PC Software for X-SEL IA-101-X-MW IA-101-X-MW-J IA-101-XA-MW IA-101-X-USB IA-101-X-USBMW IA-101-TT-USB Operation Manual 11th Edition IAI America, Inc.
Before Use Thank you for purchasing our product. This operation manual explains the handling methods, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for our products.
Table of Contents Support Models.........................................................................................................................1 Installing V6.0.0.0 Compatible with the IA Super SEL Controller E/G Types and the DS Controller ..................................................................................................................................2 Software License Agreement ....................................................................................................
6. Position Data Edit Window ...............................................................................................96 6.1 6.2 Explanation of the Items Displayed in the Position Data Edit Window ....................................................96 Saving Position Data and Closing the Edit Window...............................................................................112 7. Copying/Moving/Clearing Position Data ......................................................................... 116 7.
14. Supplemental Information on Controller Menu Items......................................................213 14.1 Software Reset...................................................................................................................................... 213 14.2 Reset Error ............................................................................................................................................ 213 14.3. Drive-source Recovery Request and Operation-pause Reset Request ...........
Support Models Various data file extensions Model Name Global data Support Started Version Program (Individually) Program (Batch) Position X-SEL-J/K xpg xpa Xpt xpm xsm xgd V1.0.0.0 X-SEL-JX/KX spg spa spt spm ssm sgd V2.0.0.0 X-SEL-P/Q x2pg x2pa x2pt x2pm x2sm x2gd V3.0.0.0 X-SEL-P/Q (compatible with increased memory) (w/gateway function) Extended Format x2pg2 x2pa2 x2pt2 - x2sm2 - V7.2.0.0 tpg tpa tpt tpm tsm tgd V4.0.0.
Installing V6.0.0.0 Compatible with the IA Super SEL Controller E/G Types and the DS Controller V6.0.0.0 compatible with the IA Super SEL Controller E/G Types and the DS Controller is included in the CD-ROM and can be installed based on the following procedure. (Note) V6.0.0.0 runs with the following Windows operating systems. Windows 95, Windows 98, Windows NT, Windows Me and Windows 2000 [1] Insert the CD-ROM containing the software into the CD-ROM drive.
[4] Click TOOL. [5] The PC SOFT V6.0.0.0 folder containing the V6.0.0.0 installer will appear. Click PC SOFT V6.0.0.0 folder. [6] Click the ENGLISH folder.
[7] Double-click PC Interface Software…. The PC Interface Software for X-SEL installation screen will appear. Install the software based on the step [3] and thereafter described in 1.3.1 How to Install the PC Interface Software for X-SEL.
Software License Agreement Thank you for purchasing the PC software for IAI’s X-SEL controller. This software is provided strictly with your consent to this agreement. Before opening the software package, please read the Software License Agreement (hereinafter referred to as "this Agreement"). This Agreement is applied to the PC interface software for this product (hereinafter referred to as "the Licensed Software").
A Word of Caution [1] [2] [3] [4] This software is copyrighted by IAI Corporation (IAI). The software and the manual can only be used under the terms and conditions of the license agreement. IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the manual. Please note that the version or edition number printed on the face of this manual does not correspond to the software version number. [5] The content of this manual is subject to change without notice.
Safety Guide Before using the product, ensure safety by following the safety precautions provided below and taking the necessary measures. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, "Safety of machinery," as follows: Safety measures Inherent safety design Protective guards ----------------- Safety fence, etc.
Requirements for Industrial Robots by Ordinance on Industrial Safety and Hygiene Work area Outside the movement range Work condition During automatic operation During teaching, etc. Inside movement range During an inspection, etc. Drive-source cutoff Not cut off Measure Signs for starting operation Article 104 Installation of railings, Article 150-4 enclosure, etc. Cut off Sign, etc.
Applicable Models of IAI’s Industrial Robots According to Notice of Ministry of Labor No. 51 and Labor Standards Bureau Director notice (No.
Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. NO. Work Description Precautions 1 Model Selection z This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications. 1) Medical equipment used to maintain, control or otherwise affect human life or physical health.
NO. 4 Work Description Installation and Start Precautions (1) Installation of Robot Main Body and Controller, etc. z Make sure to securely hold and fix the product (including the work part). A fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake. z Do not get on or put anything on the product.
NO. Work Description Precautions 4 Installation and Start z Take the measure so that the work part is not dropped in power failure or emergency stop. z Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. z Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire.
Work Description Precautions 8 Maintenance and Inspection z 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. z Perform the work out of the safety protection fence, if possible.
Caution Indications 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 Risk/Damage Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
1. Before You Begin Items Supplied with This Software (Product Components) 1. Before You Begin 1.1 Please check to make sure that the following items are included in your software package. [1] Operation manual One [2] CD-ROM containing the software One [3] Permission of use contract (manual) for the software One [4] External connection cables One set External connection cables vary depending on the PC interface software type. The types and external connection cables are shown in the table below.
Connection Configuration IA-101-X-USBMW External Connection Cable USB conversion adapter (IA-CV-USB): USB cable (CB-SEL-USB030): RS232C cable (CB-ST-E1MW050-EB): USB cable CB-SEL-USB030 Type IA-101-TT-USB 1.2 1 unit 1 piece 1 piece Compatible controller XSEL-P, PX, R, RX, RXD USB conversion adapter RS232C cable CB-ST-E1MW050-EB External Connection Cable USB cable (CB-SEL-USB030): Dummy Plug (DP-1): Connection Configuration 1.
1.3 Installing the Software This software is run from the hard disk. This section explains how to install the software. If a version of the PC Interface Software earlier than V6.0.0.0 is already installed, first uninstall the PC Interface Software before installing V6.0.0.0. [1] Insert the CD-ROM containing this software into your CD-ROM drive. [2] The installed data selection screen (Fig. 1.1) will be displayed. Click the data to install. Fig. 1.
1. Before You Begin [3] The screen will change to the installation screen (Fig. 1.3) for PC interface software for X-SEL. Click Next >. Fig. 1.3 Installation Screen [4] The Customer Information registration screen (Fig. 1.4) will be displayed. Enter your information and click Next >. Fig. 1.
[5] Specify a destination folder to install the PC interface software for X-SEL. (Fig. 1.5) Normally, you can install it to the displayed folder. After specifying it, click Next 1. Before You Begin Fig. 1.5 Specification of Destination Folder [6] The wizard is ready to begin installation. Clicking Install will begin actual installation. Fig. 1.
1. Before You Begin The screen shown in Fig. 1.7 will be displayed during installation. Fig. 1.7 Installation Progress [7] When the installation is completed, the screen shown in Fig. 1.8 will be displayed. Fig. 1.8 Installation Completion [8] Once the installation program is completed, the items of IAI, X_SEL, and PC Interface software will be displayed in this order from Program (P) in the Start menu. Selecting these items will start this software. [9] Remove the CD-ROM.
1.3.2 How to Install the USB Conversion Adapter Driver Software Fig. 1.9 Installed Data Selection Screen (The displayed screen may vary depending on the version, data in the CD or other factor.) [3] You are prompted to set the folder of the copy destination. If you use the displayed folder as it is, click Copy. To change it, enter it manually or click Browse to set the folder of the copy destination. On the browse for folder screen (Fig. 1.
1. Before You Begin [4] When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to overwrite it. Click OK to overwrite it, or click Cancel to stop copying. Fig. 1.12 Overwrite Confirmation Screen [5] The complete screen (Fig. 1.13) will be displayed. Fig. 1.13 Complete Screen [6] Once the complete screen (Fig. 1.13) has been displayed, click OK. The complete screen (Fig. 1.13) will disappear.
[8] Then, insert the USB conversion adapter (IA-CV-USB) into the USB port of your PC. In the case of the SSEL/ASEL/PSEL controller or TT (table top actuator), connect the PC and SSEL/ASEL/PSEL controller or TT with the attached USB cable. If the USB ports of PC and controller are connected directly with USB cables, each controller should be connected to each PC and use the USB Conversion Adapter Driver Software to let the hardware found.
1. Before You Begin [11] The "Search and Installation Options Selection Screen" will appear. Select the checkbox "Include this location in the search." Click Browse, and find and select "C: IAI USB." Fig. 1.16 Search and Installation Options Selection Screen [12] The installation of the "IAI USB Composite Device" driver will begin. The wizard will prompt you with a warning to ask if you want to continue with the installation. Click Continue Anyway. Fig. 1.
[13] When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is completed. Click Finish. 1. Before You Begin Fig. 1.18 IAI USB Composite Device Installation Finish Screen [14] Subsequently, the Welcome to the Found New Hardware Wizard screen will open. Select the checkbox "Install from a list or specific location (Advanced)." Click Next >. Fig. 1.
1. Before You Begin [15] The "Search and Installation Options Selection Screen" will appear. Select the checkbox "Include this location in the search." Click Browse, and find and select "C: IAI USB." Click Next >. Fig. 1.20 Search and Installation Options Selection Screen [16] The installation of the "IAI USB to UART Bridge Controller" driver will begin. The wizard will prompt you with a warning to ask if you want to continue with the installation. Click Continue Anyway. Fig. 1.
[17] The installation of the "IAI USB to UART Bridge Controller" driver is complete when the completion of the installation is displayed. Click Finish. 1. Before You Begin Fig. 1.22 IAI USB to UART Bridge Controller Installation Completion Screen [18] The installation of all drivers is completed. [19] Click Start on the Windows taskbar, Settings, and then Control Panel to open Control Panel. Double-click System to open System Properties. Click the Hardware tab in System Properties to open it.
1. Before You Begin (2) Windows 7, Windows Vista For Windows 7, install the software based on the following procedure. For Windows Vista, install it in the same procedure. [1] Insert the CD-ROM that contains this software into the CD-ROM drive. [2] On the screen to select the data to be installed, click "USB conversion adapter." [3] A screen to confirm whether or not an older version is installed appears. If an older version is not installed, click "Yes (Y).
[5] If IAI USB is installed, the Notice display confirmation screen appears. Click "Yes (Y)." 1. Before You Begin Fig. 1.26 Notice Display Confirmation Screen [6] The Restart confirmation screen appears. Click "Restart now (R)." Windows will be restarted. Fig. 1.27 Restart Confirmation Screen [7] Connect the PC and the USB conversion adapter with a USB cable. [8] The driver installation will be completed. If the installation is not completed, repeat the steps from Step 9.
1. Before You Begin [9] Launch Device Manager. Right-click "CP2102 USB to UART Bridge Controller" and click "Update Driver Software (P)." Fig. 1.28 Device Manager Screen [10] The Update Driver Software screen appears. On the Update Driver Software screen, click the "Browse my computer for driver software (R)" button. Fig. 1.
[11] The Update Driver Software screen appears. In the area circled on the Update Driver Software screen, enter the Save to location, "C: Program Files¥IAI¥IAI USBv3." Click "Next (N)." 1. Before You Begin C: Program Files\IAI\IAI USBv3 Fig. 1.30 Update Driver Software Screen [12] The driver software update completion screen (IAI USB to UART Bridge Controller) appears. Click "Close (C)" on the Update Driver Software screen. Fig. 1.
1. Before You Begin 1.3.3 How to change the USB COM port The COM port set in the installation of USB conversion adapter driver software can be changed by the following procedures. [1] Click Windows Start, Setting, and Control Panel to open the Control Panel screen. Double click System to open the Property screen. Click and open Hardware above the System icon. Click and open Device Manager inside the Hardware folder. Double click and extend Port (COM and LPT) inside the Device Manager folder.
[4] COM? Port Option screen will be displayed. Change the COM port number in the COM Port Number (P) box to the number to be set. Click OK. 1. Before You Begin COM port number (P): Fig. 1.34 COM? Port Option Screen [5] COM? Port Option screen will be disappeared. COM port number will be changed by clicking OK on the Property screen (Fig. 1.33) [6] To confirm that the COM port number is changed, close the Device Manager screen and display it again.
Connection to Controller 1. Before You Begin 1.4 Fig. 1.
1. Before You Begin Emergency Stop Switch Enable Switch Teaching Pendant Type Selector Switch * X-SEL-P only Mode Switch 2-axis 1-axis PC Fig. 1.36 X-SEL-P (Q) Type Controller Caution Set the type selector switch of the X-SEL-P teaching pendant to the right. Warning: The internal components of the controller may burn if the following cable is used to connect XSEL-Q to a computer.
1. Before You Begin Fig. 1.
1. Before You Begin Fig. 1.
1. Before You Begin * X-SEL-PX only Fig. 1.39 X-SEL-PX (QX) Type Controller Caution Set the type selector switch of the X-SEL-PX teaching pendant to the right. Warning: 38 The internal components of the controller may burn if the following cable is used to connect XSEL-QX to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).
1. Before You Begin Emergency Stop Switch Enable Switch Panel Unit 24-V Power Supply 1A %1 06 41 ..'4 Expansion I/O unit (optional) Motor cable Encoder cable PC Fig. 1.40 X-SEL-R (S) Type Controller Warning: The internal components of the controller may burn if the following cable is used to connect XSEL-S to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).
1. Before You Begin Emergency Stop Switch Enable Switch m1A 24-V Power Supply Panel Unit Expansion I/O unit Motor cable Encoder cable PC 24-V Power Supply Fig. 1.41 X-SEL-RX (SX) Type Controller Warning: 40 The internal components of the controller may burn if the following cable is used to connect XSEL-SX to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).
1. Before You Begin Emergency Stop Switch Enable Switch m1A 24-V Power Supply Panel Unit 24-V Power Supply Expansion I/O unit PC 24-V Power Supply Fig. 1.42 X-SEL-RXD (SXD) Type Controller Warning: The internal components of the controller may burn if the following cable is used to connect XSEL-SXD to a computer. PC software IA-101-X-MW Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).
1. Before You Begin Emergency Stop Switch Enable Switch Conversion Cable USB Cable Mode Switch Panel Unit 1-axis 2-axis Fig. 1.
1. Before You Begin USB Cable Fig. 1.
1. Before You Begin USB Cable Fig. 1.
1.5 Starting the Software (Online Connection) x When this software is started, the "safety velocity" mode is enabled (enable the safety velocity limit). In this mode, in the case of orthogonal axis, the maximum velocity is limited to 250 mm/sec or below in programs started from the PC software. In the case of SCARA axes, the maximum velocity during CP operation is limited to 250 mm/sec or below (PTP operation: 3% or below).
1. Before You Begin [4] If XSEL-P/Q (application version 0.36 or later), XSEL-PX/QX (application version 0.17 or later), XSEL-R/S, XSEL-RX/SX, XSEL-RXD/SXD, SSEL, ASEL, or PSEL (application version 0.01 or later) is connected, the Two or more programs start permission/prohibition setting screen (Fig. 1.48) will be displayed. Set whether you prohibit or permit the simultaneous starting of multiple programs during the manual mode, and click the OK button.
Important * This error code is applicable in main controller application 0.16 or earlier. In the case of a P/Q controller, a J/K controller running main controller application version 0.16 or later or a table top model robot, opening the TP port (teaching connector) may result in the following conditions depending on whether or not the servo is in use.
2. How to Save Data 2. How to Save Data The controller adopts a flash memory. Accordingly, some data is stored in the memory areas backed up by a battery, while other data is stored in the flash memory areas. Also note that transferring data from the PC software or teaching pendant to the controller will only write the data in the controller’s memory, as illustrated below, and the data will be cleared once the controller power is turned off or the controller is reset.
Position No. 10001-20000 and user retained memory (RC-axis position in XSEL) are added to X-SEL-P/Q, PX/QX controller with gateway function. (Other parameter No. 20 = "2" (Backup battery installed)) 2. How to Save Data * Encoder parameters are stored in the EEPROM of the actuator’s encoder, not in the controller’s EEPROM. Therefore, encoder parameters will be loaded to the controller every time the controller power is turned on or a software reset is executed.
2. How to Save Data Programs, parameters and symbols are loaded from the flash memory after the controller is restarted. Unless written to the flash memory, edited programs, parameters and symbols will return to the original data once the controller is restarted. The controller always operates according to the data (excluding parameters) stored in its memory (indicated by dotted lines).
Position No. 10001-20000 and user retained memory (RC-axis position in XSEL) are added to X-SEL-P/Q, PX/QX controller with gateway function. (Other parameter No. 20 = "0" (Backup battery not installed)) 2. How to Save Data Programs, parameters and symbols are loaded from the flash memory after a restart. Unless written to the flash memory, edited programs, parameters and symbols will return to the original data once the controller is restarted.
2.3 XSEL-R/S/RX/SX/RXD/SXD An example of 20,000 positions is given below. 2. How to Save Data Data editing on the PC or teaching pendant Data retained while the power is on and cleared after reset Data retained after the power is turned off Main CPU flash memory Main CPU RAM memory Transfer Transfer Programs Parameters (other than slave card parameters) Symbols Positions (axis positions in X-SEL) (Nos. 10001 to 20000 (second half)) Position comment (axis positions in X-SEL) (Nos.
2.4 Notes Note on saving parameters to a file: Encoder parameters are saved in the EEPROM of the actuator’s encoder (unlike other parameters, they are not stored in the controller’s EEPROM). Therefore, encoder parameters are loaded from the encoder’s EEPROM to the controller after the controller power is turned on or a software reset is executed.
2. How to Save Data Note on the increased number of parameters: The number of the parameters has been increased for the X-SEL-P/Q, PX/QX controllers (w/gateway function) compatible with increased memory.
3. Menu Window 3.1 Explanation of the Menu 3.1.1 Online Screen Menu Icons Tree View Fig. 3.1 Online Screen (X-SEL-J/K or TT Controller) 55 3. Menu Window (1) X-SEL-J/K or TT controller When this software has been started, the main window in Fig. 3.1 will open showing the menu items with icons on the tool bar in the case of the X-SEL-J/K or TT controller. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T).
3. Menu Window (2) X-SEL-P/Q and R/S controllers When this software has been started, the main window in Fig. 3.2 will open showing the menu items with icons on the tool bar in the case of the X-SEL-P/Q and R/S controllers. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu) Fig. 3.
(4) X-SEL-PX/QX, RX/SX and RXD/SXD controllers When this software has been started, the main window in Fig. 3.2 will open showing the menu items with icons on the tool bar in the case of the X-SEL-P/Q and R/S controllers. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu) 3. Menu Window Fig.3.
3. Menu Window (6) SSEL controller in the positioner mode When this software has been started, the main window in Fig. 3.6 will open showing the menu items with icons on the tool bar in the case of the SSEL controller in the positioner mode. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu) However, "program edit" or "symbol edit" using the menu or tool bar will become unavailable.
(8) PSEL controller When this software has been started, the main window in Fig. 3.8 will open showing the menu items with icons on the tool bar in the case of the PSEL controller. The tree view appearing on the left side of the window can be displayed by clicking View (V) from the menu bar and then selecting Tree View (T). (Initial window: Main menu) 3. Menu Window 3.1.2 Offline Screen When this software has been started with no connection to any controller, the screen in Fig. 3.9 will be displayed.
3. Menu Window 3.2 Explanation of the Commands (1) File (F) [1] New (N) Create new SEL data. • Program (S) Open the edit window for creating a new program. • Position (O) Open the edit window for creating new position data. This menu item will become faint-colored and render the command inoperable in the case of the SSEL, ASEL, and PSEL controllers in the positioner mode. • Symbol (Y) Open the edit window for creating new symbol data.
Close (C) Close the currently active window. [4] Save (S) Save the data in the active edit window by overwriting the corresponding file. [5] Save As (A) Save the data in the active edit window to a different file under a desired name. [6] Print Setup (P) Set the print font and printer. Clicking this item will display the printer setup screen to set the printer. Specify the top margin area for printing in [mm] Specify the left margin area for printing in [mm]. Fig. 3.
. In PC software V9.00.00.00 or later, whether or not to print the folder name can be selected. 3. Menu Window If this check box is selected, the folder name will not be printed when the file data is printed. If this check box is selected, the folder name will not be printed when the file data is printed. Fig. 3.13 Print Setting Screen (V9.00.00.
The following are the operations for which this function is enabled: { { { { Line insertion { - Line Deletion { - { - { - Input Program Edit Window Position Edit Window Symbol Edit Window Parameter Edit Window Coordinate System Data Edit Window RC-axis Position Data Edit Window Cut Paste { { { - { { { - - - - - { { When this operation is performed, the warning screen in Fig.3.14 will be displayed. Clicking Yes will cancel the operation executed immediately before. Fig. 3.
3. Menu Window (4) Program (S) This menu lets you perform operations relating to programs. (Available only in the online mode.) (Refer to "4. Program Edit Window.") [1] [2] [3] [4] [5] Edit (E) Copy/Move (C) Clear (L) Save to File (S) End All Operations (T) Load a selected program from the controller for editing. Copy/move (cut & paste) a program Clear a program. Save a selected program or all programs to a file under a desired name.
(6) Parameter (P) This menu lets you operate parameters. (Available only in the online mode.) (Refer to "8. Parameter Edit Window.") (7) Symbol (Y) This menu lets you operate symbol data. (Available only in the online mode.) (Refer to "9. Symbol Edit Window.") [1] Edit (E) [2] Clear All (C) Load symbol data from the controller for editing. Clear all symbol data. (8) Coordinate System (D) This item is displayed for X-SEL-JX/KX, PX/QX, RX/SX and RXD/SXD controllers.
3. Menu Window (9) Monitor (M) This menu lets you monitor various statuses, global variables, port statuses, and so on. (Available only in the online mode.) (Refer to "11. Monitor.") Open the task status monitor window. [1] Task Status (T) [2] System Status (S) Open the system status monitor window. [3] Axis Status (A) Open the axis status monitor window. [4] Input Port (I) Open the input port monitor window. [5] Virtual Input Port (N) Open the virtual input port monitor window.
[3] Offline Operation (Communication port close) (O) [4] Message Manager Communication Change (N) [5] RC Gateway (Y) Operational manual for gateway function is in a separate volume. Operational manual Management number X-EL controller P/Q/PX/QX and R/S/RX/SX/RXD/SXD ME0188 RC gateway function [6] SEL Global Data Backup Save to File Can save global flags, global integer variables, global real variables, and global strings.
3. Menu Window [When the RC-axis position data in RC controller is used] RC-axis position data in RC controller can not be saved in the PC interface software for X-SEL. Fig. 3.18 Warning (When RC-axis position data is being saved) PC Interface Software of a Version Earlier than V7.2.0.0 ƒ Transfer to Controller (L) Transfer saved program and position data to the controller.
Fig. 3.22 Confirmation Screen (Note) Data saved in the extended format can be transferred to the controller incompatible with increased memory. Programs of No. 65 or later and positions of No. 4001 or later cannot be transferred. Parameters not supported by the controller at the destination cannot be transferred. The following warning screen will be displayed. Click Yes to transfer data. Fig. 3.
3. Menu Window [When RC-axis position data in RC controller is used] RC-axis position data in RC controller cannot be transferred in PC interface software for X-SEL. Fig. 3.25 Warning Screen (Transferring RC-axis position data when position data in RC is used.) When a user data retained memory with a different composition is transferred, the following warning screen will be displayed. Initialize the user data retained memory and transfer it again.
䊶Divide Files [8] Divide all the saved backup data (all data including program and position) into program, position, parameter, symbol, X-SEL-JX/KX, PX/QX, and RX/SX/RXD/SXD axis data. Click Divide Files on the Transfer/Divide data screen. The program, position, parameter symbol and X-SEL-JX/KX, PX/QX are displayed in order on the File Save screen. Save them with a file name. Positioner Mode Acquire Positioner Mode Information Acquire maintenance information (system data) in the positioner mode.
[10] Initialize Memory (I) ƒ Position (O) 3. Menu Window Clear all position data. This item is displayed on the XSEL-R/S, RX/SX and RXD/SXD controllers. (Note) If 6BD, "Position data configuration change error" or 6BF, "Position data sum check error" occurs, use this command to initialize the position data. (Note) 22B, "Position data comment loss error" will occur if the software is reset or power is turned off after this operation, without writing the position data to the flash ROM first.
[11] Absolute Reset (A) [12] [14] [15] [16] [17] [18] [19] [20] [21] (11) Tool (T) [1] Environment Setup (S) (12) Window (W) [1] [2] [3] [4] [5] [6] Cascade (C) Tile Vertically (V) Tile Horizontally (H) Minimize All (M) Make to Window Arrange Icons (A) (13) Help (H) [1] About This Software (A) This menu lets you specify settings relating to this application. Set items that define how the application is run. This menu lets you change how the windows are displayed.
3.3 Explanation of the Toolbar This section explains the toolbar (Fig.3.27) shown at the top of the main window (below the menu bar). 3. Menu Window Fig. 3.29 Toolbar 74 Open File Same as clicking File (F) and then selecting Open (O). Save Same as clicking File (F) and then selecting Save (S). Edit Program Same as clicking Program (S) and then selecting Edit (E). Edit Position Same as clicking Position (O) and then selecting Edit (E).
This list box is used to enable/disable the safety velocity limit in the manual mode. [Safety Vel Specified] --- Enable the safety velocity limit. (The maximum speed during CP operation will be limited to 250 mm/sec or below [PTP operation: 3% or below] regardless of program or parameter settings.) [Safety Vel Not Specified] --- Disable the safety velocity limit. 75 3. Menu Window This list box is used to permit/prohibit the simultaneous starting of multiple programs in the manual mode.
3.4 Tree View You can display various data edit windows in the online mode by double-clicking the corresponding tems displayed in the tree view (Fig. 3.30, Fig. 3.31) that appears on the left side of the main window. You can show or hide the tree view by clicking View (V) from the menu bar and then selecting Tree View (T). 3. Menu Window Controller model The example of Fig. 3.30 also applies to X-SEL-P/Q, R/S, TT, SSEL, ASEL, and PSEL controllers.
Controller model The example of Fig. 3.31 also applies to X-SEL-PX/QX, and RX/SX/RXD/SXD controllers. Remaining steps that can be stored in the controller 3. Menu Window Currently registered programs Number of registered steps in ( ) Program name in [ ] (if a symbol is registered) Unregistered programs Position data edit item Double-click to open the position edit window. "Drive," "Encoder" and "I/O System Device" will be displayed for X-SEL-P/Q and RX/SX/RXD/SXD controllers.
4. Program Edit Window 4.1 Explanation of the Items Displayed in the Program Edit Window (1) Click Program (S) from the menu bar, and then select Edit (E). (2) When the program number selection window opens, select the program you want to edit, and then click Load. 4. Program Edit Window Program name assigned in the symbol edit window In the case of the SSEL, ASEL, or PSEL controller, the number of remaining steps will be 2000 or less. Fig. 4.
If even one line is changed, all step numbers will be displayed in red. Right-clicking a desired input item in each line will display a pop-up menu (Fig. 4.3). The items in the pop-up menu are explained below. Cut (T) Copy (C) Paste (P) Insert 1 Line (I) Delete Selected Lines (D) Set Comment (S) Release Comment (R) Same as clicking Edit (E) from the menu bar and then selecting Cut (T). Same as clicking Edit (E) from the menu bar and then selecting Copy (C). Copy the entire cursor line.
In the program edit window, selecting Edit (E) from the menu and then Undo (U) can cancel up to the most recent 10 operations. Alternatively, pressing the Ctrl key and Z key simultaneously can cancel the operations. However, the cancel function will become disabled when any of the following operations is performed: x Transfer of data on the edit screen to the controller x Saving data on the edit screen to a file x Closing of the edit screen 4.
Right-clicking on the SEL Command Explanation window will open a pop-up menu containing the following items. Input (I) Font (F) Sort (S) Input the command in the cursor line to the step data (into the cursor line in the program edit window). You can set a desired font for displaying the SEL command explanations. You can sort the command list alphabetically or by command category. 4. Program Edit Window Fig. 4.
(4) This window has the various buttons shown below. 4. Program Edit Window (a) (b) (c)(d) (e) (f) (g) (h) (I) (j) (k)(l) Fig. 4.7 Buttons (a) Save to File Click this button to save the program in a file with a name. Note: In "Program File Format 1" of the X-SEL-P/Q, PX/QX, R/S, RX/SX and RXD/SXD controllers (with gateway function) that are compatible with increased memory, steps No. 6001 and thereafter and programs No. 65 and thereafter cannot be saved. Save them in "Program File Format 2.
(5) Checking the program The software will check the program you have created, for SEL syntax errors. [1] Click the Check Program button in the program edit window. [2] If any error is found, the error list will be displayed. Check Program button 4. Program Edit Window Fig. 4.8 Error List The error list has the Step No., Column and Message fields. Double-clicking an error line will move the cursor to the location of the corresponding error.
[a] Syntax Error Message (error content) 4. Program Edit Window [b] Variable No. Use Condition Variable No. Category (Integer, real number) Scope (Global, local) * If the applicable variable number is specified indirectly, the Category and Scope fields will show "Unknown." [c] Input/Output/Flag No. Port/Flag No. Category (Input Port No., Output Port No. or Flag No.) Scope (Global or Local) * If the applicable port/flag number is specified indirectly, the Category and Scope fields will show "Unknown.
4.2 Saving a Program and Closing the Edit Window (1) Saving to a file the program data you are editing Click the Save to File button in the program edit window. This is the same as clicking File (F) and then selecting Save As (A). After clicking the Save to File button, Save File Select screen will be displayed. Caution: If you click "Always save with Format 2", files will be always saved with Format 2. And this screen won’t be displayed after that.
4. Program Edit Window (3) Writing to the flash ROM Once the program has been transferred to the controller, the following confirmation dialog box with the message, "Write Flash ROM?" will be displayed. Fig. 4.12 Confirmation (X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) Fig. 4.13 Confirmation (X-SEL-JX/KX, PX/QX) In case of SSEL, ASEL, PSEL, X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function), or R/S, RX/SX, and RXD/SXD controllers, the following screens will be displayed.
(4) Closing the program edit window Attempting to close the program edit window will display the following confirmation dialog box with the message, "Save edited data in the Controller?" Yes (Y) No (N) Cancel 4. Program Edit Window Fig. 4.16 Confirmation The edited data will be transferred to the controller ĺ (3), "Writing to the flash ROM" The software will close the program edit window without saving the edited data. The software will cancel the operation and return to the program edit window.
4.3 Saving All Programs to a File (1) Saving all programs to a file You can save programs No. 1 to 64 in the controller (or programs No. 1 to 128 for the X-SEL-P/Q and PX/QX (with gateway function) compatible with increased memory, or R/S, RX/SX and RXD/SXD) to a single file. 4. Program Edit Window [1] Click Program from the menu bar, and then select Save to File. [2] In the program number selection window, click Save All. Then specify a desired file name and folder.
(3) Important note on transferring an all programs file to the controller [1] Transferring all program files to a controller at once will clear all existing programs No. 1 to 64 (or programs No. 1 to 128 for the X-SEL-P/Q and PX/QX (with gateway function) compatible with increased memory) or R/S, RX/SX, and RXD/SXD controllers. If necessary, back up all current programs before the transfer.
4. Program Edit Window [5] If the data saved by the Program File Format 2 (extended format) is transferred to a controller incompatible with increased memory, the programs of No.65 or later will not be transferred. The following warning screen will be displayed. Clicking Yes will transfer all programs. Clicking No will not transfer all programs. (The number of possible transferred step depends on the number of remaining step in the controller to transfer.) Fig. 4.
4.4 Running the Program You can run the program in the program edit window. To run the program you are editing, transfer it to the controller first. Note) Once transferred to the controller, the program can be run without being written to the flash ROM first. If the program is not written to the flash ROM, however, it will be lost once the controller power is reconnected or a software reset is executed. [h]End: Breakpoint: Clicking this button will run the program.
5. Copying/Moving/Clearing a Program 5.1 Program Copy/Move Window The steps to copy or move a program to other program number are explained below. (1) Click Program (S) from the menu bar, and then select Copy/Move (C). (2) The program copy/move window will open. 5. Copying/Moving/Clearing a Program Program number to copy/move from Program number to copy/move to In the case of the SSEL, ASEL, or PSEL controller, the number of remaining steps will be 2000 or less. Fig. 5.
For SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or R/S, RX/SX and RXD/SXD, the following dialog boxes will be displayed. (PC interface software version 7.2.0.0 or later) This is not displayed for SSEL, ASEL and PSEL Click and select a desired item (Program, etc.) to write to the flash ROM. x Click Yes (Y) ĺ The memory data will be written to the flash ROM. x Click No (N) ĺ The memory data will not be written to the flash ROM.
5.2 Program Clear Window The steps to clear a program are explained below. (1) Click Program (S) from the menu bar, and then select Clear (L). (2) The program clear window will open. 5. Copying/Moving/Clearing a Program In the case of the SSEL, ASEL, and PSEL controllers, the number of remaining steps will be 2000 or less. Fig. 5.6 Program Clear Click the program you want to clear. You can select multiple programs by dragging the mouse or pressing the Ctrl key and ĹĻ key simultaneously.
For SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or R/S, RX/SX and RXD/SXD, the following dialog boxes will be displayed. (PC interface software version 7.2.0.0 or later) Fig. 5.9 Confirmation (X-SEL-P/Q, R/S, SSEL, ASEL, PSEL) 5. Copying/Moving/Clearing a Program This is not displayed for SSEL, ASEL and PSEL Fig. 5.10 Confirmation (X-SEL-PX/QX, RX/SX, RXD/SXD) Click and select a desired item (Program, etc.) to write to the flash ROM.
6. Position Data Edit Window 6.1 Explanation of the Items Displayed in the Position Data Edit Window (1) Click Position (O) from the menu bar, and then select Edit (E). (2) The position data window (Edit Position Data) will open. This window has the following controls and fields. 6. Position Data Edit Window (1) Position data (2) Common buttons (4) Axis-specific buttons (Orthogonal axis) (5) Setting functions Data in the change line will be displayed in red. Fig. 6.
(1) Position data (6) Axis-specific buttons (SCARA axis) (8) Movement selection (3) Common buttons (7) Setting functions (SCARA axis) (1) Position data Fig. 6.4 Position Data (X-SEL-JX/KX) (1) Position data (2) Common buttons (6) Axis-specific buttons (SCARA axis) (7) Setting functions (SCARA axis) (8) Movement selection (4) (5) Setting functions (Orthogonal axis) (1) Position data 97 6. Position Data Edit Window Fig. 6.
6. Position Data Edit Window (1) Position data (2) Common buttons (4) Axis-specific buttons (Orthogonal axis) (5) Setting functions (Orthogonal axis) Fig. 6.7 Position Data (X-SEL-R/S) (1) Position data Fig. 6.
(1) Position data (2) Common buttons (6) Axis-specific buttons (SCARA axis) (8) Movement setting (9) Axis-specific button/setting function/movement setting display axis switching SCARA axis setting (7) Setting functions (SCARA axis) Orthognal axis setting 6. Position Data Edit Window Fig. 6.11 Position Data (X-SEL-RXD/SXD) (1) Position data Fig. 6.
(2) Common buttons (4) Axis-specific buttons (Orthogonal axis) (5) Setting functions (Orthogonal axis) 6. Position Data Edit Window (1) Position data Data in the change line will be displayed in red. Fig. 6.13 Position Data Edit (SSEL, ASEL and PSEL Controller in the Program Mode) (1) Position data Fig. 6.14 Position Data (SSEL, ASEL and PSEL) No. (Name) The position number and corresponding symbol are displayed.
Axis 1 to 4 Specify each desired position for Axis 1 to Axis 4. In the case of the JX/KX, PX/QX, RX/SX and RXD/SXD controllers, specify a desired position for each SCARA axis. The setting range is from –99999.999 to 99999.999. Axis 5, 6 Specify a desired position for Axis 5 and Axis 6. The setting range is from -99999.999 to 99999.99. Axis 5 to 8 Specify each desired position for Axis 5 to Axis 8. In the case of the RXD/SXD controller, specify a desired position for each SCARA axis.
Dcl Specify a desired deceleration. The setting range is from 1 to the value set in All-axis common parameter No. 23, "Deceleration MAX (orthogonal axis), CP deceleration MAX (SCARA axis), deceleration MAX (XSEL-R/S)." In the case of the X-SEL-RX/SX and RXD/SXD controllers, the setting range is from 1 to 9.99 if All-axis common parameter No. 18, "Check timing for operation acceleration/deceleration MAX" is set to "1" (Check at operation).
(2) Common buttons (X-SEL-J/K, P/Q, PX/QX, R/S, RX/SX, TT, SSEL, ASEL, and PSEL) Fig.6.17 Common Buttons (X-SEL-J/K, P/Q, PX/QX, R/S, RX/SX, TT, SSEL, ASEL, and PSEL) (3) Common buttons (X-SEL-JX/KX and RXD/SXD) Fig. 6.18 Common Buttons (X-SEL-JX/KX and RXD/SXD) Save to File Clicking this button will open a dialog box where you can save the position data to a file under a desired name.
Jog – This button is not displayed for X-SEL-JX/KX. The axes specified as the ones to be operated by the common buttons and whose servo is ON will jog backward while this button is pressed. However, axis specification has limitations. Jog + This button is not displayed for X-SEL-JX/KX. Axes specified as the ones to be operated by the common buttons and whose servo is ON will jog forward while this button is pressed. However, axis specification has limitations.
Move Continuously Clicking this button will move all axes indicated by (in the case of the SCARA axis, the 1st arm, 2nd arm, and R-axis are interlocked) to the position of the position number corresponding to the cursor position. Thereafter, each axis will continue to move to the position set by the data in next position number. (Note) The SCARA axis and orthogonal axis cannot be moved simultaneously. In the case of the X-SEL-RXD/SXD controller, axes of two SCARA robots cannot be moved continuously.
(4) Axis-specific buttons (Orthogonal axis) The axis you want to move using the common buttons Current position of the selected axis Error code 6. Position Data Edit Window Fig. 6.21 Axis-specific buttons (Orthogonal axis) Select the axis to be operated with the common buttons. Error code Current position of the selected axis Fig. 6.
(5) Setting functions (Orthogonal axis) Set the velocity (Vel), acceleration (Acc), deceleration (Dcl) and inching distance (Inc.) to be used when the actuator is operated using the various buttons. If a value is entered in any of the Vel, Acc and Dcl fields in the position data area, the value in the applicable position data field will be given priority for movement to the corresponding position number. Fig. 6.23 Settings of Velocity, Acceleration, Deceleration and Inching Distance Fig. 6.
(6) Axis-specific buttons (SCARA axis) Axis number Select the axis you want to move using the common buttons. "W" in the case of the work coordinate system or "A" in the case of each axis system Current position of the selected axis Error code Fig. 6.26 Axis-specific buttons (SCARA axis) 6. Position Data Edit Window Select the axis to be operated with the common buttons. "W" in the case of the work coordinate system Error code Current position of the selected axis Fig. 6.
(7) Setting functions (SCARA axis) Set the velocity (Vel), acceleration (Acc), deceleration (Dcl) and inching distance (Inc.) to be used when the actuator is operated using the various buttons. Fig. 6.28 Settings of Velocity, Acceleration, Deceleration and Inching Distance The jog button functions as the incremental button, if a numeric value (0.01 to 1.00) is entered in the Inc field under Setting Function. Move Vel [%], Acc [%], Dcl [%] Set the moving speed that applies when the MV button is clicked.
(8) Movement Selection Various buttons are provided to set Current arm system, Jog movement coordinate system, Work coordinate system select No. and Tool coordinate system select No. Fig. 6.29 Selection of Current Arm System and Various Coordinate Systems Current arm system The arm can be changed by clicking the Change button. 6. Position Data Edit Window Fig. 6.30 Current Arm System Selection Caution If the arm system is changed for a stationary axis, the newly selected arm may move occasionally.
(9) Axis-specific button/setting function/movement selection display axis switching Fig. 6.34 Axis-specific Button/Setting Function/Movement Selection Display Axis Switching. Switch the axes displayed in the axis-specific button, setting function and movement selection areas. 111 6. Position Data Edit Window Axis1-8: Display the axis-specific buttons, setting functions and movement selections of all effective axes.
6.2 Saving Position Data and Closing the Edit Window 6. Position Data Edit Window (1) Saving to a file the position data you are editing Click the Save to File button in the position edit window. This is the same as clicking File (F) and then selecting Save As (A). After clicking Save to File button, File Save Select screen will be displayed. In case of X-SEL-P/Q and PX/QX controllers compatible with increased memory (with gateway function), or R/S and RX/SX, positions of No.
Error/warning display before data transfer When transferring position data to the controller, the position data to be transferred is checked for problems and if any of the data cannot be transferred (due to excessive speed, acceleration, deceleration, etc.), applicable errors/warnings are displayed in a list. Select the "Show errors only" check box to show only errors. Fig. 6.
6. Position Data Edit Window (3) Writing to the flash ROM Once the program has been transferred to the controller, the following confirmation dialog box with the message, "Write Flash ROM?" will be displayed. Fig. 6.39 Confirmation (X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) Fig. 6.40 Confirmation (X-SEL-JX/KX, PX/QX) The following screen will be displayed for the SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or RX/SX and RXD/XSD.
(4) Closing the point edit window Attempting to close the point edit window will open the following confirmation dialog box with the message, "Save edited data in the Controller?" Fig. 6.43 Confirmation Yes (Y) No (N) Cancel The edited data will be transferred to the controller ĺ (3), "Writing to the flash ROM" The software will close the point edit window without saving the edited data. The software will cancel the operation and return to the position edit window. 6.
7. Copying/Moving/Clearing Position Data 7.1 Copying/Moving Position Data (1) Click Position (O) from the menu bar, and then select Copy/Move (C). (2) The position data copy/move window (Copy/Move Position Data) will open. Copying position data: 7. Copying/Moving/Clearing Position Data Moving position data: In Source to Copy/Move, specify the Top No. and Last No. of the position range you want to copy or move. Then, click Copy.
The following screen will be displayed for the SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or R/S, RX/SX and RXD/SXD. (PC interface software version 7.2.0.0 or later) This is not displayed for SSEL, ASEL and PSEL. Fig. 7.4 Confirmation (X-SEL-P/Q, R/S, SSEL, ASEL, PSEL) Fig. 7.5 Confirmation (X-SEL-PX/QX, RX/SX, RXD/SXD) * The number of writing to the flash ROM is limited (approx. 100,000 times).
7.2 Clearing Position Data (1) Click Position (O) from the menu bar, and then select Clear (L). (2) The position data clear window (Clear Position Data) will open. Fig. 7.6 Position Data Clear 7. Copying/Moving/Clearing Position Data In Clear Scope, specify the Top No. and Last No. of the position range you want to clear. Then, click Clear. Clicking Cancel will cancel the operation.
The following screen will be displayed for the SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or R/S, RX/SX and RXD/SXD. (PC interface software version 7.2.0.0 or later) This is not displayed for SSEL, ASEL and PSEL. Fig. 7.9 Confirmation Fig. 7.10 Confirmation (X-SEL-P/Q, R/S, SSEL, ASEL, PSEL) (X-SEL-PX/QX, RX/SX, RXD/SXD) * The number of writing to the flash ROM is limited (approx. 100,000 times).
8. Parameter Edit Window 8.1 Explanation of the Parameter Edit Window (1) Click Parameter (P) from the menu bar, and then select Edit (E). (2) The parameter edit window (Edit Parameter) will open. You can select a desired parameter and change the value. Values that are grayed out are read-only and cannot be changed. Save to File Clicking this button will open a dialog box where you can save the parameter data to a file under a desired name.
In the parameter edit window, clicking Edit (E) from the menu bar and then selecting Undo (U) can cancel up to the most recent 10 input operations. Alternatively, pressing the Ctrl key and Z key simultaneously can cancel the operations.
8.2 Saving Parameter Data and Closing the Edit Window (1) Saving to a file the parameter data you are editing Click the Save to File button in the parameter edit window. This is the same as clicking File (F) and then selecting Save As (A). (2) Transferring to the controller the parameter data you are editing You can save the parameter data you are editing to the controller’s memory. Click the Transfer to Controller button in the parameter edit window. 8.
(3) Writing to the flash ROM Once the program has been transferred to the controller, the following confirmation dialog box with the message, "Write Flash ROM?" will be displayed. Fig. 8.3 Confirmation (X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) Fig. 8.4 Confirmation (X-SEL-JX/KX, PX/QX) 8. Parameter Edit Window The following screen will be displayed for the SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or R/S, RX/SX and RXD/SXD.
(4) Restarting the controller (software reset) After the data has been written to the flash ROM, the following confirmation dialog box with the message, "Restart the controller" will be displayed. Yes No The new parameters will become effective. The new parameters will not become effective. The parameters will become effective after the controller is restarted (software reset) or the controller power is reconnected. 8. Parameter Edit Window Fig. 8.
8.3 Transferring a Parameter File Pay attention to parameter categories when transferring parameter data files to the controller. The controller is shipped with its axis-related parameters set, for each axis, to values appropriate for the type of the actuator connected. There are three categories of axis-related parameters: axis-specific parameters, driver card parameters and encoder parameters. Exercise caution when using an existing file containing customized parameters.
8.3.1 Selecting Categories of Parameters to Be Transferred (1) Select Open from the File menu or click the corresponding button in the toolbar. In the file selection dialog box, select the parameter file (extension: .xpm) you want to transfer to the controller. Load the file into the PC software and open the parameter edit window. (2) Click the Transfer to Controller button in the parameter edit window. 8. Parameter Edit Window (3) The Select Parameter Category window (Fig. 8.10) will be displayed.
Fig. 8.11 Select Parameter Category Window (X-SEL-JX/KX) (This window is supported by PC software version 3.0.1.0 or later.) 8. Parameter Edit Window Fig. 8.12 Select Parameter Category Window (SSEL, ASEL, PSEL) (This window is supported by PC software version 3.0.1.0 or later.) [1] Transfer parameters list The parameters to be transferred to the controller are displayed in accordance with the selections made in [2] through [5] explained below.
[2] General parameter categories Click the checkbox corresponding to each category of parameters you want to transfer (the clicked checkbox will be selected). Only the parameters of the selected category or categories will be transferred to the controller.
[5] Parameter transfer options – Controller basic unit Transmit options Select whether to enable transfer of controller basic unit dependent parameters. If controller basic unit dependent parameters are not included in the selections made in [2], [3] and [4], selecting Controller basic unit type dependent parameters transferred will not transfer the applicable parameters. Normally, select Controller basic unit dependent parameters not transferred.
8.4 How to Initialize XSEL-R/S, RX/SX, RXD/SXD, SSEL/ASEL/PSEL Parameters (at the time of shipment) Note: Initialization of parameters (at the time of shipment) can be performed only for XSEL-R/S, RX/SX, RXD/SXD, SSEL, ASEL and PSEL controllers. (1) Right-click a blank space in the tool bar (refer to Fig. 8.15) while pressing the Ctrl button. The Input Password will be displayed as shown in the Fig. 8.16. Fig. 8.15 Menu Bar 8.
(3) Selecting the displayed menu Parameter of Shipping displayed in (2) will display a dialog in Fig. 8.18. If you have no problem, click Yes. Fig. 8.18 Warning Dialog (4) After completion of rewriting, write the parameters to the flash ROM. Note: Encoder parameters are not initialized. Because of this an unexpected error may be detected when the actuator different from the one at the time of shipment is connected. 8.
9. Symbol Edit Window 9.1 About Symbols In the X-SEL controller, variable numbers, flag numbers and other values can be treated as symbols. 9. Symbol Edit Window (1) Values supporting symbol conversion The following values can be treated as symbols: Variable number, flag number, tag number, subroutine number, program number, position number, input port number, output port number, axis number, constant (2) Symbol description rules [1] First character: A single-byte alphabet or single-byte underscore.
9.2 Explanation of the Symbol Edit Window (1) Click Symbol (Y) from the menu bar, and then select Edit (E). (2) The symbol edit window (Edit Symbol) will open. Save to File Clicking this button will open a dialog box where you can save the parameter data to a file under a desired name. Note: For the X-SEL-P/Q, PX/QX controller compatible with increased memory (with gateway function), or R/S, RX/SX, and RXD/SXD, symbols of programs No.65 or later and positions No.
9. Symbol Edit Window (4) A symbol character string can be dragged and dropped between the symbol edit window and program edit window. By dragging a symbol character string on the symbol edit window while pressing the Ctrl key and then dropping it into any cell of Cnd, Operand 1, Operand 2 and Pst, the symbol character string can be copied. The reverse operation (drag & drop operation from the program edit window to the symbol edit window) is also available. (Supported by software version 4.0.0.
9.3 Saving Symbol Data and Closing the Edit Window (1) Saving to a file the symbol data you are editing Click the Save to File button in the symbol edit window. This is the same as clicking File (F) and then selecting Save As (A). After clicking Save to File button, File Save Select screen will be displayed. For the X-SEL-P/Q, PX/QX controller compatible with increased memory (with gateway function), or R/S, RX/SX, and RXD/SXD, symbols of programs No.65 or later and positions No.
(3) Writing to the flash ROM Once the program has been transferred to the controller, the following confirmation dialog box with the message, "Write Flash ROM?" will be displayed. Fig. 9.6 Confirmation (X-SEL-J/K, P/Q, TT, SSEL, ASEL, PSEL) Fig. 9.7Confirmation (X-SEL-JX/KX, PX/QX) 9. Symbol Edit Window The following screen will be displayed for the SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with increased memory (with gateway function) or R/S, RX/SX and RXD/SXD.
(4) Closing the symbol edit window Attempting to close the symbol edit window will display the following confirmation dialog box with the message, "Save edited data in the Controller?" Fig. 9.10 Confirmation Yes No Cancel The edited data will be transferred to the controller. The software will close the symbol edit window without saving the edited data. The software will cancel the operation and return to the symbol edit window. 9.
10. Coordinate System Definition Data Edit Window 10.1 Explanation of Coordinate System Definition data Edit Window In the case of the X-SEL-PX/QX, RX/SX, RXD/SXD, "SCARA Work Coordinate Offset," "SCARA Tool Coordinate Offset," and "SCARA Simple Interface Check Zone" will be displayed. 10. Coordinate System Definition Data Edit Window Fig. 10.1 Coordinate System Definition Data Edit Screen (1) Click Coordinate System (D) from the menu bar, and then select Edit (E).
(2) The coordinate system definition data edit window will be displayed. This window provides the following items: A. Work Coordinate System Offset No. X [0.001 mm] Y [0.001 mm] Z [0.001 mm] R [0.001 deg] Indicate the work coordinate system No. Enter the offset data for the X-axis. Enter the offset data for the Y-axis. Enter the offset data for the Z-axis. Enter the offset data for the R-axis. B. Tool coordinate System Offset No. X [0.001 mm] Y [0.001 mm] Z [0.001 mm] R [0.
10.2 Work Coordinate System A total of 32 different coordinates, provided as a combination of three-dimensional orthogonal coordinates and rotation axis coordinates, are defined by the offset of each axis with respect to the base coordinate system. Note that work coordinate system No. 0 is reserved in the system as the base coordinates (= work coordinate system offsets are 0).
(1) Setting of work coordinate system Set the offsets with respect to the base coordinate system. x Setting example of work coordinate system When defining work coordinate system No. 1 and No. 2 as illustrated below. Fig. 10.3 Work Coordinate System Offset Setup Screen Fig. 10.4 Work Coordinate System Offset Setup Screen (X-SEL-RXD/SXD) * Use the DFWK instruction to set the work coordinate system offsets in the SEL program. 141 10.
(2) Positioning in a work coordinate system Perform positioning after selecting a desired work coordinate system. Use the SLWK instruction to select a desired work coordinate system No. in the SEL program. Once set, the work coordinate system selection No. will remain effective after the program ends, and even after the power is reconnected if the system memory backup battery is installed. [1] When performing PTP positioning to position No. 5 and No. 6 in work coordinate system No.
[2] When performing PTP positioning to position No. 5 and No. 6 in work coordinate system No. 2. Fig. 10.6 Position Data Screen: Work Coordinate System No. 2 Setting The R-axis position is shown at left (top view). The Z-axis position is as follows: Position No. 5 Zb = 25 Position No. 6 Zb = 45 143 10. Coordinate System Definition Data Edit Window Sample program : : : SLWK 2 Select work coordinate system No. 2. SLTL 0 Select tool coordinate system No. 0. PTPR Specify right arm as the PTP target arm.
10.3 Tool Coordinate System A total of 128 different coordinates, provided as a combination of three-dimensional orthogonal coordinates and rotation axis coordinates, are defined by the dimensions (offsets) of the tool (hand etc.) installed on the tool installation surface. Note that tool coordinate system No. 0 is reserved in the system as the tool coordinate system with 0 offsets. When a defined tool coordinate system No.
(1) Setting of tool coordinate system Set the offsets from the center of tool installation surface to the tool end. x Setting example of tool coordinate system When defining tool coordinate system No. 1 as illustrated below: 45° 35 45 10 0 Fig. 10.7 Tool Coordinate System Offset Setting Screen Fig. 10.8 Tool Coordinate System Offset Setting Screen (X-SEL-RXD/SXD) * Use the DFTL instruction to set the tool coordinate system offsets in the SEL program 145 10.
(2) Positioning based on tool coordinate system offsets Perform positioning after selecting a desired tool coordinate system. Use the SLTL instruction to select a desired tool coordinate system No. in the SEL program. Once set, the tool coordinate system selection No. will remain effective after the program ends, and even after the power is reconnected if the system memory backup battery is installed. [1] When performing PTP positioning of the tool end in tool coordinate system No. 1 to position No.
[2] When performing PTP positioning of the tool end in tool coordinate system No. 1 to position No. 5 and No. 6 in work coordinate system No. 2: Fig. 10.12 Tool Coordinate System Offset Setting Screen Fig. 10.13 Work Coordinate System Offset Setting Screen Sample program : : : SLWK 2 Select work coordinate system No. 2. SLTL 1 Select tool coordinate system No. 1. PTPR Specify right arm as the PTP target arm. MOVP 5 Move to position No. 5. MOVP 6 Move to position No. 6.
10.4 Simple Interference Check Zone The simple interference check zone is an area set for the purpose of interference check between the robot and the peripherals. Entry of the center of tool installation surface into the simple interference check zone can be detected when tool coordinate system No. 0 (= tool coordinate system offsets are 0) is selected, while entry of the tool end in the simple interference check zone can be detected when tool coordinate system No.
Setting example of simple interference check zones Define simple interference check zones No. 1, No. 2 and No. 3 as shown below: 㧗:D :D :D Simple interference check zone No. 2 # $ Simple interference check zone No. 1 ' ( % 㧗;D ;D & 㧙;D ) * Simple interference check zone No. 3 :D 㧙 ޓ ޓ [1] Set simple interference check zone No. 1 as a rectangular solid.
10. Coordinate System Definition Data Edit Window Fig. 10.16 Simple Interference Check Zone Definition Coordinates Setting Screen (X-SEL-RXD/SXD) Zone No.: Indicates the zone number. Coordinate No.: Indicates the coordinate number. Coordinate 1 and Coordinate 2 are available. Physical/Expansion Output Port No./Global Flag No.: Select a desired output number to be output when the axis enters the check zone.
When simple interference check zone No. 1 is selected, entry of the tool into the rectangular solid will not be detected if Rb is outside the 0 to 180°range. To enable detection regardless of the R-axis coordinate, leave Coordinate 1 and Coordinate 2 in the R column in the Zone 1 line blank. With simple interference check zone No. 2 and No.
10.5 Coordinate System Definition Data Clear Window The procedure to delete coordinate system definition data is explained below: [1] Click Coordinate System (D) from the menu bar, and then select Clear (L). [2] The coordinate system definition data clear window will be displayed. Click in the applicable checkbox to select the type of data you wish to delete. Fig. 10.17 Coordinate System Definition Data Clear 10.
In the case of X-SEL-PX/QX compatible with increased memory (with gateway function), or RX/SX and RZD/SXD the following screen will be displayed. (PC interface software version 7.2.0.0 or later) Fig. 10.20 Confirmation (X-SEL-PX/QX, RX/SX, RXD/SXD) * The number of writing to the flash ROM is limited (approx. 100,000 times). If you do not write all the data, select Write Selected Data Region and write to the flash ROM. 153 10.
10.6 Printing of Coordinate System Definition Data The procedure to print coordinate system definition data is explained below. [1] Click the button in the menu if the coordinate system data definition edit window. [2] Select whether to print all types or the coordinate system data being displayed. Fig. 10.21 Print Type Selection 10. Coordinate System Definition Data Edit Window [3] The coordinate system definition data will be printed in accordance with the selected content.
11. Monitor You can check the current statuses of various items from the Monitor menu. (1) Task status monitor window This window shows the statuses of running programs. Fig. 11.1 Task Status (2) System status monitor window The current operation mode is displayed. (MANUAL, AUTO) Of the errors currently occurring, the most serious level system error number is displayed. Of the errors currently occurring, the latest system error number is displayed. Various statuses are displayed. Fig. 11.
In the case of the SSEL, ASEL or PSEL controller, the Status of Positioner Mode can be checked by Status 3. 11. Monitor (3) Axis status monitor window This window shows the status of each axis. Fig. 11.5 Axis Status When the super-high impellent actuator is operated by the SSEL controller, the belt breaking detection sensor can be monitored in Axis Status monitor. (PC interface software version 7.2.0.0 or later) Belt breaking detection sensor Fig. 11.
(4) Input port, virtual input port, output port and virtual output port windows These windows show the ON/OFF status of each input/output. 1: ON, 0: OFF Fig. 11.7 Input/Output Ports The 1/0 (ON/OFF) of output ports and virtual output ports can be switched by double-clicking the applicable port or pressing the Ctrl key and space key simultaneously. In the case of the SSEL, ASEL or PSL controller in the positioner mode, no symbol will be displayed. 11. Monitor Fig. 11.
In the input port window, you can set an input port debug filter. "Input port debug filter" is a function that causes the controller to recognize a given physical input port as ON or OFF regardless of the actual input status of the physical input port. (This function is supported by X-SEL PC software version 1.1.1.0 or later.) 11. Monitor To set a debug filter, use the following four buttons provided on the Debug filter setting panel in the input port window (available in the MANUAL mode).
Fig. 11.10 Warning Message Note The status (ON/OFF) of each input port as recognized by the controller changes the moment the debug filter is cleared or controller operation mode (MANUAL or AUTO) is changed. (1) Upon clearing a filter Actual input status Filter type ON OFF ON OFF ———— OFF ĺ ON ON ĺ OFF ———— 11.
(5) Global flag, global integer variable, global real variable and global string windows 11. Monitor Fig. 11.11 Global You can change the values in global variables or assign values to global variables. You can also change the characters in global strings or assign characters to global strings. The 1/0 (ON/OFF) of global flags can be switched by double-clicking the applicable global flag or pressing the Ctrl key and space key simultaneously.
(6) Local Data (Version V9.00.01.00 or later) Select “Monitor (M)” ĺ “Local Data (B)” in the main menu and the Show Local Data window opens. The Program No. selected in the Show Local Data window and the local data in the Category of Local Data are displayed. Fig. 11.14 Show Local Data Window 2) Selection of Category of Local Data Click in the box for the item to be displayed from the Category of Local Data. A tick mark 3 will be shown in the selected box.
All are shown at once at the first time one on top of another. Fig. 11.15 Local Data Display Window (display at first time) 11. Monitor Drag one by one from the top to bottom and show all in the screen. Numbers in the brackets [ ] show the program numbers. Fig. 11.
(7) Detailed error information Clicking Monitor (M) from the main menu and then selecting Detailed Error Information (E) will display the Error Number Select screen. Clicking OK after setting the Error Number Select will display the Detailed Error Information screen. Fig. 11.17 Error Number Select Screen When errors occur, error codes, messages and other information will be displayed. Save the error list in a file. (CSV format)* 11. Monitor Info. 1 to Info.
In the case of the X-SEL-R/S, RX/SX or RXD/SXD controller, the header of the time of error column displayed as part of detailed error information becomes "Data (time the error occurred)" instead of "After Reset (elapsed time after the reset)." Fig. 11.19 Detailed Error Information (When the XSEL-R/S, RX/SX and RXD/SXD controllers’ calendar function is used) 11. Monitor (Note) If date & time data is lost, the following error occurs. In this case, the date & time data becomes 2000/01/01 00:00:00. Fig. 11.
If the system memory backup battery is installed, the error list contents will not be cleared even if the power is turned OFF. When clearing the error list contents, click the alarm list clear displayed. Clicking Yes will clear the error list contents. key. A warning in Fig. 11.18 will be Fig. 11.21 Confirmation * When trouble occurs, you may be requested to send the error list saved in a file to resolve the problem at an early stage. The error list file cannot be opened by this PC interface software.
By setting thresholds for total number of movements and total distance travelled, you can notify an external device, by means of a message level error or output signal that each threshold has been exceeded. (Alert function) [How to set a threshold under the alert function] Method 1: Change the value of Axis-specific parameter No. 221, "Threshold for total number of movements" or No. 222, "Threshold for total distance travelled," whichever is applicable, on the parameter edit screen.
Yes (Y) No (N) Write the memory data to the flash ROM. Do not write the memory data to the flash ROM. When a reset is performed (by turning off the power and then turning it back on, or resetting the software), the memory data will be destroyed and data will be loaded from the flash ROM. (The controller will use the transferred memory data until the reset takes effect.
(9) Monitoring data This item cannot be displayed for X-SEL-JX/KX controllers. With regard to the orthogonal axis selected for Target Axis, the operation amount, velocity instruction and feedback pulse can be displayed. Select the item you want to display for Data Type. key can save the acquired data in a file. The data will be stored as numeric data in CSV Clicking the format. (Note) This function is supported by software version 5.0.2.0 or later.
Save the data in a file. (CSV format) Number of pulses Select the Target Axis to monitor. Time (msec) Display the synthetic velocity of orthogonal axes. The synthetic velocity can be checked when orthogonal axes are controlled simultaneously and circle movement is performed using CIR2 instruction. 11. Monitor Manipulated Variable: Original command pulse that composes the trapezoid or triangular patterns calculated from speed, acceleration and deceleration.
Number of pulses Save the data in a file. (CSV format) Buffering indicates the sampling number. The cycle of one sample can be set with "Other Parameter No.51." 11. Monitor Time (msec) Display the synthetic velocity of orthogonal axes. The synthetic velocity can be checked when orthogonal axes are controlled simultaneously and circle movement is performed using CIR2 instruction.
12. RC Gateway Function Setting Operational manual for RC gateway function is in a separate volume. Operational manual X-SEL controller P/Q/PX/QX RC gateway function Catalogue number ME0188 12.
13. How to Reset an Absolute Encoder 13.1 Orthogonal axis If the voltage of the absolute-encoder backup battery in the X-SEL controller becomes low or after the battery or encoder cable has been disconnected, an encoder battery error will occur. In this case, the absolute encoder must be reset. (1) Click Controller (C) from the menu bar, and then select Absolute Reset (A). In the case of the X-SEL-PX/QX, RX/SX, and RXD/SXD controllers, select Abs. Encoder Reset (Orthogonal axis) (A).
(5) When the following ‘Warning’ dialog box appears, click Yes Fig. 14.4 Warning (6) After the Encoder Rotation Data Reset 1 process is completed, the red arrow will move to the next item below. Click the applicable button. Repeat this operation until all of the following processes are completed (every time a process is completed, the red arrow will move to the next item below): 1. Reset Controller Error 2. Servo ON 3. Returning Home 4. Servo OFF Note: If you are using PC software of version 1.1.0.
13.2 Scara Axis 13.2.1 Absolute Reset Preparation The following jigs are required to perform an absolute reset: x Absolute Reset Adjustment jigs Type Remarks JG-1 Arm length 500/600 JG-2 Arm length 250/300/350 JG-3 Arm length 700/800 JG-4 Arm length 500/600 high-speed type JG-5 Arm length 120/150/180 Connect the cables of the actuator, controller and PC to make an operable status. Always check operation of the EMG switch before performing work.
13.2.2 Starting the Absolute Reset Menu (1) Open the Abs. Encoder Reset window from PC software. (Note) In the case of X-SEL-PX/QX, RX/SX, and RXD/SXD select Abs. Encoder Reset (Scara Axis) (Y). Fig. 14.7 Opening Operation of Abs. Encoder Reset Window (2) The Abs. Encoder Reset window will open. x One of three Abs. Encoder Reset screens - for Arm1 (A1c), Arm2 (A2c), Rot. Axis (Rc) + Vert. Axis (Zc) - is displayed when a corresponding tab is clicked. 13. How to Reset an Absolute Encoder Fig. 14.8 Abs.
13.2.3 Absolute Reset Procedure for Arm 1 or 2 13. How to Reset an Absolute Encoder (1) Click the Encoder Rotation Data Reset1 button. Fig. 14.9 Encoder Rotation Data Reset1 Operation (2) Click the Reset Controller Error button. Fig. 14.
(3) Click the Servo ON button. Fig. 14.11 Servo ON Operation (4) Jog the arm to near the reference position (see reference position drawing in step 7), and click the Jog end button. 13. How to Reset an Absolute Encoder Fig. 14.12 Jog Operation (5) Click the Servo-Off button. Fig. 14.
(6) Press the EMERGENCY STOP switch. (7) When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at the reference position. When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at the reference position. - Set the jig after confirming that the EMERGENCY STOP switch is pressed. - Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide.
Arm 1 (Arm length 250/300/350) Arm 2 (Arm length 250/300/350) (Note) When performing an absolute reset for arm 1 of IX-NNN2515, rotate arm 2 slightly then set with an adjustment jig (pin) to set it. Warning x Always press the EMERGENCY STOP switch before setting an adjustment jig. Failure to do so may cause the actuator to malfunction and result in a serious accident. 179 13. How to Reset an Absolute Encoder Fig. 14.
Pin Absolute reset jig Arm 1 Positioning mark Arm 2 Positioning mark Pin Absolute reset jig Arm 1 (Arm length 120/150/180) Fig. 14.16 Arm Length 120*1/150/180 Reference Position *1: When an absolute reset is performed for arm 1 (arm length: 120) 13. How to Reset an Absolute Encoder Arm 2 (Arm length 150/180) Arm 2 (Arm length 120) Fig. 14.
(8) Click the OK button. Fig. 14.18 Confirmation Operation (9) Click the Encoder Rotation Data Reset2 button. 13. How to Reset an Absolute Encoder Fig. 14.
(10) Remove the adjustment jig. x Install the cover and secure it with the setscrews for arm 1 only. (11) Release the EMERGENCY STOP switch. (12) Click the OK button. 13. How to Reset an Absolute Encoder • An arrow is shown next to the Home pos. automatic update button. Do not this item (In particular, be sure this item is not set when performing an absolute reset without using a jig.) • If the home position has been updated by mistake, perform software reset without writing to the flash ROM.
13.2.4 Absolute Reset Procedure for Rotation Axis + Vertical Axis (1) Click the Encoder Rotation Data Reset1 button. 13. How to Reset an Absolute Encoder Fig. 14.21 Encoder Rotation Data Reset1 Operation (2) Click the Reset Controller Error button. Fig. 14.
(3) Click the Servo ON button. Fig. 14.23 Servo ON Operation 13. How to Reset an Absolute Encoder (4) Click the Temp. Standard posture standby button. • Please note that the vertical axis returns to its home position. Fig. 14.24 Temp. Standard Posture Standby Operation (5) Jog the rotation axis to the reference position (see reference position drawing in step 8), and click the Jog end button. Fig. 14.
(6) Click the Servo-OFF button. Fig. 14.26 Servo-OFF Operation (7) Press the EMERGENCY STOP switch. (8) Affix the rotation axis at the reference position by setting the plate and pin of the adjustment jig as illustrated below. • Set the jig after confirming that the EMERGENCY STOP switch is pressed. • Set the jig using the positioning mark as a guide. • The top face of the stopper should roughly align with the bottom face of arm 2. 13.
13. How to Reset an Absolute Encoder (Bottom view) Fig. 14.28 Arm Length 250/300/350 Reference Position Warning x Always press the EMERGENCY STOP switch before setting an adjustment jig. Failure to do so may cause the actuator to malfunction and result in a serious accident.
13. How to Reset an Absolute Encoder Fig. 14.
13. How to Reset an Absolute Encoder (Bottom view) Fig. 14.30 Arm Length 150/180 Reference Position Warning x Always press the EMERGENCY STOP switch before setting an adjustment jig. Failure to do so may cause the actuator to malfunction and result in a serious accident. x Pay attention to the orientation of the D-cut surface of the plate jig.
(9) Click the OK button. Fig. 14.31 Confirmation Operation (10) Click the Encoder Rotation Data Reset2 button. 13. How to Reset an Absolute Encoder Fig. 14.
(11) Click the Home pos. automatic update button. Fig. 14.33 Home Pos. Automatic Update Operation (12) Remove the adjustment jig. (13) Release the EMERGENCY STOP switch. 13. How to Reset an Absolute Encoder (14) Click the OK Fig. 14.
(15) Click the Servo ON button. Fig. 14.35 Confirmation Operation (16) Click the Standard posture standby button. • Please note that the vertical axis returns to its home position. 13. How to Reset an Absolute Encoder Fig. 14.36 Standard Posture Standby Operation (17) Click the Servo-OFF button. Fig. 14.
(18) Click the Encoder Rotation Data Reset3 button. 13. How to Reset an Absolute Encoder Fig. 14.38 Encoder Rotation Data Reset3 Operation (19) Click the Home pos. automatic update button, and then click X in the top right-hand corner to exit the Abs. Encoder Reset window. • Be sure to perform "Software Reset" upon completion. Fig. 14.
13.3 ZR Unit (Absolute Type Only) 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. 13.3.1 Preparing for Absolute Reset On the ZR unit, an absolute reset is performed from the ball-screw spline adjustment menu in the PC software. You also need a special jig to perform an absolute reset.
13.3.2 Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window) (1) Start the ball-screw spline adjustment window from the PC software. 13. How to Reset an Absolute Encoder Fig. 14.41 Absolute Reset Window Launching Operation (2) The ball-screw spline adjustment window starts. When a linear movement axis number is selected, "Rotational Movement Axis Number (Mating Axis Number)" and "Encoder Type" are displayed.
13.3.3 Absolute Reset (Ball-screw Spline Adjustment) Procedure (1) Select a "linear movement axis number" which will be used to perform an absolute reset (ball-screw spline adjustment). Fig. 14.43 Linear Movement Axis Number Selection Operation (2) Click the [Encoder Rotation Data Reset (Lnr. Axis, Rot. Axis)] button. 13. How to Reset an Absolute Encoder Fig. 14.
(3) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.45 Encoder Multi-Rotation Data Reset 1 Operation 13. How to Reset an Absolute Encoder (4) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.
(5) Click the [Reset Controller Error] button. Fig. 14.47 Controller Error Reset Operation (6) Click the [Servo ON (Lnr. Axis, Rot. Axis] button. 13. How to Reset an Absolute Encoder Fig. 14.
(7) Click the [Temp. Standard posture standby (Lnr. Axis)] button. x Be careful because the linear movement axis (Z-axis) returns to its home. Fig. 14.49 Tentative Reference Posture Operation (8) Jog the rotational movement axis (R-axis) to the reference posture position (refer to the illustration of reference posture), and then click the [Jog end] button. 13. How to Reset an Absolute Encoder Illustration of reference posture Fig. 14.
(9) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button. Fig. 14.51 Servo OFF Operation 13. How to Reset an Absolute Encoder (10) Press the emergency stop switch (emergency stop button on the PC cable). (11) Release the brake. Release the brake using the switch on the controller side.
(12) Set the plate and pin constituting the adjustment jig, as shown below, to affix the robot in the reference posture. 13. How to Reset an Absolute Encoder Fig. 14.52 Installing Adjustment Jig Installation method [1] Insert the ball-screw spline into the hole in the jig from below. [2] Cause the D-cut surface of the ball-screw spline to contact the surface a. [3] Cause the side surface of the ball-screw spline to contact the surface b.
(13) Click the [OK] button. Fig. 14.53 Adjustment Jig Installation Confirmation Screen (14) Click the [Encoder Rotation Data Reset 2 (Rot. Axis)] button. 13. How to Reset an Absolute Encoder Fig. 14.
(15) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.55 Encoder Multi-Rotation Data Reset 2 Operation 13. How to Reset an Absolute Encoder (16) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.
(17) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] button. Fig. 14.57 Home Position Automatic Update Operation (18) (19) (20) (21) Remove the adjustment jig. Lock the brake (on the front panel of the controller). Cancel the emergency stop (by releasing the emergency stop button on the PC cable). Click the [OK] button. 13. How to Reset an Absolute Encoder Fig. 14.
(22) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button. Fig. 14.59 Servo ON Operation 13. How to Reset an Absolute Encoder (23) Click the [Standard Posture standby (Lnr. Axis) (Rot. Axis㸢0)] button. x Be careful because the rotational movement axis (R-axis) moves to the zero point and then the linear movement axis (Z-axis) returns to its home. Fig. 14.
(24) Click the [Servo-OFF (Lnr. Axis, Rot.Axis)] button. Fig. 14.61 Servo OFF Operation (25) Click the [Encoder Rotation Data 3 (Lnr. Axis)] button. 13. How to Reset an Absolute Encoder Fig. 14.
(26) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.63 Encoder Multi-Rotation Data Reset 3 Operation 13. How to Reset an Absolute Encoder (27) Click the [Home pos. automatic update (Indispensability) (Lnr. Axis)] button, and then click "X" in the top right-hand corner of the window to close the window. Fig. 14.64 Home Position Automatic Update Operation Warning x 206 Take note that not following the work procedure correctly may result in position displacement.
(28) Closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the following screen. Click the [Yes] button. Fig. 14.65 Confirmation (29) When all data has been written to the flash ROM, the following screen appears. Click the [Yes] button. Fig. 14.66 Confirmation 13.
13.4 Simple absolute Unit for PSEL Controller (Option) Perform an absolute reset for following conditions: x Connect to PSEL controller after starting simple absolute unit x Disconnect encoder cable of actuator from PSEL controller and reconnect them x Error No. 41C "ABS unit encoder error (2)", and Error No.41D "ABS unit encoder error (3)" has occurred x Possible changes on home position, such as modifying home return and axis behavior related parameter (No.
(4) "PC Software for X-Sel" dialog box will appear on screen. If an error is detected, error message will appear. This message will disappear by click "OK" button. In case of detection of "ABS unit encoder error(2)", following error message will appear on screen. Fig. 14.68 ABS Unit Encoder Error Message (5) Current Error status can be checked by selecting [Monitor (M)] - [Error detail information (E)].
(6) Select Controller (C)– Absolute reset (A) from Menu. (7) [Warning] window will appear on screen. Click "OK" button. Fig. 14.70 Warning 13. How to Reset an Absolute Encoder (8) [Abs. Encoder Reset] window will appear on screen. Click here to select axis to perform Absolute reset. Fig. 14.
(9) Click following process button sequentially. When each processing finishes, red arrow will move to next process. [1] Controller error reset [2] Servo off [3] Simple ABS unit status reset [4] Excitation detection completion status clear [5] Servo On [6] Home return [7] Absolute reset [8] Absolute reset completion confirmation After clicking [Simple ABS unit status reset] button, Warning dialog of starting absolute reset will appear. Click [Yes (Y)]. Fig. 14.
(10) [Confirmation] windowof Software reset will appear on screen. Click [Yes (Y)] to restart controller. Fig. 14.74 Confirmation (Note) Software reset must be done after performing absolute reset. (11) If there is no error after restart, 7 seg LED will indicate "rdy" when panel unit is connected. 13. How to Reset an Absolute Encoder (12) Absolute reset is completed.
14. Supplemental Information on Controller Menu Items 14.1 Software Reset Selecting this menu item will restart the controller. Caution is required because data that is not yet written to the flash ROM will be lost after this operation. Click Controller (C) from the menu bar, and then select Software Reset (R). 14.2 Reset Error Selecting this menu item will reset message level errors and operation-cancellation level errors.
14.3. Drive-source Recovery Request and Operation-pause Reset Request 14.3.1 In the cases of Controllers Other Than SSEL, ASEL or PSEL Controllers (1) Drive-source recovery request [1] How to issue a drive-source recovery request A drive-source recovery request is required only in the following case: x When you set I/O parameter No.44 to 1, drive power cut-off occurs. -o Recovery after the main cause of cut-off is solved.
14.3.2 In the cases of SSEL, ASEL or PSEL Controllers (1) Drive-source recovery request [1] Case where a drive-source recovery request is required A drive-source recovery request is required only in the following case: x When you specify any input port for the drive power cut-off release input signal (dedicated function), drive power cut-off occurs. o recovery after the main cause of cut-off is solved.
14.4 Setting Time Select "Controller (C)" o "Time Setting (T)" from the PC Software Menu to display the Set Time screen. Fig. 15.1 Time Setting Screen Manual entry: Show PC time: Show controller time: "Setting" button: 14.5 Directly enter the time (date & time) you want to set to the controller. The time (date & time) set in the PC you are currently using is shown. The time (date & time) currently set in the controller is shown. Set the time (date & time) shown on the screen to the controller.
[2] Transmitting to the controller Global flags, global integer variables, global real variables and global strings can be transmitted to the controller. Select SEL global data backup (G) from the Controller (C) pop-up menu and then click Transmit to Controller(L). The SEL global data backup screen (Transmit to Controller) will be displayed. If an error occurs, focus will move to the Detailed Error Information tag to display the error description. Fig. 15.
14.6 Control Constant Table Management Information The versions of control constant tables for the encoder and motor can be checked. Select Controller (C) from the menu tool bar and then click Control constant table management information (Z). (Supported by X-SEL-P/Q, PX/QX, R/S, RX/SX, RXD/SXD, SSEL, ASEL and PSEL only.) 14. Supplemental Information on Controller Menu Items Fig. 15.
14.7 Execution Stop of Positioner Mode of SSEL, ASEL or PSEL Controller If you select Execute when the SSEL, ASEL or PSEL controller is in the manual mode and positioner mode, the positioner mode can be executed from your PC. (The 7-segment display will show "PN##." ## indicates the positioner mode No.) Executing the positioner mode manually enables a test run at safe speed, monitoring of I/O ports and others. Select Positioner Mode (O) from the Controller pop-up menu and then click Execute (E).
14.8 Getting Positioner Mode Information from SSEL, ASEL and PSEL Controllers Positioner mode maintenance information (system data) can be collected from the SSEL, ASEL and PSEL controllers. After the dialog indicating "Getting Pos. mode data" has been displayed, select the "Pos. mode sys1 data for PSEL" and click the Save (S) button. The system data can be saved. This function is used when making inquiries for support regarding the positioner mode.
14.9 Positioner Mode Management Information for SSEL, ASEL or PSEL Controller The operation mode and management information as to the positioner mode will be displayed. This information is intended for manufacturers. [1] Mng. Info. Tab • Mode: Display a specified positioner mode. • Management Info. 1, 2: Display the management information of system data. [2] Detail tab Display the mode name and management information for each system data. Click Pos. mode Management Info (M).
15. Tool The Environment Setup window accessible from the Tool menu consists of the Setting and Timer tabs. (1) Setting Specify whether or not to check symbols during the program error check. If this checkbox is not selected, symbol errors will not be checked. If this checkbox is not selected, the communication port which can be used will not be checked. However, selectable communication ports are extended to COM1 to COM256 in the communication check window.
For PC interface software version 7.2.0.0 or later, saving method can be chosen in the Environment Setup screen. • Always save by Format 2: Files are always saved by the extended format (Format 2). This is supported by the X-SEL-P/Q, PX/QX, R/S, RX/SX, RXD/SXD, controllers compatible with increased memory. • Choose the format type: When saving programs or position data, either saving by the normal format (Format 1) or saving with the extended format (Format 2) can be chosen in the select screen.
In PC Software V9.00.00.00 or later, "Maximum number of errors/warnings shown on the Edit Position screen before transfer" is displayed. [For the function to display errors/warnings before data transfer (common to all models), refer to 6.2, "Saving Positions and Ending Editing."] The largest axis number among the axes whose data can be edited is shown after "Permit editing of position data for all axes.
16. Appendix 16.1 Parameter Recovery Method for X-SEL-P/Q, PX/QX, R/S, RX/SX and RXD/SXD Controllers If parameter data is lost during parameter writing to the flash ROM due to main power OFF or any other factor, all parameters will be rewritten to initial values. In the case of the X-SEL-P/Q or PX/QX controller, an error will be detected after power reconnection or software reset since system-specific settings are lost immediately after parameter initialization.
1. Setting of Effective Axis Pattern of the Controller Note: Prepare a parameter file for recovery. Check that the prepared parameter file for recovery is the file of the target controller. Match the parameter No.01 (effective axis pattern) of Common to All Axes to the effective axis pattern of the parameter file data for recovery (111111b etc.). (Fig. 17.1) If the effective axis patterns of the controller and the parameter file to transfer mismatch, the parameter file cannot be transferred.
Once the transfer has been completed, the flash ROM write confirmation dialog will be displayed (Fig. 17.4). After confirming that Parameter is selected, click Yes to write the parameters to the flash ROM. P/Q Controller PX/QX Controller In the case of X-SEL-P/Q, PX/QX controllers compatible with increased memory (with gateway function), or R.S, RX/SX and RXD/SXD, the following dialog box will be displayed. (PC interface software version 7.2.0.
2. Transfer of Actuator Non-specific Parameters First, open a parameter file for recovery. Clicking the transfer to the controller button will display the Select Parameter Category form. 16. Appendix Fig. 17.
Make settings in the Select Parameter Category form (Fig. 17.7) as shown below. [1] Select I/O, Common to All Axes, Other and Manufacturer in the General parameter categories group. [2] Select Transfer all selected parameters under the Select parameter transfer options. [3] Select Controller basic unit dependent parameters transferred under Controller basic unit transmit options. (In the initial condition, Controller basic unit dependent parameters transferred is selected.
3. Transfer of Actuator Specific Parameters Display the Select Parameter Category form from the parameter file for recovery in the same way as the previous section. Then, make settings in the Select Parameter Category form (Fig. 17.8) as shown below. [1] Select Specific Axis, Driver and Encoder in the General parameter categories group. [2] Select Transfer all selected parameters under Select parameter transfer options. After completing the above settings, click the OK button. 16. Appendix Fig. 17.
Fig. 17.9 Warning Dialog before Transfer of Actuator Specific Parameters After performing this procedure, always write the parameters to the flash ROM and reset software. This completes transfer of all parameter data. Confirm that parameters are recovered to the conditions at backup time. 16.
232 800 - 88F 890 - 8AF 8B0 - 8DF 8E0 - 8FF 900 - 93F 940 - 97F 980 - 9AF 9B0 - 9BF 9C0 - 9FF A00 - A6F A70 - A9F AA0 - ACF AD0 - AFF B00 - B9F BA0 - BBF BC0 - BDF BE0 - BFF C00 - CCF CD0 - CDF CE0 - CEF CF0 - CFF D00 - D8F D90 - DAF DB0 - DCF DD0 - DDF DE0 - DFF E00 - E8F E90 - EBF EC0 - EDF EE0 - EFF FF0 - FBF FC0 - FCF Main application part Main core part PC TP Main application part Main core part PC PC (Update tool) TP Flash ACK time-out Main core part PC TP Main application part Main core part PC T
X-SEL PC Software Error Table 991 990 98F 98E 98C 98D 98B 98A 989 988 987 986 985 984 983 982 981 980 Error No. Special note Program copy/move/clear was performed while the online program edit window was open. Close Cannot Copy, Move, Clear Program being edited on-line. the online program edit window first. Program file transfer was performed to/from the program being edited online. Close the online edit Cannot transmit the program file being edited on-line.
234 Write-protected data write error Protection setting parameter error Position No. specification error Port No. specification error Function unsupport rejection error (PC) Input data error Password Error. Failed in writing file.
Error list clearing prohibited in operating mode Slave unit type not entered Slave unit type error Slave device number not entered Slave device number error Slave command ID not entered Slave command ID error Prohibited slave command issued Slave command prohibited with incomplete home return issued Slave command prohibited with Servo ON issued Movement/Continuous movement with incomplete home return prohibited Another home return attempt not completed File read error The number of breakpoint setting is
236 Received message string error (PC) Controller not connected Receive time out. (PC) Receive Length Error. (PC) Com Port Open Error. Sum Check Error. (PC) Receive Buffer Overflow.
Error No. ECA ECB ECC ECD ECE ECF ED0 ED1 Error name Framing Error (PC) Communication Error (PC) (OS) Unsupported controller connection error Ethernet Receive Timeout Error (PC) Disconnection Error (PC) Socket Error (PC) Service Port No. Being Used (PC) Cannot connect so many sockets (PC) 16. Appendix 237 Special note Framing error occurred. Perform "reconnection." Communication error occurred. Perform "reconnection." The connected controller is not supported. Communication error.
Change History Revision Date December 2010 The 4th edition Page 86: Added a caution on the movement of the linear servo actuator LSAS-N10/N15 para-absolute when it is returned to the original. July 2011 The 5th edition Pages 46-50: Added offline file division. August 2011 The 6th edition Modified the Software License Agreement. December 2011 The 7th edition Added to the list of supported models the method of installing V6.0.0.0 as a supported version for the IA Super SEL Controller E/G Types.
Catalog No.: ME0154-11A (December 2012) IAI Corporation Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
