeric keys.
  • Page 185 (2) Inching operation Set the inching distance (travel made every time the JOG button is pressed once). In the jog velocity screen, input a number in Inc (inching distance) on the touch panel numeric buttons. The numerical input range is between 0.01 and 1.00 [unit: mm].
  • Page 186 (3) Manual movement (direct teaching) under servo OFF Touch SERVO ON/OFF button and then touch Servo all axes OFF button to turn the servo OFF. Press the EMERGENCY STOP button. Emergency stop input screen Touch Back button to return to Teaching screen. Warning: Be sure to execute manual movement when the EMERGENCY STOP button is pressed.
  • Page 187 (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 188 (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 (Axis1-4) or Teach (Axis5-8) → Crd.
  • Page 189 (6) Transfer to Controller The incorporated data is transferred to the controller. In Teaching screen, touch Write button. The loaded data is stored in the memory in the controller. Once the transfer to the controller is complete, the position number is incremented by one.
  • Page 190 Input/Output Port (for applicable models) The way to operate is the same as the output port. (8) Movement The actuator is moved to the location of the position data transferred to the controller. (Check the location of the teaching position data.) Position number to move Select position No.
  • Page 191 (9) Continuous movement The actuator is continuously moved to the location of the position data transferred to the controller. Position No. to move first In Teaching screen, use the numeric keys, Page Up and Page Dn buttons to select the position number to operate first.
  • Page 192 (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 193 Displayed only in XSEL-RXD/SXD and RAXD/SAXD axis number in teach window To set the jump operation valid/invalid, touch in the check box at JumpMotion, to put or remove a check mark. Enter the Z-axis offset value. Enter the offset value (mm) from the Z-axis target position coordinate.
  • Page 194 (11) User-specified output port operation The output ports set in the parameter can easily be turned ON/OFF. In Teaching screen (or the current position screen in Teaching), touch UserOutput button. When in Teaching screen, it automatically changes to the current position screen. When UserOutput button is touched (A) User-specified output port status The conditions of user-specified output ports are displayed as ‘1’...
  • Page 195 (12) Arm System setting In the case of the XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD, MSEL-PCX/PGX or XSEL2-TX Controller, the arm system data can be set on the position data. The arm system settings for Axis1 to 4 (Axis 1 to 3 for 3-axis SCARA) or Axis5 to 8 (Axis5 to 8 are for XSEL-RXD/SXD, RAXD/SAXD only) that is currently shown can be established.
  • Page 196 When several axis group are set, an axis group of an axis that you would like to have a brake control should be selected with the Axes group No. 1 and Axes group No. 2 buttons. The brake operation button and the status of an effective axis should be displayed. To release an axis in brake lock status compulsorily, touch the Release button in the brake operation column.

  • Page 197: Example Of Teaching Input

    8.3.4 Example of Teaching Input Entering the data into position No. 10 using the jog and into position No. 11 by manual movement (direct teaching) with Servo OFF status. Operation Touch Edit button. Touch Position button. Touch Teach (Scara) There is no Teach (Linear) button.
  • Page 198 Operation Touch the jog buttons Axis 1 JOG-, Axis 1 JOG+ through Axis 4 JOG-, Axis 4 JOG+ to move the robot to a desired position. When the jog coordinate Touch the Scan button to system is each axis load the current position system “A”...
  • Page 199 Operation 12 Press the EMERGENCY Warning: STOP button. Be sure to execute Touch Back button. manual movement when the EMERGENCY STOP button is pressed. To have manual operation on Z-axis/R-axis, it is necessary to release the brake. As a result, the Z- axis may drop by the weight of such as a hand installed on the end when...
  • Page 200 Operation 17 Touch Write button to If the screen is switched transfer the position data with Page Up or Page Dn to the controller. buttons before the data is The position moves to No. transferred, the input data will become invalid. 18 Finish the position data input with teaching.
  • Page 201 Operation 23 The flash ROM writing process is finished. Touch OK button. The screen returns to Edit menu. ME0377-8A 8-63...

  • Page 202: Teaching For 6-Axis Cartesian Construction Axes Rsel 6-Axis Cartesian Construction Axes

    Teaching for 6-axis Cartesian Construction Axes RSEL 6-axis Cartesian Construction Axes 8.4.1 Teaching Teaching is one way to input position data (moving the actuator to an arbitrary position and getting that actuator’s current position as data). Methods for moving the actuators to an arbitrary position are the jog operation, inching operation. The fundamental flow of teaching is as follows: 1) Move the actuator (Jog operation •...
  • Page 203 Touch Teach button in Position menu screen. Teach window appears. When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group window should appear after you touch the Teach button.
  • Page 204 Explanation for each Display Area Position No. : Currently displayed position number SV MARKS : Servo-on status of each axis (Light blue: Servo on / Black: Servo off) Axis1-6 (X-Rz) : Position data for axis from 1 to 6 Label switches over in response to the coordinate system. (Input window: position type, Current position window: Jog coordinate system) X-Rz display for orthogonal coordinates, Axis1-6 display for each axis coordinates : Velocity...

  • Page 205: Jog Movement Direction And Coordinate System

    8.4.2 Jog Movement Direction and Coordinate System (1) Jog buttons and movement directions The movement direction during jog operation changes according to the coordinate system No. selected. The status before shipment is the base coordinate system (work coordinate system No. 0) and tool coordinate system No.
  • Page 206 2) Jog operation on work coordinate system Example) The jog buttons and movement directions on the work coordinate system No. 1 are as shown below. The offset values from the work coordinate system No. 1 become Xofw1=150, Yofw1=200, Zofw1=0, Rxofw1=0, Ryofw1=0, Rzofw1=30 Jog movement on work coordinate system No.
  • Page 207 3) Jog operation on tool coordinate system Example) The jog buttons and movement directions on the tool coordinate system No. 1 are as shown below. The offset values from the tool coordinate system No. 1 become Xoft1=0, Yoft1=20, Zoft1=-50, Rxoft1=0, Ryoft1=0, Rzoft1=-45 Jog movement on work coordinate system No.
  • Page 208 4) Jog operation on each axis system (JOG operation for each actuator) The JOG buttons and the directions of movement in each axis should be as shown in the figure below. For CRS-XB□ For CRS-XZ□Y Jog movement on each axis system Switchover of the coordinate system for jog operation is to be...
  • Page 209 (2) Selection of coordinate system No. Touch Crd. Sys button. Enter the work coordinate system No. Enter the tool coordinate system No. This is a screen displayed when the work coordinate system No. 1 and the tool coordinate system No. 1 are selected. Touch Back button to return to Teaching screen.

  • Page 210: Actuator Operation

    8.4.3 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 in touch panel operation (1) Jog operation Turn the servo ON condition by touching the SERVO ON/OFF tab and then the...
  • Page 211 Change of jog velocity The actuator movement velocity under jog operation is changed. JogVelocity button. Jog velocity Input the Vel (velocity), Acc (acceleration) and Dcl (deceleration) in the jog operation on the touch panel numeric keys. Inc (inching distance) should be 0.000.
  • Page 212 (3) Scanning Current Position as Data Check in advance the work coordinate system number and tool coordinate system number currently being selected. (Window transfer: Edit  Position  Teach  Crd. Sys from touch panel) The determined actuator position should be read in as the position data.
  • Page 213 (4) Controller Data Transfer Scanned data can be transferred to the controller. Touch the Write button in the teaching window. The scanned data can be saved in the memory in the controller. Once the data transfer to the controller is completed, the position number should be incremented by 1.
  • Page 214 Input ports Refer to [14.2 Input Port] for debug filters. Output ports Touching ON and OFF buttons, the output port of the cursor position can be turned ON/OFF (1/0). InOut Port The way to operate is the same as the output port. ME0377-8A 8-76...
  • Page 215 (6) Move Move the actuator to the position of the position data transferred to the controller. (Position check of position data that teaching was conducted) Position No. to move Select the position number that you would like to have the actuator moved to in the teaching window. Touch the Servo ON/OFF tab and then touch the All Axes SERVO ON button to turn the servo on.
  • Page 216 (7) Continuous Move Move the actuator to the position of the position data transferred to the controller continuously. Position number to move in first step Select the position number that you would like to have the actuator moved to in the first step by using the numeric keys or the Page Up Page Dn buttons in the teaching window.
  • Page 217 (8) User Indicated Output Port Operation The output port indicated in the parameter can easily be turned on/off. Touch the UserOutput button in the teaching window. (A) User-specified output port status The conditions of user-specified output ports are displayed as ‘1’ (=ON) and ‘0’ (=OFF). (The conditions are displayed from the first specified port for the number of specified ports from the left.) (B) User-Specified Output Port Operation Panel Window...
  • Page 218 1) Setting of user-specified output port parameters For the operation method for parameter setting, refer to [13. Parameter Edit]. The first port No. and the number of ports are set with the following parameters: • Number of ports I/O parameter No. 74 “QntPrtUsrOut” (Number of output ports used by TP user (hand, etc.)) •...

  • Page 219: Example For Teaching Input

    8.4.4 Example for Teaching Input Perform data input to Position No. 10 with jog operation. Operation Touch Edit button. Touch Position button. Touch Teach button. Either use Page Up button and Page Dn button in the touch panel or input “10” in the position number on the software numeric key, and then touch ENT button for...
  • Page 220 Operation Touch the Curt Pos button to switch the screen to the current position display. Touch the Change button If the jog buttons from Axis for the jog coordinate 1 jog - and Axis 1 jog + to system to select the Axis 6 jog - and Axis 6 jog coordinate system to + (or from X jog - and...
  • Page 221 Operation 11 Finish the position data input with a teaching tool. Touch the Back button. 12 Touch Back button. 13 Touch Back button. 14 Write to the flash ROM. Touch the Yes button. 15 While in writing process to Never shut off the power flash ROM, the display to the controller during ‘Flash ROM...
  • Page 222 Operation 16 The flash ROM writing process is finished. Touch OK button. The screen returns to Edit menu. ME0377-8A 8-84...

  • Page 223: Copy And Movement Of Position Data

    Copy and Movement of Position Data It is a way to copy or move the position data to another position number. Touch Edit button in the Menu screen. Touch Position button on the Edit screen. Touch Copy/Move button in Position screen. Touch Keyboard button to show the touch panel keyboard.
  • Page 224 Input a value in From No. First No. and touch ENT button. The cursor moves to From No. Last No. and touch panel keyboard closes. Touch Keyboard button again to show the touch panel keyboard. Input a value in From No. Last No. and touch ENT button.
  • Page 225 When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (refer to [15.17 Axis Number Assignment]), position data copy/move in an axes group and also among axes groups can be performed. Each contents and button operations are as shown below. [From No.] Axes group No.

  • Page 226: Deletion Of Position Data

    Deletion of Position Data The following operating instructions are to delete the position data. Touch Edit button in the Menu screen. Touch Position button on the Edit screen. Touch Clear button on the Position screen. When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (refer to [15.17 Axis Number Assignment]), the select axes group window should appear after you touch the Clear button.
  • Page 227 The position data clear window will appear. * The axes group number that was selected should be shown on the top right of the screen. 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.
  • Page 228 Touch OK button 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. Write the data in the Flash ROM referring to [8.1.2 Flash ROM Writing].

  • Page 229: Program Edit

    Program Edit (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 9.1 How to Input Program Input the program step below as an example. Program No. 2 Cmnd Operand1 Operand2 Comment CPGE *201 Compare Data SCPY ‘1234 Only input conditions for Step No. 1 and all for Step No. 2 are input. Touch Edit button in the Menu screen.
  • Page 230 Program names created in symbol edit Touch the number you want to edit. (Touch Page Up and Page Dn buttons and the displayed program numbers go up and down by eight items.) When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (refer to [15.17 Axis Number Assignment]), the initial setting values* in the axes group numbers will be displayed in the select program number window.
  • Page 231 Step No. Input Area Program No. Display Area Step Data Step No. Display Area [Items Shown in Program Step Edit Screen] Program No. Display Area ：It shows the editing program No. Step No. Input Area ：Is to input Step No. By the input values, Display Area is changed.
  • Page 232 Move the cursor to No.1, Cnd area by touching. With the cursor being in Cnd input area, touch the keyboard button to show the touch panel keyboard and input 601. Condition of Touch Panel Keyboard Displayed Input 601 and touch ENT. The touch panel keyboard closes and 601 is input in Cnd.
  • Page 233 Touch the keyboard button with the cursor being displayed at E Column to show the touch panel keyboard in order to A. Input A and touch ENT. The touch panel keyboard closes and A gets to be input to E Column. The cursor moves to N Column.
  • Page 234 The cursor moves to the Cnd input area. Touch Keyboard button to show the touch panel keyboard, and input 600. Example for input on touch panel keyboard The cursor moves to the Cmnd input area. Touch Keyboard button to show the touch panel keyboard, and input CPGE.
  • Page 235 For Cmnd Column, command list is also available to input from. Have the cursor displayed in Cmnd Column and touch Edit button. Touch ComdList button in the edit menu. Command Initial Letters Button The command list window appears. Touch the command initial letters or Page Up / Page Dn buttons to switch the display in order to show the command that you would like to input.
  • Page 236 The cursor moves to the Operand1 input box. Touch Keyboard button to show the touch panel keyboard, and input 200. Example for input on touch panel keyboard The cursor moves to the Operand2 input box. Touch Keyboard button to show the touch panel keyboard.
  • Page 237 Touch *. The letters displayed on the keyboard return to normal. Input * followed by 201, and then touch ENT. The touch panel keyboard closes and the cursor moves to Pst box. Touch Keyboard button to show the touch panel keyboard, and input 900.
  • Page 238 Example for input on touch panel keyboard The cursor moves to the Comment input area. Touch Keyboard button to show the touch panel keyboard. Any alphabetical and numerical letters can be used for input. If you touch SHIFT button, buttons with capital letters show up, and go back to small letters once a letter is input.
  • Page 239 Touch Keyboard button to show the touch panel keyboard. Input SCPY, and then touch ENT. The touch panel keyboard closes and SCPY gets displayed in Cmnd Column. The cursor moves to the Operand1 input box. Touch Keyboard button to show the touch panel keyboard, and input 1.
  • Page 240 The cursor moves to the Operand2 input box. Touch Keyboard button to show the touch panel keyboard. Input ‘1234 and touch ENT. The touch panel keyboard closes and the cursor moves to Pst box. Touch Write button to transfer the data to the controller. When the screen is changed with the Page Up and Page Dn buttons and Back button before data transfer, the input data becomes invalid.
  • Page 241 [For Operand Binary/Hexadecimal Digit Input] For XSEL-RA/SA/RAX/SAX/RAXD/SAXD, RSEL and XSEL2-T/TX binary/hexadecimal digits can be used for Operand 1 and 2. • Only constant value can be used. They cannot be used for indirection. • When binary digits are to be used, input them each with “&B” before the value, and hexadecimal digits are to be used, “&H”...

  • Page 242: Symbol Input During Program Edit

    9.2 Symbol Input During Program Edit Symbol input is available when the cursor is on Operand1 or 2 (Operation 1 or 2) or Pst (output). Method 1: In case symbol registration has already been conducted, direct input is available from the touch panel keyboard.
  • Page 243 Touch Next button. Touch Position No. button Touch Keyboard button to show the touch panel numeric keys. Input 10 on the touch panel numeric keys and then touch ENT. Touch panel keyboard will close. ME0377-8A 9-15...

  • Page 244: When There Is Symbol Definition

    With the cursor being in the symbol input box, touch Keyboard button. Input TAIKIITI on the touch panel keyboard and touch ENT. (If you touch CAP button, the keyboard changes to capital-letter input. If you touch CAP button again, it goes back to small-letter input.) Touch Write button to transfer the symbol data to the controller.
  • Page 245 Once the transfer to the controller is complete, the background color in the step number display column will turn to the normal condition. Finish the program input. Return to the flash ROM writing window by using the Back button. Follow [9.8 Flash ROM Writing] to conduct the flash ROM writing.

  • Page 246: Single Line Comment Input

    9.3 Single Line Comment Input Turns a step from a program into a comment (invalid step) and you can input numbers, alphabets and signs. After switching the display range with Page Up / Page Dn buttons or the step number direct input, touch the Edit button in the step number that you would like to input a comment.
  • Page 247 Input desirable letters on the keyboard. An example for when Palette1 is input is shown in the figure on the left. (To input capital letters, touch CAP key or SHIFT key to switch the mode.) Touch ENT for confirmation. Once the comment input is finished, touch Write button to transfer the input data to the controller.

  • Page 248: To Change Program Steps

    9.4 To Change Program Steps Program No. 4 It is assumed the top line program below is already input. And it is assumed that the contents will be changed to those in the bottom line below by editing. Cmnd Operand1 Operand2 Comment HOME...
  • Page 249 Touch InsBlank button in the edit menu. The original data in Step No. 3 and below move to No. 4 and below. Also, the line for Step No. 3 gets blank. Touch No. 3, Cmnd Column to move the cursor. Touch Keyboard button to show the touch panel keyboard.
  • Page 250 The cursor moves to the Operand1 input box. Touch Keyboard button to show the touch panel keyboard again. Input 1 and touch ENT. Inactivate MOVL 5 next. Touch Edit button in Step No.8. Touch Comment in the Edit menu. ME0377-8A 9-22...
  • Page 251 The background color of the step data box in Step No. 8 turns to dark yellow, which shows it is invalid (Comment status). (To cancel the invalid condition, show the edit menu again and touch the comment cancel button.) It is only the displayed range available for editing at once.
  • Page 252 Confirmation window gets displayed. Touch the Yes button. (If you wish to cancel the deletion, touch the Cancel button.) Touch No. 9, Cmnd Column to move the cursor. Touch Keyboard button to show the touch panel keyboard. Input GOTO on the touch panel keyboard and touch ENT.
  • Page 253 The touch panel keyboard closes and the cursor moves to Operand1 box. Input the same value as that input in Operand1 box in Step No. 3 TAG Command to Operand1 box. Touch Keyboard button to show the touch panel keyboard. Input 1 and touch ENT.

  • Page 254: Other Editing Features

    9.5 Other Editing Features Copy and Clear of the step data can be conducted. [Copy of Step Data] For example, here explains the case to copy the step data in Step No. 3 to Step No. 4. Switch the display range with Page Up / Page Dn or the step number direct input in order to show the data in Step No.
  • Page 255 Touch Paste button in Edit Menu. Edit menu is closed. The step data copied in Step No. 4 gets displayed. Also, to show that it is being edited (controller writing not yet done), the background color in the step number display box turns to orange. Touch Write button.
  • Page 256 [Insertion of Step Data] For example, here explains the case to copy the step data in Step No. 3 to Step No. 2. Switch the display range with Page Up / Page Dn or the step number direct input in order to show the data in Step No.
  • Page 257 The step data copied in Step No. 2 gets inserted. Data transfer (step data writing) to the controller is automatically conducted for Ins&Paste button. Finish the program input. Return to the flash ROM writing window by using the Back button or Cancel button.
  • Page 258 [Clear of Step Data] For example, here explains the case to clear the step data in Step No. 2. Switch the display range with Page Up / Page Dn buttons or the step number direct input in order to show the data in Step No. 2. Touch Edit button in Step No.2.

  • Page 259: Program: Copy Or Move

    9.6 Program: Copy or Move The following operating instructions are to copy or move a program to another program No. Touch Edit → Program → Copy/Move ME0377-8A 9-31...
  • Page 260 Copy/Origin Program Number Copy/Destination Program Number Touch Keyboard button and input the program number on the touch panel keyboard. If the cursor is in “From” or “To” box, touch the No. column in the table and the number you touched gets input in the box.
  • Page 261 Touch in the checkbox for Copy/Move the local symbols, too and the checkmark can be turned on/off. * The checkbox for the local symbol simultaneous copy/move is to be displayed only for the applicable models. Checkbox for Local Symbol Simultaneous Copy/Move (displayed only for applicable models) To execute, touch Yes button.

  • Page 262: Program: Clear

    9.7 Program: Clear Touch Clear button in the program menu screen. Refer to [Section 9.5] for how to go to the program menu screen. Top number to be deleted Last number to be deleted Input the program number to be deleted on the touch panel numeric keys.
  • Page 263 Touch All Clear button in the program number select screen to delete all the programs. To execute, touch Yes button. To cancel, touch No button. Touch OK button to go back to the previous screen. In addition, touch Back or Cancel button several times to go to Flash ROM writing screen.

  • Page 264: Flash Rom Writing

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

  • Page 265: Program Execution

    10. Program Execution (Excluding the positioner mode of the SSEL, ASEL and PSEL controller.) 10.1 Operation Confirmation Touch Play in the main menu. Also, in the program edit menu, there is Play button. Touch Select Program button. There are three items in the program operation menu. Select Program : It opens the screen to select the program to be executed.
  • Page 266 To show Task No. 9 and further, use Page Up and Page Dn buttons to change the display. Touch Back button to return to Program Operation Menu screen. No. : Task No. Prg. : Program No. Sts : Task Status (Task status in OS administration inside) (For XSEL-K, the main application is applicable in Ver.
  • Page 267 Once a program is selected in the program select screen, the display is switched to the following screen. (Figure below is the case Program No. 1 is selected.) Select whether to operate one step by one or have the continuous operation. Touch Step button to start step operation.
  • Page 268 Area Step No. Display Area Execution Status Display Program No. Display Area Step Data Display Area [Items Shown in Program Operation Screen] Program No. Display Area : Selected program No. is displayed. Step No. Display Area : Is to input Step No. By the input values, Display Area is changed.

  • Page 269: Setting Of Break Point

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

  • Page 270: Monitoring In Program Operation

    10.3 Monitoring in Program Operation The current position of the actuator and the data in the local and global domains can be monitored during the continuous operation or step operation. Touch Monitor button. The monitor menu is opened. Touching the button selects the monitor item. When the monitor menu screen is closed, the selected monitor screen appears.
  • Page 271 (1) Display the Current Position Display the current position of the actuators. Touch Cur pos. button in the monitor menu. SCARA Axis Linear Axis Servo ON Status Servo OFF status For XSEL-RXD/SXD or RAXD/SAXD Controllers When 6-axis Cartesian Activated The coordinate system type in display can be switched over for SCARA Type and the 6-axis cartesian type.
  • Page 272 (2) Local Flag This is the local flag ON/OFF display. It can be switched ON/OFF. Touch L-Flag button in the monitor menu. When the cursor is in the flag data box as the figure on the top right shows, switchover of ON/OFF is available for the flag which the cursor is placed on.
  • Page 273 (3) Local Variables Displays the contents of the local variable. Moreover, values can be substituted for a local integer variable and a local real variable, and then the character sequence can be substituted for a local string. Touch L Integer L Real L String buttons in monitor menu. 1) Local Integer Variables When the Local Integer Variable screen is opened, the cursor should be placed in a number box.
  • Page 274 3) Local String Variables When the Local String variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys is also available. The cursor moves to the data box.
  • Page 275 (4) Global Flag It shows the status ON/OFF of the global flags. In this screen, the global flags can be switched ON/OFF. Touch G-Flag button in Monitor menu. The way to operate is the same as (2) Local Flag. ME0377-8A 10-11...
  • Page 276 (5) Global Variables Touch G Integer G Real G String buttons in monitor menu. 1) Global Integer variables When the Global Integer Variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys is also available.
  • Page 277 3) Global String Variables When the Global String variable screen is opened, the cursor should be placed in a number box. Make the number to be monitored shown by using Page Up and Page Dn buttons. Inputting a number on the touch panel numeric keys is also available. The cursor moves to the data box.
  • Page 278 (6) Input Port Touch In port button in monitor menu. Touch Keyboard button to open the touch panel numeric keys, input a port number that you want to show, and touch ENT for confirmation. Every touch of Page Up and Page Dn buttons scrolls up/down the displayed input port numbers by 50 items.

  • Page 279: Program Execution Time Measurement Function

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

  • Page 280: Indication Of Execution Time Measurement Section

    10.4.1 Indication of Execution Time Measurement Section Indicate the execution time measurement section while the program is stopped. 1) Touch a blank T Button, and the display of the touched button turns to S as shown in the figure in the left and the execution time measurement start point can be established.
  • Page 281 4) Touch a T Button with E being shown while E is shown in the T Button, and the display of E disappears as shown in the figure in the left and the execution time measurement start and end points become not set. Also, if you touch a button other than that with E being shown, the display of the touched button turns to S and the execution time...

  • Page 282: Display Of Execution Time Measurement Result

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

  • Page 283: Cautions

    10.4.3 Cautions • It should be only one section that the execution time measurement section is available to set up. • Once measurement gets started, measurement will be kept on until the step which the end point has been set to completes. •...
  • Page 284 ME0377-8A 10-20...

  • Page 285: Coordinate System Data Editing

    11. Coordinate System Data Editing 1st to 4th Axes of XSEL-JX/KX/PX/QX/RX/SX/RAX/SAX and XSEL2-TX (Axes Group No. 1) 1st to 4th Axes or 5th to 8th Axes of XSEL-RXD/SXD/RAXD/SAXD, 1st to 4th Axes on MSEL-PCX/PGX, RSEL 6-axis Cartesian (* 1st to 3rd Axes for 3-axis SCARA Type) Touch Edit button.
  • Page 286 Select the coordinate system subject to editing in this screen. ME0377-8A 11-2...

  • Page 287: Editing Of Work Coordinate System Data

    11.1 Editing of Work Coordinate System Data As an input example of the work coordinate system data, a coordinate system as shown below is set for the work coordinate system No. 1. (Motion range at the arm length 500-type stroke) The offset values from the work coordinate system No.
  • Page 288 For XSEL-RX/SX, RAX/SAX, XSEL2-TX For XSEL-RXD/SXD, RAXD/SAXD For 6-axis Cartesian Work Coordinate System in 6-Axis Cartesian Robot When offset at Xofw1 = 150, Yofw1 = 200, Zofw1 = 0, Rxofw1 = 0, Ryofw1 = 0 and Rzofw1 = 30. ME0377-8A 11-4...
  • Page 289 The cursor is on the X-axis offset data, touch Keyboard button to show the touch panel keyboard. Input 150 and touch ENT. The cursor is placed on the Y-axis offset data. Touch Keyboard button to show the touch panel keyboard. Input 200 and touch ENT.
  • Page 290 The cursor is placed on the Z-axis offset data. As the offset of Z-axis remains at 0, touch in the R- axis offset input box. R-axis offset input box The cursor is placed on the R-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 291 Touch Back button or Cancel button to go to Flash ROM writing screen. To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed.
  • Page 292 Regarding Clear button in Work Coordinate System Data Edit screen No matter where the cursor is placed, all the values in X, Y, Z and R-axes offset are set to 0. (All of X, Y, Z, Rx, Ry and Rz for the 6-axis cartesian) To transfer the data to the controller, touch Write button.

  • Page 293: Editing Of Tool Coordinate System Data

    11.2 Editing of Tool Coordinate System Data As an input example of the tool coordinate system data, a tool as shown below is set for the tool coordinate system No. 1. The offset values from the tool coordinate system No. 1 become Xoft1 = 45, Yoft1 = 35, Zoft1 = -10 and Roft1 = 45.
  • Page 294 For XSEL-RX/SX, RAX/SAX, XSEL2-TX For XSEL-RXD/SXD, RAXD/SAXD For 6-Axis Cartesian Tool Coordinate System in 6-Axis Cartesian Robot When offset at Xoft1 = 0, oft1 = 20, Zoft1 = 50, Rxoft1 = 0, Ryoft1 = 0 and Rzoft1 = -45. ME0377-8A 11-10...
  • Page 295 With the cursor being on the X-axis offset data, touch Keyboard button to show the touch panel keyboard. Input 45 and touch ENT. The cursor is placed on the Y-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 296 The cursor is placed on the Z-axis offset data. Touch Keyboard button to show the touch panel keyboard. Input -10 and touch ENT. The cursor is placed on the R-axis offset data. Touch Keyboard button to show the touch panel keyboard.
  • Page 297 Touch Write button to transfer the data to the controller. The position moves to Tool Coordinate Offset No. 2. Touch Back button or Cancel button to go to the Flash ROM writing screen. To write the data to the flash ROM, touch Yes button.
  • Page 298 Flash ROM writing is completed. Touch OK button to return to the edit menu screen. Regarding Clear button in Tool Coordinate System Data Edit screen No matter where the cursor is placed, all the values in X, Y, Z and R-axes offset are set to 0. (All of X, Y, Z, Rx, Ry and Rz for the 6-axis cartesian) To transfer the data to the controller, touch Write...

  • Page 299: Editing Of Simple Interference Check Zone

    11.3 Editing of Simple Interference Check Zone It is required to input the following 3 items to set the simple interference check zone: • 2-point position data to define the zone. (Input the values of the base coordinate system.) • Output port No.
  • Page 300 For XSEL-RX/SX, RAX/SAX, XSEL2-TX To switch the axis in XSEL-RXD/SXD and RAXD/SAXD, touch a radio button. Axis Switchover For XSEL-RXD/SXD, RAXD/SAXD For 6-axis Cartesian 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 301 Input 475 and touch ENT. The cursor is located at the Y-axis data. Touch Keyboard button to show the touch panel keyboard to input -50 and touch ENT. The cursor is located at the Z-axis data. Touch Keyboard button to show the touch panel keyboard to input 150 and touch ENT.
  • Page 302 Once the input of coordinate data is finished (the input for R-axis is confirmed), the cursor moves to the input port/flag input box. Touch Keyboard button to show the touch panel keyboard to input 311 and touch ENT. The cursor moves to the Error Type input area. Touch Keyboard button to show the touch panel keyboard to input 1 and touch ENT.
  • Page 303 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. Touch OK button to return to the edit menu screen. Regarding Clear button 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...
  • Page 304 ME0377-8A 11-20...

  • Page 305: Symbol Edit

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

  • Page 306: Symbol Edit Items

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

  • Page 307: Input Example: Symbolize Local Integer Variable No

    12.2 Input Example: Symbolize Local Integer Variable No. Assuming Variable No. 5 in Program No. 3 is symbolized as ‘Cnt5’. Touch Integer Variables No. button. The cursor is located at program No. box Input the local area program No. (To symbolize global area, leave 0.) Touch Keyboard button to show the touch panel numeric keys.
  • Page 308 Input 5 and touch ENT. The cursor moves to the Symbol box. Touch Keyboard button to show the touch panel numeric keys. To input ‘C’, touch SHIFT and then touch C. The keyboard automatically returns to small letter input. Continue to type in n t 5, and touch ENT. Once the input is confirmed, the cursor disappears.
  • Page 309 Touch Back button or Cancel button to go to Flash ROM writing screen. To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed.

  • Page 310: Symbol Edit Screen Of Each Items

    12.3 Symbol Edit Screen of Each Items (1) Constant Number Integer Type Constant Number Symbol Edit Screen Real Type Constant Number Symbol Edit Screen Input alphabet and Input constant value. Remained available number. registrations Example for input of integer constants: Define 1000 to the symbol name ‘Const1’...
  • Page 311 Input Const1 and touch ENT. Input SHIFT C o n s t 1 . The cursor moves to the Value input box. Touch Keyboard button to show the touch panel numeric keys. Input 1000 and touch ENT. After input, touch the Write button to transfer the symbol data to the controller.
  • Page 312 (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 313 (3) Program Number Non-indicative Definition Data Input port No., Output port No., Input/Output port No. (for applicable models only), Program No., Position No. Axis No. Number Input Box: Symbol Input Box: Input values with Input values with numeric keys, touch panel keyboard. Page UP and Page Dn buttons.
  • Page 314 ME0377-8A 12-10...

  • Page 315: Parameter Edit

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

  • Page 316: Parameter Edit Items

    13.1 Parameter Edit Items In some controllers, "I/O Slot Card" changes to names of "I/O System Device". Also, the contents to be displayed differ depending on the controllers. The axis related parameters (axis groups, axes and actuators) of RSEL and axis group parameters of XSEL2-T/TX have setting values for each axis group.
  • Page 317 The parameter edit window should appear. * The axes group number that was selected should be shown on the top right of the screen. Parameter No. Input Area Parameter No. Display Area Parameter Info. Definition Value For Device Independent Parameters (figure shows example of I/O parameter) Parameter No.

  • Page 318: Input Example: Edit Specific-Axis Parameter

    13.2 Input Example: Edit Specific-Axis Parameter Establish the setting in specific-axis parameter No. 7 soft limit + to axis 1 = 300mm, axis 2 = 200mm. Have the cursor displayed in the parameter number input column. (If not, touch the parameter number input column so the cursor goes there.) Touch Keyboard button to show the touch panel numeric keys.
  • Page 319 Touch the place you would like to edit (1st axis in No. 7) in order to move the cursor. Touch the keyboard button after the cursor has been moved to show the touch panel numeric keys. Input 300000 on the touch panel numeric keys and touch ENT.
  • Page 320 Touch Write button to transfer the parameter data to the controller. Caution: In the teaching pendant, only the data in the displayed range is to be retained in the memory. Therefore, writing (transfer to a controller) is necessary to be conducted one by one for each displayed screen.
  • Page 321 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset.

  • Page 322: Input Example: Edit Driver Unit Parameters

    13.3 Input Example: Edit Driver Unit Parameters Edit Driver Unit Parameter No. 3 Soft Limit Positive Side. Touch the Next button. * Example in the figure on the left shows that of RSEL Touch the Driver Unit button. The select axis window should appear after you touch the Driver Unit button.
  • Page 323 The parameter edit window should appear. Touch the ↑ or ↓ button and the range of displayed parameter numbers should be switched over. Touch Indicate Number and input a parameter number, and the window of parameter to establish the setting can be displayed. Set the soft limit positive side as an example.
  • Page 324 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. ME0377-8A 13-10...

  • Page 325: Monitor

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

  • Page 326: Input Port

    14.2 Input Port 1: ON, 0: OFF Input the port number that you want to show in the port number input box by using the touch panel numeric keys, and then touch ENT. Every touch of Page Up and Page Dn buttons scrolls up/down the input port numbers by 50 items.
  • Page 327 * While the debug filter is activated, the status of the ports (“0”, “1”) that ON filter or OFF filter is set should be displayed in red. (Other ports should be displayed in black.) Port with ON Filter Set Port with OFF Filter Set Cursor to Select Port Number (Port No.
  • Page 328 Warning: As soon as the debug filter is released and the controller operation mode (MANUAL / AUTO) is switched over, the status (ON / OFF) of the input port that the controller recognizes changes. (1) At Filter Release Actual Input Status Filter Type ON →...

  • Page 329: Output Port

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

  • Page 330: Global Flag

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

  • Page 331: Global Variable

    14.6 Global Variable Displays the contents of global variable and global string. Also, a numerical value can be substituted for a global variable and letter string can be substituted for a global string. There are three types of global variables. Touch each button to show each monitor screen.
  • Page 332 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 is also available. The cursor moves to the data box.

  • Page 333: Axis Status

    14.7 Axis Status Displays the current position of each axis, servo status, sensor status, etc. The status items may vary depending on the model. Select the item to be displayed on the monitor using the buttons on the right side of the monitor screen. Position : Displays the current position Servo...
  • Page 334 (1) Current position Axis Number in Display Switch over axis SCARA Axis Linear Axis Display currently shown is switched between Coordinate System of Work Piece in Select (W) and Each Axis System (A). This area displays the condition of the current arm system, position type and compliance mode.
  • Page 335 (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). Display should be either Status 1 or Status 2 depending on models (3) Sensor Input Status SCARA Axis Orthogonal axis (4) Encoder Status (for applicable models only)
  • Page 336 (5) Axis Related Error Axis No. Switch the axis number The contents of display differ depending on models. For RSEL ME0377-8A 14-12...
  • Page 337 (6) Selected Coordinate System (Valid only for applicable models and when the feature is activated) The coordinate system number currently selected in displayed. XSEL-X/KX, PX/QX, RX/SX, RAX/SAX XSEL-RXD/SXD, RAXD/SAXD MSEL-PCX/PGX, XSEL2-TX (Shown as Axis No. 1-3 in 3-aixs SCARA type) 6-axis Cartesian ME0377-8A 14-13...

  • Page 338: System Status

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

  • Page 339: Error List

    14.9 Error List 14.9.1 Error List Select Error List in the monitor items. The younger the number is, the newer the error. Generated Time shows the time after Error Code the power started to be supplied to the controller or after the software reset. Error Message For XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD TTA and MSEL-...
  • Page 340 RAXD/SAXD, TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF Error Message Time passed after controller power turned on or software reset conducted Detail Code is the information for IAI use in order to analyze a cause of error. (Contents should differ depending on the error number.)
  • Page 341 (2) Delete Error List Touch All Clr button (Clear button for RSEL and XSEL2-T/TX) to show the confirmation screen to clear the error list. Touch Yes button when you want to clear the error list. If you do not want to clear, touch No button. Image after Completing to Clear ME0377-8A 14-17...

  • Page 342: Driver Alarm List (For Applicable Models Only)

    14.9.2 Driver Alarm List (for applicable models only) (1) Display of Driver Alarm List Touch Driver alarm list button in the error list screen. Select an axis to be displayed in the list in the axis select screen. When Axes Group Disabled When Axes Group Enabled The driver alarm list of the axis selected in the axis select screen should be displayed.
  • Page 343 The information at the moment of a controller alarm being generated should be shown. (2) Deleting Driver Alarm List Touch the Clear button in the driver alarm list screen and the clear confirmation screen for the driver alarm list should appear. If you desire to clear the driver alarm list, touch the Yes button. If not to clear it, touch the No button.

  • Page 344: Version Information

    14.10 Version Information Displays version information. * Items available to select from and the content of display in each screen should differ depending on models. * Some models show this information in Main Menu 2 → Information → Version Information Depending on the controller, the I/O button may be changed to the Field Bus button.
  • Page 345 (2) Driver The driver CPU version is displayed. (3) Teaching Pendant The version of this product is shown. TP-Ver : Application version TPCore: Core version (4) I/O Version of extension I/O module is displayed (5) Encoder Version of encoder CPU is displayed ME0377-8A 14-21...
  • Page 346 (6) Option Unit Version of option unit is displayed. ME0377-8A 14-22...

  • Page 347: Control Constant Table Management Information

    14.11 Control Constant Table Management Information (for applicable models only) It is available to check the version of the control constant table for the encoder and monitor. ME0377-8A 14-23...

  • Page 348: Maintenance Information

    14.12 Maintenance Information (for applicable models only) Displays the number of actuator movement and distance. Some models show also the overload warning level, FAN total drive time, actuator replaced time, grease supplied time and drive distance after grease supply (only when features are supported). Also, some models are available to show the controller related maintenance information (only when the feature is supported).

  • Page 349: Maintenance Information Window

    14.12.1 Maintenance Information Window One of the following maintenance information windows should be shown in response to the controller type. 14.12.1.1 Maintenance Information (Controller) Window This window will show up when you touch the Controller maintenance info. button in the maintenance information menu.

  • Page 350: Maintenance Information (Actuator) Window

    14.12.1.2 Maintenance Information (Actuator) Window This window will show up when you touch the Maintenance Information button (or the Actuator maintenance info. button in the maintenance information menu when the maintenance information menu is in display) when connection is established to RSEL or XSEL2-T/TX. [Displayed Items in Maintenance Information (Actuator) Window] 1) Axis No.
  • Page 351 Every time Page Up or Page Dn button is touched, the axis number is switched in the screen. Touch the Actuator replacem button and the total number of drives and the total drive distance can be initialized (zero-cleared) and the actuator replaced time can be updated. Refer to [14.12.2 Actuator Replacement] for detail.

  • Page 352: Maintenance Information Window

    14.12.1.3 Maintenance Information Window This screen should appear when you touch the Maintenance Information button in the monitor menu when connection is established to models other than RSEL and XSEL2-T/TX. [Items Shown in Maintenance Information Screen] 1) Axis No. 2) Total moved count 3) Total run distance [km] * Clear PairID button is displayed only when the battery-less absolute encoder...
  • Page 353 [Output Timing (Threshold) Setting of Signals] 1) Axis. No. 2) Threshold for total moved count 3) Threshold for total run distance [km] 1) Axis No. It shows the axis number. 2) Threshold for total moved count It shows the threshold for the total moved count. 3) Threshold for total run distance [km] It shows the threshold for the threshold for total run distance.

  • Page 354: Actuator Replacement

    14.12.2 Actuator Replacement When the actuator is replaced, the total operation times and total operation distance can be initialized (cleared). In [14.12.1.2 Maintenance Information (Actuator) Window], actuator replaced time also gets updated. Touch Replace Act button. * The figure on the left shows a case of [14.12.1.3 Maintenance Information Window] as an example.

  • Page 355: Pairing Id Clear

    14.12.3 Pairing ID Clear The controller possesses a feature to output an absolute error when it checks the encoder ID and detects it is wrong. In case replacement is conducted with an actuator which the absolute reset has been executed, it is necessary to clear the existing ID (pairing ID). This feature is available only when the battery-less absolute encoder is connected and the pairing ID clear feature is activated.

  • Page 356: Fan Replacement

    14.12.4 Fan Replacement After the fan gets replaced, the fan total drive time can be initialized. This feature is valid only when the controller is equipped with a fan. Touch the FAN replacem. button. * The figure on the left shows a case of [14.12.1.2 Maintenance Information (Actuator) Window] as an example.

  • Page 357: Grease Supply

    14.12.5 Grease Supply After grease supply, update can be held on the maintenance information regarding grease supply (update of grease supplied time and initializing of drive distance after grease supply). This feature is valid only when the controller and actuators are applicable for the information management feature.

  • Page 358: Servo Additional Data Monitor (For Applicable Models Only)

    14.13 Servo Additional Data Monitor (for applicable models only) The servo additional data should be monitored in the display. The contents available to monitor differ depending on the model. When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group window should appear after you touch the Servo Additional Data button.
  • Page 359 [Displayed Items in Servo Additional Data Monitor Window] 1) Monitor Type Box 2) Data Display Area 1) Monitor Type Box Show and select the monitoring type to be displayed in the data display area. 2) Data Display Area The servo additional data selected in the monitor type box should be displayed for monitoring. Touch ▼...

  • Page 360: Monitor Data Output Display

    14.14 Monitor Data Output Display (for applicable models only) The monitor value in the monitor item set in the monitor data output setting window should be displayed. (Refer to [15.19.1 Monitor Data Output Setting] for how to set it up.) When both of the power supply unit status and axis status are set was the monitor items, touch the monitor data button and the select monitor data...

  • Page 361: Monitor Data (Power Supply Unit Status) Window

    14.14.1 Monitor Data (Power Supply Unit Status) Window This shows the monitor values in the power supply unit status. This window is available to go only when the power supply unit status is set as a monitor item. [Displayed Items in Monitor Data (Power Supply Unit Status) Window] 1) Monitor Item Select Box 2) Byte Swap Setting Display Box 3) Monitor Data Display Box...

  • Page 362: Monitor Data (Axis Status) Window

    14.14.2 Monitor Data (Axis Status) Window This shows the monitor values in the axis status. This window is available to go only when the axis status is set as a monitor item. [Displayed Items in Monitor Data (Axis Status) Window] 1) Swap Setting Display Box 2) Monitor Data Display Box 1) Swap Setting Display Box...

  • Page 363: Controller

    15. Controller How to execute operation related to the controller such as a software reset and an error reset. Touch Controller button in the menu screen. 15.1 Controller Items Next Next * The types and the positions of the buttons shown on the screen differ depending on the model types. ME0377-8A 15-1...
  • Page 364 Flash ROM Writing : Conducts flash ROM writing Software Reset : Conducts software reset on controller Error Reset : Resets the controller error Memory Clear : Clears each memory on controller Re-Connection : Conducts reconnection of the controller Baud Rare Change : Changes the baud rate for communication with the controller Request Power Recovery : Demands the drive source recovery to the controller Request Release Pause...

  • Page 365: Flash Rom Writing

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

  • Page 366: Software Reset

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

  • Page 367: Error Reset

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

  • Page 368: Memory Clear

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

  • Page 369: Global Variable

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

  • Page 370: User Data Hold Memory

    15.5.3 User Data Hold Memory Refer to [17.3 User Data Hold Memory Initialization]. 15.5.4 Position Data (XSEL-R/S/RX/SX/RXD/SXD/RA/SA/RAX/SAX/RAXD/SAXD, TTA , MSEL-PC/PG/PCF/PGF/PCX/PGX, RSEL and XSEL2-T/TX Only) Position data is cleared. Initialize the position data by using this function in case 6BD “Position Data Construction Change Error”...
  • Page 371 To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 372 Once the software reset is complete, the display returns to the main menu screen. When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group window should appear after you touch the Position button.

  • Page 373: Coordinate System Data

    15.5.5 Coordinate System Data (XSEL-RX/SX/RXD/SXD/RAX/SAX/RAXD/SAXD, MSEL-PCX/PG, RSEL and XSEL2-TX 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 374 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. ME0377-8A 15-12...

  • Page 375: The Value Of This Parameter At The Factory

    15.5.6 The Value of This Parameter at the Factory (SSEL, ASEL, PSEL, XSEL-R/S/RX/SX/RXD/SXD/RA/SA/RAX/SAX/ RAXD/SAXD, TTA AC Servo Type / High-Resolution Type and MSEL High- Resolution Type, RSEL and XSEL2-T/TX) Set the parameters back to the condition of delivery from the production plant. The password input window appears.
  • Page 376 To write the data to the flash ROM, touch Yes button. If writing is not necessary, touch No button. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 377 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. ME0377-8A 15-15...

  • Page 378: Program Data (Restore Prev Data)

    15.5.7 Program Data (Restore Prev Data) The flash ROM writing data in the program data is recovered to the writing data of one generation before. Touch Yes button when you want to set the program data one generation before. When it is not necessary to set the program data one generation before, touch No button.
  • Page 379 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. Flash ROM writing is complete. Touch OK button to return to the edit menu screen. ME0377-8A 15-17...

  • Page 380: Symbol Data (Restore Prev Data)

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

  • Page 381: Position Data (Restore Prev Data)

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

  • Page 382: Parameter Data (Restore Prev Data)

    15.5.10 Parameter Data (Restore Prev Data) The flash ROM writing data in the Parameter data is recovered to the writing data of one generation before. Touch Yes button when you want to set the parameter data one generation before. When it is not necessary to set the parameter data one generation before, touch No button.
  • Page 383 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the software reset screen. To activate the parameters that you had changed, it is necessary to have a software reset.

  • Page 384: Re-Connection

    When it is not necessary to reconnect the controller, touch No button. Once you touch Yes button, 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 385: Baud Rate Change

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

  • Page 386: Safety Velocity

    15.8 Safety Velocity Switches the safety velocity limit status at manual mode. Safety Velocity Limit does not Effect… There is no safety speed limitation Safety Velocity Limit Effect… There is safety speed limitation (No matter what the settings are for the programs and parameters, the maximum velocity for linear axis is 250mm/s or less, CP operation 250mm/s or less for SCARA and PTP operation at 3% or...

  • Page 387: Request Release Pause

    15.10 Request Release Pause Requests to release action pause to the controller. Refer to [15.12 Driver Power Recovery Request and Action Pause Release Request]. To demand the cancellation of the operation pause, touch Yes button. The display returns to the previous screen.
  • Page 388 When you select to forbid the simultaneous operation of multiple programs, the confirmation screen will be displayed. To establish the setting, touch Yes button. When it is not necessary to establish the setting, touch No button. When you select to allow the simultaneous operation of multiple programs, the confirmation screen will be displayed.

  • Page 389: Driver Power Recovery Request And Action Pause Release Request

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

  • Page 390: In The Case Of Ssel, Asel Or Psel Controller

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

  • Page 391: Time Setting

    15.13 Time Setting Time setting should be established in the controller. The time displayed in the Error Detailed Data screen is the error occurrence time. * This function is valid only for the following models : • XSEL-R/S, RX/SX, RXD/SXD (MAIN Application from Version 0.01) •...
  • Page 392 The display turns to the confirmation screen when the controller clock setting is finished. Touch OK button to return to the clock display screen. The display returns to this screen. Touch Back button to return to Controller Menu screen. ME0377-8A 15-30...

  • Page 393: Clear Pairid

    15.14 Clear PairID The controller possesses a feature to output an absolute error when it checks the encoder ID and detects it is wrong. In case replacement is conducted with an actuator which the absolute reset has been executed, it is necessary to clear the existing ID (pairing ID). This feature is available only when the battery-less absolute encoder is connected and the pairing ID clear feature is activated.
  • Page 394 Touch Yes button when the paired I.D. is to be cleared. Touch No button when the paired I.D. is not to be cleared. Once the process is completed, the screen changes to the figure shown in the left. Touch OK button to go back to axis number select screen.

  • Page 395: Setting Collision Detection Function

    15.15 Setting Collision Detection Function Collision detection function should be switched Enable/Disable. If the collision detection function is valid, there is a case that an axis cannot move after getting into a condition of collision detected when the servo gets turned while the axis is in contact with a peripheral. Use this feature to disable the collision detection function temporarily.

  • Page 396: Release Compliance Mode

    15.16 Release Compliance Mode Compliance mode should be release. When a SEL program using the compliance control gets interrupted due to such an occasion as an error occurrence, there may be a case that the compliance mode is kept valid. If it is required to switch back to the normal control, cancel the compliance mode using this feature.

  • Page 397: Axis Number Assignment

    15.17 Axis Number Assignment It is necessary to have an assignment of the axis numbers after a change to the unit construction for RSEL and XSEL2-T/TX. Assign the axis numbers using this feature. Touch the Allocate Axis No. button in the controller menu window.
  • Page 398 [Displayed Items in Allocate Axis No. Window (RSEL)] 1) Unit No. 2) Unit type 3) Axis model number 4) Axis No. 1) Unit No. 2) Unit type 3) Axis model number 5) Axis Grp.No. - Axis No. [Displayed Items in Allocate Axis No. Window (XSEL2-T/TX)] 1) Unit No.
  • Page 399 1) Unit Number Display It shows the unit number of the driver unit. 2) Unit Type Display It shows the unit type of the driver unit. 3) Axis Model Code Display It shows the axis model code information acquired from the driver unit or the actuator unit. It should show “Unknown”...

  • Page 400: Basic Operation

    15.17.1 Basic Operation [Assignment Change by Direct Input of Axis Number] When it is preferred to indicate an axis number to assign to an actuator expressly, follow the procedures below to assign an axis number. Touch in an input box for an axis number that you require to have an assignment change.
  • Page 401 Have an input to all the points that you require to make assignment changes, and then touch the Write button. A confirmation window shows up. Touch the Yes button. The contents that you edited should be written to the controller. Note that the process cannot be cancelled once touching the Yes button.
  • Page 402 While in the process of controller reboot, “Controller Restarting...” flashes. Once the reboot is complete, the main menu will appear. When the axis number assignment mode is the advanced setting (axis number assignment with using axes groups), it is necessary to input an axes group number and axis number in a row in the axis number input.
  • Page 403 Input an axes group number and touch the ENT button. The cursor moves to the axis number input position. If it is required to cancel the assignment, touch CLR and ENT. Input an axis number and touch the ENT button. The keyboard closes.
  • Page 404 [Axis Number Assignment Change by Axis Number Auto Assignment] If you require to have an automatic input of an axis number to be assigned to an actuator, follow the procedures below to assign axis numbers. Touch the Auto allocation button. A confirmation window shows up.

  • Page 405: Axis Number Assignment Mode Switchover

    15.17.2 Axis Number Assignment Mode Switchover There is the advanced setting (axis number assignment with using axes groups) as well as the normal setting (axis number assignment without using axes groups) in the axis number assignment. Follow the procedures below to switch over between the normal setting and advanced setting. Advanced Setting : System to manage several axes as a “axes group”...
  • Page 406 In order to switch the axis number assignment mode back to the normal setting from the advanced setting, follow the procedures below. Touch the Rls. axes grp. button. A confirmation window shows up. Touch the Yes button. Touch the Yes button and the current assignment information will be discarded.

  • Page 407: Axis Number Assignment For Combined Axes

    15.17.3 Axis Number Assignment for Combined Axes For RSEL, there is a limit to the assigned axis numbers for the combined axes such as Orthogonal 6- axis and wrist units. Make sure to consider the limit of the axis number input when inputting an axis number.

  • Page 408: Wrist Unit

    15.17.3.2 Wrist Unit Axis number assignment for the wrist unit should be performed following the procedures below. * It is necessary to have B-axis and T-axis existed. For the driver unit of the wrist unit, the constructing axes information ((B) and (T)) should be displayed after the axis model code.

  • Page 409: Multi-Slider

    15.17.3.3 Multi-Slider Axis number assignment for the multi-slider should be performed following the procedures below. * It is necessary to have axes for all multi-slider units existed. For the driver unit of the multi-slider, the constructing axes information (MS) should be displayed after the axis model code.

  • Page 410: Synchronized Axes

    15.17.3.4 Synchronized Axes Axis number assignment for the synchronized axes should be performed following the procedures below. * It is necessary to have both synchronized master axis and synchronized slave axes existed. For the driver unit of the synchronized axes, the constructing axes information (M (= master axis) and S (= slave axes)) should be displayed after the axis model code.
  • Page 411 * Shown in the figure on the left is a condition that two combinations of synchronized axes are established. (It is the combination that the same identification number is constructed) * If it is an unexpected combination, clear the axis number at once and input a number again.

  • Page 412: Input/Output Port Assignment

    15.18 Input/Output Port Assignment (for applicable models only) Assignment of the input and output ports should be conducted on the fieldbus and option unit. Touch the Assign Input/Output Port button in the controller menu window to show the input and output port assignment window.
  • Page 413 • Allocate input/output port type : The assignment type can be selected from "Fix" and "Auto". • Number of ports used for fieldbus remote input : Setting can be established for the number of the remote input ports used in I/O Fieldbus. •...
  • Page 414 For the number of connected option units, touch the Match with the current configuration button and the number of unit currently connected should automatically get input. Touch the Write button after all the settings inputs are done, and the data should get transferred to the controller.

  • Page 415: Input/Output Port Data Assignment

    15.19 Input/Output Port Data Assignment (for applicable models only) Conduct the feature assignment and port assignment for monitor data output, output feature select and input feature select. Touch the Assign Input/Output Port Data button in the controller menu window. The input/output port data assignment menu should appear.

  • Page 416: Monitor Data Output Setting

    15.19.1 Monitor Data Output Setting Set the monitor data output from the output port. The output value of the monitor data can be monitored on the output port and also can be checked in the monitor data output display window. (Refer to [14.14 Monitor Data Output Display] for how to display on the monitor data output display window.) [Displayed Items in Monitor Data Output Setting Window]...
  • Page 417 3) Monitor Data Setting Box Select/set the monitor data output from the output ports. : Monitor numbers are shown (1 to 9) Power / EC / AxisNo. : Types of monitor items are shown. When the monitor item is the power supply unit status (RSEL only), it shows “Power Supply”, when EC status (RSEL, XSEL2-T/TX), it shows “EC”, and when axis status, shows the axis number that is subject to monitoring.

  • Page 418: Output Feature Select Setting

    15.19.2 Output Feature Select Setting Select a feature to be assigned to the output port. Also, set an output port number to assign the feature. [Displayed Items in Output Feature Select Setting Window] 1) Output Port Domain Display Box 2) Output Feature Select Setting Box 1) Output Port Domain Display Box This shows the range of output ports.
  • Page 419 Touch the Page Up or Page Dn button and the range of the displayed output feature numbers will switch. After setting input is complete, touch the Write button to transfer the settings to the controller. Once the writing is started, when going back to the menu window with the Back button, a confirmation of flash ROM writing and software reset should come up.

  • Page 420: Input Feature Select Setting

    15.19.3 Input Feature Select Setting Select a feature to be assigned to the input port. Also, set an input port number to assign the feature. [Displayed Items in Input Feature Select Setting Window] 1) Input Port Domain Display Box 2) Input Feature Select Setting Box 1) Input Port Domain Display Box This shows the range of input ports.
  • Page 421 Touch the Page Up or Page Dn button and the range of the displayed output feature numbers will switch. After setting input is complete, touch the Write button to transfer the settings to the controller. Once the writing is started, when going back to the menu window with the Back button, a confirmation of flash ROM writing and software reset should come up.

  • Page 422: Option Unit Setting

    15.20 Option Unit Setting (only for applicable models and the feature is enabled) The setting for the option unit (e.g. switching enable/disable of JOG Switch on RCON-EC) should be performed. Touch the Option unit button in the controller menu window to show the option unit setting window. * The position of the button may differ depending on the model to connect.

  • Page 423: Option Unit Allocate I/O

    15.20.2 Option Unit Allocate I/O Display and setting of the option unit I/O assignment should be conducted. Touch either the Unit + or Unit - button and the unit number should change. When the unit type is RCON-EC, the control system should be set in a host device (such as PLC) or in the SEL program.

  • Page 424: Elecylinder Connection Module Board I/O Assignment

    15.21 ELECYLINDER Connection Module Board I/O Assignment (for applicable models only) I/O assignment and setting of the ELECYLINDER connection module board should be performed in this feature. Touch the Assign I/O Elecylinder connect module board button in the controller menu window. * The position of the button may differ depending on connected models.
  • Page 425 Set up the control system to the software PLC, host device (such as PLC) or SEL program. If it is set to a SEL program, ELECYLINDER and the input and output port assignment should be displayed. If the control system is set to the host device (such as PLC), the host device, ELECYLINDER and input and output port assignment should be displayed.

  • Page 426: Ec Operation Mode

    15.22 EC Operation Mode (only for applicable models and the feature is enabled) The ELECYLINDER operation mode setting in the manual mode (MANU) should be established. Touch the EC operation mode button in the controller menu window to show the EC operation mode change window.
  • Page 427 * Set it to either Teach 1 or Teach 2 when operating the jog switch on EC Interface. Touch a button of a mode to be selected and touch the OK button. Touch Yes button in the confirmation window. Touch the No button and the screen returns to the EC operation mode change window.

  • Page 428: Brake Control

    15.23 Brake Control (for applicable models only) When connected to a brake control applicable model, the Brake control button should be displayed in the controller menu window. Touch it and the screen shifts to the brake control window. When several axis group are set, an axis group of an axis that you would like to have a brake control should be selected with the Axes group No.
  • Page 429 When the brake is to be locked, confirm the servo in the axis number to lock is off, and touch the Lock button in the brake operation column. When it is locked, the brake status should be shown “Lock”. When the servo is on, touch the Back button to return to the teach window, turn the servo off and turn it back on to lock it.
  • Page 430 ME0377-8A 15-68...

  • Page 431: Absolute Reset

    16. Absolute Reset 16.1 Absolute Reset of the Orthogonal Axis Axes of XSEL-K/P/Q/R/S, or 5th and 6th Axes of XSEL-PX/QX, 5th to 8th Axes of XSEL-RX/SX, SSEL and ASEL Controller When the controller is applicable to the “battery-less absolute reset”, the procedure is different.
  • Page 432 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. 4) Returning Home Touch OK button. ME0377-8A 16-2...
  • Page 433 5) Servo-OFF Touch OK button. 6) Encoder Rotation Data Reset 2 Touch OK button. Return to the axis No. input screen. When you want to have another axis conduct absolute reset, input the axis number and touch OK button. To finish absolute reset, touch Re-Start controller button.

  • Page 434: Absolute Reset Of The Scara Axis

    16.2 Absolute Reset of the SCARA Axis 16.2.1 XSEL-KX/RXD/SXD or 1st to 4th Axes of XSEL-PX/QX/RX/SX When the controller is applicable to the “battery-less absolute reset”, the procedure is different. In such case, perform the absolute reset operation following the [16.2.2 Battery- less Absolute SCARA Reset Applicable Absolute Reset Procedure].
  • Page 435 There are three types of absolute reset, Arm1, Arm2 and Z-axis + R-axis. (1) Absolute Reset on Arm1 and Arm2 Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes button. When not to have an absolute reset, touch No button.
  • Page 436 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. 4) Jog Movement Move the actuator with jog to a point near the standard posture (refer to the figures for standard posture in the following pages), and touch OK button.
  • Page 437 5) Servo-OFF Touch OK button. 6) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig. Fix at the datum posture described in the next page, and touch OK button. Inputting emergency stop displays the screen at the left.
  • Page 438 Check that the EMERGENCY STOP button has been pressed. When performing an absolute reset for Arm1, set an adjustment jig (pin) in Arm1 to fix the arm at the reference position. In that case, Arm2 may be moved. When performing an absolute reset for Arm2, set an adjustment jig (pin) in Arm2 to fix the arm at the reference position.
  • Page 439 ME0377-8A 16-9...
  • Page 440 Warning: Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. ME0377-8A 16-10...
  • Page 441 7) Encoder Rotation Data Reset 2 Touch OK button. 8) Home pos. automatic update Touch Page Up button. Make sure not to touch OK button • Do not execute the item of “Home pos. automatic update” (Be careful especially when performing an absolute reset without a jig.) •...
  • Page 442 The display returns to the first screen. Touch CANCEL button. Touch Re-Start controller button. Restart the controller. Touch Yes button. The display returns to the main menu when the reboot is finished. Caution: Be careful not to perform reset using an incorrect sequence, since it may cause the arm position to become offset.
  • Page 443 (2) Absolute reset on Z-axis + R-axis Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes button. When not to have an absolute reset, touch No button. The display returns to the previous screen. Axis No. input Input 3 on the touch panel numeric keys to indicate the axis number to have the absolute reset conducted, and touch ENT for confirmation.
  • Page 444 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. ME0377-8A 16-14...
  • Page 445 4) Temp. standard posture standby Touch OK button. Caution: The Z-axis returns to the home position. 5) Jog Movement Move the R-axis with the jog button to a place around the standard posture (refer to the figures of standard posture in the next page and after), and touch OK button.
  • Page 446 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. Fix at the datum posture described in the next page, and touch OK button. Inputting emergency stop displays the screen at the left.
  • Page 447 Place the adjusting jig plate and pin as shown below and fix the standard posture. • After checking that the EMERGENCY STOP switch has been pressed, set the jig. • Set the jig by referring to the positioning mark. • Adjust the level so that the top surface of the stopper approximately agrees with the under surface of the Arm2.
  • Page 448 Warning: Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. ME0377-8A 16-18...
  • Page 449 ME0377-8A 16-19...
  • Page 450 Warning: • Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. • Pay attention to the orientation of the D-cut surface of the plate jig. ME0377-8A 16-20...
  • Page 451 8) Encoder Rotation Data Reset 2 Touch OK button. 9) Home pos. automatic update Touch OK button. 10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP button. Touch OK button.
  • Page 452 12) Standard posture standby Touch OK button. Caution: The Z-axis returns to the home position. 13) Servo-OFF Touch OK button. 14) Encoder Rotation Data Reset 3 Touch OK button. 15) Home pos. automatic update Touch OK button. ME0377-8A 16-22...
  • Page 453 The display returns to the first screen. Touch CANCEL button. The display returns to the previous screen. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed.
  • Page 454 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. ME0377-8A 16-24...

  • Page 455: How To Conduct Absolute Reset For Battery-Less Absolute Scara Type

    16.2.2 How to Conduct Absolute Reset for Battery-less Absolute SCARA Type Absolute Reset on SCARA Axes: Follow the procedures below to conduct the absolute reset on 1st to 4th Axes of XSEL-RAX/SAX and XSEL2-TX (axes group No. 1), 1st to 4th Axes or 5th to 8th Axes of XSEL-RAXD/SAXD. (*1 1st to 3rd Axes for 3-axis SCARA type) There are some types as shown below for the absolute reset.
  • Page 456 (i) For Battery-less Absolute Encoder 4) Emergency stop and Positioning jig mounting Press the EMERGENCY STOP button, and then attach the positioning tool. Affix to the standard posture (refer to figure of standard posture in [16.2.1 (1)]), and then touch OK button. * After touching OK, Encoder Multi-Rotation Data Reset 2 and Home Position Preset Automatic Update should be conducted.
  • Page 457 7) Touch Yes button to start flash ROM writing. 8) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 9) Once the flash ROM writing is finished, the screen changes to the screen for software reset.
  • Page 458 (i) For Battery-less Absolute Encoder excluded 4) Emergency stop and Positioning jig mounting Press the EMERGENCY STOP button, and then attach the positioning tool. Affix to the standard posture (refer to figure of standard posture in [16.2.1 (1)]), and then touch OK button.
  • Page 459 6) Positioning jig removal and Emergency stop release Detach the positioning tool. Release the EMERGENCY STOP button before touching OK button. * After confirming OK, the screen automatically returns to the axis select screen. Touch Re-Start controller button. Restart the controller. Touch Yes button.
  • Page 460 (2) Absolute reset on Z-axis + R-axis * For 4-Axis SCARA 1) Input the axis number to the axis number box using the touch panel numeric keys, and then touch Next button. * Input the axis number of the Z-axis (either 3 or 2) Encoder Rotation Data Reset 1 (Rc, Zc) to Temp.
  • Page 461 4) Emergency stop input and Positioning pin set Press the EMERGENCY STOP button. Set the brake release switch on the controller to the RLS side or touch the Brake release button (when the button is activated) to release the brake in the confirmation window.
  • Page 462 6) Complete! Touch OK button. * After confirming OK, the screen automatically returns to the axis select screen. 7) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 8) Touch Yes button to start flash ROM writing. 9) While in writing process to flash ROM, the screen.
  • Page 463 10) Once the flash ROM writing is finished, the screen changes to the screen for software reset. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. Once the software reset is complete, the display returns to the main menu screen.
  • Page 464 (3) Absolute reset on Z-axis * For 3-Axis SCARA 1) Input the axis number to the axis number box using the touch panel numeric keys, and then touch Next button. * Input the axis number of the Z-axis (either 3). 2) Absolute Reset Touch OK button.
  • Page 465 5) Touch Yes button to start flash ROM writing. 6) While in writing process to flash ROM, the left screen. Never turn off the power to the Controller at this time. 7) Once the flash ROM writing is finished, the screen changes to the screen for software reset.

  • Page 466: Perform Absolute Reset On Zr Unit (Absolute Type)

    16.3 Perform Absolute Reset on ZR Unit (Absolute Type) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required.
  • Page 467 [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 468 1) Encoder Rotation Data Reset 1 Touch OK button. 2) Reset Controller Error Touch OK button. 3) Servo-ON Touch OK button. 4) Temp. Standard posture standby Touch OK button. Caution: The vertical axis returns to the home position. ME0377-8A 16-38...
  • Page 469 5) Jog Movement Move the rotary axis with the jog button to a place around the standard posture (refer to the figures of standard posture in the next page and after), and touch OK button. 6) Servo-OFF Touch OK button. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 470 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 471 8) Encoder Rotation Data Reset 2 Touch OK button. 9) Home pos. automatic update Touch OK button. 10) Adjusting jig removal and emergency off Remove the adjusting jig. Set the brake releasee switch back to the NOM side or touch the Brake lock button (when the button is activated) to lock the brake.
  • Page 472 12) Standard posture standby Touch OK button. Caution: The vertical axis returns to the home position. 13) Servo-OFF Touch OK button. 14) Encoder Rotation Data Reset 3 Touch OK button. 15) Home pos. automatic update Touch OK button. ME0377-8A 16-42...
  • Page 473 Touch CANCEL button. Touch Re-Start controller button. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 474 After flash ROM writing is complete, the display changes to the software reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. The screen shown on the left is displayed during the software reset.

  • Page 475: Perform Ball Screw Spline Shaft Adjusting On Zr Unit (Incremental Type)

    16.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) Normally, adjustment of the ball screw spline shaft adjusting is not required. Perform it only when the combination of the main unit and the controller is changed because the ZR unit or controller is changed.
  • Page 476 [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 477 1) Reset Controller Error Touch OK button. 2) Servo-ON Touch OK button. 3) Temp. Standard posture standby Touch OK button. Caution: The vertical axis returns to the home position. 4) Returning Home Touch OK button. Caution: The rotation axis returns to the home position. ME0377-8A 16-47...
  • Page 478 5) Jog Movement Move the rotation axis to the vicinity of the standard position with jog button (see the “Standard Posture Drawing” on the next page). Touch OK button. 6) Servo-OFF Touch OK button. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 479 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 480 8) Home pos. automatic update Touch OK button. 9) Adjusting jig removal and emergency off Remove the adjusting jig. Set the brake releasee switch back to the NOM side or touch the Brake lock button (when the button is activated) to lock the brake. Touch OK button.
  • Page 481 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 482 ME0377-8A 16-52...

  • Page 483: Linear Axis Synchro Specification Absolute Reset

    16.5 Linear Axis Synchro Specification Absolute Reset 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. However, change the parameters when executing an absolute reset. 16.5.1 Synchro Axes Synchro axes are comprised of the master axis (main axis) and the slave axis (sub-axis).
  • Page 484 Example 2) When standard procedure is executed for 2-axis controller: ME0377-8A 16-54...

  • Page 485: Location Adjustment Of Synchro Axes Sliders

    16.5.2 Location Adjustment of Synchro Axes Sliders Align the synchro axes sliders. (Physical parallel adjustment) (1) Adjust the relative locations between the sliders of the master and slave axes and connect them while the axes are not connected to the controller via cables (controller main power OFF). (2) If location adjustment cannot be made while the axes are not connected to the controller via cables (such as with the brake), follow the steps below.

  • Page 486: Special Procedure Absolute Reset

    16.5.3 Special Procedure Absolute Reset In the case of “Specific-axis parameter No. 38 encoder ABS/INC type”: master axis = 1 and slave axis = 1: When a connected controller is XSEL2-T/TX, refer to 16.14 “Absolute Reset for Synchronizing Axis: XSEL2-T/TX”. When a connected controller is other than XSEL2-T/TX and it is a battery-less absolute applicable model, refer to 16.8.2 “Battery-less Absolute Applicable Synchronizing Type Absolute Reset Procedures”.
  • Page 487 Touch Back button several times to go to Flash ROM writing screen. Write the data to Flash ROM. Touch Yes button. Conduct the reboot (software reset) on the controller. Touch Yes button. (3) Execute an absolute reset according to the following special procedure (forced operation by ignoring the screen steps): When the controller is applicable to the “battery-less absolute reset”, the procedure is different.
  • Page 488 Touch OK button. Touch CANCEL button. Make sure not to touch OK button. Get out of Absolute Reset Mode now. 2) Execute an absolute reset for the master axis according to the screen steps. Input the axis number of the master axis by using the touch panel numeric keys, and then touch ENT to confirm the input.
  • Page 489 Touch OK button. Touch OK button. Returning Home Touch OK button. Servo-OFF Touch Page Up button to forward the screen. Make sure not to touch OK button. ME0377-8A 16-59...
  • Page 490 Touch OK button. 3) Execute the “Encoder Rotation Data Reset 1” for the slave axis again Input the axis number of the slave axis by using the touch panel numeric keys, and then touch ENT to confirm the input. Touch Next button. Touch OK button.
  • Page 491 Touch Re-Start controller button. Restart the controller. Touch Yes button. ME0377-8A 16-61...
  • Page 492 4) Return the slave-axis value for the “specific-axis parameter No. 83 ABS synchro slave axis coordinate initialization cancel” to the original value. Display Transition: Edit → Parameter → Specific Axis Input 1 on the touch panel numeric keys, and then touch ENT to confirm the input.
  • Page 493 (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 494 3) Input the calculation result in 2) above to the “Specific-axis parameter No. 12 preset home value” for the slave axis. After touching ENT, touch Write button to transfer the data to the controller. Use Back button to go to Flash ROM writing screen.
  • Page 495 (6) Display the current positions on the teaching screen. After turning the servo ON, execute action check by jogging. (Master axis operation) Display Transition: Edit → Position → Teach (Linear) Use Disp button to switch to the Cur Pos.. To turn the servo ON/OFF, use the SERVO ON/OF, Axis 1 JOG-, Axis 1 JOG+, Axis 2 JOG-, Axis 2 JOG+, Axis 3 JOG-, Axis 3 JOG+, Axis 4 JOG- and...

  • Page 496: Standard Procedure Absolute Reset

    16.5.4 Standard Procedure Absolute Reset In the case of “Specific-axis parameter No. 38 encoder ABS/INC type”: master axis = 1 and slave axis = 0: After “2. Location Adjustment of Synchro Axes Sliders,” execute a normal absolute reset only for the master axis.
  • Page 497 16.6 Push Type Absolute Reset on IX-1000/1200 Have “Pressing Absolute Reset” conducted in case the absolute data is lost in Ultra Large SCARA Robot IX-NNN10040/IX-NNN12040. Also, in the following cases, have “Stopper Pressing Position Acquirement” before conducting the absolute reset to change the initial posture. ...
  • Page 498 [Initial posture] Arm1, Arm2  Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. When the product is delivered, it is set to the right arm system. In case the arm interferes with the peripheral in the right arm system, set it to the left arm system in advance, conduct “Push stopper position acquisition”...

  • Page 499: How To Acquire Stopper Pressing Position

    16.6.1 How to Acquire Stopper Pressing Position Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) Select Absolute Reset from Controller Menu.

  • Page 500: Procedures For All Axes In Batch

    16.6.1.1 Procedures for All Axes in Batch 1) Either touch 1-4 or 5-8 button, and touch Next button. * There is 5-8 button equipped in XSEL- RXD/SXD/RAXD/SAXD only. * It should be from 1-3 button for 3-axis SCARA 2) Remove user tool In case there is a concern of interference during operation, detach the user tool in the emergency stop condition.
  • Page 501 5) Moving to Initial Posture 1. If using JOG operation to align to initial posture To avoid interference, use JOG operation to align each axis to the initial posture. Touch OK button. 2. If aligning to initial posture manually Turn on the emergency stop. Align each axis to the initial posture manually.
  • Page 502 8) The screen goes back to the first screen once the process is complete. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen.

  • Page 503: Procedures For Individual Axis

    16.6.1.2 Procedures for Individual Axis 16.6.1.2 (1) Arm1 and Arm2 1) Input either 1 or 2 (5 or 6) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that Arm1 on the 1st SCARA in XSEL- RXD/SXD is selected.
  • Page 504 4) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of [16.6. How to Perform Pressing Absolute Reset on IX-1000/1200].) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo ON.
  • Page 505 7) Selection for Moving Direction of Arm1 (2) 1. If conducting with motor drive Touch the radio button for motor drive. Touch OK button. 2. If conducting manually Touch the radio button for manual (hand) . Touch OK button. Note: Touch CANCEL button to finish the absolute reset.
  • Page 506 10) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 11) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 12) Touch Yes button to start flash ROM writing. ME0377-8A 16-76...
  • Page 507 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 screen for software reset. Touch Yes button to reflect the pressing position.
  • Page 508 16.6.1.2 (2) Vertical Axis + Rotation Axis * For 4-Axis SCARA 1) Input either 3 or 7 (7 for XSEL-RXD/SXD/ RAXD/SAXD only) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that vertical axis + rotation axis on the 1st SCARA in XSEL-RXD/SXD are selected.
  • Page 509 5) Moving to Initial Posture 1. If using JOG operation to align to initial posture To avoid interference, use JOG operation to align the vertical axis and rotary axis to the initial posture. Touch OK button. 2. If aligning to initial posture manually Turn ON the emergency stop.
  • Page 510 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time.
  • Page 511 16.6.1.2 (3) Vertical Axis * For 3-Axis SCARA 1) Input 3 in “Axis No.” box with using the software numeric keys, and then touch the Next button. The figure on the left shows the condition that the vertical axis has been selected in XSEL-RAX/SAX or XSEL2-TX (3-axis SCARA).
  • Page 512 5) Moving to Initial position 1. If using JOG operation to align to initial position To avoid interference, use JOG operation to align the vertical axis and rotary axis to the initial position. Touch OK button. 2. If aligning to initial position manually Turn ON the emergency stop.
  • Page 513 8) Stopper Pressing Movement of Vertical Axis (in Motor Drive) Touch OK button. The vertical axis moves in the stopper pressing movement and acquire the pressing position. 9) Stopper Pressing Movement of Vertical Axis (in Manual) Set the brake release switch to the RLS side or touch the Brake release button (when the button is activated) to release the brake in the confirmation window.
  • Page 514 12) Touch Yes button to start flash ROM writing. 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 screen for software reset.

  • Page 515: How To Conduct Stopper Pressing Absolute Reset

    16.6.2 How to Conduct Stopper Pressing Absolute Reset Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) Select Absolute Reset from Controller Menu.

  • Page 516: Procedures For All Axes In Batch

    16.6.2.1 Procedures for All Axes in Batch 1) Touch 1-4 or 5-8 button, and touch Next button. * There is 5-8 button equipped in XSEL- RXD/SXD/RAXD/SAXD only. * It should be from 1-3 button for 3-axis SCARA. 2) Encoder Rotation Data Reset / Reset Controller Error Touch OK button.
  • Page 517 5) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of 16.6. How to Perform Pressing Absolute Reset on IX-1000/1200) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo on.
  • Page 518 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen.
  • Page 519 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button. (ii) For 3-Axis SCARA 6) Moving to Initial Posture 1. If using JOG operation to align to initial posture To avoid interference, use JOG operation to align each axis to the initial posture.
  • Page 520 8) Arm 1 and Arm 2 Stopper Pressing Style Absolute Reset Touch OK button. The axis moves in the order from the Arm 2 stopper pressing movement to the Arm 1 stopper pressing movement. 9) The screen goes back to the initial screen once it is finished.

  • Page 521: Procedures For Individual Axis

    16.6.2.2 Procedures for Individual Axis 16.6.2.2 (1) Arm1 and Arm2 1) Input either 1 or 2 (5 or 6) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that Arm1 on the 1st SCARA in XSEL- RXD/SXD is selected.
  • Page 522 4) Emergency stop release If the emergency stop is conducted in the previous section, cancel the emergency stop. (The screen for emergency stop is shown in the figure on the left.) Touch OK button. 5) Align the arm to the initial posture with JOG operation or manually.
  • Page 523 7) Stopper Pressing Absolute Reset on Indicated Axis Touch OK button. Arm1 (2) moves for stopper pressing. 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears.
  • Page 524 11) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button. ME0377-8A 16-94...
  • Page 525 16.6.2.2 (2) Vertical Axis + Rotation Axis * For 4-Axis SCARA 1) Input either 3 or 7 (7 for XSEL-RXD/SXD/ RAXD/SAXD only) in Axis No. box with using the software numeric keys, and then touch Next button. Shown in the figure on the left is the condition that vertical axis + rotation axis on the 1st SCARA in XSEL-RXD/SXD are selected.
  • Page 526 5) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of [16.6. How to Perform Pressing Absolute Reset on IX-1000/1200].) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo ON.
  • Page 527 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen.
  • Page 528 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button. ME0377-8A 16-98...
  • Page 529 16.6.2.2 (3) Vertical Axis * For 3-Axis SCARA 1) Input 3 in “Axis No.” box with using the software numeric keys, and then touch the Next button. The figure on the left shows the condition that the vertical axis has been selected in 3-axis SCARA.
  • Page 530 5) Align the arm to the initial posture with JOG operation or manually. (The initial posture is the position stated in the beginning of [16.6].) 1. If using JOG operation to align to initial posture Touch OK button to turn the servo ON. 2.
  • Page 531 8) The screen goes back to the initial screen once it is finished. Touch CANCEL button. 9) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. 10) Touch Yes button to start flash ROM writing. 11) While in writing process to flash ROM, the screen.
  • Page 532 12) Once the flash ROM writing is finished, the screen changes to the screen for software reset. Touch Yes button. ME0377-8A 16-102...

  • Page 533: Home Adjustment / Absolute Reset On Msel-Pc/Pg/Pcf/Pgf/Pcx/Pgx, Psel

    16.7 Home Adjustment / Absolute Reset on MSEL-PC/PG/PCF/PGF/PCX/PGX, PSEL Backup the parameters so that they can be put back anytime to those before changing them. (Go to File – Backup – Parameter in the main menu to open the parameter backup screen and save the file.) 1) Select Calibration Home / Absolute Reset from Controller Menu.
  • Page 534 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 535: Scara J1, J2 And R Axes

    16.7.1 SCARA J1, J2 and R Axes 16.7.1.1 How to Calibration Home / Absolute reset Have the absolute reset and home adjustment (home preset automatic update) conducted with the following steps for SCARA J1, J2 and R axes. 1) Input a number in Axis No. box with using the software numeric keys, and then touch Next button.
  • Page 536 3) Jog -> Standard posture Align the indicated axis to the vicinity of the datum position with JOG operation. (Refer to the figure in Step 6) for the datum position.) After finished, touch OK button. * After touching OK, the indicated axis turns off automatically.
  • Page 537 6) Fixture Set for Home Adjustment Set the fixture (positioning pin) for home adjustment. After setting is complete and fixed at the datum posture, touch OK button. * After touching OK, home preset gets automatically updated. [Datum position] J1 axis Home-Position Adjusting Tool (4) Home-Position...
  • Page 538 7) Removal of Fixture for Home Adjustment and Cancel of Emergency Stop Remove the fixture for home adjustment (positioning jig) if it is attached. After releasing the EMERGENCY STOP button, touch OK button. * After touching OK, the screen automatically returns to the axis select screen.
  • Page 539 11) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. Once the software reset is complete, the screen automatically returns to the main menu screen.

  • Page 540: Scara Z-Axis, Battery-Less Absolute Type Additional Axes And Linear Axes

    16.7.2 SCARA Z-Axis, Battery-less Absolute Type Additional Axes and Linear Axes 16.7.2.1 How to Absolute Reset For SCARA Z-axis, the battery-less absolute type additional axes and the linear axes, have the absolute reset conducted with the following steps. 1) Input a number in Axis No. box with using the software numeric keys, and then touch Next button.
  • Page 541 3) Complete! Touch OK button. After touching OK, the screen automatically returns to the axis select screen. 4) Touch Re-Start controller button. A confirmation screen for the flash ROM writing appears. (Reference) Flash ROM writing can be conducted at once after absolute reset completes on each axis.
  • Page 542 7) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes button. Once the software reset is complete, the screen automatically returns to the main menu screen.

  • Page 543: Absolute Reset For Battery-Less Absolute Type

    16.8 Absolute Reset for Battery-less Absolute Type Make sure to have a backup before conducting it so the parameters can be set back any time. (Go to File - Backup - Parameter from the main menu to open the parameter backup screen to save a file.) 16.8.1 How to Conduct Absolute Reset for Battery-less Absolute Type Absolute Reset on Cartesian Axes:...
  • Page 544 4) Touch Re-Start Controller button. Flash ROM writing confirmation screen opens. 5) Touch Yes button. 6) While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 545: Special Procedure: How To Conduct Absolute Reset Battery-Less Absolute Synchronizing Type

    16.8.2 Special Procedure: How to Conduct Absolute Reset Battery-less Absolute Synchronizing Type Synchronizing Type Absolute Reset Synchronizing type absolute reset be performed in the following procedures for XSEL-P/Q (V1.52 and later), XSEL-R/S/RA/SA, 5th to 8th Axes of XSEL-RX/SX (V1.23 and later), 5th to 8th Axes of XSEL- RAX/SAX (4th to 8th Axes if 3-axis SCARA), SSEL (V0.57 and later) and ASEL (V0.45 and later).
  • Page 546 2) Conduct the absolute reset on the master axis. Input the axis number of the master axis using the touch panel numeric keys, and then touch Next button. Touch OK button. After touching OK, the process is carried out in order from Encoder Multi-Rotation Data Reset 1 till it stops.
  • Page 547 Touch OK button. Touch OK button. After touching OK, the screen automatically goes back to the axis select screen. Touch Re-Start Controller button. Flash ROM writing confirmation screen opens. Touch Yes button. ME0377-8A 16-117...
  • Page 548 While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time. After flash ROM writing is complete, the display changes to the Software Reset screen. Touch Yes button.

  • Page 549: Absolute Reset On Pulse Motor Type Tta

    16.9 Absolute Reset on Pulse Motor Type TTA Make sure to have a backup before conducting it so the parameters can be set back any time. (Go to File - Backup - Parameter from the main menu to open the parameter backup screen to save a file.) 16.9.1 How to Conduct Absolute Reset on Pulse Motor Type TTA For Pulse Motor Type TTA, conduct the absolute reset in the following procedures.
  • Page 550 4) Touch Re-Start Controller button. Flash ROM writing confirmation screen opens. 5) Touch Yes button. 6) While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 551: Resetting Absolute-Battery Voltage-Down Warning Error For Orthogonal Axis

    16.10 Resetting Absolute-Battery Voltage-Down Warning Error for Orthogonal Axis XSEL-J/K/P/Q/R/S/RA/SA, XSEL2-T, 5th and 6th Axes of XSEL-PX/QX, 5th to 8th Axes of XSEL-RX/SX/RAX/SAX (4th to 8th Axes if 3-axis SCARA), XSEL2-TX (Axis 5 to 8 in Axis Group No. 1 and all axes in Axis Group No. 2), SSEL, ASEL and PSEL Controller The encoder error reset / software reset should be conducted when replacing a battery for occurrence of No.
  • Page 552 4) Axis No. Input Input a number on the touch panel numeric keys to indicate the axis number to have the encoder error reset conducted, and touch ENT for confirmation. 5) Once the input is confirmed, the cursor disappears. If you want to redo the input, touch the axis number input box.

  • Page 553: Home Adjust / Absolute Reset For Wrist Unit: Msel-Pc/Pg/Pcf

    16.11 Home Adjust / Absolute Reset for Wrist Unit: MSEL-PC/PG/PCF/PGF Absolute reset for the wrist unit should be conducted on the B-axis and T-axis in a series of operations. As you will need to operate the robot in the process of adjustment, make sure that there is nothing to interrupt the robot movement in the actuator working area.
  • Page 554 3) Input a number in Axis No. box with using the software numeric keys, and then touch Next button. 4) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake.
  • Page 555 5) Adjusting jig removal and Emergency stop release Remove the adjusting jig. Turn off the brake release switch to enable the brake. Release the EMERGENCY STOP button, before touching OK button. * After touching OK, the process is carried out from the Servo-ON to the coordinate origin association data update (B, T) in order.
  • Page 556 9) While in writing process to flash ROM, the screen. Never turn off the power to the Controller at this time. 10) After flash ROM writing is complete, the display changes to the Software Reset screen. To activate the parameters that you had changed, it is necessary to have a software reset.

  • Page 557: Absolute Reset For 6-Axis Cartesian : Rsel

    16.12 Absolute Reset for 6-axis Cartesian : RSEL Make sure to have a backup before conducting so the parameters can get back any time. (Open the parameter backup window from File - Backup - Parameter in the main menu and save the file.) The absolute reset on the 6-axis cartesian should be conducted individually to X-, Y-, Z- and R-axes and in a set for B- and T-axes.
  • Page 558 When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group screen should appear after you touch the Yes button. Touch an axes group number button to select the axes group number that is to be subject to.

  • Page 559: Y- And Z-Axes Of 6-Axis Cartesian

    16.12.1 X-, Y- and Z-Axes of 6-axis Cartesian 16.12.1.1 How to Absolute Reset For X-, Y- and Z-axes of the 6-axis cartesian, conduct the absolute reset in the procedures below. 1) Using the touch panel numeric keys, input an axis number in the axis number box, and touch the Next button.
  • Page 560 4) Complete! Touch OK button. After confirming OK, the screen automatically returns to the axis select screen. 5) Touch Re-Start controller button. Touch the re-start controller button. 6) Conduct the software reset. Touch the Yes button. Once the software reset finishes, it automatically goes back to the main menu.

  • Page 561: R-Axis Of 6-Axis Cartesian

    16.12.2 R-Axis of 6-axis Cartesian 16.12.2.1 How to Absolute Reset For R-axis of the 6-axis cartesian, conduct the absolute reset in the procedures below. 1) Using the touch panel numeric keys, input an axis number in the axis number box, and touch the Next button.
  • Page 562 [Standard Posture] Rotary axis (R-axis) Adjust the position referring to the alignment mark Alignment Mark Sticker Wrist Axis (B-/T-Axes) Home position 4) Emergency STOP Press the Emergency STOP button. 5) Inputting emergency stop displays the screen at the left. Touch button to go back to the previous screen.
  • Page 563 6) Put on positioning tool Put the positioning tool on after the brake release. After putting it on, lock the brake and then cancel the emergency stop button. Touch OK button. * After touching OK, process from turning the servo on to servo off should take place in the order.
  • Page 564 8) Inputting emergency stop displays the screen at the left. Touch button to go back to the previous screen. 9) Take off positioning tool Take the positioning tool off. After taking it off, cancel the emergency stop button. Touch OK button. [To take off positioning tool] Set the position of the stopper bolt back to where it was.
  • Page 565 11) Touch Re-Start controller button. The screen turns to the software reset window. 12) Conduct the software reset. Touch Yes button. Once the software reset finishes, it automatically goes back to the main menu. ME0377-8A 16-135...

  • Page 566: B- And T-Axes Of 6-Axis Cartesian

    16.12.3 B- and T-Axes of 6-axis Cartesian 16.12.3.1 How to Absolute Reset For B- and T-axes of the 6-axis cartesian, conduct the absolute reset in the procedures below. 1) Using the touch panel numeric keys, input an axis number in the axis number box, and touch the Next button.
  • Page 567 [Standard Posture] 4) Press the Emergency STOP button. 5) The display turns to the window shown on the left. Touch button to go back to the previous screen. 6) After brake release, put on the positioning tool. After putting it on, touch the OK button. * After touching OK, the absolute reset should get conducted.
  • Page 568 [To put on positioning tool] 7) Take the positioning tool off. After taking it off, lock the brake and then cancel the emergency stop button. Touch OK button. 8) Complete! Should come out. Touch OK button. * After confirming OK, the screen automatically returns to the axis select screen.
  • Page 569 10) Conduct the software reset. Touch Yes button. Once the software reset finishes, it automatically goes back to the main menu. ME0377-8A 16-139...

  • Page 570: Absolute Reset On Wrist Unit : Rsel

    16.13 Absolute Reset on Wrist Unit : RSEL Make sure to have a backup before conducting so the parameters can get back any time. (Open the parameter backup window from File - Backup - Parameter in the main menu and save the file.) The absolute reset on the wrist unit should be conducted in a set for B- and T-axes.
  • Page 571 When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), the select axes group screen should appear after you touch the Yes button. Touch an axes group number button to select the axes group number that is to be subject to.

  • Page 572: B- And T-Axes Of The Wrist Unit

    16.13.1 B- and T-Axes of the Wrist Unit 16.13.1.1 How to Absolute Reset For B- and T-axes of the wrist unit, conduct the absolute reset in the procedures below. 1) Using the touch panel numeric keys, input an axis number in the axis number box, and touch the Next button.
  • Page 573 [Standard Posture] 4) Press the Emergency STOP button. 5) The display turns to the window shown on the left. Touch button to go back to the previous screen. 6) After brake release, put on the positioning tool. After putting it on, touch the OK button. * After touching OK, the absolute reset should get conducted.
  • Page 574 [To put on positioning tool] 7) Take the positioning tool off. After taking it off, lock the brake and then cancel the emergency stop button. Touch OK button. 8) Complete! Should come out. Touch OK button. * After confirming OK, the screen automatically returns to the axis select screen.
  • Page 575 10) Conduct the software reset. Touch Yes button. Once the software reset finishes, it automatically goes back to the main menu. ME0377-8A 16-145...

  • Page 576: Absolute Reset For Synchronizing Axis : Xsel2-T/Tx

    16.14 Absolute Reset for Synchronizing Axis : XSEL2-T/TX When “Axis-Specific Parameter No. 38: Encoder ABS/INC Type” is Master Axis = 1, Slave Axis = 1, the absolute reset can be conducted in the following procedures. (1) Select the master axis or slave axis in the Select Axis Number window, and the screen shifts to the synchronizing axis absolute reset window.
  • Page 577 The content in the message box should be executed in the window shown in the figure on the left. The screen should shift to the next window once all the procedures are completed. “Complete!” should be displayed. Touch the OK button. * The screen should go back to the Select Axis window after touching OK.
  • Page 578 ME0377-8A 16-148...

  • Page 579: Gateway Function Associated

    17. Gateway Function Associated In the case of the XSEL-P/Q/PX/QX, XSEL-R/S/RX/SX/RXD/SXD controllers with the RC gateway function, the following operations are available. • Editing of the RC Position Data in XSEL • RC-axis Monitoring 17.1 Editing of the RC Position Data in XSEL 17.1.1 RC Position Data Creation The RC position data to be set in the XSEL controller is edited.
  • Page 580 Touch Teach button in the RC edit menu screen. Select the RC axis number to have the position edit by touching the appropriate button. The display returns to the RC edit menu screen if you touch Back button. [Items Displayed in RC Teach Screen] 2) Current Position 3) Axis Status 1) Axis No.
  • Page 581 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 : Turns on during emergency stop 4) Alarm An alarm code is displayed.
  • Page 582 [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 583 Then, input values for Vel (mm/s), Acc (G), Push (%) and Range (mm). Caution: In the TB-03, the input range check is not performed. Confirm the specifications for the RC actuator in using, and input the data. When you want to erase the data that is already input, touch CLR ENT on the touch panel numeric keys to delete what you want.
  • Page 584 [Data Transfer] After data input is complete, touch Write button on the touch pane to transfer the data to the controller. Caution: The input data would not be written to the controller unless the operation above is conducted. In case the position number is changed without the operation above being conducted, the data remains the same as before change.
  • Page 585 Touch Yes button on the touch panel and the data gets transferred to the controller. Once the clear is succeeded, the data in the same position number (after cleared) is displayed. [Alarm Reset] If you want to have an alarm reset on the RC axis in edit, touch AL button.
  • Page 586 When you want to have an alarm reset only on the indicated axis, touch One Axis button. When you want to have an alarm reset on all the RC axes, touch All Axes button. Touch Yes button. Touch No button, to return to the RC alarm reset screen.

  • Page 587: Rc Position Data Input Using The Teaching Operation

    17.1.2 RC Position Data Input Using the Teaching Operation One of the methods for the RC position data input is the teaching operation (The RC actuator is moved to any position and the RC actuator current position is captured as the data). The methods for moving the RC actuator to any position are the jog operation •...
  • Page 588 (1) Servo ON/OFF Operation Using this operation, the RC actuator servo-motor is turned ON/OFF. This operation is available only in the single axis. Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the 0th axis servo-on button to turn the servo on.
  • Page 589 (3) Actuator Movement 1) Jog operation Perform the jog operation of the RC actuator. This operation is available only in the single axis. Turn the servo-motor ON. Touch Axis 0 JOG + or Axis 0 JOG - button to move the actuator to the specific position. (“+”...
  • Page 590 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. Touch Axis 0 JOG + or Axis 0 JOG - button to move the actuator to the specific position.
  • Page 591 (4) Current Position captured as the Data The chosen RC actuator position is taken in the teaching window as the position data. Set the position number from which the current position is to be loaded. Touch Scan button to load the current position to the target position from with the data is loaded.
  • Page 592 (5) Data Transfer to the Controller After data input is complete, touch Write button on the touch panel keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 593 (6) Position Check When the RC actuator is moved to the place corresponding to the taught position data, the position check can be performed. 1) Movement Move the RC actuator to the position corresponding to the position data transferred to the controller.
  • Page 594 2) Continuous Movement The RC actuator automatically follows the position corresponding to the position data transferred to the controller. Touch Cont. button to switch to the continuous operation mode. Set the position number you want to move to first. Turn the servo-motor ON. Perform the home return operation.

  • Page 595: Rc Position Data Deletion

    17.1.3 RC Position Data Deletion Position Data with the selected Axis No. and Position No., is deleted. Touch RC button in the menu screen. Touch Edit button. Touch Clear button. ME0377-8A 17-17...
  • Page 596 Input the axis number to have the position delete and the range of the position number, and touch Clear button. When you want to delete all the position data, touch All Clear button. If you touch Cancel button, the display returns to the RC edit menu screen.
  • Page 597 Touch Yes button. Touch No button, to return to the RC position clear screen. The display shows this screen when the position clear is finished. Touch OK button, to return to the RC position clear screen. Touch Cancel button. Touch Back button. ME0377-8A 17-19...
  • Page 598 Touch Back button. To write the data to the flash ROM, touch Yes button. When it is not necessary to write the data to the flash ROM, touch No button. “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time.

  • Page 599: Rc Actuator Monitoring

    17.2 RC Actuator Monitoring The RC actuator’s status, current position and alarm code are displayed. Touch RC button in the menu screen. Touch Monitor button. Select the RC axis number to monitor by touching the appropriate button. The display returns to the RC menu screen if you touch Back button.
  • Page 600 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 601 [Alarm Reset] If you want to have an alarm reset on the axis in display, touch AL button. When you want to have an alarm reset on the RC axes you want to choose, touch Alarm Reset button. If you want to have an alarm reset on all the axes, touch All Axes Rst button.

  • Page 602: User Data Hold Memory Initialization

    Caution: When the user data hold memory is initialized, all the RC-axis position data items are cleared. Backup the RC position data items using the personal computer (PC) application software for XSEL or TB-03. 17.3.2 Operation Procedure Touch Controller button.
  • Page 603 Touch User Data Hold Memory button. Touch Yes button. Touch No button, to return to the memory initialization menu screen. The display shows this screen when the initializing in the user data retaining memory is finished. Touch OK button, to return to the memory initialization menu screen.
  • Page 604 To write the data to the flash ROM, touch Yes button. When it is not necessary to write the data to the flash ROM, touch No button. “Flash ROM writing...” flashes during the flash ROM writing. Never turn off the power to the Controller at this time The display shows this screen when the flash ROM writing is finished.

  • Page 605: Extended Motion Control Function

    18. Extended Motion Control Function In the case of the XSEL-RA/SA/RAX/SAX/RAXD/SAXD controllers, the following operations are available.  Extended Motion Control Position Data Editing  Extended Motion Control Axis Monitoring 18.1 Extended Motion Control Position Data Editing 18.1.1 Extended Motion Control Position Data Creation The extended motion control position data is to be edited.
  • Page 606 Touch Teach button in the Ex Motion Edit menu screen. Select the extended motion control axis number to have the position edit by touching the appropriate button. The display returns to the Ex Motion Edit menu screen if you touch Back button. [Display Items in the Extended Motion Teaching Screen] 2) Current Position 3) Axis Status 1) Axis No.
  • Page 607 4) Alarm An alarm code is displayed. RC : RC-Axis Alarm Code (Alarm code for the alarm generated in the RC controller is displayed). AX : Axis Related Alarm Code (Alarm code for the alarm generated in the XSEL controller is displayed). 5) Position No.
  • Page 608 [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 609 Then, input values for Vel (mm/s), Acc (G), Push (%) and Range (mm). Caution: In the TB-03, the input range check is not performed. Confirm the specifications for the axis to be used, input the data. When you want to erase the data that is already input, touch CLR ENT on the touch panel numeric keys to delete what you want.
  • Page 610 [Data Transfer] After data input is complete, touch Write button on the touch pane to transfer the data to the controller. Caution: The input data would not be written to the controller unless the operation above is conducted. When the position No. is changed without performing the above operation, the input data is cleared.
  • Page 611 Once the clear is succeeded, the data in the same position number (after cleared) is displayed. ME0377-8A 18-7...

  • Page 612: Extended Motion Control Position Data Input Using The Teaching Operation

    18.1.2 Extended Motion Control Position Data Input using the Teaching Operation One of the extended motion control position data input method, is teaching (moving the extended motion control axis to the appropriate position and such extended motion control axis current position is captured as data).
  • Page 613 (1) Servo ON/OFF Operation Using this operation, the extended motion control axis servo-motor is turned ON/OFF. This operation is available only in the single axis. Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the Axis 0 SERVO ON button to turn the servo on.
  • Page 614 (3) Actuator Movement 1) Jogging Operation Perform the jog feeding operation for the extended motion control axis. This operation is available only in the single axis. Turn the servo-motor ON. Touch Axis 0 JOG + or Axis 0 JOG - button to move the actuator to the specific position.
  • Page 615 2) Inching Operation Perform the inching operation for the extended motion control axis. This operation is available only in the single axis. Touch Inc button directly to make Inc button selected. Set the inching distance (travel distance for each touching of the JOG button). Show the cursor to the input part beside "Inc"...
  • Page 616 3) Manual Movement with the servo-motor turned OFF Touch SERVO ON/OFF button. After the background color of SERVO ON/OFF button has changed, touch the Axis 0 SERVO OFF button to turn the servo off. The condition of servo-on/off can be checked on the axis status display “SV”, which turns on when the servo is on and turns off when the servo is off.
  • Page 617 (4) Current Position captured as the Data The chosen RC actuator position is taken in the teaching window as the position data. Set the position No. for the import destination. Touch Scan button to load the current position to the target position from with the data is loaded. Caution: •...
  • Page 618 (5) Data Transfer to the Controller After data input is complete, touch Write button on the touch panel keys to transfer the data to the controller. Once the transfer to the controller is complete, the position number gets incremented and the next data input screen is shown.
  • Page 619 (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 620 2) Continuous Movement The RC actuator automatically follows the position corresponding to the position data transferred to the controller. Touch Cont. button to switch to the continuous operation mode. Set the position number you want to move to first. Touch MOVE button. Perform the home return operation.

  • Page 621: Extended Motion Control Axis Position Data Deletion

    18.1.3 Extended Motion Control Axis Position Data Deletion Delete the position data within the designated range. Touch Ex Motion button in the menu screen. Touch Edit button. Touch Clear button. Input the axis number to have the position delete and the range of the position number, and touch Clear button.
  • Page 622 If you touch in the input area on “Axis No.” or “Position No.”, the cursor will be shown on the touched item. Input the position number by displaying the numeric keys on the touch panel by touching Keyboard button. Touch on the numeric part if you want to input on the touch panel numeric keys. The contents of input will be shown in the box above the touch panel numeric keys.

  • Page 623: Extended Motion Control Axis Monitoring

    18.2 Extended Motion Control Axis Monitoring The extended motion control axis’s status, current position and alarm code are displayed. Touch Ex Motion button in the menu screen. Touch Monitor button. Select the extended motion control axis No. to be monitored, by means of touching the corresponding button.
  • Page 624 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 625: User Data Hold Memory Initialization

    Caution: When the user data hold memory is initialized, all the extended motion control axis position data items are cleared. Backup the extended motion control axis position data items using the personal computer (PC) application software for XSEL or TB-03. 18.3.2 Operation Procedure For the operation procedure, refer to [17.3.2 Operation Procedure].
  • Page 626 ME0377-8A 18-22...

  • Page 627: Elecylinder, Robo Pump Operation Function

    19. ELECYLINDER, ROBO PUMP Operation Function When the EC Interface (RCON-EC or ELECYLINDER connection module board) (hereinafter described as “EC Interface”) is connected to the RSEL or XSEL2-T/TX controller, it should be available to indicate an axis on ELECYLINDER or ROBO PUMP and to operate, show data, change settings and so on.

  • Page 628: Ec Operation Mode

    Once the data acquiring process for the ELECYLINDER or ROBO PUMP is complete, EC menu 1 window should show up. 19.1.1 EC Operation Mode The ELECYLINDER, ROBO PUMP operation mode setting in the manual mode (MANU) should be established. Touch the EC op. mode button in the axis select window and the EC operation mode change window should be displayed.

  • Page 629: Backup For All Axis

    • Teach2 (PIO movement prohibition / Safety velocity invalid) PIO movement prohibition : Data writing to ELECYLINDER or ROBO PUMP (for such as simple data settings and parameters) and indications in the actuator operation system are available. Safety velocity invalid : Operation in the velocity set in the simple data setting window (higher than the safety velocity) becomes available.

  • Page 630: Menu Selection

    19.2 Menu Selection EC menu 1 EC menu 2 There are two windows, EC Menu 1 and EC Menu 2, in the EC menu window. Touch the To EC menu2 button in EC Menu 1 and the screen switches to the EC Menu 2 window, and touch the To main menu button and it returns to the main menu window.
  • Page 631 [EC menu 2] • Change operating axis Select ELECYLINDER or ROBO PUMP to operate Refer to [19.1 Changing Operating Axis] • Environment setting Conduct settings for data input warning, axis name display, ripple compensation and initial window setting at startup. Refer to [19.12 Environment Setting] •...

  • Page 632: Monitor

    19.3 Monitor The I/O statuses, current position and other information of ELECYLINDER or ROBO PUMP connected are displayed. Touch Monitor button on the EC menu 1 window. The monitoring window for ELECYLINDER or ROBO PUMP should show up Monitoring Window for ELECYLINDER Refer to [19.3.1 Monitor Window (ELECYLINDER)] Monitoring Window for ROBO PUMP Refer to [19.3.2 Monitor Window (ELECYLINDER)]...

  • Page 633: Monitor Window (Elecylinder)

    19.3.1 Monitor Window (ELECYLINDER) (Applicable for Ripple Compensation) (Not Applicable for Ripple Compensation) Touch Production info button and the production information window will be displayed. Refer to [19.11 Information Display] Touch Maint. button and the maintenance information window will be displayed. Refer to [19.3.3.1 Maintenance Information Window (ELECYLINDER)] [Displayed Items] •...

  • Page 634: Monitor Window (Robo Pump)

    19.3.2 Monitor Window (ROBO PUMP) Touch Production info button and the production information window will be displayed. Refer to [19.11 Information Display] Touch Maint. button and the maintenance information window will be displayed. Refer to [19.3.3 Maintenance Information Window] [Displayed Items] •...

  • Page 635: Maintenance Information Window

    19.3.3 Maintenance Information Window 19.3.3.1 Maintenance Information Window (ELECYLINDER) [1] Total travel count and total travel distance A warning should get output when the total travel count or total travel distance has exceeded each setting. Touch m ⇔ km and the display of unit for the total travel distance (current value) can be switched between m and km.
  • Page 636 When Total Travel Count has Exceeded Total Travel Count Threshold ● ● flash in turn You will be notified in Maintenance warning 1 window. The number in total travel count blinks in maintenance information window. LED lamps on ELECYLINDER flash When Total Travel Distance has Exceeded Total Travel Distance Threshold red and green in turn in all of Maintenance...
  • Page 637 [2] Over Load Warning With the motor rising temperature estimated to generate an overload alarm set as 100%, an overload warning can get output when the temperature has exceeded the rate of the motor temperature set in this window. Touch Edit button on the right of Over load warning level to change the setting for the over load warning level.

  • Page 638: Maintenance Information Window (Robo Pump)

    19.3.3.2 Maintenance Information Window (ROBO PUMP) [1] Total suction count, Total motor rotation time A warning should get output when the total suction count or total motor rotation time has exceeded each setting. [Contents of Display] • Total suction count The cumulative of suction count for ROBO PUMP should be displayed.
  • Page 639 Touch the Edit button while ROBO PUMP is being suction or being release, and the confirmation window during standby should be displayed. Touch Yes button. Touch the No button, and the screen goes back to the maintenance information window without making ROBO PUMP wait. Make ROBO PUMP wait.

  • Page 640: Simple Data Setting (Position Editing)

    19.4 Simple Data Setting (Position Editing) Setting and editing of data related to operation such as forward end, backward end, velocity (V), acceleration (A), deceleration (D) and pressing setting can be performed. Also, JOG operation can be performed. Touch [Simple data setting] on the Menu 1 screen. The simple data setting window appears.
  • Page 641 Simple Data Setting window (Pressing Operation) Refer to [19.4.2 Pressing Operation] Unit Change Unit Change Unit Change Unit Change Caution: When using the 3-finger gripper (EC-GRTR14) with gripping at the inner diameter, use the displayed unit in [%], not in [N], for grip force (pressing force). The 3-finger gripper is different in the grip force for outer diameter grip and inner diameter grip.

  • Page 642: Positioning Operation

    19.4.1 Positioning Operation Shown below is the content of setting for the position data for the positioning operation. (Rotary and Wire Cylinder excluded) 1) Position setting [mm] : Input the positions of the backward end and forward end. Positioning coordinate value. Enter is as the distance from the home position.
  • Page 643 Shown below is the content of setting for the position data for the positioning operation. (Rotary) 1) Position setting [deg] : Input the positions of the backward end and forward end. Positioning coordinate value. Enter is as the distance from the home position.
  • Page 644 Shown below is the content of setting for the position data for the positioning operation. (Wire Cylinder) 1) Position setting [mm] : Input the positions of the backward end and forward end. Positioning coordinate value. Enter is as the distance from the home position.
  • Page 645 (Reference) Acceleration is explained. The same concept applies to deceleration. 1G = 9800mm/s : Acceleration at which the actuator can increase its speed up to 9800mm/s per second. 0.3G : Acceleration at which the actuator can increase its speed up to 2,940mm/s (9,800mm/s ×...

  • Page 646: Pressing Operation

    19.4.2 Pressing Operation Shown below is the content of setting for the position data for the pressing operation. (Rotary and Wire Cylinder excluded) Touch  for pressing and put the check mark ✓ on, and the screen shows the pressing operation setting window.
  • Page 647 Shown below is the content of setting for the position data for the pressing operation. (Rotary) Touch  for pressing and put the check mark ✓ on, and the screen shows the pressing operation setting window. Pressing operation of Fwd (BEnd to FEnd) Pressing operation of Bwd (FEnd to BEnd)
  • Page 648 Shown below is the content of setting for the position data for the pressing operation. (Wire Cylinder) Touch  for pressing and put the check mark ✓ on, and the screen shows the pressing operation setting window. Pressing operation of Fwd (BEnd to FEnd) Pressing operation of Bwd (FEnd to BEnd)

  • Page 649: Manual Mode

    19.4.3 Manual Mode Once the simple data setup window is shown, the manual operation box should show up in the right bottom of the screen. Selection can be made with ○ (radio buttons) from Trial Run, Jog and Inching. (1) Test Run Select Test run in radio buttons ().
  • Page 650 (2) JOG Select JOG in radio buttons (). An actuator keeps moving backward while touching Backward button. Regardless of the backward end setting, the actuator should move backwards till the home position. An actuator keeps moving forward while touching Forward button. Regardless of the forward end setting, the actuator should move forwards till the stroke end.
  • Page 651 (4) Transfer log display (Not displayed for wire cylinder) Touch Change screen button and the screen should be switched over between the manual operation display and data transfer history display. Switchover is available in any condition of Test run, Jog and Inching. In the data transfer history display, the manual operation buttons work as B.

  • Page 652: Mounting Orientation Setting / Payload Setting

    19.4.4 Mounting Orientation Setting / Payload Setting By setting "Mounting Orientation" and "Payload [kg]" on the way back and forth in advance, the acceleration and deceleration you can choose can be determined. Touch either acceleration, velocity or deceleration. The numeric key pad should open. Touch Change on the right bottom.
  • Page 653 Touch an operational condition to be set or adjusted. Input a value in the numeric keys and touch ENT. Touch Transfer. The values should get written to the controller, B. End and F. End should turn into green and "Transfer liog" should be updated.

  • Page 654: Auto Servo Off

    19.4.5 Auto servo OFF When the latency is set to the automatic servo-off, the servo should turn off once the set time has passed after the operation is completed. The automatic servo-off latency can be set to each of back and forth ways.

  • Page 655: Robo Pump Setting

    19.5 ROBO PUMP Setting The ROBO PUMP Settings button should be displayed. Touch it and the screen shifts to the ROBO PUMP setting window. In the ROBO PUMP setting window, settings for suction of ROBO PUMP, release, display of status monitor, pressure setting and detail settings are available.
  • Page 656 When PIO pattern is 2, and energy-saving mode is disabled When PIO pattern is 2, and energy-saving mode is enabled ME0377-8A 19-30...

  • Page 657: Operation Status

    19.5.1 Operation Status The detail of display is as follows: 1) Operation status : The operation status of ROBO PUMP should be displayed. 2) Pressure [kPa] : Pressure at the vacuum pump part should be displayed. 19.5.2 I/O Signal When PIO pattern is 0 or 1 The detail of display is as follows: 1) Suction conf.

  • Page 658: Pressure Setting

    19.5.3 Pressure Setting The display, setting details and process when each button is touched are as shown below. 1) Suction conf. ON level [kPa] : The upper limit of pressure to terminate suction should be set The unit is [kPa] and integers in negative can also be input. Settings cannot be changed during suction or release in the monitoring mode.

  • Page 659: Alarm

    19.5.4 Alarm The display and process when each button is touched are as shown below. 1) Alarm code : An occurred alarm code should be displayed. “None” should be shown when there is no alarm occurred. 2) Description : The details of an occurred alarm should be displayed. 3) Troubleshooting button : The screen moves to the troubleshooting window.

  • Page 660: Release Warning Confirmation Window

    19.5.6 Release Warning Confirmation Window When it is attempted to move to the EC Menu 1 window or Select Axis window during suction, the release warning confirmation window should open. The process when each button is touched are as shown below. 1) Yes button : The screen should go to the EC Menu 1 window or Select Axis window after the release process is completed.

  • Page 661: Robo Pump Advanced Settings Window

    19.5.8 ROBO PUMP Advanced Settings Window By touching the Details button in the ROBO PUMP Settings window, the screen goes to ROBO PUMP Advanced Settings Window 1. In ROBO PUMP Advanced Settings Window 1, the Energy-saving mode enable/disable can be switched over. Touch the Details button in the ROBO PUMP Settings window.

  • Page 662: Robo Pump Advanced Settings 1 Window (Energy-Saving Mode)

    19.5.8.1 ROBO PUMP Advanced Settings 1 Window (Energy-saving mode) The display, setting details and process when each button is touched are as shown below. 1) Descrptn button : Touch it and an explanation of the Energy-saving mode should be shown at the bottom of the window. 2) Disable, Enable button : Setting for disable and enable of the Energy-saving mode can be conducted.

  • Page 663: Robo Pump Advanced Setting 2 Window (Level Setting)

    19.5.8.2 ROBO PUMP Advanced Setting 2 Window (Level setting) By touching the ↓ Nx pg button in ROBO PUMP Advanced Settings Window 1, the screen goes to ROBO PUMP Advanced Settings Window 2. In ROBO PUMP Advanced Settings Window 2, setting of suction confirmation ON level, suction confirmation OFF, suction confirmation and release confirmation level can be conducted.
  • Page 664 The display, setting details and process when each button is touched are as shown below. 1) Suction conf. ON level : The pressure to turn the suction confirmation signal ON is set Integers in negative can be input. The suction confirmation signal should turn ON when the pressure gets below the set value.

  • Page 665: Edit Parameter

    19.6 Edit Parameter Parameters are displayed and edited. Touch Edit parameter button on the EC menu 1 window. A parameter table is displayed. (The displayed items may differ depending on models.) Next page shows the basic operation in the edit parameter window. ME0377-8A 19-39...
  • Page 666 (1) Item to input a setting value Touch a value that you would like to set up and the numeric keys should appear. Touch numbers on the numeric keys to input and touch ENT button. When the process needs to be cancelled after the numeric keys appear, touch ESC button.
  • Page 667 (4) Reflecting Parameters Touch EC Home Button once all the settings are completed. A confirmation window asking “Restart?” will come up. Touch Yes button if you have made a change. Touch the No button and the screen returns to the edit parameter window without reflecting the parameters you set up.

  • Page 668: Test Run

    19.7 Test Run Jog/inching operation, operation to a position registered in the position table, continuous movement, operation by indicating a position directly, monitoring of the input and output signals and compulsory output are available. For ROBO PUMP, the screen should move directly to the I/O test from EC Menu 1. Touch Test run button on the EC menu 1 window.

  • Page 669: Jog Inching Operation (For Applicable Models Only)

    19.7.1 Jog Inching Operation (for applicable models only) You can perform jog/inching operation. • Jog vel. / Inching : Select either of 1, 10, 30, 50 or 100mm/s of JOG speed or 0.01, 0.10, 0.50, 1.00, 5.00mm of inching distance, and JOG operation with the selected speed or inching operation with the selected distance can be conducted.

  • Page 670: Position Movement Operation (For Applicable Models Only)

    19.7.2 Position Movement Operation (for applicable models only) Move to a position or continuously to multiple positions registered in the position table. The items to be displayed should differ depending on valid/invalid of the safety velocity. Refer to [19.1.1 EC Operation Mode] When Safety Velocity is Valid When Safety Velocity is Invalid •...
  • Page 671 When Safety Velocity is Invalid; • Change vel button : Speed override can be changed in order of 10%, 50% and 100% every time touching Change vel button. • Move button : Touching Move button moves the axis to the target position. •...

  • Page 672: Direct Movement Operation (For Applicable Models Only)

    19.7.3 Direct Movement Operation (for applicable models only) A position is specified directly to move the axis. • Current position : Displays the current position. • Target position : Touching "Target position" displays the numeric keypad. Enter a desired target position and then touch ENT button. •...

  • Page 673: I/O Test

    19.7.4 I/O Test The input signal and the output signal can be monitored. You can also touch OUT00 to OUT02 to forcibly turn ON/OFF the corresponding output signals. Touch I/O test button in the trial operation menu window (or EC menu 1 window) to open the I/O test window.

  • Page 674: Alarm List

    19.8 Alarm List A list of alarms that may generate after ELECYLINDER or ROBO PUMP power is turned on is shown. The displayed items should differ for ELECYLINDER and ROBO PUMP. Touch Alarm list button on the EC menu 1 window. ELECYLINDER’s or ROBO PUMP alarm list appears.

  • Page 675: Display Of Alarm List (Robo Pump)

    19.8.2 Display of Alarm List (ROBO PUMP) For displayed should be numbers, groups, names, addresses, code and alarm occurred time (hour, minute, second). The time of occurrence of each alarm is indicated by an elapsed time from this "PowerUP No Error".

  • Page 676: Elecylinder, Robo Pump Reset

    19.9 ELECYLINDER, ROBO PUMP Reset ELECYLINDER or ROBO PUMP is restarted. 19.9.1 ELECYLINDER Reset Touch Elecylinder reset button on the EC menu 2 window. Touch Yes button. Touch No button to return to the EC menu 2 window without restarting. This window appears if the servo is ON.
  • Page 677 ELECYLINDER is restarted. Returns to the EC menu 1 window. ME0377-8A 19-51...

  • Page 678: Robo Pump Reset

    19.9.2 ROBO PUMP Reset Touch ROBO PUMP reset button on the EC menu 2 window. Touch Yes button. Touch No button to return to the EC menu 2 window without restarting. The reboot prohibited window should show up when reboot is conducted while ROBO PUMP is in suction or release.
  • Page 679 Returns to the EC menu 1 window. ME0377-8A 19-53...

  • Page 680: Other Setting

    19.10 Other Setting Parameter initialization and operation sound tuning should be conducted. The displayed items may differ depending on models. Touch Other setting button in EC menu 2 window. Other setting window opens. For ROBO PUMP, the Parameter initialization button should be displayed. Select one from Parameter initialization and Operating noise adjustment that you would like to carry on and touch the button.

  • Page 681: Parameter Initialization

    19.10.1 Parameter Initialization The parameters are reset to their factory default settings (initialized). Caution: Once the parameters are initialized (to their factory default settings), all parameters the user has set will return to the values set at the factory. Exercise caution. Touch Parameter initialization button in Other setting window to display Parameter initialization window.

  • Page 682: Operation Noise Tuning (For Applicable Models Only)

    19.10.2 Operation Noise Tuning (for applicable models only) The operation noise can be tuned. By having it tuned, possibility of an operation noise error could be reduced. Touch the Operating noise adjustment button in the Other Setting window to display the operating noise adjustment window.
  • Page 683 ELECYLINDER should be rebooted. The screen goes back to EC menu 1 window. ME0377-8A 19-57...

  • Page 684: Information Display

    19.11 Information Display Information such as ELECYLINDER or ROBO PUMP version, manufacturing information and maintenance information is displayed. Touch Information button on the EC menu 1 window. The information menu window appears. Touch a button of the feature that you would like to display such as Software version information.

  • Page 685: Production Information

    19.11.1.2 Production Information Touch Production information button in Information menu window. Production information window opens. 19.11.1.3 Maintenance Information Touch Maintenance information button in Information menu window. Maintenance information window opens. Refer to [19.3.3 Maintenance Information Window] for how to operate displayed button. 19.11.1.4 Inquiry Touch Inquiry button in Information menu window.

  • Page 686: Editing Axis Name And Unit Name

    Axis Name Display (Note) The characters available to set in TB-03 are the half-size font characters and symbols. Use the PC software for input with full size characters. [Axis Name Edit Operation] Touch Environment setting button on the EC menu 2 window.
  • Page 687 Touch Information button on the EC menu 1 window. Information window opens. Touch Software version information button. For ELECYLINDER, touch Edit axis name button. For ROBO PUMP, touch Edit unit name button. ME0377-8A 19-61...
  • Page 688 Touch the Edit Unit Name button during suction or release of ROBO PUMP, and the standby confirmation window should open. Touch Yes button. Touch the No button, and the screen goes to the software version information window without bringing ROBO PUMP to standby. Make ROBO PUMP wait.

  • Page 689: Environment Setting

    19.12 Environment Setting Data input warning setting, axis name display setting, ripple compensation and startup initial window setting should be conducted. For other configurations, refer to [Environment Setting in Chapter 22]. Touch Environment setting button on the EC menu 2 window. The environment setting window appears.
  • Page 690 [Axis Name Display] Make a selection whether to show the name or number for axis display. Axis Name Display Touch Axis Name button and the name will be shown. Touch Axis No. button and the number will be shown. Select either Axis Name or Axis No, and touch Write the above setting button.

  • Page 691: Data Backup Of Elecylinder, Robo Pump

    19.13 Data Backup of ELECYLINDER, ROBO PUMP Data is transferred between the Secure Digital memory card in the touch panel teaching pendant and ELECYLINDER or ROBO PUMP. (1) Type of Stored Data • ELECYLINDER : Position data, parameters, alarm list and all data •...

  • Page 692: Backup Of Individual Data

    19.13.1 Backup of Individual Data Backup should be made by transferring ELECYLINDER or ROBO PUMP individual data to a Secure Digital memory card. Touch SD memory card button in EC menu 1 window. SD memory card window opens. Touch Save from Elecylinder to SD memory card Save from ROBO PUMP to SD memory card button.
  • Page 693 Touch Yes button. Touch No button, and the screen returns to the previous window. A touch-panel keyboard should be displayed in the indicate backup file name window. Input a file name and touch the ENT button. The file name should be with 31 half-size font characters at the maximum.
  • Page 694 The screen below appears if the same name is found. Touch Yes button. Touch the No button and the screen returns to the indicate backup file name window. Data transfer window will be shown. A message to tell the data transfer is complete pops up and the backup process is finished.

  • Page 695: Restoring Individual Data

    19.13.2 Restoring Individual Data Restoring should be made by transferring ELECYLINDER or ROBO PUMP individual data from a Secure Digital memory card to ELECYLINDER or ROBO PUMP. 19.13.2.1 Restoring ELECYLINDER Touch SD memory card button in EC menu 1 window. SD memory card window opens.
  • Page 696 Touch Yes button. Touch the No button and the screen returns to the previous window. Touch the  and  buttons to scroll the display range of the file name list that is in the backup. Touch a file name to transfer to ELECYLINDER or ROBO PUMP.
  • Page 697 A message to tell the data transfer is complete pops up and the data transfer process to ELECYLINDER is finished. Touch OK button. Touch Yes button to execute reboot. (Note) Reboot screen will not appear if there is no difference between the data in ELECYLINDER and the data that was read out.

  • Page 698: Restoring Robo Pump

    19.13.2.2 Restoring ROBO PUMP Touch SD memory card button in EC menu 1 window. SD memory card window opens. Touch Transfer from SD memory card to ROBO PUMP button. (Valid only when EC operation mode is teaching mode) Touch the SD memory card button during suction or release of ROBO PUMP, and the standby confirmation window should open.
  • Page 699 Touch Yes button. Touch the No button and the screen returns to the previous window. Touch the  and  buttons to scroll the display range of the file name list that is in the backup. Touch a file name to transfer to ROBO PUMP. Touch Transfer button.
  • Page 700 A message to tell the data transfer is complete pops up and the data transfer process to ROBO PUMP is finished. Touch OK button. Touch Yes button to execute reboot. (Note) Reboot screen will not appear if there is no difference between the data in ROBO PUMP and the data that was read out.

  • Page 701: Backup Of All At Once For All Axes Data

    19.13.3 Backup of All at Once for All Axes Data Backup should be made by transferring ELECYLINDER data for all axes from ELECYLINDER to a Secure Digital memory card. Touch Change operating axis button in EC menu 2 window. Axis select window opens. Touch Save to SD memory card button.
  • Page 702 Touch Yes button. Touch the No button and the screen returns to the indicate backup folder name window. The screen below appears if the same name is found. Touch Yes button. Touch the No button and the screen returns to the indicate backup folder name window.

  • Page 703: Restoring Of All At Once For All Axes Data

    19.13.4 Restoring of All at Once for All Axes Data Restoring should be made by transferring ELECYLINDER or ROBO PUMP data for all axes from a Secure Digital memory card. Touch Change operating axis button in EC menu 2 window. Axis select window opens.
  • Page 704 Touch the [Yes] button during suction or release of ROBO PUMP, and the standby confirmation window should appear. Touch Yes button. Touch the No button, and the screen goes back to the previous without making ROBO PUMP wait. Make ROBO PUMP wait. Data transfer screen will be shown.
  • Page 705 The complete confirmation window should appear once the data transfer of data for all of the ELECYLINDER or ROBO PUMP units is complete. Touch OK button, and the screen returns to axis select window. ME0377-8A 19-79...

  • Page 706: Easy Programming

    19.14 Easy Programming In the easy programming, pause duration can be set between sets of operations and continuous operation can be performed by indicating the number of repeating times. [How to Establish Setting] Set the position number (0: backward end, 1: forward end) of the destination to the easy programming input part (step).
  • Page 707 [Driving Easy Programming] Touch the first (on the most left) step of the easy programming. Input a position number or a timer (T1 to T5) and touch ENT button. Set the next step and after in the same manner. Set R at the end when it is required to repeat the operation.
  • Page 708 Have the servo ON and the home-return conducted, and then touch Start button to start the operation. During the operation, the Start button and the step number in execution turn to blue. To stop operation, touch the Start button again. Operation stops.
  • Page 709 Set the count with the numeric keys and touch the ENT button. Touch the Start button to start operation. The repeating remaining count should be displayed and will count down as 100 → 99 → 98 → ····. Touch the Reset button and the remaining count should return to the program execution count.
  • Page 710 ME0377-8A 19-84...

  • Page 711: Data Backup

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

  • Page 712: Data Backup Of The Controller

    20.1 Data Backup of the Controller The data in the controller is transferred to the SD Memory Card for backup. Touch File button in the menu screen. Touch Backup Data button in the file menu screen. Select the data type that you want to store by touching the appropriate button.
  • Page 713 When you store the data stated below, it is necessary to select the range of file storage after the data type to store is selected. (i) Position* (ii) Program (iii) Positions for RC axes (iv) Driver unit parameter * There should not be the select position data storage window displayed for RSEL and XSEL2-T/TX. (Position data in all the range should be stored.) (i) Position Input the position number range for backup and...
  • Page 714 (ii) Program Touch the program number to have a backup. If you touch CANCEL button, the display returns to the backup menu screen. Touch Save All button, and all the programs in the controller can be stored at once as one file. * A program number with 0 for number of steps cannot be indicated.
  • Page 715 After the file storage range is selected, the display goes to the file name indication screen. (When data other than programs, positions and RC axis positions is to be stored, the display immediately goes to the file name indication screen after the file data select.) Input the stored file name, and touch Save button.
  • Page 716 When all the data backup files are to be stored, the following screen will be shown to designate the backup file names. Input the stored file name, and touch Save button. (The way to input the file name is the same as the way to save other data.) If you touch CANCEL button, the display returns to the backup menu screen.
  • Page 717 Backup files for some controllers are applicable for storage of file comments. In case it is applicable, there should be a file comment input box displayed below the file name input box. If it is required to input a comment, touch in the file comment input box to show the cursor, and then touch the keyboard button.
  • Page 718 Check the storage file name, and touch Yes button. Touch No button, to return to the backup file name indication screen. When the same file name already exists, the screen below will be shown. Touch Yes button. Touch No button, to return to the backup file name indication screen.
  • Page 719 The display shows this screen when the data transfer is finished. Touch OK button, to return to the backup menu screen. [Remark] When the backup file for all the data and the data file for the RC axis positions are stored together, the select screen for the RC axis number to be stored opens after the backup file for all the data is stored.

  • Page 720: Restore To Controller

    20.2 Restore to Controller Data in the SD Memory Card is transferred to the controller. Touch File button in the menu screen. Touch Restore Data button in the file menu screen. Select the data type that you want to transfer by touching the appropriate button.
  • Page 721 When the driver unit parameter (for applicable models only) is selected as the data type, the screen goes to the following window. The confirmation window before restoring should appear. Touch the Yes button and the screen goes to the select restored axis window. Touch the No button and the screen returns to the file menu window.
  • Page 722 Touch ▲ and ▼ to select a file to transfer to the controller from the file list in a SD Memory Card. Touch Transfer button. If you touch Cancel button, the display returns to the restore menu screen. * In case the name of the file name exceeds 38 characters in half-size font and the extension is in 3 characters, the short file name (8.3 Format) should be shown in the file list.
  • Page 723 The window shown in the figure on the left should be displayed for RSEL and XSEL2-T/TX. For RSEL and XSEL2-T/TX, when transferring all the data backup files, it is available to transfer the global data at the same time. In order to transfer the global dat, touch the checkbox to put a checkmark. Touch the Detail button and the tool information and the controller information in the backup file can be checked.
  • Page 724 Backup files for some controllers are applicable for storage of file comments. If the backup file and the controller under connection are applicable for the storage of file comment, there should be a file comment displayed below the file select box. Select the backup file to transfer to the controller in the select file box.
  • Page 725 Contents of display are as shown below: About file saving Backup data : The day and time of backup is shown. Tool version : A tool used for the backup and the version of the tool are shown. Controller information Model : Model name of a controller that the backup was conducted is shown.
  • Page 726 After selecting the file to be transferred, set the controller transfer range. (When the symbol files and backup file for all the data are transferred, the transfer range select screen will not be shown. The data stored in the file are all transferred.) (i) Position Input the position number range for the transfer to the controller and touch OK button.
  • Page 727 In RSEL and XSEL2-T/TX, each axes group retains the position data. When an axis number assignment to activate several axes groups is performed in the axis number assignment feature (Refer to [15.17 Axis Number Assignment]), a window to select the axes group that is subject to restoring at the position data restoring should be shown.
  • Page 728 If there is only one of the axes group subject to restoring, the window shown in the figure on the left appears. (Shown on the top right of the window is the destination axes group number for restoring) Selected Range The position data in the range input in “First No.”...
  • Page 729 (iv) Parameter Touch the parameter type to be transferred to put a check mark. Select the transferred parameter type individually and touch OK button. If you touch CANCEL button, the display returns to the restore file name indication screen. * The controller basic unit dependent parameters are transferred only when a check mark is on “Transfer controller unit dependent parameters”.
  • Page 730 (v) Global data Touch on the global data types that you want to transfer to put a check mark. After finishing selecting the transferred global data types, touch OK button. If you touch CANCEL button, the display returns to the restore file name indication screen. (vi) Coordinate system definition data Touch on the coordinate system definition data types that you want to transfer, to put a check...
  • Page 731 (viii) Extended motion position data Touch on the axis numbers that you want to transfer to put a check mark. After finishing selecting the transferred axis numbers, touch OK button. If you touch CANCEL button, the display returns to the restore file name indication screen. Touch Slct All button, and all the activated axes can be selected.
  • Page 732 To write the transferred data to the flash ROM, touch Yes button. When it is not necessary to write the data to the flash ROM, touch No button. * This screen would not be shown when the flash ROM writing is not necessary (in such cases as global data file transfer).
  • Page 733 In the case that the RC-axis position data file is transferred at the same time In the case that the extended motion position data file is transferred at the same time: ME0377-8A 20-23...
  • Page 734 ME0377-8A 20-24...

  • Page 735: Environment Setting

    21. Environment Setting Settings are established for the language, touch operation sound, sleep timer, clock and display. Touch Environment Set button in the menu screen. The environment setting screen appears. [Language] Language can be selected and changed. 1. Select Chinese, Japanese or English and touch. 2.
  • Page 736 When the writing process is finished, the confirmation screen opens. Touch OK button to return to the environment setting screen. If the language is set to English, it shows "Complete!". [Touch Operation Sound Setting] Setting can be established whether to output the touch sound or not. 1.
  • Page 737 [Sleep Timer] Timer setting can be established for the screen to go to the sleep mode when no operation is held. 1. Touch in the input box (highlighted in a square) at “DimDispTime”. 2. Input a value to set on the keyboard. 3.
  • Page 738 [Time Setting] Clock setting can be established on TB-03. It is also available to set the TB-03 clock to the controller clock when a model that supports the controller clock is connected. Touch Time button. Touch Time button. TB-03 clock is displayed.
  • Page 739 Touch Back button to return to the environment setting screen. It is available to set the TB-03 clock to the controller clock if you touch Write to Cont. button either in the clock display screen or the clock edit screen.
  • Page 740 [Display] Adjustment of contrast and brightness of the screen, position tuning for touch panel and LCD screen check can be performed Touch Display button. Display Setting menu screen is displayed. Select Display Setting menu. Touch Menu button to return to the menu screen. ME0377-8A 21-6...
  • Page 741 Change the Contrast/Brightness Touch Contrast/Brightness button. Touch - and + under Contrast to adjust the contrast of the screen. Touch - and + under Brightness to adjust the brightness of the screen. Touch Menu button to return to the menu screen. Touch calibration A calibration for the position detection of the touch panel is performed.
  • Page 742 LCD Check LCD Display can be checked in the order of color pattern, White only and Black only. Touch LCD check button. Color Pattern is displayed. Touch any point on the screen. White only is displayed. Touch any point on the screen. Black only is displayed.

  • Page 743: Error Display

    22. Error Display 22.1 RSEL and XSEL2-T/TX System 22.1.1 Display at Occurrence (Except for Those in Display for ELECYLINDER, ROBO PUMP Operation) A troubleshooting window should show up when an error has been occurred. Touch How to deal button in the troubleshooting window and the confirmation window opens. Follow the instruction in the window to remove the cause and conduct the error reset.

  • Page 744: Error List For Teaching Pendant (Except For Those In Display For Elecylinder, Robo Pump Operation)

    22.1.2 Error List for Teaching Pendant (Except for Those in Display for ELECYLINDER, ROBO PUMP Operation) Shown below is a list of errors related to teaching pendants. Refer to [Controller Instruction Manuals] for errors related to controllers. Error Error message SEL Command Language Input Error Operand Input Incomplete Error Operand Input Prohibited Error...
  • Page 745 Error Error message Input below Min. Velocity Warning Communication Error (Driver Unit Related) I/O Feature Indication Error Excess Position Data Comment Definition Count (TP/PC) Position Type Inconsistent Error Feature Unsupported Error Calendar Feature Error Position Error Lacking Empty Step Movement / Continuous Movement Prohibited at Position Data Change Error Undefined SEL Command Detection Error AUTO Mode Execution Command Prohibited Error Servo-on Multiple Rotation Data Reset Prohibited Error...

  • Page 746: Display At Occurrence (Those In Display For Elecylinder, Robo Pump Operation)

    22.1.3 Display at Occurrence (Those in Display for ELECYLINDER, ROBO PUMP Operation) When an alarm is generated in ELECYLINDER, the troubleshooting window (alarm group) as shown in the figure below should be displayed. [Example of Window] Touch the Alarm occurred see cause detail button and the screen goes to the troubleshooting window (alarm code) and the detailed contents of the alarm cause should be displayed.

  • Page 747: Alarm Code List For Teaching Pendant (Those In Display For Elecylinder, Robo Pump Operation)

    22.1.4 Alarm Code List for Teaching Pendant (Those in Display for ELECYLINDER, ROBO PUMP Operation) Shown below is a list of the alarm codes related to a teaching pendant. For the alarm codes related to ELECYLINDER, refer to [Instruction Manual of ELECYLINDER]. Alarm Code Alarm Name No Movement Data...

  • Page 748: Connection Of Controllers Other Than Rsel And Xsel2-T/Tx System

    22.2 Connection of Controllers other than RSEL and XSEL2-T/TX System 22.2.1 Display at Occurrence An alarm window should appear when an error detected on a controller is occurred. Also when an error detected on a teaching pendant is occurred, a message window should appear. If the error detected on the controller is in the operation cancel level, the error can be reset with Reset Alarm button.
  • Page 749 ME0377-8A 22-7...
  • Page 750 ME0377-8A 22-8...
  • Page 751 ME0377-8A 22-9...
  • Page 752 ME0377-8A 22-10...
  • Page 753 ME0377-8A 22-11...
  • Page 754 ME0377-8A 22-12...

  • Page 755: Information Display

    23. Information Display Information such as version and production information should be shown. Touch the Information button in the main menu window. 23.1 Version Information Version of each device should be shown. * Some models show this information in Main Menu → Monitor → Next → Version Information Touch the Version information button in the information menu window.

  • Page 756: Production Information

    23.2 Production Information (for applicable models only) Production information for the controller and actuators should be shown. Touch the Production information button in the information menu window. [Displayed Items in Production Information Window] 1) Display Box for Driver Unit Number and Drv. No. 2) Driver S/N 3) Driver PCB revision 4) Actuator S/N...
  • Page 757 Touch the User Note Editing button, and a keyboard should be displayed after a confirmation window. touch the ENT button to edit the user note. In TB-03, only the half-width characters and numbers and half-width symbols are available for input. The number of characters available for input is up to 65 half-width characters.
  • Page 758 Touch the User Note Editing button. When the servo of a selected axis is on, a warning should be shown and it should be terminated as an error. Touch the OK button, and the screen goes to production information window. When editing the user memo for the first time after the power is turned on, a confirmation window should be displayed.
  • Page 759 When the user memo has already been edited, touch the ← button on the left top of the window and the power supply reboot request message should show up. While the power supply reboot request message is displayed, any operation other than power supply reboot cannot be conducted. Reboot the power supply.
  • Page 760 ME0377-8A 23-6...

  • Page 761: Appendix

    24. Appendix 24.1 Screenshot It is possible to save the image on the current screen (screenshot) into SD memory card. When you want to capture a screenshot, press the lower right portion on the screen for about 2 seconds longer than usual on condition that SD memory card is inserted. After a short sound is heard, saving the screenshot starts.

  • Page 762: Teaching Update

    The software in TB-03 can be updated using a SD memory card. Also, in case the menu window of TB-03 would not be displayed due to a failure in updating for reasons such as the power got shut during updating process, it is available to make a recovery by having a compulsory update.

  • Page 763: How To Update When Sel Controller Connected

    In case there is nothing shown on the screen even after more than one minute has passed after starting update, refer to how to recover in [24.2.4 Troubleshooting] No. 5 to perform the compulsory update. Caution: Do not attempt to turn off the power to TB-03 while in updating. ME0377-8A 24-3...

  • Page 764: How To Update When Alarm Code Dee Displayed

    In case there is nothing shown on the screen even after more than one minute has passed after starting update, refer to how to recover in [24.2.4 Troubleshooting] No. 5 to perform the compulsory update. Caution: Do not attempt to turn off the power to TB-03 while in updating. ME0377-8A 24-4...

  • Page 765: How To Compulsorily Update

    24.2.3 How to Compulsorily Update Follow the procedures below to update again in case the menu window of TB-03 would not be displayed due to a failure in updating for reasons such as the power got shut during updating process.

  • Page 766: Troubleshooting

    24.2.4 Troubleshooting Condition Considerable Cause Check Items and Counteractions [Teaching Update] or 1. No memory card is inserted Make sure that a SD memory [Start Updating] is not (or can be identified). card with 1GB to 32GB capacity active (grayed out) and 2.

  • Page 767: Warranty

    25. Warranty 25.1 Warranty Period One of the following periods, whichever is shorter:  18 months after shipment from our company  12 months after delivery to the specified location 25.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 768: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

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

  • Page 769: Change History

    Change History Revision Date Revision Description September 2017 First Edition November 2017 Edition 1B • Product Check: Model code corrected in Program Controller Cable • 2.12 Specifications Related to Battery Charge: Descriptions revised • 3.12 Data Setter Connection Procedure: Description related to BE1 Alarm display deleted •...
  • Page 770 Revision Date Revision Description (August 2021) • 15.1 Controller Items "I/O port allocation", "Option unit", and "EC operation mode" added. • 15.18 Input/Output Port Assignment added. • 15.19 Input/Output Port Data Assignment Item number, figure and part of text changed. •...
  • Page 771 Revision Date Revision Description July 2024 Sixth Edition • Applied to ROBO PUMP Standard Type (RP-VPM) September 2024 Seventh Edition ● Applicable for XSEL2 Controller March 2025 Eighth Edition ● 16.2.2 Absolute Reset Procedures description changed to order by type ●...

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