Owner manual

INTELLIGENT ACTUATOR
Table of Contents
Chapter 2 Operation .................................................................................................... 52
1. Operation................................................................................................................. 52
1.1 How to Start a Program ...............................................................................................52
1.2 Starting a Program by Auto-Start via Parameter Setting..............................................53
1.3 Starting via the Digital Program Selector Switch and Function Switch ........................54
2. Controller Data ........................................................................................................ 55
2.1 Data Structure..............................................................................................................55
2.2 Saving Data .................................................................................................................56
Chapter 3 X-SEL Language Data ................................................................................ 58
1. Values and Symbols Used in SEL Language .......................................................... 58
2. Position Part ............................................................................................................ 71
3. Command Part ........................................................................................................ 72
Chapter 4 Commands ................................................................................................. 74
1. List of SEL Language Command Codes by Function .............................................. 74
1.1 List of Commands by Function ....................................................................................74
1.2 List of Commands in Alphabetical Order .....................................................................79
2. Explanation of Commands ...................................................................................... 84
3. Key Characteristics of Actuator Control Commands and Points to Note ............... 224
3.1 Continuous Movement Commands ...........................................................................224
3.2 PATH/PSPL Commands ............................................................................................226
3.3 CIR/ARC Commands.................................................................................................226
3.4 CIR2/ARC2/ARCD/ARCC Commands ......................................................................226
4. Palletizing Function ............................................................................................... 227
4.1 How to Use ................................................................................................................227
4.2 Palletizing Setting ......................................................................................................227
4.3 Palletizing Calculation................................................................................................233
4.4 Palletizing Movement.................................................................................................234
4.5 Program Examples ....................................................................................................236
5. Pseudo-Ladder Task.............................................................................................. 244
5.1 Basic Frame...............................................................................................................244
5.2 Ladder Statement Field..............................................................................................245
5.3 Points to Note ............................................................................................................245
5.4 Program Example ......................................................................................................246