Iai-america XSEL-QX Instrukcja Użytkownika

Operation ManualSeventh EditionX-SEL ControllerPX/QX TypeNinth Edition

Table of Contents3.4 Multipoint I/O Board Connection Cables... 833.5 Multipoint

76Part 1 InstallationThe positions of motor connectors and encoder connectors vary depending on the SCARA type. The figure below shows where the motor

77Part 1 Installation1.3 Startup procedure Caution: Be sure to connect the cables from the respective actuators to the correct connectors. When conne

78Part 1 Installation2. I/O Connection Diagram 2.1 NPN specification Pin No. Category Port No. Function (factory setting) 1 - +24-V input2 000 Pro

79Part 1 Installation2.2 PNP specification Pin No. Category Port No. Function (factory setting) 1 - +24-V input2 000 Program start3 001 General-pur

80Part 1 Installation2.3 I/O Flat Cable Flat cable: KFX-50 (S) (Color) (Kaneko Cord) No. Color No. Color No. Color No. Color No. Color 1 Brown-1 11

81Part 1 Installation3. Multipoint DIO Board This board is a multipoint DIO board for XSEL controllers on which 48 input points and 48 output points

82Part 1 Installation3.3 External Interface Specifications 3.3.1 External DIO Interface Terminal Assignment Overview or multipoint DIO interface spe

83Part 1 Installation3.4 Multipoint I/O Board Connection Cables Cable 1 Cable 2 Category Pin No. Color Port No. Function Category Pin No. Color

84Part 1 Installation3.5 Multipoint I/O Board Connection Cables Model: CB-X-PIOH020 Socket: HIF6-100D-1.27R (Hirose)Flat cable (50 cores) UL2651 AWG2

85Part 1 InstallationInternalcircuit Internalcircuit Input terminal Input terminal External power supply External power supply 3.6 I/O Circuits 3.6.1

Table of ContentsPart 4 Commands ... 12

86Part 1 Installation3.6.2 Output Output specifications Specification Output element Transistor array NPN specification: TD62084AF by Toshiba PNP sp

87Part 1 InstallationChapter 8 How to Perform An Absolute Encoder Reset of A Direct Movement Axis (Absolute Specification) When the absolute-encoder

88Part 1 Installation(6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error message. (7) From the [Monito

89Part 1 Installation(8) From the [Controller (C)] menu, select [Absolute Reset (Linear Movement Axis) (A)]. (9) When a [Warning] dialog box is disp

90Part 1 Installation(10) The [Abs. Encoder Reset] dialog box will be displayed. Click here to select the axis for which you wish to perform an absolu

91Part 1 Installation(12) Another [Warning] dialog box will be displayed. Click the [Yes] button. (13) When the processing of “encoder rotation data r

92Part 1 Installation(15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controller. (Note) Commencing the o

93Part 1 InstallationChapter 9 Maintenance x Routine maintenance and inspection are necessary so that the system will operate properly at all times.

94Part 1 Installation2. Spare Consumable Parts Without spare parts, a failed controller cannot be repaired even when the problem is identified quickl

95Part 1 Installation3. Replacement Procedure for System Memory Backup Battery Backing up the system memory If “Other parameter No. 20, Backup batter

Table of Contents1. How to Use ...

96Part 1 InstallationBattery Replacement Procedure [1] Remove the 7 segment LED panel from the controller. Slide the panel upward and pull it toward

97Part 1 Installation(8) When the replacement of system memory backup battery is complete, confirm that the battery is installed securely and then tu

98Part 1 Installation4. Replacement Procedure for Absolute-Encoder Backup Battery for Linear Movement AxisThe replacement procedure will vary dependi

99Part 1 Installation(5) Insert a new battery into the holder and plug in the battery connector. (6) Turn on the controller power. (7) Set the abso

100 Part 1 Installation(15) From the [Controller (C)] menu on the PC software screen, select [Software Reset (R)], and restart the controller. Confirm

101Part 2 OperationPart 2 Operation Chapter 1 Operation How to Start a Program With the X-SEL controller, the stored programs can be started using f

102 Part 2 Operation1. Starting a Program by Auto Start via Parameter Setting I/O parameter No. 33 (input function selection 003) = 1 (default factor

103Part 2 Operation2. Starting via External Signal Selection (1) Flow chart When the READY signal turns ON, the RDY lamp (green) on the controller fr

104 Part 2 Operation(2) Timing chart [1] Start of programReady output Program 1 Program 2 Program number inputExternal start inputT1: Duration after

105Part 2 Operation3. Drive Source Recovery Request and Operation Pause Reset Request (1) Drive source recovery request [1] How to request a drive

Table of ContentsBattery Backup Function ... 419

106Part 3 Controller Data StructurePart 3 Controller Data Structure The controller data consists of parameters as well as position data and applicati

107Part 3 Controller Data StructureChapter 1 How to Save Data Since the X-SEL controller uses flash memory, some data are saved by battery backup whi

108Part 3 Controller Data StructureSince the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary mem

109Part 3 Controller Data Structure2. When the System Memory Backup Battery is Not Used 2.1 Controller without Increased Memory Size Other parameter

110Part 3 Controller Data Structure2.2 Controller with Increased Memory Size (with Gateway Function) (Other parameter No. 20 = 0 (System-memory backu

111Part 3 Controller Data Structure3. Points to Note Point to note when transferring data and writing to the flash memory Never turn off the main pow

112Part 3 Controller Data StructureNote on increased parameters On controllers with increased memory size (with gateway function), the number of param

113Part 3 Controller Data StructureChapter 2 X-SEL Language Data 1. Values and Symbols Used in SEL Language 1.1 List of Values and Symbols Used The

114Part 3 Controller Data Structurez The variables and flags in the global range will be retained even after the controller power is turned off (when

115Part 3 Controller Data Structure1.3 Virtual I/O Ports (1) Virtual input ports Port No. Function 7000 Always OFF 7001 Always ON 7002 Voltage low

116Part 3 Controller Data Structure(2) Virtual output ports Port No. Function 7300 Latch cancellation output for a latch signal indicating that all

117Part 3 Controller Data Structure1.4 Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to

118Part 3 Controller Data Structure1.5 Variables (1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it

119Part 3 Controller Data StructureReal variable boxVariable box 1 (2) Types of variables Variables are classified into two types, as follows: [1] In

120Part 3 Controller Data Structure[3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable. In the

121Part 3 Controller Data Structure1.6 Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a book you

122Part 3 Controller Data Structure1.7 Subroutines By taking out the parts of a program that are used repeatedly and registering them as “subroutines,

123Part 3 Controller Data Structure1.8 Symbols In the X-SEL Controller, values such as variable numbers and flag numbers can be handled as symbols. Fo

124Part 3 Controller Data Structure1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Axis numbers and how axes

125Part 3 Controller Data Structure(2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) (Lower) Axis number Axi

Pre-1Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read

126Part 3 Controller Data StructureX-SEL language consists of a position part (position data = coordinates, etc.) and a command part (application prog

127Part 3 Controller Data Structure3. Command Part The primary feature of SEL language is its very simple command structure. Since the structure is si

128Part 3 Controller Data StructureCondition1Condition2Condition1Condition2Condition1Condition2Condition33.2 Extension Condition Conditions can be com

129Part 4 CommandsPart 4 Commands Chapter 1 List of SEL Language Command Codes 1. By Function Variables can be specified indirectly in the operand 1

130Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

131Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

132Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

133Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

134Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

135Part 4 CommandsRC Gateway Function Commands (Controllers with Gateway Function Only) * For the RC gateway function commands, refer to “Operation M

Pre-2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work conditionCutoff of drive source Measure Articl

136Part 4 Commands2. Alphabetical Order Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE:

137Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

138Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

139Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

140Part 4 CommandsOperation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete,

141Part 4 CommandsChapter 2 Explanation of Commands 1. Commands 1.1 Variable Assignment z LET (Assign) Command, declaration Extension condition (LD,

142Part 4 Commandsz CLR (Clear variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

143Part 4 Commands1.2 Arithmetic Operation z ADD (Add) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

144Part 4 Commandsz MULT (Multiply) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera

145Part 4 Commandsz MOD (Remainder of division) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

Pre-3Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice

146Part 4 Commands1.3 Function Operation z SIN (Sine operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fla

147Part 4 Commandsz COS (Cosine operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

148Part 4 Commandsz TAN (Tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

149Part 4 Commandsz ATN (Inverse-tangent operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

150Part 4 Commandsz SQR (Root operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

151Part 4 Commands1.4 Logical Operation z AND (Logical AND) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

152Part 4 Commandsz OR (Logical OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera

153Part 4 Commandsz EOR (Logical exclusive-OR) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

154Part 4 Commands1.5 Comparison Operation z CP (Compare) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

155Part 4 Commands1.6 Timer z TIMW (Timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

Pre-4Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1 Mod

156Part 4 Commandsz TIMC (Cancel timer) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

157Part 4 Commandsz GTTM (Get time) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Oper

158Part 4 Commands1.7 I/O, Flag Operation z BT (Output port, flag operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

159Part 4 Commandsz BTPN (Output ON pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

160Part 4 Commandsz BTPF (Output OFF pulse) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarat

161Part 4 Commandsz WT (Wait for I/O port, flag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

162Part 4 Commandsz IN (Read I/O, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

163Part 4 Commandsz INB (Read I/O, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

164Part 4 Commandsz OUT (Write output, flag as binary) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

165Part 4 Commandsz OUTB (Write output, flag as BCD) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

Pre-5No. Task Note (2) Wiring the cables z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. z Do not

166Part 4 Commandsz FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

167Part 4 Commands[4] Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eight

168Part 4 Commands[Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Variable 99 4660 (IN/OUT command) 1234 (INB/OUTB co

169Part 4 Commands1.8 Program Control z GOTO (Jump) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

170Part 4 Commandsz EXSR (Execute subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

171Part 4 Commandsz EDSR (End subroutine) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

172Part 4 Commands1.9 Task Management z EXIT (End program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

173Part 4 Commandsz EXPG (Start other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

174Part 4 Commandsz ABPG (Abort other program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

175Part 4 Commandsz SSPG (Pause program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

Pre-6No. Task Note 5 Teaching z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its de

176Part 4 Commandsz RSPG (Resume program) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

177Part 4 Commands1.10 Position Operation z PGET (Read position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

178Part 4 Commandsz PPUT (Write position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

179Part 4 Commandsz PCLR (Clear position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

180Part 4 Commandsz PCPY (Copy position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

181Part 4 Commandsz PRED (Read current position) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

182Part 4 Commandsz PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

183Part 4 Commandsz PTST (Check position data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decla

184Part 4 Commandsz PVEL (Assign speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

185Part 4 Commandsz PACC (Assign acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

Pre-7Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Not

186Part 4 Commandsz PDCL (Assign deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

187Part 4 Commandsz PAXS (Read axis pattern) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

188Part 4 Commandsz PSIZ (Check position data size) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

189Part 4 Commandsz GVEL (Get speed data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

190Part 4 Commandsz GACC (Get acceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

191Part 4 Commandsz GDCL (Get deceleration data) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

192Part 4 Commands1.11 Actuator Control Declaration z VEL (Set speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

193Part 4 Commandsz VELS (Dedicated SCARA command: Set speed ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

194Part 4 Commandsz OVRD (Override) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Opera

195Part 4 Commandsz ACC (Set acceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.Pre

196Part 4 Commandsz ACCS (Dedicated SCARA command: Set acceleration ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

197Part 4 Commandsz DCL (Set deceleration) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declarati

198Part 4 Commandsz DCLS (Dedicated SCARA command: Set deceleration ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

199Part 4 Commandsz VLMX (Dedicated linear movement axis command: Specify VLMX speed) Command, declaration Extension condition (LD, A, O, AB, OB) Inp

200Part 4 Commandsz SCRV (Set sigmoid motion ratio) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

201Part 4 Commandsx S-motion A (Operand 2 = Blank or 0) x S-motion B (Operand 2 = 1) If S-motion B is selected, the speed pattern becomes smoother

202Part 4 Commandsz OFST (Set offset) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op

203Part 4 Commandsz DEG (Set arc angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

204Part 4 Commandsz BASE (Set reference axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

205Part 4 Commandsz GRP (Set group axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

Pre-9Steel band (piano wire)Bundle loosely. Use a curly cable.Do not use a spiral tube where the cable flexes frequently. Prohibited Handling of Cable

206Part 4 Commandsz HOLD (Hold: Declare axis port to pause) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

207Part 4 Commandsz CANC (Cancel: Declare axis port to abort) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

208Part 4 Commandsz DIS (Set division distance at spline movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

209Part 4 Commandsz POTP (Set PATH output type) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

210Part 4 Commandsz PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O,

211Part 4 Commandsz DFTL (Dedicated SCARA command: Define tool coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

212Part 4 Commandsz SLTL (Dedicated SCARA command: Select tool coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

213Part 4 Commandsz GTTL (Dedicated SCARA command: Get tool coordinate system definition data) Command, declaration Extension condition (LD, A, O, AB

214Part 4 Commandsz DFWK (Dedicated SCARA command: define load coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

215Part 4 Commandsz SLWK (Dedicated SCARA command: select load coordinate system) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

Pre-107. Do not let the cable got tangled or kinked in a cable track or flexible tube. When bundling the cable, keep a certain degree of flexibility

216Part 4 Commandsz GTWK (Dedicated SCARA command: get load coordinate system definition data) Command, declaration Extension condition (LD, A, O, AB

217Part 4 Commandsz RIGH (Dedicated SCARA command: change current arm system to right arm (Arm 2 may operate if the current arm system is the opposit

218Part 4 Commandsz LEFT (Dedicated SCARA command: change current arm system to left arm (Arm 2 may operate if the current arm system is the opposite

219Part 4 Commandsz PTPR (Dedicated SCARA command: specify right arm as PTP target arm system (Movement of the opposite arm system is prohibited when

220Part 4 Commandsz PTPL (Dedicated SCARA command: specify left arm as PTP target arm system (Movement of the opposite arm system is prohibited when

221Part 4 Commandsz PTPD (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the opposite arm system is prohibited wh

222Part 4 Commandsz PTPE (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the opposite arm system is permitted whe

223Part 4 Commandsz DFIF (Dedicated SCARA command: define coordinates of simple interference check zone) Command, declaration Extension condition (LD

224Part 4 Commandsz SOIF (Dedicated SCARA command: specify output for simple interference check zone) Command, declaration Extension condition (LD, A

225Part 4 Commandsz SEIF (Dedicated SCARA command: specify error type for simple interference check zone) Command, declaration Extension condition (L

1Introduction[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]Slot 1 Slot 2 Slot 3 Slot 4 [1]Series [2]Controller type [3]IX actuator type [4]Axis 5 motor

226Part 4 Commandsz GTIF (Dedicated SCARA command: get definition coordinates of simple interference check zone) Command, declaration Extension condi

227Part 4 Commandsz WGHT (Dedicated SCARA command/Set tip load mass, inertial moment) Command, declaration Extension condition (LD, A, O, AB, OB) Inp

228Part 4 Commandsz HOME (Dedicated linear movement axis command: Return to home) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

229Part 4 Commands1.12 Actuator Control Command z SV (Turn ON/OFF servo) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditio

230Part 4 Commandsz MOVP (Move by specifying position data in PTP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condit

231Part 4 Commandsz MOVL (Move by specifying position data in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

232Part 4 Commandsz MVPI (Move incrementally in PTP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

233Part 4 Commandsz MVLI (Move via incremental interpolation in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

234Part 4 Commandsz PATH (Move along path in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

235Part 4 Commandsz JW ( Jog) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand 1

2[1]Series [2]Controller type [3]IX actuator type [4]Axis 5 motor wattage[5]Axis 6 motor wattage[6]Network (dedicated slot)[7]Standard I/OSlot 1 Slot

236Part 4 Commands(Note 9) If an axis moving in accordance with JW has its “Axis-specific parameter No. 1, Axis operation type” set to “0” (linear

237Part 4 Commandsz STOP (Stop movement) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

238Part 4 Commandsz PSPL (Move along spline in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

239Part 4 Commandsz PUSH (Move by push motion in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag

240Part 4 Commands[Example] PAPR 50 20 MOVP 10 PUSH 11 Set the push-motion approach distance to 50 mm and push-motion approach speed to 20 mm/se

241Part 4 Commandsz CIR2 (Move along circle in CP operation (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

242Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi

243Part 4 Commandsz ARC2 (Move along arc in CP operation (arc interpolation)) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

244Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi

245Part 4 Commandsz CIRS (Move three-dimensionally along circle in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

3IntroductionThis controller receives power in order to drive the actuator motor(s) (three-phase/single-phase, 200 to 220 V) and to operate the contro

246Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi

247Part 4 Commandsz ARCS (Move three-dimensionally along arc in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condi

248Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi

249Part 4 Commandsz ARCD (Move along arc via specification of end position and center angle in CP operation (arc interpolation)) Command, declaration

250Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi

251Part 4 Commandsz ARCC (Move along arc via specification of center position and center angle in CP operation (arc interpolation)) Command, declarat

252Part 4 Commands(Note 1) Movement to any position where target values for both SCARA and linear movement axes are specified simultaneously is prohi

253Part 4 Commandsz CHVL (Dedicated linear movement axis command: Change speed) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

254Part 4 Commands(Note 6) Override of the CHVL call task will be applied, so caution must be exercised. (Note 7) The maximum speed of the specified

255Part 4 Commandsz PBND (Set positioning band) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, decl

4Part 1 InstallationPart 1 Installation CautionChapter 1 Safety Precautions The X-SEL PX/QX Controller can support a combination of a SCARA robot an

256Part 4 Commandsz TMPI (Dedicated SCARA command: Move relatively between positions on tool coordinate system in PTP operation) Command, declaration

257Part 4 Commandsz TMLI (Dedicated SCARA command: Move relatively between positions on tool coordinate system via interpolation in CP operation) Com

258Part 4 Commandsz PTRQ (Change push torque limit parameter) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag)

259Part 4 Commandsz CIR (Move along circle in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

260Part 4 Commandsz ARC (Move along arc in CP operation) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comm

261Part 4 Commands1.13 Structural IF z IF (Structural IF) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

262Part 4 Commandsz IS (Compare strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaratio

263Part 4 Commandsz ELSE (Else) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand 1

264Part 4 Commands1.14 Structural DO z DW (DO WHILE) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

265Part 4 Commandsz ITER (Repeat) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand

5Part 1 InstallationChapter 2 Warranty Period and Scope of Warranty The X-SEL Controller you have purchased passed our strict outgoing inspection. T

266Part 4 Commands1.15 Multi-Branching z SLCT (Start selected group) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O

267Part 4 Commandsz WH (Select if true; variable) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

268Part 4 Commandsz WS (Select if true; character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

269Part 4 Commandsz OTHE (Select other) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

270Part 4 Commands1.16 System Information Acquisition z AXST (Get axis status) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

271Part 4 Commandsz PGST (Get program status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declar

272Part 4 Commandsz SYST (Get system status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

273Part 4 Commandsz GARM ((Dedicated SCARA command: Get current arm system) Command, declaration Extension condition (LD, A, O, AB, OB) Input conditi

274Part 4 Commands1.17 Zone z WZNA (Dedicated linear movement axis command: Wait for zone ON, with AND) Command, declaration Extension condition (LD,

275Part 4 Commandsz WZNO (Dedicated linear movement axis command: Wait for zone ON, with OR) Command, declaration Extension condition (LD, A, O, AB,

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

6Part 1 InstallationChapter 3 Installation Environment and Selection of Auxiliary Power Devices1. Installation Environment (1) When installing and w

276Part 4 Commandsz WZFA (Dedicated linear movement axis command: Wait for zone OFF, with AND) Command, declaration Extension condition (LD, A, O, AB

277Part 4 Commandsz WZFO (Dedicated linear movement axis command: Wait for zone OFF, with OR) Command, declaration Extension condition (LD, A, O, AB,

278Part 4 Commands1.18 Communication z OPEN (Open channel) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

279Part 4 Commandsz READ (Read) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand 1

280Part 4 Commands(Note 1) A READ command must have been executed before the other side sends the end character. (Note 2) Dummy read specification (

281Part 4 Commandsz TMRW (Set READ/WRIT timeout value) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Comman

282Part 4 Commandsz WRIT (Write) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Operand

283Part 4 Commandsz SCHA (Set end character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

284Part 4 Commands1.19 String Operation z SCPY (Copy character string) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

285Part 4 Commandsz SCMP (Compare character strings) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

7Part 1 Installation2. Heat Radiation and Installation Design the control panel size, controller layout and cooling method so that the surrounding a

286Part 4 Commandsz SGET (Get character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

287Part 4 Commandsz SPUT (Set character) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration

288Part 4 Commandsz STR (Convert character string; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) C

289Part 4 Commandsz STRH (Convert character string; hexadecimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

290Part 4 Commandsz VAL (Convert character string data; decimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, fl

291Part 4 Commandsz VALH (Convert character string data; hexadecimal) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

292Part 4 Commandsz SLEN (Set length) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op

293Part 4 Commands1.20 Palletizing-Related z BGPA (Declare start of palletizing setting) Command, declaration Extension condition (LD, A, O, AB, OB)

294Part 4 Commandsz PAPI (Set palletizing counts) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, de

295Part 4 Commandsz PASE (Declare palletizing axes) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

8Part 1 Installation3. Selection of Auxiliary Power Devices This section provides selection guidelines for breakers, earth leakage breakers, contacto

296Part 4 Commandsz PAST (Set palletizing reference point) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Co

297Part 4 Commandsz PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I

298Part 4 Commandsx When setting palletizing positions for 4-point teaching where all four points are known to be on a plane and the settings also re

299Part 4 CommandsFig. 2-(b) When the point data of the axis i component matches among all three points excluding the end point Fig. 2-(c) When the po

300Part 4 Commandsx This command cannot be used with PASE (set palletizing axes). Whichever is set later will be given priority. (A single PAPS comma

301Part 4 Commandsz PSLI (Set zigzag) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op

302Part 4 Commandsz PCHZ (Dedicated SCARA command: Declare palletizing Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input cond

303Part 4 Commandsz PTRG (Dedicated SCARA command: Set palletizing arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input c

304Part 4 Commandsz PEXT (Dedicated SCARA command: Set palletizing composition (Set R-axis coordinate)) Command, declaration Extension condition (LD,

305Part 4 Commandsz ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command,

9Part 1 Installation(4) Auxiliary power devices [1] Circuit breaker Install a circuit breaker or earth leakage breaker in the AC power-supply line (

306Part 4 Commandsz ATRG (Set arch triggers) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declara

307Part 4 Commandsz AEXT (Dedicated SCARA command: Set arch-motion composition) Command, declaration Extension condition (LD, A, O, AB, OB) Input con

308Part 4 Commands1.21 Palletizing Calculation Command z PTNG (Get palletizing position number) Command, declaration Extension condition (LD, A, O,

309Part 4 Commandsz PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/

310Part 4 Commandsz PARG (Get palletizing angle) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, dec

311Part 4 Commands1.22 Palletizing Movement Command z PMVP (Move to palletizing points via PTP) Command, declaration Extension condition (LD, A, O, A

312Part 4 Commandsz PMVL (Dedicated linear movement axis command: Move to palletizing points via interpolation) Command, declaration Extension condit

313Part 4 Commandsz PACH (Dedicated SCARA command) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, d

314Part 4 Commandsx The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates of the palletizing point, i

315Part 4 Commandsz ARCH (Arch motion) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Op

10Part 1 Installation[4] Noise filter, ring core and clamp filters The global specification has no built-in noise filters in the motor power supply.

316Part 4 Commandsx The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the operation may follow the locus

317Part 4 Commands1.23 Building of Pseudo-Ladder Task z CHPR (Change task level) Command, declaration Extension condition (LD, A, O, AB, OB) Input co

318Part 4 Commandsz TSLP (Task sleep) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command, declaration Ope

319Part 4 Commands1.24 Extended Commands z ECMD1 (Get motor current value (% of rated current)) Command, declaration Extension condition (LD, A, O, A

320Part 4 Commandsz ECMD3 (Get overrun sensor status) Command, declaration Extension condition (LD, A, O, AB, OB) Input condition (I/O, flag) Command

321Part 4 Commandsz ECMD250 (Set torque limit/detection time for torque limit over error) Command, declaration Extension condition (LD, A, O, AB, OB)

322Part 4 Commands[Example 1] LET 290 3 Set the target axis pattern (axes 1 and 2) in integer variable 290. LET 291 80 Set the steady-state t

323Part 4 Commands(Note 6) An “Error No., C6B deviation overflow error” or “Error No., CA5, Stop deviation overflow error” is sometimes detected befo

324Part 4 CommandsChapter 3 Key Characteristics of Horizontal Articulated Robot (SCARA) OperationThis chapter explains how to set the key characteris

325Part 4 Commands(3) Notes on CP operation The singular point refers to a position where arms 1 and 2 form a straight line. Performing CP operation

11Part 1 InstallationPeripheral Configurations3-phase Power Supply Specification PX Type (Standard Specification) QX Type (Global Specification) Contr

326Part 4 Commands1.2 PTP Operation (1) Movement locus The axes move to the target position at the specified speed. The locus of axis tip during movem

327Part 4 Commands2. Arm System 2-1 Right/Left Arm Systems The robot position has two patterns based on the right arm system and the left arm system,

328Part 4 Commands2-2 Arm-System Control Commands (Dedicated SCARA Command) The right and left arm systems are defined as the opposite arm systems to

329Part 4 CommandsIn the figure, a black arrow indicates a movement involving change of arm systems. A white arrow indicates a movement not involving

330Part 4 Commands(2) PTPE After a PTPE command is executed, the robot will give priority to movements and positioning operations using the current ar

331Part 4 Commands(3) PTPR After a PTPR command is executed, the robot will perform positioning using the right arm system. The PTPR command limits th

332Part 4 Commands(4) PTPL After a PTPL command is executed, the robot will perform positioning using the left arm system. The PTPL command limits the

333Part 4 Commands(5) RIGH The RIGH command changes the current arm system to the right arm system. If a RIGH command is executed when the current arm

334Part 4 Commands(6) LEFT The LEFT command changes the current arm system to the left arm system. If a LEFT command is executed when the current arm

335Part 4 Commands3. SCARA Coordinate System A horizontal articulated robot uses three types of coordinate systems: base coordinate system, load coor

12Part 1 InstallationPeripheral ConfigurationsSingle-phase Power Supply Specification PX Type (Standard Specification)QX Type (Global Specification) C

336Part 4 Commands(1) Positioning on the base coordinate system Perform positioning after selecting load coordinate system No. 0. Use a SLWK command

337Part 4 Commands3.2 Load Coordinate System (Dedicated SCARA Function) This coordinate system provides 32 sets of three-dimensional cartesian coordi

338Part 4 Commands(1) Setting the load coordinate system Set the offsets with respect to the base coordinate system. x Setting example of load coord

339Part 4 Commands(2) Positioning on the load coordinate system Perform positioning after selecting a desired load coordinate system. Use a SLWK comm

340Part 4 Commands[2] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 2 Program example : : : SLWK 2 Sele

341Part 4 Commands3.3 Tool Coordinate System (Dedicated SCARA Function) This coordinate system provides 128 sets of three-dimensional cartesian coord

342Part 4 Commands(1) Setting the tool coordinate system Set the offsets from the center of the tool-mounting surface to the tool tip. x Setting exa

343Part 4 Commands(2) Positioning using tool coordinate system offsets Perform positioning after selecting a desired tool coordinate system. Use a SL

344Part 4 Commands[2] When positioning the tool tip on tool coordinate system No. 2 to position Nos. 5 and 6 on load coordinate system No. 1 in PTP mo

345Part 4 Commands4. Simple Interference Check Zone (Dedicated SCARA Function) The simple interference check zone is an area set for the purpose of c

13Part 1 Installation4. Noise Control Measures and Grounding (1) Wiring and power source PE on the power terminal block is used for protective groun

346Part 4 CommandsABCDEFGHSetting example of simple interference check zone Define simple interference check zone Nos. 1, 2 and 3 as follows: a. Set

347Part 4 CommandsAs for simple interference check zone No. 1, entry into this rectangular solid area will not be detected if Rb is outside the range

348Part 4 Commands5. Soft Limits of SCARA Axes The soft limits of IX horizontal articulated robots are set in axis-specific parameter Nos. 7 and 8. T

349Part 4 Commands(2) Soft limits of arm 2 The position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis coordinat

350Part 4 Commands(4) Soft limits of the R-axis The position where the D-cut surface at the tip of the R-axis is facing toward the center of rotation

351Part 4 Commands5.2 Monitoring Coordinates on Each Axis System Coordinates on each axis system can be monitored using the PC software or teaching p

352Part 4 Commands6. PTP Optimal Acceleration/Deceleration Function for SCARA Robot Certain models such as the high-speed SCARA robot IX-NNN5020H per

353Part 4 CommandsNotes x With PTP optimal acceleration/deceleration for SCARA robot, the robot will not operate at an optimal acceleration/decelerat

354Part 4 Commands7. Horizontal move optimization function based on Z position for SCARA Robot Certain models such as the high-speed SCARA robot IX-

355Part 4 CommandsNotes x When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the tip load mass of the SC

14Part 1 Installation(3) Noise sources and noise elimination There are many noise sources, but solenoid valves, magnet switches and relays are of par

356Part 4 CommandsChapter 4 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement Commands [PATH, PSPL, CIR2, A

357Part 4 Commands[Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step before the one in

358Part 4 Commands2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration/d

359Part 4 CommandsChapter 5 Palletizing Function The SEL language used by the IX Controller provides palletizing commands that support palletizing op

360Part 4 Commands(2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below are

361Part 4 CommandsA. 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions in position data fields as

362Part 4 CommandsB. Method to set palletizing positions in parallel with the load coordinate system axes Palletizing reference point: Store the posi

363Part 4 Commands(5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in the

364Part 4 Commands(7) Palletizing arch-motion setting (a) Palletizing Z-direction axis number --- Command: PCHZ (Dedicated SCARA command) (b) Palle

365Part 4 Commands3. Palletizing Calculation The items that can be operated or obtained using palletizing calculation commands are shown below: (1) P

15Part 1 InstallationReference Circuit Diagram Surge absorber Solenoid valve Controller0 V

366Part 4 Commands4. Palletizing Movement Palletizing movement commands include those used to move to a palletizing point and one used to move to an e

367Part 4 Commands(2) Movement comment based on end point specified by point data --- ARCH Perform arch motion using an end point specified by positi

368Part 4 Commands5. Program Examples (1) Program example using PAPS (set by 3-point teaching) The example below specifies movement only and does not

369Part 4 CommandsSchematic diagram of palletizing positions based on the above program The number shown at top right of each cycle indicates the corr

370Part 4 Commands(2) Program example using PASE, PAPT and PAST The example below specifies movement only and does not cover picking operation. Step

371Part 4 CommandsSchematic diagram of palletizing positions based on the above program (The PX and PY-axes are parallel with Xb and Yb (base coordina

372Part 4 CommandsChapter 6 Pseudo-Ladder Task With the X-SEL Controller, a pseudo-ladder task function can be used depending on the command and ext

373Part 4 Commands2. Ladder Statement Field [1] Extension conditions LD LOAD A AND O OR AB AND BLOCK OB OR BLOCK All of the above extension condition

374Part 4 Commands4. Program Example Extension condition Input condition Command Operand 1 Operand 2 OutputNo. E N Cnd Cmnd Operand 1 Operand

375Part 4 CommandsChapter 7 Multi-Tasking “Multi-tasking” operation means running several programs in parallel. 1. Difference from a Sequencer The p

CAUTIONOperator Alarm on Low Battery Voltage This controller is equipped with the following backup batteries for retention of data in the event of pow

16Part 1 InstallationChapter 4 Name and Function of Each Part 1. Front View of Controller PX Type (Standard Specification), 4 axes (SCARA axes only)

376Part 4 Commands2. Release of Emergency Stop Default factory settings of parameters “Other parameter No. 10, Emergency-stop recovery type” = 0 “O

377Part 4 Commands3. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The representat

378AppendixAppendixList of Additional Linear Movement Axis Specifications (Note 1) The figure in each band indicates the maximum speed for each appli

379Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation

380Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation

381Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation

382Appendix(Note 1) The figure in each band indicates the maximum speed for each applicable stroke. (Note 2) The load capacity is based on operation

383Appendix

384AppendixHow to Write Programs 1. Position Table Position Table With X-SEL controllers of PX/QX types, 4000 position points can be registered if the

385Appendix2. Program Format Program Edit Screen (PC Software) With X-SEL controllers, a program consisting of up to 6000 steps can be created if the

17Part 1 InstallationQX Type (Global Specification), 4 axes (SCARA axes only) QX Type (Global Specification), expanded by 2 additional linear movement

386Appendix3. Positioning to 5 Positions (for Linear Axes) Description Move the actuator to positions 1 through 5 at a speed of 100 mm/sec after comp

387Appendix4. How to Use TAG and GOTO Description If you want to repeat the same operations in the program or skip steps when a given condition is me

388Appendix5. Back-and-Forth Operation between 2 Points (for Linear Axes) Description Move the actuator back and forth repeatedly between two points.

389Appendix6. Path Operation Description Move the actuator through four arbitrary points continuously without stopping (PATH operation). The actuator

390Appendix7. Output Control during Path Movement Description In coating application, etc., output control may become necessary while the actuator is

391Appendix8. Circular, Arc Operation Description The actuator operates along a two-dimensional circle or arc. How to Use To specify a circle, specify

392Appendix9. Output of Home Return Complete Signal (for Linear Axes) Description Output a signal to confirm completion of home return (Incremental s

393Appendix10. Axis Movement by Input Waiting and Output of Complete Signal Description How to perform an input waiting process and output a processi

394Appendix11. Change of Moving Speed (for Linear Axes) Description Change the moving speed. How to Use With X-SEL controllers, speed can be set in t

395Appendix12. Speed Change during Operation Description Use a PATH command to change the speed while the actuator is moving. This function is useful

18Part 1 Installation[1] FG terminal This terminal is used to ground FG on the enclosure. The enclosure is connected to PE in the AC input part insi

396Appendix13. Local/Global Variables and Flags Description Internal variables and flags used in the SEL language are classified into the local type

397Appendix14. How to Use Subroutines Description When the same processes are performed several times in one program, a group of these steps that are

398Appendix15. Pausing of Operation Description Use a declarative command HOLD to pause the moving axis via an external input. How to Use You can int

399Appendix16. Aborting of Operation 1 (CANC) Description Use a declarative command CANC to cause the moving axis to decelerate a stop and cancel the

400Appendix17. Aborting of Operation 2 (STOP) Description Cause the moving axis to decelerate a stop and cancel the remaining operation of the axis.

401Appendix18. Movement by Position Number Specification Description Read an external BCD code input as a position number to move the actuator. How t

402Appendix19. Movement by External Position Data Input (for Linear Axes) Description Receive from the host device an absolute value indicating the p

403Appendix20. Output of Coordinate Values Description Read the current coordinates of the actuator in real time and output BCD data via an output po

404Appendix21. Conditional Jump Description Select the destination of jump specified by GOTO, using the state of an external input, output or internal

405Appendix22. Waiting for Multiple Inputs Description The actuator waits for one of several different inputs, and proceeds to an applicable process

19Part 1 Installation[3] AC-power input connector A 200-VAC, single-phase/three-phase input connector consisting of six terminals including motor pow

406Appendix23. How to Use Offsets (for Linear Axes) Description If you want to move (offset) all teaching points by several millimeters to compensate

407Appendix24. Execution of Operation n Times Description Execute a specific operation n times. Example of Use The actuator repeats going back and fo

408Appendix25. Constant Pitch Feed Operation (for Linear Axes) Description Move the actuator at a specified pitch n times from a given reference poin

409Appendix26. Jogging (for Linear Axes) Description The slider moves forward or backward while an input is ON or OFF. In addition to an input, an ou

410Appendix27. Program Switching Description Use an EXPG/ABPG command to switch programs from within a program. Example 1 Start program 2 when the pro

411Appendix28. Aborting of Program Description Abort a program currently running. In the multi-tasking mode, execute an ABPG command (abort other pro

412AppendixGeneral-purpose RS232 (2-channel RS232 Unit) (1) Specifications The 2-channel RS232 unit is a dedicated D-sub, 9-pin RS232 interface. It ca

413Appendix(3) Parameter Settings The SIO channel numbers and specifications are set as follows according to the factory-set parameters. For advanced

414AppendixNo. Parameter name Default value Input range Unit 202Attribute 2 of SIO channel 1 opened to user (mount standard) 00000001H 0H to FFFF

415Appendix(4) Program [1] String process commands A “string” refers to a series of characters. This controller supports global strings and local str

20Part 1 Installation[6] Encoder/axis-sensor connector This connector is used to connect the actuator encoder and axis sensors such as LS, CREEP and O

416Appendix[3] Explanation of string Strings sent by the aforementioned transmission format can be used freely in a program. To put it in simple word

417Appendix[4] Definition of transmission format In the sample application program provided here, only three types of transmission formats, or namely

418Appendix[5] Processing procedure The processing procedure to be followed to program this sample application is explained. A. Set “LF” as a charact

419AppendixBattery Backup Function The X-SEL controller uses the following two types of batteries. x System-memory backup battery This coin battery i

420Appendix<Battery Replacement> To replace the system-memory backup battery, open the panel window on the front side of the controller and repl

421Appendix2. Absolute-Encoder Backup Battery If the X-SEL controller is to drive an absolute-type actuator, an absolute-encoder backup battery must

422AppendixThe X-SEL-PX/QX controller provides an absolute-encoder backup battery enable switch for each linear movement axis. When replacing any abso

423AppendixExpansion I/O Board (Optional) Type: IA-103-X-32 Type: IA-103-X-16 Pin No. Category Port No. Function Pin No. Port No. Function 1

424Appendix Number of Regenerative Units to be Connected Regenerative energy produced when a linear movement axis decelerates to a stop or moves down

425Appendix5

21Part 1 InstallationLeft: PC cable ( conforming to safety category 4) SEL-T, SEL-TD, SEL-TG teaching pendant IA-T-XA teaching pendant Right: PC c

426Appendix~ List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section. After chan

427Appendix1. I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 I/O port assignment type 1 0 ~ 20 0: Fixe

428AppendixNo. Parameter name Default value (Reference) Input range Unit Remarks 13 Expanded I/O3 error monitor (I/O4) 1 0 ~ 5 0: Do not monit

429AppendixNo. Parameter name Default value (Reference) Input rangeUnitRemarks 24 I/O setting bit pattern 1 (Related to global specifications) 10000

430AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 30 Input function selection 0001 0 ~ 5 0: General-p

431AppendixI/O ParametersNo. Parameter name Default value (Reference) Input rangeUnitRemarks 34 Input function selection 0040 0 ~ 5 0: General-pu

432AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 48 Output function selection 3022 0 ~ 20 0: Gener

433AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 60 Output function selection 314 1 0 ~ 5 0: Gene

434AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 78 Input target axis pattern for acceptance permissi

435AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 100 Used by the SIO system (SP3) (extended) 28100010H

22Part 1 Installation[9] Teaching connector The teaching interface connects IAI’s teaching pendant or a PC to enable operation and setting of your e

436AppendixI/O Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 123 Network attribute 4 0H 0H ~ FFFFFFFFHBits 0 to 3

437AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 126 Network attribute 7 7D007D0H 0H ~ FFFFFFFFH E

438AppendixI/O Parameters No. Parameter name Defaultvalue(Reference) Input range Unit Remarks 144 IAI protocol B/TCP: Own port number (MANU mode) 645

439AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 201 Attribute 1 of SIO channel 1 opened to user (mou

440AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 204 Attribute 4 of SIO channel 1 opened to user (mou

441AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 215 Attribute 3 of SIO channel 2 opened to user (mo

442AppendixI/O ParametersNo. Parameter name Default value (Reference) Input range Unit Remarks 401~500(For extenstion) (Main application version

443AppendixI/O ParametersNo. Parameter name Default value (Reference) Input range Unit Remarks 518 Forced brake release input port number for RC axi

444Appendix2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks ~ 1 Valid axis pattern 1111B

445AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 29 All-axis setting bit pattern 1 10

23Part 1 InstallationInterface Specifications of Teaching Serial Interface Item No. Direction Signal name Details 1 FG Frame ground 2 Out TXD Trans

446AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 51 SCARA axis control 1 0H 0H ~ F

447AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 204 Maximum deceleration of linear mov

448Appendix3. Axis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Axis operation type 1,1,0,1,0,00

449AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 14 Home-sensor input polarity 0 0 ~ 2 Ref

450AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 22 Phase-Z position at home return1000,10

451AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 34 Brake equipment specification 0,0,1,1,

452AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 51 Gear ratio numerator 50,50,10,15,1,11

453AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 67 Short-cut control selection for rotatio

454AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 82 Middle forced-feed range of linear mov

455AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 93 Zone 3 MIN of linear movement axis 0 -

24Part 1 Installation[10] System I/O connector This I/O connector is used to control the safety actions of the controller. With the global specificat

456AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 136 Minimum PTP emergency deceleration of

457AppendixAxis-Specific Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 145 SIO current-arm-system change speed de

458AppendixNo.Parameter name Default value (Reference) Input range Unit Remarks 183Reserved by the system (Change prohibited) 0 0 ~ 99999999 For

459Appendix4. Driver Card Parameters No. Parameter name Defaultvalue(Reference)Input range Unit Remarks 1 Type (upper) (Manufacturing information)S

460AppendixDriver Card Parameters No. Parameter name Defaultvalue(Reference)Input range Unit Remarks29 Motor/encoder characteristic word (compatible

461AppendixDriver Card Parameters No. Parameter name Default value(Reference)Input range Unit Remarks 61~67(For extension) 0H 0000H ~ FFFFH 68

462Appendix5. Encoder Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (Manufacturing information)Spa

463Appendix6. I/O Device Parameters No. Parameter name Defaultvalue(Reference)Input range Unit Remarks 1 Type (upper) (Manufacturing information) S

464Appendix7. Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Auto-start program number0 0 ~ 64 (Invalid

465AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 12 Automatic operation recognition type 0 0 ~ 3

25Part 1 Installation[11] Panel window This window consists of a 4-digit, 7 segment LED display and five LED lamps that indicate the status of the e

466AppendixOther Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 36 PC/TP data protect setting (Program) 0H 0H ~ FFF

467AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 39 PC/TP data protect setting (Coordinate system)

468AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 46 Other setting bit pattern 12001H 0H ~ FFFFFFFFH

469AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 49 Panel 7-segment display data type 0 0 ~ 9

470Appendix8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual operation type” parameter (Othe

471Appendix 9. Use Examples of Key Parameters You can add functions to those available under the factory settings or set dedicated functions to I/O p

472Appendix Description Action Parameter setting Manipulation/operation Want to execute home return for all incremental linear movement axes using an

473Appendix Description Action Parameter setting Manipulation/operation Want to output signal when all valid linear movement axes are at their home.Ou

474Appendix Description Action Parameter setting Manipulation/operation Want to start programs while emergency-stop signal is input or the safety gate

475Appendix Description Action Parameter setting Manipulation/operation Want to continue actuator operation after the emergency stop is reset (want to

CAUTION200 to 230 VAC power supply Auxiliary power circuit Top: 0 V Bottom: 24 V Brake power +24-V power supply Example of X-SEL-PX controller (4-axis

26Part 1 InstallationI/O Interface List Pin No. Category Port No. Function Cable color1 - +24 V input Brown-1 2 000 Program start Red-1 3 001

476Appendix Description Action Parameter setting Manipulation/operation Want to output signal when a linear movement axis enters a specified area (zon

477Appendix Combination Table of X-SEL PX/QX Axis 5/6 Linear/Rotary Control Parameter (Other than SCARA Axes) Permitted encoder processing methodAxis-

478Appendix Error Level Control Program run (Application only) Error level System error assignment source Error No. (HEX)Display (7-segmentdisplay, et

479Appendix Program run (Application only) Error level System error assignment sourceError No. (HEX) Display (7-segment display, etc.)Error list (Appl

480Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Descripti

481Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 400 Mounted-

482Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 412 Exclusiv

483Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 435RC gateway

484Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 601 EMG logi

485Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 622 Mounted-

27Part 1 Installation[14] General RS232C port connector 1 Channel 1 of the two-channel RS232C port provided for connection of general RS232C equipment

486Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 63E ABZ enco

487Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 65A Unsuppor

488Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 667 Invalid

489Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 6A1UBM data c

490Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 6B6 “Allowab

491Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 80E Expanded

492Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 900 Blank st

493Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. 938 Simple i

494Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A13 Flash-RO

495Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A2A Program

28Part 1 Installation[19] Brake power input connector (SCARA axis only) This connector is used to input the power for SCARA brake control. 24 VDC mu

496Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A4B Monitori

497Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A68 SCI pari

498Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B00 SCHA set

499Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B1D Ethernet

500Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B73 Error du

501Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. B83 Rc = 0 w

502Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C05 Program

503Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C1C Unused-L

504Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C3D String n

505Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C59 Head sec

29Part 1 Installation[22] Brake switch (Linear movement axis only) This alternate switch with lock is used to release the axis brake. To operate the s

506Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C70 Absolute

507Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. C84 In-use a

508Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CA2 Abnormal

509Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CB9 PX/PY-ax

510Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. CCB Arch sta

511Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D01 Encoder

512Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D20 Driver e

513Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D58 Fieldbus

514Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. D67 Motor/en

515Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E06 Receive

30Part 1 Installation2. Explanation of Codes Displayed on the Panel Window 2.1 Application Display Priority (*1) Description 1 AC power is cut o

516Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E23 Card ID

517Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E47 No norma

518Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E65 Regenera

519Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E7E Paramete

520Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. FF0 ~ FF0 Shu

521Appendix Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, act

522Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. A85 FROM wri

523Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. E90 Core cod

524Appendix (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. EAC Servo co

525Appendix Troubleshooting of X-SEL Controller The X-SEL Controller has a panel window on its front face. Error numbers will be displayed in this pan

31Part 1 Installation2.2 Core Display Priority (*1) Description 1 AC power is cut off (including momentary power failure or drop in power source

526Appendix Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure ACF AC power cutoff Momentary po

527Appendix Error No. Error name Cause Countermeasure C6b Deviation overflow error Operation is mechanically disabled. Check if any of the mount

528AppendixServo Gain Adjustment for Linear Movement Axis Caution: Do not adjust the servo gains of SCARA axes.The servo has been adjusted at the fact

529Appendixz Speed loop integral time constant (parameter list 1) Driver card parameter number Unit Input range Default (reference) 44 - 1 ~ 1000

530AppendixTrouble Report Sheet Trouble Report Sheet Date: Company name Department Reported by TEL (Ext) FAX IAI agent Purchase date Serial number

531Change History Revision Date Description of Revision February 2008 May 2008 August 2009 June 2010 First edition Second edition Third edition Fourt

Manual No.: ME0152-9B (November 2012)The information contained in this document is subject to change without notice for purposes of product improvemen

32Part 1 Installation2.3 Current Monitor and Variable Monitor Other parameter Nos. 49 and 50 can be set up to monitor currents or variables on the pa

33Part 1 Installation(2) Variable monitor The contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999

34Part 1 InstallationChapter 5 Specifications 1. Controller Specifications 1.1. PX Type (Standard Specification) 1-axis to 6-axis controller Total o

35Part 1 InstallationController with increased memory size (with gateway function)128 programs Number of programs Controller without increased memory

CAUTIONDrive-source Cutoff Relay Error (Detection of Fused Relay: E6D) Because of their circuit configuration, XSEL-PX controllers of single-phase, st

36Part 1 Installation1.2 QX Type (Global Specification) 1-axis to 6-axis controller Total output when maximum number of axes are connected Single-pha

37Part 1 InstallationData input methods Teaching pendant or PC software Absolute brake unit (brake type or absolute specification actuator only) Buil

38Part 1 Installation2. External I/O Specifications 2.1. NPN Specification (1) Input part External Input Specifications (NPN Specification)Item Speci

39Part 1 Installation(2) Output part External Output Specifications (NPN Specification)Item Specification Load voltage 24 VDC Maximum load current 1

40Part 1 Installation2.2. PNP Specification (1) Input part External Input Specifications (PNP Specification)Item Specification Input voltage 24 VDC r1

41Part 1 Installation(2) Output part External Output SpecificationsItem Specification Load voltage 24 VDC Maximum load current 100 mA per point, 400

42Part 1 Installation3. Power Source Capacity and Heat Output The power consumption and heat output of the X-SEL controller will vary depending on th

43Part 1 Installation*2 The number of fan units varies depending on the controller specification. The number of fan units varies as follows in accord

44Part 1 Installation(2) Power consumption and heat output of the motor drive part Both the power consumption and heat output of the motor drive part

45Part 1 InstallationList of Motor Drive Powers Power [W] (rated output)Power y 0.6 [Power factor] [VAOutput stage loss [W]NN2515 NN3515 TNN3015

CAUTIONNote on Controllers with Increased CPU Unit Memory Size * Controllers with gateway function come with an increased memory size in their CPU un

46Part 1 Installation(3) Calculation example Obtain the power source capacities and heat outputs when a controller of the following specifications is

47Part 1 Installation(4) Reference example The power supply capacity and heat output of a SCARA-axis controller (4-axis specification without addition

48Part 1 Installation4. External Dimensions 4.1 List of External Dimension Drawings The external controller dimensions vary depending on the SCARA mo

49Part 1 InstallationExample of applicable model: X-SEL-PX-NNN1205-N1-EEE-2-3Fig. 4-2 PX/QX Type (Three-phase Standard Specification, Single-phase Gl

50Part 1 Installation22 120 1203-5284300195186180225357373519518618058.5 120 1203-558.5Fig. 4-3 PX/QX Type (Three-phase Standard Specification, Si

51Part 1 Installation342358519518618051 120 1203-551269285519518618059.5 75 3-575 59.5Fig. 4-5 PX/QX Type (Three-phase Standard Specification, Sing

52Part 1 Installation397413519518618078.5 120 1203-578.5324340519518618042 120 1203-542Fig. 4-7 PX/QX Type (Three-phase Standard Specification, Sin

53Part 1 Installation206222519518618028753-52875(80)3125.3279295519518618064.5 75 3-564.5754.3 QX Type (Three-phase Global Specification) Controlle

54Part 1 Installation241257519518618045.5 75 3-545.575314330519518618037 1203-537120Example of applicable model: X-SEL-QX-NNN1205-200I-200I-N1-EEE-2

55Part 1 Installation226242519518618038753-53875299315519518618029.5 120 3-529.5120Example of applicable model: X-SEL-QX-NNN2521-N1-EEE-2-3Example o

56Part 1 Installation354370519518618057 1203-557120281297519518618020.5 120 3-520.5120Example of applicable model: X-SEL-QX-NNN5020-400AB-200AB-N1-E

57Part 1 InstallationChapter 6 Safety Circuit The circuit configuration for embodying safety actions such as emergency stop is different between the

58Part 1 Installation2. Safety Circuit for PX Type (Standard Specification) Controller The PX type controller has a built-in drive source cutoff circ

59Part 1 InstallationWith the PX type, use only the signals shown in the shaded fields of the table for connection with the safety switches. Ensure th

60Part 1 Installation3. Safety Circuit for QX Type (Global Specification) Controller The global controller has no internal drive source cutoff circui

61Part 1 InstallationTerminal Assignments PinNo.SignalnameOverview Details 9 DET IN To fused-contact detection circuitExternal contact error input (p

62Part 1 Installationx EMG1/EMG2, ENB1/ENB2 EMG1 (line+)/(line-) and EMG2 (line+)/(line-) are redundant emergency stop control lines. ENB1 (line+)/(li

63Part 1 InstallationQX Type X-SEL Controller Power supply part Not installed AC cutoff relay RectifierDC busTo power stageExternal emergency-stop res

64Part 1 InstallationExternal Emergency Stop Circuit Contactor (NEO SC)RelayContactor (NEO SC)200-VAC, three-phaseReset switchExternal emergency-stop

65Part 1 Installation4. Timing Chart of Safety Circuit for QX-type SEL Controller A timing chart of the safety circuit for QX-type SEL controller is

Table of ContentsTable of Contents Safety Guide...

66Part 1 Installation[2] Emergency stop x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger program operat

67Part 1 Installation[3] Power on without cancelling emergency stop Assume that the same timings will apply when the power is turned on without perfo

68Part 1 Installation[4] Enable operation x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger program oper

69Part 1 Installation[5] System shutdown level error x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

70Part 1 Installation[6] Cold start level error x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger progr

71Part 1 Installation[7] Operation cancellation level error x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO t

72Part 1 Installation[8] Power on (in combination with drive-source cutoff reset input) x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (

73Part 1 Installation[9] Emergency stop (in combination with drive-source cutoff reset input) x I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT ou

74Part 1 InstallationChapter 7 System Setup1. Connection Method of Controller and Actuator1.1 Connection Diagram for PX Type (Standard Specification)T

75Part 1 Installation1.2 Connection Diagram for QX Type (Global Specification)Three-phase specificationCP: Single-phase 200 to 230 VACpower supplyMP: